SIMPACK

SIMPACK
SIMPACK DYNAMICS ANALYSIS BASIC


SIMPACK
SIMPACK
SIMPACK SIMPACK
SIMPACK
SIMPACK

SIMPACK SIMPACK

SIMPACK /
. 2008.3
SIMPACK
ISBN 978-7-81104-879-7
. S . .
SIMPACK . TH113-39
CIP 2008 020968

SIMPACK
SIMPACK

( 111 610031 028-87600564)

http: //press.swjtu.edu.cn

*
185 mm260 mm
10.75
267
13 000
2008 3 1
2008 3 1
ISBN 978-7-81104-879-7
24.00

028-87600562

............................................................................... I
1

....................................................................... 1

1.1 .......................................................................................................................................... 1
1.2 ............................................................................................................................... 1
1.2.1 ............................................................................................................ 2
1.2.2 .................................................................................................... 2
1.2.3 ............................................................................................................ 5
1.3 ....................................................................................................... 6
1.3.1 ................................................................................................................................ 8
1.3.2 .................................................................................................................... 8
1.3.3 ................................................................................................................ 8
1.3.4 ................................................................................................................ 9
1.3.5 ................................................................................................................................ 9
1.3.6 .......................................................................................................................... 10
1.3.7 .......................................................................................................................... 10
1.4 ................................................................................................................. 10
1.5 .....................................................................................................................................11
2 ...................................................... 12
2.1 ........................................................................................................................................ 12
2.1.1 ...................................................................................................................... 14
2.1.2 ......................................................................................................... 17
2.1.3 ......................................................................................................... 20
2.2 ..................................................................................................... 21
2.3 ................................................................................................................. 24
2.3.1 .................................................................................................................. 25
2.3.2 ...................................................................................................................... 25
2.4 SIMPACK .......................................................................................... 26
2.4.1 ................................................................................................................. 26
2.4.2 ............................................................................................................. 28
2.4.3 ................................................................................................................. 29
2.5 ..................................................................................................... 29
2.5.1 ...................................................................................................................... 30
2.5.2 .............................................................................................................................. 30
2.5.3 .......................................................................................................................... 31
2.5.4 ...................................................................................................................... 32
2.5.5 .................................................................................................. 32
2.6 .................................................................................................................................... 33
3 SIMPACK ............................................................ 34
3.1 SIMPACK ...................................................................................................................... 34
3.1.1 SIMPACK ....................................................................................... 34
3.1.3 SIMPACK ....................................................................................................... 37
3.2 SIMPACK ...................................................................................................................... 38
3.2.1 SIMPACK ......................................................................................................... 38
3.2.3 SIMPACK GUI ................................................................................ 40
3.3 SIMPACK ...................................................................................................................... 41
3.4 SIMPACK ...................................................................................................................... 44
3.4.1 ................................................................................................................. 44
II


3.4.2 ......................................................................................................... 45
3.5 SIMPACK .............................................................................................................. 49
3.5.1 ............................................................................................................................. 49
3.5.2 ................................................................................................. 50
3.6 SIMPACK .................................................................................................................. 54
3.6.1 ............................................................................................................................. 54
3.6.2 ............................................................................................................. 54
3.7 SIMPACK .......................................................................................................... 55
3.7.1 SIMPACK ............................................................................................... 57
3.7.2 .......................................................................................... 58
3.8 ........................................................................................................................................ 58
3.9 ........................................................................................................................................ 59
3.10 ........................................................................................................................... 62
3.10.1 ............................................................................................................ 62
3.10.2 ............................................................................................................ 63
3.10.3 ............................................................................................................................ 64
3.10.4 ................................................................................................................ 64
3.11 ................................................................................................................................... 65
4 ................................................................... 66
4.1 ........................................................................................................................................ 66
4.2 ........................................................................................................................................ 66
4.3 ........................................................................................................................................ 67
4.4 ................................................................................................................................. 67
4.5 ................................................................................................................................. 68
4.6 ........................................................................................................................................ 69
4.7 ........................................................................................................................................ 69
4.8 ........................................................................................................................................ 71
4.9 G .................................................................................................................................... 74
4.10 .................................................................................................................................. 74
4.11 ....................................................................................................................................... 75
4.12 3D ............................................................................................................................ 75
4.13 ....................................................................................................... 78
4.14 ...................................................................................................................................... 79
4.15 / ............................................................................................................................. 79
4.15.1 ............................................................................................................................ 80
4.15.2 ............................................................................................................................ 81
4.15.3 .................................................................................................................... 82
4.16 ...................................................................................................................................... 83
4.17 ............................................................................................................................... 83
4.18 .................................................................................................................................. 84
5 ................................................................... 85
5.1 ........................................................................................................................................ 85
5.2 ................................................................................................................. 86
5.3 ................................................................................................................................. 86
5.4 ..................................................................................................................... 87
6.5 ........................................................................................................................................ 89
6 ...................................................... 91
6.1 ................................................................................................................................... 91
6.2 ................................................................................................................................... 91
III

7 .............................................................. 93
7.1 ....................................................................................................................................... 93
7.2 ....................................................................................................................................... 93
7.3 ....................................................................................................................................... 95
7.4 ........................................................................................................................................ 98
7.5 ................................................................................................................................... 99
7.6 ......................................................................................................................................... 100
7.7 ................................................................................................................................. 101
7.9 BumpStop ................................................................................................................... 101
7.9.1 BumpStop ...................................................................................................... 101
7.9.2 ........................................................................................................................... 102
8 ............................................................... 104
8.1
8.2
8.3
8.4

.............................................................................................................. 104
.............................................................................................................. 104
.............................................................................................. 105
................................................................................................................................. 106
8.4.1 ....................................................................................................................... 106
8.4.2 ....................................................................................................................... 107
8.5 ..................................................................................................................................... 108
8.5.1 ................................................................................................... 108
8.5.2 ................................................................................................................... 109
9 .................................................................. 110
9.1 ......................................................................................................................................110
9.2 ......................................................................................................................................110
9.3 ......................................................................................................................................115
9.4 ..................................................................................................................................116
10 .................................................. 117
10.1 ....................................................................................................................................117
10.2 ............................................................................................................ 125
10.2.1 ................................................................................................................................ 125
10.2.2 ................................................................................................................. 125
10.2.3 ..................................................................................................................... 125
10.3 ................................................................................................................................... 130
11 .............................................................. 134
11.1 .................................................................................................................................... 134
11.2 ............................................................................................................................ 134
11.2.1 ......................................................................................................................... 134
11.2.2 ......................................................................................................................... 135
11.2.3 ................................................................................................................................. 138
12 Mcpherson .................................................... 139
12.1 ............................................................................................................................ 139
12.2 ........................................................................................................................................... 149
13 .............................................................. 150
13.1 ............................................................................................................................... 150
13.2 .................................................................................................................... 150
13.2.1 ......................................................................................................................... 150
13.2.2 .................................................................................................................. 150
IV


13.2.3 ................................................................................................................. 151
13.3 ............................................................................................................................ 154
13.4 ............................................................................................................................... 155
13.5 ................................................................................................................................... 155
14.6 ................................................................................................................ 165
A ............................................................................ 169
......................................................................... 170

20 90

20 60

SIMPACKMSC.ADAMSDADS NUCARS 80

SIMAPCK

SIMPACK

SIMPACK

SIMPACK

SIMPACK

SIMPACK SIMPACK

SIMPACK

SIMPACK

1.1

CAX/DFXComputer Aided X/Design For X

CAEComputer Aided Engineering I-DEAS

Pro/EngineerSolidworksANSYS ABAQUS CAE

l
Reliability
(Durability)(Lightweight)

1.2
20 60 Multibody System MBS

Forward Dynamics
Inverse Dynamics

1.2.1

Kinematics
Kinetics
2
Galileo15641642

Aristotle
384322
Newton16421727

F=ma
1.1
F m a

NewtonEuler(Lagrane)(Kane)

dAlembert

[12]

1.2.2

20 50 20

[3~8]

CAD
Computer Aided Design

CAD Pro/Engineer
I-DEAS

MSC.ADAMS
LMS.DADSSIMPACK
Recurdyn
VAMPIRENUCARSUM SIMPACK

1960 DYNA

M.A.Chace 1964 IBM

KAM Michigan 1964 DRAM

1973
N.Orlendea M.A.Chace ADAMS (Automatic Dynamic Analysis of Mechanicla
System)
1977 Iowa E.J.Haug DADSDynamic Anslysis and
Design System

German Aerospace Center DLR 70 Willi KortM

MBS MBS Fadyna(1977 )MEDYNA (MEhrkorper
DYNAmik)(1984 ) SIMPACK(1990)
DLR MEDYNA
1985 DLR SIMPACK

DLR SIMPACK
SIMPACK

[3]
1.1 1.1

1.1

1.1

ADAMS

M. Chace

DADS

E. Haug

Rigid
Flex-Lin-Modal
Rigid
Flex-Lin-Modal
Rigid

AbsoluteNonlin

DAE

AbsoluteNonlin

DAE/ODE

RelativeNonlin

ODE/DAE

SIMPACK

W. KortM

MECANO

G. GRadin

Flex-Nonlin-Nodal

AbsoluteNonlin

DAE

Workingmodel

D. Baszucki

Rigid

AbsoluteNonlin

DAE/ODE

Simmechanics

NN

Rigid

AbsoluteNonlin

DAE

Recurdyn

Bai&Kim

RelativeNonlin

ODE/DAE

Flex-Quadr-Modal

Rigid
Flex-Lin-Modal

1.2.3

CAD (FEAFinite Element Analysis)

1.2

1.2

1.3

1.3

10 [6]

1.3

CAD
CAD
CAD
CAD
MBS
CAX 19 70

CAD
MSC.ADAMSLMS.DADS SIMPACK -
Pro/MECHANICA
Working Model Working Model

1.4

CAD

CAM


1.4

MBS [10] MBS

MBS
1

2
l
l
l
l
3

4
MBS

5
MBS

6
MBS
MBS
MBS

MBS
2

4
MBS

CAD
CAD
CAD

l
l
l
l
l
l
l

1.3.1

1.3.2

1.3.3

CAD CAD
CAD

1)
2)
3)
4)
5)

1)
2)
3)
4)
MBS

1.3.4
MBS
MSC.ADAMSDADSSIMPACK

1.3.5

MATLAB
Rung-Kutta MethodPreditor-Corrector
Method
MBS

DAE
1Stiff Methods
DAE
2Not-Stiff Methods
ODE
MSC.ADAMS 10.0
l Gear
l Gear
9

l DASSL
l SI2
l Adams-Bashforth-Adams-Moulton

1.3.6

XYZ

MBS

1.3.7

MBS

1.4

10

[11]
l
MBS
l
MBS
SIMPACKMSC.ADAMS

FORTRANC MATLAB

l
l
l
l

1.5

SIMPACK

SIMPACK SIMPACK Echo Areas

11

[3-8] SIMPACK
SIMPACK
SIMPACK
SIMPACK

2.1

2.2

20 60 20
80

80

[1-8]

ANSYSMSC.NASTRANABAQUS

20 80 MSC.ADAMSDADS
SIMPACK CAE

12

20
60
Newton-Euler Roberson-Wittenburg Kane
[2]

Roberson Wittenburg 1966 R/W

R/W

Kane 1965

- N/E
N/E

Chace Haug 80
-

20 80 Haug

20 70

-
[6]

[6]
l

13

CAE

Modelica

2.1.1
y (t )

ny

[10]

M ( y ) &&
y (t ) = f ( y, y& , t )

2.1

M ( y )

f ( y, y& , t ) 2.1
N
t , y, y& 1

M -1 ( y ) f ( y, y& , t ) r ( y, y& , a, t ) = M ( y )a - f ( y, y& , t )

2.1
v = y&

y (t )
x& (t ) = j ( x, t ) x(t ) =

j
(
x
,
t
)
=

M -1 f ( y, v, t )
v(t )

2.2

1
2.1

14

t = t0 y& = &&
y = 0
*

0 = f ( y * , 0, t0 )

2.3
*

2.3 n y n y y
2.3

nq

f = f ( y, y& , t ;q )

0 = f ( y0 , 0, t0 ;q * )

2.4
*

y0 q

2.42.3
2.4 Levenbery Marquadt
2.4
*

f ( y0 , 0, t0 ;q )

+a q*

min q * a > 0

2
2.1
2.1 f ( y, y& , u (t )) u (t )

nu

y = y , y& = 0, u = 0
*

My&& = - Dy&& - Ky + Bu (t )
M = M ( y*), D = -

2.5

f
f
f
( y*, 0, 0), K = - ( y*, 0, 0), B = - ( y*, 0, 0)
y&
y
u

f f f
f
, , i
y y& u
y
(

f ( y * +Dei , 0, 0) - f ( y*, 0, 0)
f
( y*, 0, 0)).i
y
D

2.6

i ei D 0 < D 1
2.5

2n y + nu + 1 f

f f f
, ,
y y& u

15

3
2.2ODE
Runge-Kutta Adam MATLAB

MBS
MBS Backward Differentiation
Formula BDF Gear x0 = x(t0 )

1
hn

kn

a
j =0

n , j n +1- j

= j ( xn +1 , tn +1 )

2.7

xn +1 x(tn +1 ), ( n = 0,1,...)
2.7 tn tn +1 hn = tn +1 - tn kn (1 kn 6)
a n , j BDF kn hn , hn -1 ,... Euler

1
( xn +1 - xn ) = j ( xn +1 , tn +1 ) 2.7 kn = 1
hn
xn +1- j x(tn +1- j ), ( j = 1,..., k ) BDF 2.7 xn +1 nx

a
1
0 = F ( x) = n ,0 x - j ( x, tn +1 ) +
hn
hn

kn

a
j =1

n , j n +1- j

2.8

2.8

xn( l++11) = xn(l+)1 - J -1 F ( xn(l+)1 ), (l 0)

2.9

(0)

xn +1 xn , xn -1 ,... 2.9 J 2.8

a
F (l )
j (l )
( xn +1 ) = n ,0 I ny ( xn +1 , tn +1 )
hn
x
x

2.10

j
2.6
x

j o ( N )
M

-1

f f ( y, v, t ) 2.2 J

hn kn

16

BDF
DASLL

0 = F ( x, x& , t )

2.11

2.2 F ( x, x& , t ) = x& - j ( x, t )

y& - v
y (t )

x(t ) :=
, F ( x, x& , t ) =
DASSL
v(t )
M ( y )v& - f ( y, v, t )

2.11 BDF

0 = F ( xn +1 ,

1
hn

kn

, tn +1 )

2.12

a n ,0 F
F
( x, x& , t ) +
( x, x& , t )
hn x&
x

2.13

j =0

n , j n +1- j

2.10 BDF DASSL

x&
F I ny
F I ny 0

=

=
x& 0
x& 0 I ny

0
.
M

2.1.2
2.1

1
3

()

(i )

r r
r r
u ( x , t ) yr(i ) (t ) w( x , t )
Ritz

r r
r
r r
u ( i ) ( x , t ) = r ( yr( i ) (t )) + w(i ) ( x , t ).

2.14

r (i ) r

Ritz w ( x , t )
si
r r
r r
w(i ) ( x , t ) q (ji ) (t ) w(ji ) ( x )

2.15

j =1

()

(i )

(i )

r (i )

r (i )

q j (t ) w j w j
17

2.142.15
y (t )
(i )

(i )

(i )

yr (t ) ( q1 (t ),..., qs i (t )) M ( y ) f ( y, y& , t )

w
MBS SIMPACK FEMBS

{r

(i )

r (i )

w1 ,..., ws i

c(t )

c&(t ) = d (c, y, y& , t )

2.16

r T j , T j +1 r = rj

rj +1 = k (rj , rj -1 ,..., y, y& , T j +1 ).

2.17

T j = j D t D t = 1, 2,....,10 ms
2.1 f

f = f ( y (t ), y& (t ), c(t ), rj , t ) t T j , T j +1 .

2.18

2.172.18
T j , T j +1 t = T j +1
r 2.17 t T j +1 , T j + 2

Runge-Kutta
3
2.17
t = T * 2.1 f = f ( y, y& , c, rj , u (t );q )
u (t )
q q

u (t ) T *
t = T * y, c, rj q
18

4
y
2.1 y
y
y ng

0 = g ( y, t ).

2.19

2.19

M ( y ) &&
y (t ) = f ( y, y& , t ) - G T ( y, t )l ,

2.20a

0 = g ( y, t ).

2.20b

-G ( y, t )l G ( y, t ) = (
T

g
n
)( y, t ) l (t ) R g
y

&&
2.21b2.20DAE
G ( y, t ) = ng Grubler
2.22
y y2.20b
2.20 M ( y ),

f f
, , G T
y y&

o ( N )
2.9

y (t ) l (t ) 2.20b

0=

d
dy
g
g
g ( y (t ), t ) =
( y, t ) (t ) +
( y, t ) = G ( y, t ) y& (t ) + g ( I ) ( y, t ),
dt
y
dt
t
0=

(I )

( II )

d2
g ( y (t ), t ) = G ( y, t ) &&
y (t ) + g ( II ) ( y, t )
dt 2

21a

21b

g w.r.t.t. 2.20

2.20b2.21
y0 , y& 0 , l0

0 = g ( y0 , t0 ), 0 = G ( y0 , t0 ) y& 0 + g ( I ) ( y0 , t0 ),

19

0 = G ( y0 , t0 ) &&
y0 + g ( II ) ( y0 , y& 0 , t0 )

2.22

M ( y0 ) &&
y0 (t ) = f ( y0 , y& 0 , t0 ) - G ( y0 , t0 )l0
T

y0 , y& 0 , l0 y0,i j
yi j , ( j = 1,..., n y - ng ) n y - ng y0,i j , ( j = n y - ng + 1,..., n y ) 2.22
(2.22) ng

y& 0,i j , ( j = n y - ng + 1,..., n y ) l0

2.1.3

1
c rj

Ritz

r (i )

CFD
CAD
CAD
CAD

90 CACE
ABCD
FORTRAN
CACE
CACE
CACE
Mathwork Time Workshop C Simulink

CACE

20

MBS
Modelica
Modelica

Simulink
-
Simulink Simulink
SIMPACK
Simulink C SIMPACK
Simulink SIMPACK Simulink
T j Simulink
SIMPACKSimulink SIMPACK
Simulink SIMPACK
T j T j +1 T j +1

2.2

MSC.ADAMSDADSSIMPACK Recurdyn
CADAMB

21

80

2
-(KED)

1987 Kane

- DAE Differential Algebraic Equations

22

-
-

(
)

DOFDegree Of
Freedom DOF
DOF

23

8
20 80

1987 Kane

2.3
[10]
4
[10,13]

24

-:
-
-
BDF
RK ---

2.3.1
BodyJointOutside Force/Moment
[10,13]

[5]

--
TS-D-A--RS-D-A

2.3.2
SIMPACK MSC.ADAMSDADS
[
Reference Frame

25

Marker
Move Marker

Constraint

2.4 SIMPACK

1985 DLR SIMPACK

SIMPACK

2.4.1

Bi eix eiy eiz

Bi eIx eIy eIz ri (3 1) Ali (3 3)

2.1

2.1 I Bi

3 I

r
r
r
r
ri = rix / I eIx + riy / I eIy + riz / I eIz

(2.23)

26

rix / I
rix = riy / I
riz / I

(2.24)

3 Euler Kardanic 3

c b cg

AIi = AIk (a ) Akj ( b ) AjI (g ) = ca sg + sa s b cg

sa sg - ca s b cg

-c b sg
c a cg - sa s b sg
sa cg + ca s b sg

sb
- sa c b
ca c b

(2.25)

sina = sa cosa = ca Bi 6 [ 6 1]
6

Z = rxi

ryi

rzi a i

b i g i

(2.26)

AIi = AIi ( Z ) ri / I = ri / I ( Z )

(2.27)

Bi I

ni/I =

dri / I ri / I &
=
Z
dt
z

(2.28)

[3 6] Jacobi

vi / I

r&xi
r&
yi
1 0 0 0 0 0
r&
= J Ci / I z& = 0 1 0 0 0 0 zi
a&
0 0 1 0 0 0 i
b&i

g&i

(2.29)

vi = J ci z&

(2.30)

Jacobi

wi = J wi z&
0 0 0 1 0
Jw i = 0 0 0 0 ca
0 0 0 0 sa

(2.31)

sb
- sa c b
ca c b

(2.32)

q p

27

f = 6 p - q
(Second Kind Lagrange
Equations)Newton-Euler Equations 2.2

Coordinate Systems

Kinematic:Generalised coordinates
&velocities

Kinematic:velocities&accerlerations

Method of sections

Kinematic energy

Outer force moment

Generalised forces

Conversion of force &angular

momentum

Lagrange
equationssecondorder

Elimination of unkonown
sections forces

Motion equations in
minimal mode

Lagrange

Newton-Euler

2.2

2.4.2
p [14]
T

d T T

-
=Q
dt z& z

(2.33)

T p I

T=

1 p T
(vi mi vi + wiT Iiwi )
2 i =1

(2.34)

Q K i Fi M i

28

Q = ( J CiT Fi + JwTi M i )

(2.35)

i =1

M ( z , t ) &&
z + G ( z , z&, t ) = Q ( z , z&, t )

(2.36)

2.4.3
K i

mi ai = Fi

(2.37)

M i

I ia i + wi I iwi = M i

(2.38)

Q ( z , z&, t ) = J T ( z , t )e ( z , z&, t )

(2.39)

D'Alambert

J TQz = 0

(2.40)

M ( z , t ) &&
z + G ( z , z&, t ) = Q( z , z&, t )

(2.41)

2.5

CAD

MATLAB [13]

29

2.5.1

2.3 [13]

2.3

l
l

l
l

2.5.2

30

CSSL

2.5.3

- Runge-Kutta-Battis
Adams-Bashforth-Moulton

ODEs[13]

x& = f ( x, t )

2.42

J=

f
x

2.43

Gear BDFBackward
Difference Formulas
-
DAEs

M ( p) &&
p = f ( p, p& , t ) - G T ( p )l

2.44

g ( p) = 0

(2.45

p M ( p ) f l
G

G=

g
p

2.46

DAEs

f ( x, x& , t ) = 0

2.47

MBS
2.442.452.46
31

3 2.45
3
2.45

g
p& + z ( p ) = 0
p

2.48

g
&&
p + z ( p) = 0
p

2.49

2.442.492.462.47

Baumgarte

g
g
&&
p + z2 + 2a
p& + b 2 g ( p ) = 0
p
p

2.50

Baumgarte

2.5.4

l
l
l

2.5.5
[13]

x& = Fx + Gu

2.51

y = Cx + Du

2.52

l
32

l
l
l

x (t - t1 )
x (t - t )
2
u (t ) =
L

x (t - t N )

2.53

ti , i = 1,L , N x (t - t1 )

G ( jw ) = C ( jw E - F ) -1 Gx (w )

2.54

Gx (w ) = Gi e - jwt

2.55

i =1

Gi u (t ) x (t - ti )

2.6
SIMPACK

33

3 SIMPACK
SIMPACK
SIMPACK

3.1 SIMPACK
3.1.1 SIMPACK
SIMPACK INTEC Gmbh //
Computational Dynamics of Multibody Systems
1982 (DLR)
MEDYNA
DLR MEDYNA
1985 DLR SIMPACK
DLR
SIMPACK

[6]
1993 SIMPACK DLR A1ex Eichberger INTEC
SIMPACK 1996 Lutz
Mauer INTEC SIMENSINTEC
WheelRail 1997 INTEC MANBENZBMW
TNO Automotive 1999
3.1 [1]

SIMPACK Wheel/Rail 49%

VAMPIRE
18%

VOCODYN and other

ADAMS/Rail 15%

6%

NUCARS 12%

3.1 SIMPACK

SIMPACK /

/
34

CAD

SIMPACK HIL
MBS
Fortran C
SIMPACK
SIMPACK
BMWDaimler ChryslerBombardierSiemens
SIMPACK
l
l
l /
l
l
l
l
l
/ SIMPACK
SIMPACK /SIMPACK /
l SIMPACK
l 3D
l SIMPACK /
l
l
l
l
l
SIMPACK

SIMPACK NVH

MBS

Model Setup
SIMPACK Model Set-up
3D
3D CAD 3D
SIMPACK CAD CAD
SIMPACK Code Export
Fortran C HIL

SIMPACK

35

SIMPACK

MBS SIMPACK

SIMPACK

SIMPACK NVH

SIMPACK

SIMPACK ASCIIExcel
FFT

SIMPACK CAD
FEA CACE 3.1
3.1 SIMPACK CADFEA CACE
CAD SIMPACK SIMPACK
CAD CAD CAD
SIMPACK
CAD

DMU

ProSIMPro/E

Pro/ENGINEER

Pro/ENGINEER

IdeSIMI-DEAS

CatSIMCATIA
SIMPACK

(CFP-Collaborative Functional Prototyping)

SIMPACK Centric Software Inc. Centric Studio
Siemens Transportation SystemTS
FEMBSSIMPACK
FEMBS NASTRANMARCANSYSABQUS
I-DEAS PERMAS FEMBS
SIMPACK

FEA

FEANASTRANMARCANSYSABQUSI-DEAS PERMAS

SIMPACK

nCode FE-FatigueECS Steyr FEMFAT

36

LOADS
SIMPACK Matlab

SIMPACK
MATLAB

SIMPACK

CACE

SIMPACKMATLAB

SIMATSIMPACKMATLABMATLAB
SIMPACKMATLAB
SIMPACK

MATSIMMATLABSIMPACKMATLAB
SIMPACK

CACESIMPACK
AMESIMDSHplus

3.1.3 SIMPACK

SIMPACK 3.2

3.2 MBS

SIMPACK SIMPACK

l Model Set-Up Window

37

MBS MBS
SIMPACK
l SIMPACK

l
l
3.3 SIMPACK

FEM

MBS
CAD

3.3 SIMPACK

3.2 SIMPACK
3.2.1 SIMPACK
Windows NT\2000\XP SIMPACK 3.5
CommandShellSIMPACK

3.4 SIMPACK

3.5 SIMPACK CommandShell

38

3.6 SIMPACK CommandShell

SIMPACKV8.803 SIMPACK UNIX

SIMPACK SIMPACK 3.7

3.7 SIMPACK8.803

/3D

PerformCallOfRHS RHS

39

SIMPACK SIMPACK

3.2.3 SIMPACK GUI

3.8 SIMAPCK
40

3.8 SIMPACK SIMPACK

SIMPACK

l File
SIMPACK
l PreProcess
3D

l Calculation
SIMPACK

l ParVariation
SIMPACK SIMPACK
SIMPACK
SIMPACK
l Optimization

RMS SIMPACK
Pareto_Optimal

l PostProcess

l Help
SIMPACK SIMPACK SIMPACK
SIMPACK

3.3 SIMPACK
SIMPACK 3D
MBS
SIMPACK
MBS ASCII

SIMPACK
SIMPACK
/
FEMBS SIMPACK
SIMPACK
FEM
SIMPACK
FEM CAD SIMPACK
CAD MBS
MBS CAD CAD SIMPACK
41

CAD
SIMPACK
MATLABSimulink SIMPACK
SIMPACK
SIMPACK SIMPACK

SIMPACK SIMPACK
ABAQUSANSYSCATIANASTRANMATLABMATRIXMARCPro/Engineer

SIMPACK
SIMPACK SIMPACK
SIMPACK

SIMPACK
FORTRAN C

3.93.14 SIMPACK

3.9 SIMPACK

3.10

SIMPACK

42

3.11

SIMPACK (2003)

3.12

3.13

SIMPACK

SIMPACK

3.14 SIMPACK

43

3.4 SIMPACK
3.4.1
SIMPACK
l
spf spf XML

l Mpeg
SIMPACK Mpeg

l /
SIMPACK
3.15

3.15 /

l
bmptifcgmpspng
ACSII Excel csv
l

SIMPACK GUI
QSAQt Scrit for Application
VB Script JAVA Script
QSA
44

3.4.2
1
SIMPACK8.803 SIMPACK8.514
3.16

3.16

l Window Views
l F6 Window
Hide Views
l Window Toolbars
l

2
SIMPACK
Ctrl
3.17

45

3.17

3.18

3.18

X Y
SIMPACK X
X X Y Y
X 3.19

46

3.19

3.20

XYZ

3.21

3.21

47

show value slider

3.22

3.22

4
SIMPACK

3.23

3.23

add filter 3.24

48

3.24

3.5 SIMPACK
3.5.1
/INTEC

SIMPACK
SIMPACK SIMPACK8.803SIMPACK
l Kinematics&Dynamics
l Wheel/Rail
l Automotive+
l Engine
l Wind Turbine
l FEMBS
l CAD SIMPACK CAD CAD

l Control MATLAB
l Contact FlexContact
l Code Export

l User Routine
l Mf-TyreSwitf-TyreMfmc-Tyref-Tyre
l Beam
l Loads
l Optimization
l

49

3.5.2
SIMPACK
l SIMPACK Automotive+
ABS
l SIMPACK Wheel/Rail SIMPACK Wheel/Rail
Wheel/Rail
l SIMPACK Engine
SIMPACK Engine
l SIMPACK Formula OneF1
SIMPACK
l CONTACT MECHANICS
SIMPACK Hertz FlexContact

l SIMBEAM
l NVH (Noise-Vibration-Harshness)
l GEAR

l CODE EXPORTFortran C

SIMULINK SIMPACK

l USER ROUTIINES C Fortran

l CONTROL SIMPACK
l VTLVirtual Test LabSIMPACK

l Customizing and ScriptingSIMPACK Javascript QSAQT

Script for Application QSA

l CHAINSIMPACK

SIMPACK Automotive+
Automotive+DLR INTEC
SIMPACK

Automotive+SIMPACK Automotive+
1

50

2D 3D
)

ABS/ESP/DSC

6
SIMPACK
SIMPACK DSH plusAMESIM
7
SIMPACK TNO

51

9
SIMPACK
SIMPACK USER
SIMPACK CACE
SIMPACK
10

100 Hz
(530 Hz)
(2060 Hz)
(< 100 Hz)
11
3D

SIMPACK Wheel/Rail
DLR 20 /
SIMPACK
SIMPACK /
SIMPACK Wheel/Rail
(1) DOE
(2)

(3)
(4)
(5)

(6)
(7)DOE
(8)
(9)/
SIMPACK Wheel/Rail
(1)

52

(2)

(3)

(4)

(5)

FE

(6)
MBS
l
l

l
l

l
l
SIMPACK
l
l
l
l (MATLAB)
l
l
l
l
l 100%
l
l
l

53

3.6 SIMPACK
SIMPACK

3.6.1
ASCII 5
<Model>.sys MBS
<Model>.ani 3D
<Model>.g2d General 2D Plot
<Model>.dbi
<Model>.num6

<Model>.dbp
<Model>.doc
3.25

3.25

3.6.2
MBS
MBS MBS

54

SIMPACK MBS

MBS

SIMPACK
l Identity Fuction

l
l
MBS MBS 3D
MBS
Identify

3.26

3.26

3.7 SIMPACK
SIMPACK
[13]
55

SIMPACK

SIMPACK 3.27
5
4
1

2
MBS

3
D

SID
3DCAD

W/R

2D,3D

y(x)
2

z(x,y)

SIMPACK

2D

3.27 SIMPACK

SIMPACK 5
[13]
1 SIMPACK
2 MBS
3

4 3D CAD
FEMBS SID
5 SIMPACK
4
1

SID

2 /Mbs_db_substructure/ 3
<Model>.sys<Model>.dbi<Model>.ani
56

3 /Mbs_db_body/ 2
<Model>.sys<Model>.ani
/mbs_db_force/ 1 <>.sys
/mbs_db_ip/ 1 <>.sys
45 /dat/
3.28

3.28

3.7.1 SIMPACK
SIMPACK $SIMPACK_V8.X/
/SIMPACK.8xxxx/Run/dat/ SIMPACK
FileDatabasesEdit User Specific Data Base Path
3.29

3.29

57

3.7.2
1 2
<Model>.sys<Model>.dbi<Model>.ani 3
SIMPACK /mbs_db_substructure/
ElementsSubstructures New

2 3
SIMPACK
Database
3 4
ASCII 3.28
SIMPACK *_LIST.dat
SIMPACK

3.8
MBS
[6] SIMPACK

[10~12] SIMPACK
MBS

The Number of Degrees of Freedom of

Closed Loop SystemsDOF)Number of First Order StatesFOS
N_IndependentJoints
DOFsystem=DoFjoint-Constraint
3.1
FOSsystem=2DoFjoint+Constraint
3.2
N_IndependentJoints=DoFjoint(=N_JointStates)-Constraint=DoFsystem
3.3
DOF systemConstraintFOS system
3.30

58

3.30

3.1

3.1 SIMPACK

ReferenceFrame

Bodies

Joint

body

FROM.TO

a , b , g , X , Y , Z 6

Constraints

ForceElements

a , b , g , X , Y , Z 6

07

07

3.9
SIMPACK

SIMPACK

SIMPACK
SIMPACK SIMPACK
SIMPACK

59

SIMPACK

SIMPACK
l
l
l
l
l
SIMPACK 6
1)
2)
3)
3 SIMPACK 4~6 SIMPACK

4) SIMPACK 1~3
5)
6)
SIMPACK
1

3.31

2
l
l
l

60

3.32

3
l
l
l
4 SIMPACK
l
l
l 3D
l
l
l
5SIMPACK SIMPACK
6
SIMPACK
l
l
l

l 3D
l Excel MATLAB

SIMPACK

l NewModifyRemove
Reference Frame(Body)(Marker)(Joints)

l SIMPACK

l 3D
61

l
l

SIMPACK SIMPACK
SIMPACK

3.10
3.10.1
Open Model File
3.33

3.33 SIMPACK

3.34 SIMPACK

62

3.35 SIMPACK

3.36
New
Pendulum Pendulum
SIMPACK

3.36

SIMPACK
l $B_Isys$M_Isys
l $M_Body1 $B_Body1
l $J_Body1 0
l $S_Body1
l
l 3D

3.10.2
Pendulum Copy Model
Paste Model Cancel

63

Deletme

3.10.3
Deletme Remove 3.37
5 3

3.37

l
l
l

l
l
Ok
Close

3.10.4

OkSIMPACK SIMPACK

64

3D Exit

SIMPACK HTML
SIMPACK HelpDocumentation

FileExit

3.11
SIMPACKSIMPACKSIMPACK
SIMPACK
()
SIMPACK
SIMPACK
SIMPACK

SIMPACKSIMPACK
SIMPACK

65

SIMPACK

4.1
4.1

4.1

4.2
(1)
Mass=4.0[]
CenterofGravity(XYZ)=(00-0.25)[m]

10.0 0.0 0.0

2
IInertiaTensor= 0.0 10.0 0.0 [ m ]
0.0 0.0 1.0

(2)

= X
=0.707[rad]
=0.0[rad/s]
(3)
66

Z G=9.81[m/s ]
(4)

z
y

- 0.1 0.0
= 0.0
0.1 [m]

0.0
0.1
0.0 - 0.7

=0.05[m]
=0.5[m]
=0.05[m]

4.3
SIMPACK

4.4
SIMPACK SIMPACK
6 4
Model Setup/3D-Animation 4.2 SIMPACK 3D

4.2 SIMPACK 3D

67

4.3 SIMPACK

SIMPACK EchoArea 4.3 SIMPACK

4.5

4.4

4.4 MBS

MBS
$B_Isys Modify 4.5

68

4.5

4.5
Type
Cancel Markers
3D-Geometry Show The Reference Frame 3D OK

4.6
SIMPACK Undo

File Reload

4.7
SIMPACK

l
l
3D Elements Bodies
69

4.6 $B_Body1

4.6

$B_Body1$B_Body1 ModifyMBS
5.7

4.7

4.7 MBS

OK

70

4.8

0 6
(1) Elements
(2)$J_Body1 Modify$B_Body1MBS
4.8

4.8 MBS

From Marker i
To Marker j SIMPACK SIMPACK

From Marker i 4.9

71


4.9 MBS (1)

To Marker j 4.10

4.10 MBS (2)

(1)$M_Isys SIMPACK
(2)$M_Body1 Marker j OK SIMPACK 1

(3) Joint Type

GeneralFree Motion
RevoluteJointAl X Alpha
4.11

4.11

72

(4) OK MBS 4.12

4.13
3D 3D
OK 3D

4.12 MBS

4.13

4.13

OK MBS Define Joint 4.14

4.14 MBS

73

4.9 G
G G
SIMPACK Z
G GlobalsGravity
G 4.15 Z -9.81

4.15 G

4.10
SIMPACK SIMPACK
MBS

Marker i Marker j I

l
l MBS $S_Body1 Modify
4.16

4.16

Marker i $M_IsysMarker j $M_Body1

74

OK

4.11
SIMPACK Undo MBS

SIMPACK Save
As SIMPACK FILENAME.sys
MBS FILENAME.ani
SIMPACK
SIMPACK
File Save Save

4.12 3D
3D
3D
CAD Ensemble

SIMPACK

$B_Isys 3D
GeometrySIMPACK 3D 4.17

75

4.17 3D

4.18

New$P_Axle
OKSIMPACK 4.18 Type 4.19

76

4.19
4.19 Cylinder OK

= 0.05 [m]
= 0.2
[m]
=8
=1

Z 90 =Gamma=+90
4.20

4.20

OK 3D OK

77

4.13

3D
$B_Body1 3D Geometry3D $E_Body1
$P_Body1
Rename
$P_Hand
Modify

0.05 4
4
1 x=-0.1 y=0.0
2 x=0.0 y=-0.1
3 x=0.1 y=0.0
4 x=0.0 y=0.7

y -90 beta=-90
z +90 gamma=-90
OK MBS OK 4.21

4.21

78

4.14
3D
3D

l 3D View View Setup

4.22
l (Standard Views)
l //

3D

SIMPACK View Setup

Ctrl

Refit 3D Scene
MBS SIMPACK

4.22

4.15 /
SIMPACK SIMPACK

79

2 1
SIMPACK

SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK

4.15.1

4.23

l
l
l
l
l

3D Calculations
Integration 4.23
No Yes
Go X
SIMPACK
Stop
OK

80

4.15.2
SIMPACK
CPU

SIMPACK

SIMPACK SIMPACK
SIMPACK 100 10s
0.1s
SIMPACK Calculation(TimeIntegration)
(Configure)
=0.0
=5.0
=101
4.24

4.24

SIMPACK SODASR SODASRT SIMPACK

81

SIMPACK
SettingsSOSASRT 4.25
OK Cancel
SAVE Exit

4.25

4.15.3
SIMPACK
SIMPACK

SIMPACK SIMPACK
Calculation(Time Integration)(Perform Time Integration)

SIMPACK

/output.cmo .czu.ide.intinfo .ist

.izu

Calculation(Time Integration)Stop

82

4.16
Ensemble

/output
CalculationPerform MeasurementsFull

4.17

l
l
l
l
Model Setup
AnimationTime History 4.26
Frame Number Frame Number
Communication Points 101
3D Model Setup
OK

4.26

83

4.18
SIMPACK SIMPACK

SIMPACK
SIMPACK

84

5
5.1
5.1

l 1
=4.0[]
=00-0.25[m]

10.0 0.0 0.0

I= 0.0 10.0 0.0

0.0 0.0 1.0

[ m ]

1
=00-0.7
[m]
l 2
=2.5[]
=00-0.5[m]

15.0 0.0 0.0

I= 0.0 15.0 0.0

0.0 0.0 1.0

= X
= 0.707
[rad]
= 0.0
[rad/s]
l 1 2

= X
= -0.2
[rad]
= 1.0
[rad/s]
5.1

5.2

85

[ m ]

l 1
1

z
y

0
- 0.1
= 0
0.1 [m]

0.0
0.1
0.0 - 0.7

= 0.05 [m]
l 2
2

y
z
x

= - 0.025 - 0.025 0.0 [m]

0.025
0.025 - 1.0

5.2

5.2
X

X
l 3D
l Double_Pendulum

5.3

l
l
l
l MBS Define Body Window $B_Body1 Markers
l New$M_Body1_1
l
l MBS

E_Matrix
Carden
33
3 PQR
86

E_Matrix
l Z=-0.7
Update 3D Scene
MBS
5.3

5.3

5.4

mass = 0.25
z = - 0.5
I xx = 15I xx = 15I xx = 1
5.4 MBS

MBS Bodies New Body2 OK$B_

SIMPACK SIMPACK
87

SIMPACK
l
l 3D
l 0
l
MBS 5.4
l 3D Geometry 3D
l $P_Body2_Cuboid
l Rename Rod
l Modify
l 5.5

x=0.05
y=0.05
z=1.0
5.5

Length In XLength In YLength In Z

X Y Z
Model Setup Window
Z Z=-0.5 5.6

5.6

l Back To Body Definition

l Marker New Body_2_1
l Modify 5.7 Built in Position
OK MBS
88

5.7 MBS

6.5
0
2 1 2 X

l Elements
l $J_Body2
l From Marker i
l $M_Body1_1 OK
l To Marker j$M_Body2 OK
l Revolute Joint Al OK
l
Position =-0.2
Velocity = 1.0
l 5.8 OK

89

5.8

90

SIMPACK MBS

SIMPACK
SIMPACK

6.1

SIMPACK
$B_Body2
$B_Body1
1$J_Body2 From Marker$B_Body1 SIMPACK
$B_Body1
2$J_Body2 From Marker i $M_Isys
$B_Body2
3Remove$B_Body1 Bodies
RemoveRemove MBS Element OK

4 3D Save As MBS Pendulum_Substructure

5 3D Reload MBS

6.2
Pendulum_Substructure
6.1
1Elements Substructure
2 NewSIMPACK

3 FileMBS Element Info List

4 Pendulum_Substructure MBS Name Body3

$S_SIMPACK 6.2
5 Load Substructure
B_Body2
6 MBS Elements Joints $J_S_Body3_J_Body2
91

From Marker i $M_Body2_1$B_Body2

6.1

6.2

$S_Body3 Remove SIMPACK

92

7
7.1
Hand

l Hand
$M_Body1_1
l
=(01.70.0);
l
:
l

L 0 =0.5 m

l
l

C=50 N/m
d=5 Ns/m

7.1

7.2

Double_Pendulum_Force
$B_Isys $M_I1$B_Hand $M_Body1_1

l $M_I1Modify$B_Isys New$M_I1
Y=1.7
l Elements Force Elements
Force1
l From Marker i MBS Force Element Box Marker$M_I1
l To Marker j$M_Body1_1
l Force Type
Tyres 7.2
Spring-Damper Parallel Ptp Spring-Damper OK 7.3
l

93

7.2

7.3

MBS Force Element 7.4 OK

94

7.4

7.3
SIMPACK 2 2D
2D 2D
2D

2D
2D
l PostprocessStatePlot 2D
l Joint.St.Pos(1)$J_Body1$J_Body1
7.5
l Joint.St.Vel Joint.St.Pos

2D
General Plot

95

7.5 2D

Perform Measurments CalculationPerform MeasurmentsFull

Postprocess General Plots

SIMPACK 2D
50 12 1

X Modify Y Modify X
Select MBS Element Joint.St.Pos(1)$J_Body1 OK
$J_Body1
2$J_Body2 Y
SIMPACK

7.6

7.6

96

X
Y Modify
MBSElement $F_Force1 Y 7.7

7.7

7.8

7.8 2D

Exit 2D
Yes No

97

7.4
0
0
Newton
l 0
l SIMPACK CalculationStatic Equilibrium
Configure and Perform For t=t0
7.9

7.9

l
l
l

Perform SIMPACK
OK
Save SIMPACK
Exit
MBS Model Reload

98

7.5

l
l

l $J_Body1=1.0
l $J_Body2=-1.0
l 0
l
7.10

7.10

l
l
l
l

SIMPACK
New
Selection of Force Parameters

$F_Force1

OK 7.11

99

7.11

l
l

OK
PerformSIMPACK 7.12

7.12

OK Save
Exit

7.6
SIMPACK

l X_1
l X_1
l Run1 X_End
l Run2 X_End
l T=T_0 T=T_End X_II 1 N
100

l
l
l

7.13
Perform
Exit

7.13

7.7
SIMPACK 3D
l 3D AnimationSIMPACK
l Play ButtonSIMPACK

l Stop

7.9 BumpStop
Bump Stop
2 $B_Body2

SIMPACK

7.9.1 BumpStop
Bump Stop

101

7.14 MBS Force Elements

l Double_Pendulum_Bumpstop

l MBS Force Elements Force_Element_Bump

l ContactUnilateral Spring-Damper Cmp
l $M_Isys From Marker i
l $M_Body2_1 To Marker j
l 2 -1000 000
l OK MBS Force Element Window

7.9.2
BumpStop
SIMPACK
l SIMPACK SIMPACK
l SODASRT Intgration Method Settings
SODASRT Root Functions SIMPACK Locate State
Events Locate State Events RootsSIMPACK

7.15

102

7.15 -SODASRT

l
l

OK 25 1000
SIMPACK SIMPACK
SIMPACK SIMPACK
SIMPACK
Bump Stop 7.16

7.16 BumpStop

103

8.1
1Slider_Crank
2 3D
3
$J_Body1 State=-0.2 =0.2$J_Body2 State=0.4 =0.0
C=50 N/m

8.2
SIMPACK
SIMPACK SIMPACK

8.1

l Elements
l $L_Loop
SIMPACK Marker i Marker j
0
104

l
l
l
l
l

$M_I1 Marker i
$M_Body2_1 Marker j

User Defined Constraint OK

(Lock Transl.In z of M_K) SIMPACK Locked
8.1

8.3

SIMPACK

SIMPACK

l Assemble System
SIMPACK 3D SIMPACK
SIMPACK
SIMPACK
l Joint.St.Pos(1)$J_Body1()Joint.St.Pos(1)$J_Body2
l 8.2

8.2

l
l
l

OK
SIMPACK
OK
105

1
$J_Body2 2

8.4

$J_Body1
l
l $J_Body1
State=-0.2 =0.2
l $J_Body2 $J_Body1

8.4.1

l 3D Define
Interactions 8.3 6
Interaction 1
l SIMPACK MBS
2
l $J_Body1 Parameter Id=1Initial
Time=-0.2Increament=0.15
l Apply OK
l

106

8.3

8.4.2
3D_MODEL Calculation
Joint_State Body1
$J_Body1 8.4 OK

8.4

107

8.5

Body1
0 SIMPACK
0

$J_Body1 OK 8.5

8.5

8.5.1
Configure
SIMPACK Calculation

initial time= 0.0

end time= 100
=200
SIMPACK

l
l
l

First Positions then Velocities 8.6

Save Exit

108

8.6

8.5.2

l CalculationInverse Kinematics
PerformSIMPACK SIMPACK
l Calculations
Stop
SIMPACK Time History
General Plots
Calculation
SIMPACK SIMPACK
MBS SIMPACK
SIMPACK
SIMPACK SIMPACK

109

SIMPACK

SIMPACK NVH

9.1
SIMPACK
Marker
300
Y

9.1

9.2
1 SIMPACK $B_Body1 M=1[Kg]
Iyy=1[Kgm2]Center of Mass 9.2

110

9.2

2 9.3 $M_Body1_Force

9.3

3 9.4

9.4

111

4 Type06 Z 9.5

9.5

5 9.6 05$F_Act C=1000[N/m]

D10[Ns/m]$M_Isys $M_Body1_Force Generate/Update 3D Geometry
3d-Type Scaled Spring Point to Point 0.2 m 5 windings

9.6 3D

6 Global Linearisation State MBS-Model

Nominal Forces All Possible Forces

9.7

112

9.7

7 9.8

9.8

Marker Inertia System

Definition Marker $M_Isys_Moved R_Buld In=(000) 95
u(1) u(2) Marker
$F_Act From Marker $M_Isys_Moved 9.9

113

9.9

8 u $T_Excitation
u Marker 06 Lin.Stoch.by Polynomial
P_Excitation 9.10

9.10

9.11

114

9.11

10 Y

Y $Y_Output Zg(1$J_Body1)

9.12

9.12

Z
Z Output/Input
MBS Setup Calculation Linear System
Analysis

9.3
Bode PlotsSIMPACK

9.13
115

$Y_Output/1_$P_Excitation

9.13

9.4
1

SIMPACK

116

10

SIMPACK

10.1

1 Z Menu Global/Gravity
Wheel/Rail Perspective View 10.1

10.1

10.2 10.2

117

10.2

10.3

10.3
3$B_Body1 $B_WS1 1 10.4
3D Geometry$P_WS1_Cuboid $P_WS1_Axle

118

10.4 WS1 3D

4 3D GeometryDiameter0.18mLength2.00m
5 10.5 Joint 07 No.of DOF6
Generate/Update Wheel-Rail Elements of Joint

10.5 WS1

5 10.6 OK

119

10.6

MBS

10.7

10.7

6 3~7 WS23D
WS1 WS2 10.8

120

10.8 WS2 3D

7 WS1 WS2 10.9

10.9

8 3D 10.10

121

10.10

9 10.11

10.11

10 4
5 10.12
$F_PRIM_FR$F_PRIM_FL$F_PRIM_BR$F_PRIM_BL

122

0 10.13

10.12

10.13 0

11 10.14

123

10.14

10.15

SIMPACK

SIMPACK

124

10.2
10.2.1
/
SIMPACK 2D /
3D
SIMPACK 3D

10.2.2

10.16 NTXTY
QY

10.16

10.2.3
SIMPACK

1 TXTY N
SIMPACK 3D Ensemble Ensemble
Ensembel

125

XYZ
Primitive

1
2
$M_Isys $M_WS1_Contact_Right 10.17

10.17

3Ensemble 3D Geometry
10.18
Ensemble

10.18 3D

126

10.19
AlphaBetaGamma

10.19 3

TxAllAngles=0
TyGamma=90AlphaAndBeta=0
NBeta=90AlphaAndGamma=0
Scaling 10.20~10.23

10.20

127

10.21 X

10.22 Y

10.23 Z

128

10.24

4XY Z Applied Force Output Values

$F_RW_Friction__Of_MBS Tx 5Ty 6N
7
5 10.24
SIMPACK

2 Y Q
Y Q

92Rotation With State 10.25

129

10.25 3D

Y-Axis

YGamma=90Alpha and Beta=0

QBeta=90Alpha and Gamma=0

YQTxTyN
S-Curve

10.3

10.26~10.31

130

10.26

10.27

131

10.28

10.29 Y

132

10.30 Q

10.31

133

11
11.1
11.1

ev

Force

Velocity

ev
11.1

11.2

SIMPACK ev
11.1 100 101
18 Root Function

11.2
11.2.1
11.2 SIMPACK
Z
134

11.2.2
1 SIMPACK .
2 11.3

11.3

3 Body1 Brick 3D 11.4

135

11.4 Brick 3D

4 11.5 Brick

11.5 Brick

5 11.6 18
136

11.6

6 11.7
Friction 100 Non linear Friction Cmp

SIMPACK 100

4
5
F_Ground 3D
F_Z Given In M_I
[N]
Ev
0.01~0.001m/s

137

11.7 $F_Friction

11.2.3
11.8

11.8

138

12 Mcpherson

Mcpherson

Equilibrium Calculations
Eigenvalue Calculations

12.1
1
SIMPACK
SIMPACK

2
1 Mcpherson
SIMPACK
12.2

12.1 Mcpherson

139

12.2 Mcpherson

2 Chassis

12.3 Chassis

12.4 12.1

140

12.4
12.1 Chassis

$M_Chassis
$M_Chassis_Arm_Front
$M_Chassis_Arm_Rear
$M_Chassis_Steering_Rod

0.000
0.120
-0.160
0.100

0.000
0.420
0.420
0.370

0.000
-0.120
-0.120
-0.070

$M_Chassis_Damper

0.000

0.590

0.440

3 3D 3D Geometry3D
12.5

141

12.5 3D

4 Chassis
12.6
$M_Chassis $M_Isys 0

12.6 Chassis

5 Arm 5kg
12.2
142


12.2 Arm

$M_Arm
$M_Arm_Chassis_Arm_Front
$M_Arm_Chassis_Arm_Rear

0.000
0.120
-0.160

0.000
0.420
0.420

0.000
-0.120
-0.120

$M_Arm_Wheel_Plate

0.100

0.370

-0.070

6 Arm 3D 3D Geometry
Arm1Arm2 Arm3Point_to_Point-PrimitiveArm1
12.7 Arm2 $M_Arm_Chassis_Arm_Rear $M_Arm_Wheel_Plate
Arm3 $M_Arm_Chassis_Arm_Front $M_Arm_Wheel_Plate

12.7 Arm

12.8

12.8 Arm

7 SIMPACK Arm
143

Type01 12.9

12.9 Arm

8 Wheel_Plate 5kg
12.3
12.3 Wheel_Plate

$M_Wheel_Plate
$M_Wheel_Plate_Arm
$M_Wheel_Plate_Steering_Rod
$M_Wheel_Plate_Wheel
$M_Wheel_Plate_0

0.000
0.000
0.090
0.100
0.000

0.000
0.720
0.730
0.800
0.720

0.000
-0.120
-0.080
0.000
0.000

$M_Wheel_Plate_Damper

0.000

0.630

0.000

9 Wheel_Plate Arm1Arm2 Arm3

Point_To_Point-Primitive 12.10

144

12.10 Wheel_Plate

10 Type10$M_Arm_Wheel_Plate $M_Wheel_Plate_Arm
11 Wheel 10kg
3D Cylinder
0.6m 0.2m
12 Type02$M_Wheel_Plate_Wheel $M_Wheel

12.11 Wheel

13 Steering_Rod
12.4

145


12.4 Steering_Rod

$M_Steering_Rod
$M_Steering_Rod_Chassis

0.000
0.1000

0.000
0.370

0.000
-0.07

$M_Steering_Rod_Wheel_Plate

0.090

0.730

-0.080

3D Point_To_Point-Primitive 12.12
$M_Wheel_Plate_Steering_Rod $M_Steering_Rod_Chassis
Type25 $M_Wheel_Plate_Steering_Rod
$M_Steering_Rod_Wheel_Plate
Chassis

12.12 Steering_Rod

14
Steering 12.13

146

12.13 Steering

15
Damper_Lower 12.5
12.5 Damper_Lower

$M_Damper_Lower
$M_Damper_Lower_Wheel_Plate
$M_Damper_Lower_Upper

0.000
0.000
0.000

0.000
0.630
0.590

0.000
0.000
0.440

$M_Damper_Lower_Spring

0.000

0.605

0.300

3D Point_to_Point-Primitive
$M_Damper_Lower_Wheel_Plate $M_Damper_Upper_Upper Damper_Upper
0 $M_Wheel_Plate_Damper
$M_Damper_Lower_Wheel_Plate_Damper
17Damper_Upper 12.6

12.6 Damper_Upper

$M_Damper_Upper
$M_Damper_Upper_Lower

0.000
0.000

0.000
0.605

0.000
0.300

$M_Damper_Upper_Upper

0.000

0.590

0.440

3D Point_to_Point-Primitive
$M_Damper_Upper_Lower $M_Damper_Upper_Upper
18

147

19
12.14~12.15

12.14 -A

12.15 -B

3
1

12.16

2 Calculation/
Time Intergration/ Configure 5s

148

Time Intergration+Measurements

12.16
3

12.2
SIMPACK MCPherson
MCPherson SIMPACK

SIMPACK
SIMAPCK

149

13
13.1

SIMPACK
MATLAB/Simulink

13.2
13.2.1
SIMPACK SIMPACK
14.1 SIMPACK

Disturbance

Control Set Values

Z
x_d

Filter

x
SIMPACK

Controller

Actuator

Sensor

MBS System

SIMPACK

13.1 SIMPACK

13.2.2
SIMPACK

13.2
150

Disturbances
Sensor
A/D
Filter
Control Set ValuesActuator
Control Elements
SIMPACK

MBS

13.2 SIMPACK

13.2.3
SIMPACK Type156-169
Type180~181
Type150 Type170~171
Type127~155 Type110~124

SIMPACK

13.3

151

13.3

(1)
160 13.4

13.4

13.4

160

152

165 13.5 160

SIMIPACK 159 164

13.5 165

(2)
143 /
140
/ 3
6
13.6

153

13.6

3
110

13.3
1/4
13.7

13.7
154

13.4
MBS 13.8

13.8

13.5

1FileOpen ModelNew
Quarter_Car
Axle
13.8 a Axle
3D 2 $M_Axle_Tyre00-0.1$M_Axle_Chasis0
00.1 06 Z Z
0.5m 13.9

155

13.9

2 Chassis3D
1 $M_Chasis_Axle00-0.1 6 Z
Z 0.7 m 13.10

13.10

3 Elements/TimeExcitations/New
Sinus Type 01 s(t)sd(t)sdd(t)
u_1u_2u_3 0.1 12 13.11

156

13.11

SIMPACK
Elements/ReferenceFrames$B_Isys
Excitation Type 95 1
Z 2 4 U_1U_2U_3Ok

4 Spring Tyre 04 13.7

13.12 From
Marker i/ToMarker j

157

13.12

5
+1 -1
1 ElementsInput Functions New
Damper_Low()(-0.5-10)(00)(0.550)
13.13 Damper_High()
(-0.5-50)(00)(0.5250) 13.14

13.13

158

13.14

2 ElementsInput Functions Control_Signal 4

(01)(5.01)(5.010)(100) 13.15

13.15

1 ElementsControl Elements Sensor 165

13.16

159

13.16

(2 Filter1 Damper_Force_Low 143 Y=Fcn(Cf*W) 13.6

Y=Fcn(Cf*W) W Cf
1 Y=Fcn(Cf*W)
13.18 13.19

13.17 Filter1

160

13.18 1 $F_Damper_Force_Low

13.19 143

(3/ Damper_Force_High
13.20 13.21

161

13.20 1 $F_Damper_Force_High

13.21 143

4 Set Value 171 Control_Signal

13.22

162

13.22

5 Control1 High_Or_Low 143 Y=Comparator

13.23 1 2
1 1 0 5.01s 2 0
13.23 13.24

13.23

163

13.24 143

6 123
L=1P=100 13.25

13.25

13.26

164

1.)S ens orvelocity

165:

2.) F ilter1:damper_force_low
damper_force_high
143:

3.) S etVal:control_s ignal

171: control_s ignal (0 1)

4.) Control1:high_or_low
143:

5.) Actuator:damper
123: P tP

13.26

14.6

1 SIMPACK PreprocessInitialize Spring Lengths

2 SIMPACK CalculationNominal Forces Parameters

Selection of Force Parameters Init.With All Possible ForcesOK
PerformOKSaveOKExit 13.27 13.28
3 SIMPACK 10s
501 13.29 13.30
4 CalculationTime IntegrationPerform Time Int.+Full Measurements 13.31

13.32 AnimationTime History

165

13.27

13.28

166

13.29

13.30

167

13.31

13.32

0.01m/s2
0.01m/s2

3D

168

169

[1] . ADAMS .
2005.
[2] ...2004.
[3] OskarWallrapp.Flexible multibody dynamics with space flight applications using simpack. Munich
University.German.2006.
[4] M. Arnold: Simulation Algorithms in Vehicle System Dynamics.Luther-University Halle, Department
of Mathematics and Computer Science. Technical Report (27).2004.
[5] Tobias Larsson.Multibody Dynamic Simulation in Product Development. Lulea University of
TechnologyLulea Sweden.2001
[6] ..CADCAM .20043
[7] ..1989.
[8] ..1996.
[9] ..1996.
[10] ..1999.
[11] RL.(). .1987.
[12] RL.(). .1991.
[13] W.Koentum.. .
.IAVSD.1993.
[14] ...
.2006.
[15] J.H.. .
2005.1
[16] . SIMPACK .2006(7.

170