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SIMPACK Basics Training 1

SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany Page 2

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SIMPACK AG

Overview of SIMPACK Trainings

What is SIMPACK?

SIMPACK Application Areas

SIMPACK Products

SIMPACK Interfaces

SIMPACK MBS Elements

SIMPACK MBS Equations of Motion

SIMPACK Solver Options

SIMPACK Numerics

SIMPACK Data Flow

SIMPACK Graphical User Interface (GUI)

SIMPACK Documentation

SIMPACK Model Setup Process

Exercise

>> Model Setup Double Pendulum

Preprocessing: Bodies

Preprocessing: Joints

Preprocessing: Sensors

Solver: Test Call

Solver: Time Integration

Postprocessing: 3D Animation

Postprocessing: 2D Plot

>> Model Setup Two Mass Oscillator

Preprocessing: Force Elements

Preprocessing: Excitations

Solver: Static Equilibrium

Solver: Preload

Solver: Natural Frequencies

Postprocessing : Mode Shape 3D Animation and 2D Plot

(Pre, Solver, Post: Linear System Analysis)

Contents

Theory

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Activities

SIMPACK Software Development (Multi

Body System Dynamics)

Software Sales

Software Training

SIMPACK Academy

Hotline, User Meetings, SIMPACK News

Engineering & Consulting Business (On-

Site, Off-Site and Hosting):

Complete Projects

Setting up Models, Real Time

Models, User Routines, Concept

Computations

etc.

Theory SIMPACK AG



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C -----------------------------------------------------C task = 0 : I/O-ValuesC -----------------------------------------------------C ParametersC ----------C Name '123456789012345678901234567890'

par_str( 1) = 'Stiffness ' par_str( 2) = 'Damping ' par_str( 3) = 'Reference Marker '

Basics Training

Flex Modal (Flexible Bodies)

SIMULINK Interfaces

NVH (Noise Vibration Harshness)

Drivetrain

Engine

Automotive

Rail

Contact Mechanics

User Routines

Code Export

Theory Overview of SIMPACK Trainings

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- General 3D MBS Model Set-up

- Powerful Time and Frequency Domain Solver

Accurate, Fast, Stable and Reliable

- 2D-Plot and 3D-Visualisation

- Optimised Application Specific

Modelling Elements and Analysis Methods

- Optimum Connectivity to Matlab/Simulink

- Parameterised Code Export

- Performant and Accurate Integration of

Flexible Bodies

- Dynamic Load Data Export

- Open User Element Interface

SIMPACK = General Multi Purpose MBS System

Theory What is SIMPACK ?



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SIMPACK

Theory SIMPACK Application Areas

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Basic Module

- Kinematics & Dynamics: Pre, Post, Solver

Application Specific Add On Modules

- Engine (Cranktrain, Valvetrain, Timing)

- Automotive (Basic, Tires, Realtime, …)

- Rail (Basic, Rail Switches, …)

General Add On Modules

- NVH

- CAD Interfaces

- FEM Interfaces

- Durability Interfaces

- Matlab/Simulink Interfaces

- Code Export

- User Routines

- Parametervariation (= Virtual Testing Lab, VTL)

- IPC

- and more

Theory SIMPACK Products



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CATIA

DSHplus

Theory

PERMAS

MSC.NASTRAN

NEi NASTRAN NX NASTRAN

SIMPACK Interfaces

http://www.dspace.de/ww/en/pub/home.htm

http://www.mathworks.com/cmsimages/xp_mainpage_wl_3110.jpg

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Body: Rigid

Elastic beams (SIMBEAM)

Arbitrarily shaped elastic bodies (FEM-Interface)

Joints/Constraints:

Standard: Revolute (1-3 DOF)

Prismatic (1-3 DOF)

User defined (1-6 DOF)

Excitation joints (motion dependent on time)

Application Specific: Vehicle track joint

Chain link path joint

Virtual suspension joint

Cardan joint

Constant velocity joint

Screw joint

Gear box constraints (e.g. differential gear,

planet gear, ...)

And more

Reference System: Inertial fixed

Moved

Theory SIMPACK Basic MBS Elements (1) - Library



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Force Elements

Standard: Spring (linear/nonlinear)

Damper (linear/nonlinear)

User defined force law

(by expression)

Excitation forces (force/torque

dependent on time)

Application Specific: Single sided contact

Non-linear friction

Stick-slip elements

Tire models

Chain forces

Gearwheel forces

Hydraulic lash adjuster

Dynamic valve spring contact

Elastic gear box

Hydraulic bearing

Hysteresis effects

Frequency dependent bushing

Generic forces by measured

transfer function

point to point (ptp)

components (cmp)

Theory SIMPACK Basic MBS Elements (2) - Library

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Signal Manipulators PIDT1 controller combinations

General signal manipulation

Manoeuvre controller ('non-linear

transfer function')

Application specific controllers (e.g.

automotive driver controller)

Actuators Force/torque actuator

Motion actuators

Sensors

Kinematic measurements

Excitations

Signal generation in

order to excite the MBS

Theory

Control Elements

Disturbances Deterministic

Stochastic

Sensors Kinematic measurements

MBS states

Time excitations (u-input)

Signal Converters A/D

D/A

SIMPACK Basic MBS Elements (3) - Library



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Kinematics

Describes the motion of the

system with respect to the

kinematic joints and constraints

Describes the motion of the

system due to applied forces

Theory MBS Kinematics and Dynamics

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Absolute Coordinates (= SIMPACK optional)

Rigid body motion,

described with respect

to the inertial frame:

Always max. dimension of

equations of motion (each

body always requires 6

MBS states)

Large absolute values in

MBS body position

describing states

Position Velocity Acceleration

Positions r x y z ( , , )

r

r

Orientations A ( , , ) a b g

IFr2(x,y,z); IFA2(a,b,g)



1

2

3

inertial frame

A

A

Theory SIMPACK MBS Equations: Relative Coordinates (1)



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Relative Coordinates (= SIMPACK Default)

IFr1 (a1); IFA1(a1)

Position Velocity Acceleration

position r x y z ( , , )

r

r

orientation A ( , , ) a b g

1r2 (a2); 1A2(a2)

2r3 (a3); 2A3(a3)

1 2

3

a1 a2 a3

Positions r (a1, a2 ,a3)

inertial frame

Orientations

A

A A ( , , ) a1 a2 a3

Rigid Body motion

description by vector chain:

(i.e.: only rotational Joints)

Kin. tree structure

Separation of Joints (= tree

structure defining joints)

and Constraints (= loop

closing Joints) in

SIMPACK.

Equations of motion with

minimal coordinates

Small absolute values in

MBS body position

describing states

Theory SIMPACK MBS Equations: Relative Coordinates (2)

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Test Call

Kinematics

Equilibrium

Static Equilibrium

Driven Equilibrium

Preload

Time Integration

Measurements

Eigenvalues

Linear System Matrices

Co-Simulation

Solver Modes Available in SIMPACK

Theory SIMPACK Solver Options



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SODASRT_2 Solver (SIMPACK Default)

SIMPACK-own, optimized numerics

(Adaption of DASSL)

Root Function handling (Integrated into

respective elements)

Index2 stabilization (Constraint

equations solved on position and

velocity level)

Each state coordinate with individual

tolerances

Fast, Accurate, Robust, Reliable

No artificial numerical damping !

Theory SIMPACK Numerics

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SIMPACK Documentation is available via:

SIMPACK menu bar

F1-button in SIMPACK

Features:

Navigation tree

Index

Bookmarks

Sophisticated text search

Tutorials

Example models

Theory SIMPACK Documentation



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Model Setup in SIMPACK

Bodies Joints Force Elements Constraints Excitations Sensors ...

Mass,

Center of

Gravity,

I-Tensor,

Marker,

3D-Primitive

From Marker,

To Marker,

Type

From Marker,

To Marker,

Type

From Marker,

To Marker,

Type

Type,

Parameter,

u-Vectors

From

Marker,

To Marker,

Type

Draw Topology

Separate into Bodies, Joints, Force Elements, ...

FEM CAD ...

External Data

Real System

Theory SIMPACK Model Setup Process

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1. Divide your mechanism into Bodies, Joints, Constraints, Force Elements

2. Picture topology

3. For the Body specify the following:

Mass

Center of Gravity

Inertia

Markers

Primitives (3D-geometry)

4. For the Joint specify the following:

From Marker

To Marker

Joint Type

5. (Constraints)

6. (Force Elements)

Theory Steps in Setting up a Model in SIMPACK



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Single Pendulum

Double Pendulum

One Mass Oscillator

Two Mass Oscillator

Exercise Exercises

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Pre-Processing Processing Post-Processing

Body Definition Online Time Integration 3D Animation

Joint Definition Test Call

Theory Model Setup Single Pendulum Overview



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Mass and Center of Gravity

Moments of Inertia

Markers

Primitives (3D Geometry)

From Marker

BRF

To

Marker (0,3)

All Body properties are described in a local

coordinate system

= Body Reference Frame (BRF)

Theory Model Setup Single Pendulum - Bodies

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BRF

To Marker

(0,3)

From Marker

Theory

Joints act between two Markers

Joint states are measured with respect to the ‘From Marker’

Joint type (0 - 6 DOF)

Initial States

Each Body must have

one, and only one, Joint!

Model Setup Single Pendulum - Joints



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Theory

Create Bar appears by right mouse

click in the 3D Page.

SIMPACK GUI Main Window

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Create a new model:

Select one of the available

templates

Theory

Your

SIMPACK

GUI can look

like that:

SIMPACK GUI Model Setup – Creating a new Model



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Theory

Another option is to

open an already

existing model.

SIMPACK GUI Model Setup – Open an Existing Model

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Model Tree

Shows all Elements

used in your Model

Contains Model

specific settings

SIMPACK Model

in the 3D Page

Interactive model set up by

using the various SIMPACK

library elements

3D-Window control by

mouse buttons while

pressing the ‘CTRL’ key

3D-window settings by

clicking with the right mouse

button in the 3D-window area

Message Log

Information about current

SIMPACK processes

Warnings and Error Messages:

Always check the first error or

warning message in order to

solve a problem !

Theory

3D-view control (zoom,

translation, rotation) with

3 mouse buttons while pressing

the ‘Ctrl’ key

or via space mouse

click with right mouse

button to set up views

and 3D properties

SIMPACK GUI Model Setup – 3D Page I



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Theory

Further basic functions:

• Undo / Redo

Multi-edit Elements by multi-selecting

them either in the 3D Page or in the Model

Tree (hold ”Ctrl” while selecting)

Multiple Bodies or other Elements

can be modified simultaneously

SIMPACK GUI Model Setup – 3D Page II

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Theory

The topology of the 2D

Page corresponds to the

built up model.

It can give you a clearer

overview about elements

and connections.

Switch between 3D and

2D Page at the bottom of

the main window of the

SIMPACK GUI.

Access 2D Properties

with right click on the 2D

Window:

Enable/disable

visibility of Elements

Show grid

SIMPACK GUI Model Setup – 2D Page



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Create a new model, change the

background color, try to control the 3D

view (translate, rotate, zoom)

Set up the single pendulum in SIMPACK

Perform Online Test Call

Perform Online Time Integration

Change initial Joint State position

Review position and orientation of BRF!

Exercise SIMPACK Program Exercise

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Y X

Characteristics

Sphere: Rod:

Radius = 0.2 m Diameter = 0.1 m

Length = 0.8 m

Mass = 5 kg

Ixx = 0.08 kg*m^2 (with respect to center of gravity)

Iyy = 0.08 kg*m^2 (with respect to center of gravity)

Izz = 0.08 kg*m^2 (with respect to center of gravity)

Revolute Joint

c.g.

Joint

Body 1

a

0.8m

Marker on Reference Frame

Theory SIMPACK Program Exercise – Model Data



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Theory

To check your model prior to performing

any calculations/ solver tasks use the Test

Call

Online: Quick view of the results of the Test Call

online on your screen

Offline: Creates an additional ASCII result file

(*.tes) with the results

Model Setup Single Pendulum – Test Call

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View Setup: 3D Properties and View Properties

Theory

Right mouse click in the 3D Page:

In the navigation bar:

Model Setup Single Pendulum – 3D View



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Each Body in the MBS model

has its own BRF

The BRF is always located at

(0,0,0) by definition and cannot

be deleted

All Marker coordinates are given

with respect to the BRF

(except Markers specified

relative to a Reference Marker)

Even if the BRF is an ordinary

marker, it is not recommended to

use it for modelling purposes. In

order to keep a clear model

structure it is better to create a new

Marker at (0,0,0) and assign an

appropriate name to it.

P1

P2

Theory

Body Reference Frame (BRF)

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Open the model

12_body_positioning_marker and change

the position of the Joint From Marker.

Open the model

13_body_positioning_joint and modify the

Joint State.

Open the model

14_body_positioning_body_on_body.

Mass_2 is connected to Mass_1. See how it

moves with Mass_1.

Open the model

15_body_positioning_wall. Reconnect the

Bodies to the wall. Have a look at what is on

the rear side of the wall.




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The position of a Body in space is

given by its relation to the inertia

system (Isys) or another Body

Example: Body1 is fixed to the

inertia system with its BRF at P1.

Body2 is rotating around P3 on Body1.

The position of a Body in space results from the joint definition of this body (= assignment of joint coupling markers).

Isys

Theory Position of a Body in Space

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Graphical elements (3D Primitives) are

visualization elements without any physical meaning (except functional Primitives such as gearwheels) to the

MBS system. The position of any 3D Primitive on a

body is given with respect to a Marker located on the Body (default is the BRF).

P1 belongs to Body1, even if no 3D graphic is visible at its location. The cuboid is defined with respect to BRF with primitive built in coordinates of P2.

Isys

center

center

center

sphereP2

z

y

x

r

center

center

center

cuboidBFRF

z

y

x

r

P2

BFRF

P1

The center of the sphere is defined with respect to P2 with additional primitive built in coordinates. Therefore no Marker is needed in its center.

Theory Position of 3D Primitives (1)

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Changing the built-in

positions of 3D primitives will not change the position of the body in space!

Even if the shape of the body has changed, all marker positions will stay at the same location. The body did not move at all.

Isys

center

center

center

sphereP2

z

y

x

r

center

center

center

cuboidBFRF

z

y

x

rP2

BFRF

P1

Theory Position of 3D Primitives (2)

BRF

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Joint Definition Test Call State Plots

Copy & Paste Offline Time Integration PostProcessor

Measurements

Theory Model Setup Double Pendulum Overview



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The integrator solves the

equations of motion

resulting in Joint states and

their first derivatives:

The time integration results are

saved in the output path in the

file <modelname>.sir

(SIMPACK Intermediate

Results) and can be viewed in

the PostProcessor.

a1

a2

Theory Time Integration

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Theory Solver Settings: Access from Model Tree

Every model has ist’s own Solver Settings

Different Solver Settings can be generated For the calculations only the activated Solver

Settings are considered



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Theory Solver Settings: Result File and Parallel Solver

The path definition for model’s

simulation results as well as the basename for the result files can be defined under Result file.

The number of threads to be

dedicated to the defined solver task can be given under Parallel Solver. Increasing the number of

threads generally implies shorter solving times, especially for

complex models.

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Theory Solver Settings: Time Integration Configuration

The integration time as well as the

solving method and tolerances can be given under Time Integration.



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The result data that is written out to an

.sbr file can be configured from the SIMPACK SolverSettings.

There are two tabs:

General

Result Configuration

Theory Solver Settings: Measurements configuration

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Sensors are used to obtain measurement

data between two Markers. The data is

calculated with “Full Measurements”.

Rerunning an integration is not necessary

for newly defined Sensors.

Theory Sensors



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Performing Measurements

after the Time Integration

provides positions, velocities

and accelerations of all

Sensors as well as forces in

Joints and Force Elements

and all specific outputs

defined by the user.

Theory Time Integration with Measurements

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Time

Sensors: translational position measurements

Sensors: translational velocity measurements

Sensors: translational acceleration measurements

Sensors: rotational position measurements

Sensors: rotational velocity measurements

Sensors: rotational acceleration measurements

Force Elements: applied forces on From Marker

Force Elements: applied torques on From Marker

Force Elements: values of force element specific output values

Joint States: position values

Joint States: velocity values

Joints: joint constraint forces (output system dependent on global setting from Globals!)

Joints: joint constraint torques (output system dependent on global setting from Globals!)

Flexible Bodies: Position of flexible states

Flexible Bodies: Velocity of flexible states

Constraints: constraint constraint forces/torques

Y-Output: user defined co-simulation output channels

Result Elements: user defined output channels

Substitution Variables: defined substitution variables

Theory

Animation Geometry

SIMPACK PostProcessor: Measurement Results



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Theory SIMPACK Jobs: Offline Time Integration

Time Integration

statistics

Measurements

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Theory Online Time Integration

With the Online Time Integration, the model motion can be calculated and animated in

SIMPACK Pre without saving it first.

This allows to check the

model correctness before saving and to quickly get a first view of it’s general

behavior. Also, there is no end time in

the integration and the sample rate can be manually changed continuously.

No results are saved for this integration task.



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Body 2

Body 1

Both Bodies are identical

Z

Y X

a

a

Exercise SIMPACK Program Exercise – Model Data

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Set up the double pendulum in

SIMPACK using 'Copy & Paste'

Configure and perform an Offline

Time Integration with

Measurements

View the double pendulum

results in the State Plots

Change initial joint states of the

double pendulum and try again

Review position and orientation

of the double pendulums BRFs!




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Generating Simple Plots

THEORY

Overview to the PostProcessor Areas/Elements and Terminology

Modifying Element Properties

Generating Animations

Theory

GUI Features

PostProcessor Basics

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Session Tree

Result Tree

Graphics Area

Page

• Graphics Table

• Diagram

• Animation

• Etc.

Menus and Icons

Script Console

Status Bar

Progress Bar

Standard GUI for

SIMPACK!

THEORY Theory

Menus and Icons

Status Bar Progress Bar

Animation

Footer

Page Title

Header Diagram Title

Graphics Table with Grid

PostProcessor Basics - Areas



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Result Tree can be

expanded, collapsed or

turned off

Result Tree shows loaded

results files

• SIMPACK .sbr files -generated by a

SIMPACK calculation

• ASCII Data files

.sbr files store the calculation

data in Output Data Types

Modelling Elements

Each Output Data Type

consists of Output Channels

THEORY Theory

Model containing the

Animation Geometry,

i.e. the Bodies and

their respective

Primitives and Markers

PostProcessor Basics - Result Tree

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THEORY

Expand/Collapse

Tree Close Tree A Project is a logical

grouping of data and

determines the

configuration. More

Projects can be open in

one Session.

A Pageset is a

container holding one

or more Pages.

A Page is the container

for every Element in

the Graphics Area.

A Diagram is the

container displaying

curves.

A Curve displays value

pair data. The display

can be switched off.

All Titles in the Session Tree Elements can be changed!

A Filter is used to amend

the value pair data.

Theory PostProcessor Basics – Session Tree and Plotting Elements



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THEORY

An Animation is the cell

into which a Model and

respective geometry

can be loaded.

A Model contains the

animation geometry.

The display can be

switched off.

Bodies contained in the

Model. The display of

the Bodies geometry

can be switched on or

off for each individual

Body.

Body Markers can be

displayed. The default

is not displayed.

The Titles of Session Tree Elements

are determined by the model!

Primitives: The display can

be switched on or off

individually.

Theory PostProcessor Basics – Session Tree and Animation Elements

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EXERCISE

Open the PostProcessor

from the Desktop icon

Exercise PostProcessor Basics – Starting



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EXERCISE

Create a new Project with the filename and Title 03_generating_curves.

Load in the sbr file ENG_V_ANGLE_15.sbr., which is stored in the output folder

Plot force output absolute force value from the Result Tree, Output Channels and by

adding a Curve to a Diagram.

Enter the value pairs directly. Try pulling in a ‚SubVar‘.

Exercise PostProcessor Basics – Generating A Simple Plot

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EXERCISE

Zoom In – ‘Ctrl‘ + left mouse button –

top bottom or right left.

Zoom Out - ‘Ctrl‘ + left mouse button –

bottom top or left right.

Or with the mouse wheel.

F6 turn on/off display of Session and

Result Trees.

F11 Full screen.

Exercise

Refit – Refit Icon or ‘Ctrl‘ + middle

mouse button.

View move - ‘Ctrl‘ + right mouse

button.

Box-zoom – ‘Shift‘ + draw box with

mouse.

Box-zoom

PostProcessor Basics – Modifying the View



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EXERCISE

Select the curve „mount_fl“ in the Session Tree

and delete it. Repeat for „mount_rr“.

Pick „mount_fr“, the remaining curve in the

Graphics Area. The curve will be highlighted in

the Session Tree.

Edit the Properties from the format menu or by

right clicking: color, style, width. Turn on the

Markers and change their color to black.

Create a new Page.

Plot „constr force-torque“

„crank_shaft_rotation“ „Constraint Torque

1“.

Set the X-source to the crankshaft joint

velocity.

Exercise PostProcessor Basics – Modifying the Curve Properties

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The Plot Page Consists of

Graphics Table containing Cells

Title

Header

Footer

THEORY Theory PostProcessor Basics – Plot Pages and Graphics Table



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EXERCISE

Select the Page with the force-torque

crank_shaft_rotation and start the page

properties window.

Change from portrait to landscape.

Change the margins.

Change the Title to Crankshaft Torque.

Turn off Header and Footer.

Set the background color to light grey.

All modified properties can be applied to

either the Selected Page, Parent

PageSet or Current Project!

Exercise PostProcessor Basics – Page Properties (1) Page Appearance

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EXERCISE

Create a new Page.

Split the Graphics Table into four cells from the ‘Table‘ icon.

For mount_fl, plot the 'force force' for x, y and z. Leave the bottom right

cell free.

Split the emtpy cell and plot the absolute force for mount_rr and mount_fr,

then delete the diagrams.

Try moving and switching Diagrams between cells by dragging with the

left mouse buton.

Set the Page back to three cells.

Exercise PostProcessor Basics – Page Properties (2) Graphics Table Cells



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EXERCISE

Create a new Project 05_multi_curve_generation.

Drag the Output Data Type force force into the Graphics Area. All Output

Channels of all Force Elements will be plotted.

Exercise PostProcessor Basics – Multi-Curve Generation (1)

All Channels of One Output Data Type

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EXERCISE

Create another page.

Drag the modeling Element engine_mount_fl into the graphics table.

Exercise PostProcessor Basics – Multi-Curve Generation (2)

All Channels of One Modelling Element



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EXERCISE

Selecting in the Session Tree

Single-Select

Multi-Select

How does one select an Element?

All Elements can be Multi-Selected!

Picking in the Graphics Area

Left mouse button

Long left mouse button

Middle mouse button

Exercise PostProcessor Basics – Selecting One or More Elements

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EXERCISE

Create Page.

Multi-Select the ‘z‘ for all Force Elements under force force.

Drag them into the Graphics Table.

Exercise PostProcessor Basics – Multi-Curve Generation (3) With Multi-Select



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EXERCISE

Create Page.

Split the Graphics Table into four cells.

Drag the engine_mount_fl under force force into the Graphics Table with

the right mouse button.

Select from the menu 'One channel per diagram'.

Exercise PostProcessor Basics – Multi-Curve Generation (4) Channels in Multiple Diagrams

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EXERCISE

Create Page.

Split the Graphics Table into 3 cells.

Drag the Output Data Type 'force force' with the right mouse button into

the Graphics Table.

Select from the menu 'All selected channels of one element per diagram'.

Exercise PostProcessor Basics – Multi-Curve Generation (5) Elements in Multiple Diagrams



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EXERCISE

Create Page.

Open the sbr file, ENG_V_ANGLE_90_VTL.sbr

Add 3D Diagram to a cell.

Drag $o_ENG_VEL_Z into the 3D Diagram (first one in the result tree).

Try ‚filling‘ the Curves – Curve Property

Exercise PostProcessor Basics – 3D Diagram Comparing Results

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EXERCISE Exercise

Campbell Filter for order analysis

Waterfall surface plots

Examples available from the Documentation

PostProcessor Basics – 3D Diagram Campbell Filter 1000 & Surface Generator 1001



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EXERCISE

Select the Element(s).

Then Cut or Copy.

Ctrl + X or Ctrl + C,

Right mouse button

Format menu

Edit menu

Paste to where required.

How does one Cut, Copy and Paste?

How does one Move an Element?

Elements can be dragged with

the mouse to a location; similar

to a cut and paste.

Exercise PostProcessor Basics – Cut, Copy and Pasting of Elements

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EXERCISE

All actions in a Project can be

undone.

Undone actions can be redone.

How does one undo an action?

Each Project has an undo and

redo stack (the stack is cleared,

however, after a result file reload).

Scrolling through the Session Tree.

Exercise PostProcessor Basics – Undoing and Redoing of Actions



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EXERCISE

The Title of a selected Element

can be edited directly in the

Session Tree with:

F2

Second click

Edit-in-Place?

Single Edit of Element Properties

The properties of a selected

Element can be modified by:

Right clicking

Opening the Format menu

Multi Edit of Element Properties

All Elements can be Multi-Edited!

The properties of more than one Element can

be modified in one action.

The properties will be modified for all selected

Elements.

Why are some fields empty?

This is performed in exactly the same way as

for a single-edit.

Exercise PostProcessor Basics – Editing of Elements

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Type

Logarithmic

Linear

Ticks - Grid

Main–Axis numbering

Sub–Grid

Scaling

Auto Scale

Box Zoom

EXERCISE Exercise PostProcessor Basics – Diagram Properties (1) Axis



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Exercise

Title

Text

Alignment

Text Attributes

Text Alignment

Legend

Position

Appearance

General

Layout

Appearance

PostProcessor Basics – Diagram Properties (2) Title, Legend and General

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EXERCISE

Adding an Axis to a

Diagram

Primary Axis

Assign the new

Axis to a Curve

Alternatively the

Curve can be

dropped directly on

the respective Axis.

Exercise PostProcessor Basics – Diagrams with Multitple Axes



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EXERCISE

Pull in the Animation Geometry from the sbr file into a cell or Animation Page. This can

be done at any level in the Animation Geometry from the sbr file. Try pulling in a few

selected Bodies. (use the Engine_ForceArrow.sbr)

The Model will be displayed in the Graphics Area and the respective Elements shown

in the Session Tree.

Modify the view with the mouse. Similar to in the Model Setup window.

Switch on and off some of the Elements. Change some Primitive properties.

Exercise PostProcessor Basics – Generating An Animation

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EXERCISE

Define an animation and curve in the same Page.

Start the animation from the toolbar of from the Player.

Record the animation and play it back with the standard media player.

Try changing some of the record settings.

Exercise PostProcessor Basics – Animation Player



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EXERCISE

Force and Torque arrows are generated by pulling in

the respective Output Channel.

force force, force torque, joint force and joint torque

can be pulled in.

Generate force and torque arrows. Notice their

difference in appearance.

Exercise PostProcessor Basics – Force/ Torque Arrows

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Force Definition Measurements

Input Functions Static Equilibrium

Preload

Theory One Mass Oscillator Overview



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Forces act between two Markers

Force type (PtP or Cmp)

Forces are calculated in the

coordinate system the ‘From Marker’

3D Representation

Theory Forces

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Z

Y X

Z

Y X

BRF

From Marker

To Marker

No torsional stiffness

Point to Point forces are

applied at the ‘From Marker’.

The equal and opposite

reaction force (top arrow), is

applied at the ‘To Marker’.

Be careful not to allow the

markers to pass through each

other during simulations.

F = c ·|r|

Theory Point to Point Forces (PtP)



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Translational and torsional

stiffnesses (all components)

Component forces are calculated

in the reference frame of the ‘From

Marker’, and also applied at this

position on this Body.

The reaction force is applied at the

‘To Marker’.

To compensate the resulting

moment a reaction moment (rxF)

is applied on the ‘From Body’.

Fi = ci · ri

Theory

Z

Y X

Z

Y X

BRF

From Marker

To Marker

r

Component Forces (Cmp)

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Set up the one mass oscillator in

SIMPACK

Configure and perform a

SIMPACK Offline Time

Integration with Measurements

View 3D animation of the results

View and configure 2D plots of

the results

Review position of the one mass

oscillator BRF!

Exercise Program Exercise – One Mass Oscillator



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Body One

Mass = 23.5kg

Spring/Damper

Stiffness = 200N/m

Damping = 20Ns/m

Nominal Length = 0.3m

Z

Y X

Body 1

0.3m Z 04

Body 1

0.2m

Excercise One Mass Oscillator – Model Data

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Theory: Model - Dynamics

Elements:

Bodies

Prismatic joint

Spring/damper

Gravitational force

Reference frame

Joint:

1 DOF

Position p

Velocity

Acceleration

m = 640 Kg

c = 1,6 * 105 N/m

g = 9,81 m/s²lo = 0,4 m

v,v •

c*(lo - p) - d*v+F0

p l0, F0

mg

m

Cut free principle

Task: Equilibrium 1: pequ = ? Equilibrium 2: Fequ = ?

p pequ

mg

c*(lo - pequ) +F0 p

c*(lo - p) +Fequ

mg

• Newton: mass * acceleration = force mv = c*(lo - p) - d*v + F0 - mg

Theory One Mass Oscillator – Static Equilibrium and Preload



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cut free principle mg

c*(lo - p) - d*v

m

v,v •

+F0

p l0, F0

mg = c•(l0 -p) + F0 v,v = 0

•

mv = c*(lo - p) - d*v + F0 - mg •

Newton: mass * acceleration = force

Task: Equilibrium 1: pequ = ? l0 - (mg - F0)/c [m]

Equilibrium 2: Fequ = ? mg - c*(l0 - p) [N]

Theory One Mass Oscillator – Static Equilibrium and Preload

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Calculate a Static Equilibrium

position of the one mass

oscillator

Reset joint state and calculate

the Preload of the one mass

oscillator

Check results with Test Call

Check results with Online Time

Integration




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Exercise

Before you start calculating your

Static Equilibrium, you must

configure the Static Equilibrium

Solver Settings

You can choose between the

Newton Method and the Time

Integration Method

Generally you should try out both,

as one might lead you to unrealistic

results

Static Equilibrium I

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Exercise

Create an equilibrium state using the

Online Static Equilibrium online Icon

Static Equilibrium II



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In order to reset the Static Equilibrium State

select “Actions Reset States to Zero” and

overwrite the selected States to Zero.

Exercise Static Equilibrium III

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The solver task Preload finds the right

preload on every chosen force element to

bring the system to equilibrium without

modifying its position.

This feature will be available from

SIMPACK 9.1.

Exercise Preload



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Data is entered as paired

values and step, linear or

cubic spline interpolation is

used to calculate curve

definition.

Input Functions are mainly

used for non-linear forces

and for inputting

measurement data.

Import Data from *.afs files

( See Documentation)

Theory Input Functions

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Input Functions take

precedence over other

parameters (i.e. stiffness

and damping).

Theory Input Functions



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Getting a closer look at an Input Function:

Theory

Coordinate information by sliding with mouse

over curve

Coordinate information by showing Value Slider

Input Functions

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Modify the one mass oscillator

concerning a nonlinear spring

stiffness

Perform a Offline Time

Integration and check the

results




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Force Definition Measurements Mode Shapes

Input Function Static Equilibrium

Excitation Preload

Eigenvalues

Theory Model Setup Two Mass Oscillator Overview

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Set up the two mass oscillator

Review MBS Info, Test Call,

Online Time Integration, 2D

Plot, Static Equilibrium and

Preload




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Body Two

Mass = 12.5 kg

Spring/Damper

Stiffness = 100N/m

Damping = 20Ns/m

Nominal Length = 0.4m

Body 1

0.3m

Body 2

0.4m

Z

Y X

Z 04

Body 1

Z 04

Body 2

0.2m

0.2m

Theory SIMPACK Program Exercise – Model Data

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Theory

The topology of the 2D

Page corresponds to

the built up model.

It can give you a

clearer overview about

elements and

connections.

Switch between 3D

and 2D Page at the

bottom of the main

window of the

SIMPACK GUI.

Model Information – 2D Page



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Theory

Right-click on the

respective element

Under ‚Referencing

Elements‘ you find the

elements which are

defined upon this Body

Under ‚Referenced

Elements‘ you find the

elements your selected

Body references

This is a useful function to find out which elements are connected to a specific

modeling element:

Model Information – Referencing/ Referenced Elements

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Theory

… of a single body

… of a number of bodies or an entire model

(by activating the flg for ‚combined mass calculation‘

Information on mass, center of gravity and inertia…

• Information is given

- visually

- printed in the Message Log

Model Information – Mass Properties



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You perform either an Online or an Offline

(with/ without measurement) Time Integration

Exercise

Online

Offline

The result is a 3D animation

Two Mass Oscillator – Time Integration I

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Exercise Two Mass Oscillator – State Plots and PostProcessor I



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Exercise Two Mass Oscillator –PostProcessor II

The .sir file only contains the Joint States of the Model and some solver statistics

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Before calculating

Eigenvalues, the model must

be in an equilibrium state!

Perform the Eigenvalue

Calculation by selecting the

corresponding icon

Hit ‚Perform eigenvalue

calculation‘

Visualize the eigenmodes by

selecting them and hitting the

‚Play-button‘ in the Mode

Animation

Theory Two Mass Oscillator – Eigenvalues



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Have a look at the Mode Shape

Animation.

Play around with 3D Animation

module.

Exercise Model Setup Two Mass Oscillator – Mode Shapes

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Excitations are signal generators.

The signals can be used to excite

joints, moved markers and

force/torque actuators or to generate

SIMPACK Control input values.

The defined curves, possibly from a

library, are exported as position,

velocity and acceleration vectors for

use in modelling.

Theory Model Setup Two Mass Oscillator – Excitation I



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SIMPACK Model: Quarter Car

Marker Move

Force Element

Rheonomic Joint

Time Excitation

u_1u_2u_3....u_10u_11....u_N

Time ExcitationGenerator

Input Functions(Tables)

s(t)

sp(t)

spp(t)

s0 = 0; A = 0.2 m; = 5 rad/s

Parameters

Polynomials

Steps to define Moved Markers, Rheonomic

Joints and time depending Forces/Torques

by SIMPACK Time Excitations

Theory

Moved Marker

Force Element

Rheonomic Joint

Model Setup Two Mass Oscillator – Excitation II

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Moved Marker (Type 95)

Sinusoidal Excitation (Type 01)

Amplitude = 0.1 m

Frequency = 3.14 rad/s

Body 1

Body 2

Theory Model Setup Two Mass Oscillator – Example Excitation I



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Define two mass oscillator excitation

scenario No. I

Perform a Time Integration

Check results (3D Animation, 2D Plot)

Moved Marker (Type 95)

Sinusoidal Time Excitation (Type 01)

Amplitude = 0.1 m


Exercise

Note:

Moved Markers cannot be used as FROM or TO with Joints!

SIMPACK Program Exercise

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Force Excitation (Type 93)


Amplitude = 20 N


Body 1

Body 2

Theory Model Setup Two Mass Oscillator – Example Excitation II



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Joint Excitation (Type 40)


Amplitude = 0.1 m

Frequency = 3.14 rad/s Body 1

Body 2

Theory

Note:

Moved Markers cannot be used as FROM or TO with Joints!

Model Setup Two Mass Oscillator – Example Excitation III

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Define two mass oscillator excitation

scenarios No. II and III

Perform a Time Integration

Check results (3D Animation, 2D Plot)

Exercise

Joint Excitation (Type 40)


Amplitude = 0.1 m


SIMPACK Program Exercise



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PreProcessing Processing PostProcessing




Force Definition Measurements Mode Shapes

Input Functions Static Equilibrium

Excitations Preload

Eigenvalues

Exercise Summary

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