ADAMS/Solver

Subroutines
Shubhakant Swain
CSM Software
 Adams/solver subroutines
• Subroutine can be written in C or Fortran.
• Intel Fortran and Microsoft Visual Studio are required
• Version
– Adams_2017_2 cr-u n
• Linking of compilers
– Ifort
– Cl
 When to use and not to use
subroutines
• Override the standard functionality in ADAMS/Solver
• Implement complex logic
• Incorporating new code
• Interact with other software or complex data files.

• Discontinuous /or non smooth function- create trouble

for numerical integration
• Challenging to debug
• Adams/ solver function expressions will generally run
faster than a subroutine equivalent.
• Platform dependent.
 Contents
• Setup
• Subroutine structure
• Utility subroutine
 Setup: Compiling and Linking
• Must have the shell environment configured properly
– Intel 64 VS 2015 Environment
• Compiling
– Adams2017_2 cr-u n sfosub1.f sfosub2.f –n mylib.dll
• Linking
– “C:\Program Files
(x86)\IntelSWTools\compilers_and_libraries_2017.1.143\
windows\bin\ifortvars.bat” intel64
 Structure: Elements to Override
• Adams/Help
 Example 1: SFOSUB
• Simple example writes
message containing SFORCE
ID
– Data type
– Subroutine USRMES is used for
messaging
– The sfosub is called many
times during execution
– SUBROUTINE SFOSUB1 ( ID, TIME, PAR,
NPAR, DFLAG, IFLAG, VALUE )
– PARA()
– NPARA
 Example2
• Modified to use input from the PAR() array
– Should check the number of inputs via NPAR.
 Utility Subroutines
• Utility subroutine are
provided for common tasks
as:
– Querying system states
– Mathematics message
– Interfacing files input/output
 Utilities: Querying system states
• Adams/solver provides two utilities that return model states(disp, vel, f,
ect.) at the current simulation time:
– SYSFNC()-return single system state
– SYSARY()-return an array of system states

– DX,DY,DZ,DM
– VX,VY,VZ,VR
– FX,FY,FZ,FM
– BUSH,DIF,BEAM
Example: to determine the velocity of marker 33 w.r.t marker 42 in marker 42’s
coordinate reference
IPAR(1)=33
IPAR(2)=42
IPAR(3)=42
NSIZE=3
Call SYSFNC(‘vy’, IPAR, NSIZE, VEL_Y, ERRFLG)
 Utilities: Mathematics
• ADAMS/Solver function expression can be invoked in
subroutine
– STEP(),STEP5()
– IMPACT(),BISTOP()
• Example
– CALL STEP5(x,x0,h0,x1,iord,value,errflg)
– Iord
• 0->
• 1-> 1st time derivative
• 2->2nd time derivative
– Value: return
– Errflg : error flag
 Example 3 SFOSUB with Utilities
• Sforce implements an IMPACT() function
– Inputs for PAR()
– SYSFNC call
– Return force value
• Example demonstration
 Cautions: General
• Include comments in your source code for future
reference
• Produce smooth output
• Extra cautious regarding divide by zero and other
runtime error
• IMPLICIT NONE for Fortran code. Error are found
during compilation.
• IORD
• IF(),MOD() are discontinuous
• Try avoiding flags