Lms Imagine - Lab Amesim: Training Ame 1: Getting Started With Amesim

Training AME1 Getting started with AMESim
LMS International 2012

Training AME 1: Getting started with AMESim
LMS Imagine.Lab AMESim
2 copyright LMS International 2012
Table of Contents
LMS Imagine.Lab AMESim Platform overview and definitions
Getting started with LMS Imagine.Lab AMESim
Project 1 Elevator: Basic AMESim features
Project 2 Powertrain: Advanced AMESim features
Additional AMESim features
Appendix
1
Table of Contents
LMS IL AMESim Platform overview and definitions
Physical modeling
Multi-Level
Multi-Domain
Open Platform
System Simulation
Appendix
The LMS organisation
Test.Lab Virtual.Lab Imagine.Lab
Measurement systems 3D CAE System simulation
The name of the system simulation software developed by LMS is AMESim.
2
What is AMESim?
AMESim is a simulation platform:
a Graphical User Interface (GUI)
a numerical solver
many component libraries
(40 standard libraries covering all the domains of physics)
The platform term means that the GUI, the Solver and the Software
architecture are common to every application (e.g. Thermal
management, Powertrain, Electro-magnetics).
No need for Co-simulation between the subsystems.
LMS Imagine.Lab
AMESim
The AMESim Solver
Intelligent solver:
Robust Accurate Fast
Variable integration time step
Automatic selection of the best integration method out of 17 algorithms.
Dynamic switch between methods during the simulation.
Discontinuity handling
Parallel processing
Discrete partitioning
3
The AMESim Solver integration methods
Solving ODE: Solver based on LSODA with 2 methods:
Backward Differentiation Formulae (BDF): used in GEAR method and very
good for stiff systems. Linear Multi Step Method order 1 to 5 and variable step.
Implicit method that needs Jacobian matrix evaluation.
Adams Method: Adams Moulton order up to 12. Very good for non-stiff system.
Implicit method with no use of Jacobian matrix.
Solving DAE: Solver based on DASSL with 1 method:
Backward Differentiation Formulae (BDF): Used in modified GEAR method,
order 1 to 5 and variable step. Implicit method that needs Jacobian matrix
evaluation.
The AMESim standard libraries
In AMESim we have two types of component libraries
Physic based libraries (Mechanical, Hydraulic, Thermal, Electric, libraries)
4
The AMESim standard libraries
In AMESim we have two types of component libraries
Application oriented libraries (Powertrain, IFP-Engine, Cooling System, libraries)
Design process
Product function and electronic control
Components
Physical Systems / Subsystems
Model continuity from design to validation (real time simulation) enables to shorten
the design cycle.
Types of modeling
Geometry level (3D)
Physical modeling (1D)
Block diagram (transfer function)
FEA
CFD
AMESim in the product development process
AMESim
5
Feedback loops are required (Signal approach)
AMESim physical model (Multi-port approach)
Simulink mathematical model (Block-diagram)
Physical modeling not on math. or programming
pP QP
QA
QB
P1
P2
Q1
Q2
Feedback loops are required for block-diagram modeling.
The state at the input port of a component is dependant on the state of
the output port. This is a characteristic for physical modeling.
Physical modeling Multi-port concept
6
Multi-Level modeling in AMESim, i.e. check valve
Functional model
(characteristics)
Physical modeling
(basic elements)
Block-diagram
(mathematics)
Programming level
(AMESet: C, Fortran
or Modelica)
Multi-Domain simulation
FEA
Electromechanic
Thermal
Pneumatic
Hydraulic
Mechanic
Control
CFD MBS
Thermal 3D
Electromagnetic
AMESim
7
Multi-Domain simulation in AMESim
Hydraulics
Mechanics
Controller
Pneumatics
Electrical domain
Behind AMESim The Bond Graph theory
The input power for the electric motor is provided by a battery. The input
of the drive shaft is torque and angular velocity. The output from the
pump would be flow and pressure, while the input would be torque and
angular velocity applied to the pump shaft.
Power
Source
Electric
Motor
Drive
Shaft
Pump
U
I
T
n
T
n
P
Q
8
Physical modeling does more than a simple functional modeling.
It enables to watch the
energy flow in the system
and to capture system oscillations.
Energy exchange at ports:
Domain Effort Flux
Hydraulic p [N/m] Q [m/s]
Mechanic
F [N] v [m/s]
T [Nm] [rad/s]
Electric U [V] I [A]
] [
] / [
0
Nm J dt Power Energy
s J W Power Flux Effort
final
t
t
= =
= =
}
Physical modeling does more than a simple functional modeling.
It enables to watch the
energy flow in the system
and to capture system oscillations.
Energy exchange at ports:
] [
] / [
0
Nm J dt Power Energy
s J W Power Flux Effort
final
t
t
= =
= =
}
9
Application examples
Go to the help Menu / Choose AMESim demo help / Click on Solutions
10
11
12
AMESim
is the core product.

It is used for modeling, simulation
and analysis.
AMESet
is used to develop new

components and libraries.
AMECustom
is used to customize
models or supercomponents and to
protect IP before sending models to
partners.
AMERun
is used to run and

analyze existing models.
LMS Imagine.Lab AMESim suite
AMESim
13
AMESim

and analysis.
AMESet

AMECustom
partners.
AMERun
is used to run and

AMESet
AMESim

and analysis.
AMESet

AMECustom
partners.
AMERun
is used to run and

AMECustom
14
AMESim

and analysis.
AMESet

AMECustom
partners.
AMERun
is used to run and

analyze existing models using
different parameter sets.
AMERun
Table of Contents
Getting started with LMS IL AMESim
Appendix
15
Table of Contents
Getting started with LMS IL AMESim
From Sketch to Simulation
The physics behind AMESim
The signal library basics: (control, table reading/writing, AMETable)
Appendix
From sketch to simulation
How to start AMESim ?
From the installed shortcuts (Win)
From a shell or DOS window (Unix/Win)
Double-click on an existing *.ame file (Win)
How to open an AMESim model ?
Using the shortcut in the tools bar
Drag and drop a *.ame file in the GUI
Open an
existing
document or
create one.
16
The %AME% environment variable :
A variable AME referring to the AMESim installation directory path is set-up in the
user environment (automatically during the installation in Windows, manually on
Unix).
Alternately, system administrators on Unix define scripts in which the environment
is defined locally to launch tools like AMESim.
The current %AME% path and AMESim version can be identified
under help about:
AMESim version
AME path
The library management in AMESim
The used libraries are managed in a path list.
To change, add or remove your AMESim libraries or solutions use the modeling
menu and the Category path list command.
17
The AMESim Graphical User Interface (GUI)
Configure your
individual environment
Categories
LMS Imagine.Lab AMESim includes the Mechanical, Signal and
Electrical Libraries.
18
The AMESim workflow
1 Sketch: Build the system with existing icons
from the different categories.
2 Submodels: Assign the right assumptions and
thus a submodel to each icon.
3 Parameters: Each submodel needs specific
parameters.
4 Simulation: Run the simulation and proceed to
the analysis of the results.
The workflow with AMESim is structured with 4 modes:
Model compilation
1. Sketch mode
Building a sketch of the system.
19
1. Sketch mode: shortcuts
Useful shortcuts for building your first system:
Left click to
select
Middle button to rotate
a component*
Right click to flip a
component
Space bar to repeat the insertion on the sketch of a component.
*Both buttons at the same time for a 2-button mouse
Edit menu
Rotate Ctrl+R
Mirror Ctrl+M
Select all Ctrl+A
1. Sketch mode: Multiport approach
AMESim components can have ports with different types (mechanical,
hydraulic, thermal )
Each port can exchange information in both directions:
Inputs (red)
Outputs (green)
Flux vs. Effort variables Power conservation
To detect the external variables:
Right click on specific element in all modes
extra window in sketch mode
20
Only ports of the same type can be connected together:
hydraulic
linear
mechanical
thermal
thermal
thermal
hydraulic
signal
Only ports of the same type can be connected together.
Connection ports of a component should be identified
(Help, standard representation).
To be connected, ports have to be put close to each other;
2 green boxes are displayed when a connection is possible.
When all ports of a component are connected, it is not highlighted
anymore.
21
The inputs of the first connected port should correspond
to the outputs of the second one = causality
If not, AMESim displays an error message:
Causality rules apply to components from all the different libraries in
AMESim except the Signal & Control one.
Causality ok
ok
Incompatibility
22
2. Submodel mode
Setting mathematical models for the schematic.
Use Premier submodel to select the simplest mathematical model
associated to all the highlighted icons.
Icons that have more than one model (submodel) associated are
highlighted.
They are usually ranked by increasing complexity.
From submodel to parameter mode
Before entering the parameter mode we need to compile the AMESim
model:
Model compilation
when the system has
been newly created
compilation window
23
From submodel to parameter mode
You can set your compiler in the AMESim preferences menu:
If you want to recompile your model, you can force the model recompilation, using
CTRL+T.
Free compiler provided
with AMESim
3. Parameter mode
Set parameters of each submodel:
Upon selecting any of the components in Parameter mode the
parameter window will open.
Parameters with a # sign are initial values of state variables.
24
4. Run mode
In Run mode the simulation parameters are defined:
Run mode
Choose simulation parameters
Start the simulation
Stop the simulation
Choose type of output
Time domain
Frequency domain
4. Run mode
Set the basic simulation parameters:
25
51 copyright LMS Internation1l 2011
4. Run mode
Run the simulation and view the results:
1. Run the simulation
2. Select the
submodel and
Left click
4. Run mode
Plotting of a selected variable:
Once we select the component the variable associated with it is shown in
variable window..
User has to drag and drop the variable into the sketch area.
26
4. Run mode
Sign convention (1)
M
=
The mass is moving to the right
The mass is slowing down
acceleration is negative
+ v
F F
4. Run mode
Sign convention (2)
positive negative
27
4. Run mode
Sign convention (3)
Source of Heat flux:
If positive = heat source
If negative = heat sink
Positive direction
The view menu
In the View menu we can enable the Contextual and the Watch view:
The Contextual view is another way to edit parameters and
variables as well as double-clicking on a component.
The Watch view window gives permanent and direct access
to the most commonly used parameters and variables of the
system. You can simple drag and drop your favorite parameter
or variable in the watch window.
28
Behind AMESim: Bond-Graph theory
5 Main elements to represent all the domain of physics:
Inertia element I
Capacitive element C
Resistive element R
Transformer element
Gyrator element
Examples for C,I, R elements for different domain of physics:
Now the AMESim causality rules can be explained
Domain Inertia Capacitive Resistive
Hydraulic
Hydraulic Inertia Volume Orifice
Mechanic
Mass Stiffness Friction
Electric
Inductance Capacitor Resistance
Causality rules: I - element
Hydraulic
Mechanic
Electric
F
2
v
2
F
1
v
1
d
hydraulic line
L
Q
1
P
1
Q
2
P
2
V
1
A
1
V
2
A
2
}

|
.
|
\
|
= dt F
M
v
i
i
1

1
}

|
.
|
\
|
I
= dt P Q
i
i

1
}

|
.
|
\
|
= dt V
L
A
i
i
one causality for ODE equation
29
Causality rules: C - element
Hydraulic
Mechanic
Electric
v
2
F
2
v
1
F
1
P
1
Q
1
P
2
Q
2
}

|
.
|
\
|
= dt v K F
i
i
}

|
.
|
\
|
= dt Q
C
P
i
i
1
}

|
.
|
\
|
= dt A
C
V
i
i
1
A
1
V
1
A
2
V
2
Causality rules: R - element
Hydraulic
Mechanic
Electric
R
v
2
F
2
v
1
F
1
P
2
P
1
Q
2
Q
1
R
two causalities for algebraic equation
one causality for algebraic equation
two causalities for algebraic equation
v
1
F
1
v
2
F
2
( )
R
K v v F =
2 1
R
2 1
K
F
v v =
P
A C Q
q
A
=
2
R
V
A A =
2 1
( ) R V V A /
2 1
=
V
1
A
1
V
2
A
2
A
2
V
2
A
1
V
1
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Causality rules
Mechanical systems:
Connection of a mass with a spring possible? YES
Connection of a mass with a damper possible? YES
Connection of a spring with an other spring possible? NO!
R
F
2
v
2
F
1
v
1
F
2
v
2
F
1
v
1
F
2
v
2
F
1
v
1
F
2
v
2
F
1
v
1
F
2
v
2
F
1
v
1
F
2
v
2
F
1
v
1
Causality rules
Hydraulic systems:
Connection of a volume with a restriction possible? YES
Connection of a restriction with a restriction possible? NO!
P
A Cq Q
A
=
2
( ) Q
V
P
T
A =
|
Q
2
Q
1
P
2
P
1
R
P
1
Q
1
P
2
Q
2
P
2
P
1
Q
2
Q
1
R
P
2
P
1
Q
2
Q
1
R
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The signal and control library
The signal and control library is an important library in AMESim.
Many AMESim submodels have signal input or output ports.
This library allows the user to implement:
signal rooting,
control loops,
mathematical and logical operations,
table reading and writing facilities.
The signal and control library
Tutorial 1: working with tables in AMESim.
1. adjust parameters
3. load data file in AMETable
and save as new XY plot
2.
Working_with_tables*.ame
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Table of Contents
Appendix
Table of Contents
Project 1 Elevator:
Modeling process:
specification modeling parameterization report
Appendix
33
Project 1 Elevator
In this project 1 we will model a conventional
elevator system.
The aim of this project is to simulate the
modeling process in AMESim.
During this first project we will learn how
to use the fundamental AMESim features
to get rapid and reliable results in the
system simulation.
specification - modeling - parameterization - analysis - report
The following system specifications are delivered by the customer:
number of floors: 5
floor height: 4 m
max. lift weight: 400 kg
max. persons: 8 (640 kg)
max. velocity: 1.6 m/s
max. acceleration: 1.5 m/s
A cable-borne elevator should be used.
The schematic lift working principle is
shown in the drawing.
4 wheels
diameter 0.5 m
inertia: 0.25 kgm
friction torque: 0.25 Nm
5 rope segments
stiffness: 3e+6N/m
friction: 10 N/m/s
1 counterweight
Project 1 Elevator: system specification
cabin
counterweight
E-motor
2 m
0.3 m
1 m
0.5 m
34
Project 1 Elevator
Get in touch with the mechanical library.
To model the elevator we use the ropes submodels:
We also need elements to represent the masses and inertia effects.
Project 1 Elevator
How to take the gravity into account?
As the gravity is a force acting on a Mass, the user has to define it in the
parameter list of the Mass component.
The position of the mass on the sketch does not interact on the gravity force
acting on it. Only the angle parameter is defining this force.
Possibility to change the constant gravity value g
M
.
g
0 +90 -90 -20
M
M
.
g
M
M
.
g
M
M
.
g
M
Inclination (+90 port 1 lowest, -90 port 1 highest) ?? degree
35
Project 1 Elevator
1st model the following simple system, using the mechanical library:
6 m
1 m
mass 2
mass 1
Inertia J = 1 KGm
Wheel = 0.5 m
Project 1 Elevator
Parameterization of the masses and rope submodels.
inclination
friction
initial values
36
Project 1 Elevator: Plotting capabilities
Analyze the system behavior: Plotting capabilities.
drag and drop to the sketch
Project 1 Elevator: Plotting capabilities
Plotting several items:
Multiple selection using either:
CTRL or SHIFT + left click
For more plotting capabilities
see Appendix.
37
The Replay mode enables a graphical animation of the selected
variables.
Project 1 Elevator: Replay mode
choose unit
choose unit
variable
representation
symbol
Project 1 Elevator: Animation
Start AMEAnimation
AMEAnimation is a powerful analysis tool for a better
understanding of the system behavior.
Each geometry element can be animated and connected to
simulation results, i.e. change proportions, color or location.
scene view
specification - modeling - parameterization - analysis - report Balance*.ame
Animation control
elements
Sketch
38
Project 1 Elevator: Animation
Link the Animation model to simulation results:
The following variables should be linked to the Animation:
Displacement of mass 1 and 2.
Length of rope 1 and 2.
Rotation of the motor-sheave.
1. drag+drop variable into
the post-processing tab
i.e. Displacement of mass 1:
2. drag+drop this entry to
the corresponding animation
3. Update and start Animation
Balance*.ame
Project 1 Elevator: Post processing
The Post processing tab is used to create post-processed variables.
A post processed variable is composed of the following elements:
Name: the unique name of the variable in the system
Title: Create a variable title
Expression: Can contain variables, expressions or parameters
Variables are referred via their variable path:
variable_name@component_path
Double click on expression field to open the Expression editor:
39
Experiments
The experiments facility is available since AMESim Rev.9.
With the experiment manager a snapshot of the system parameters and
variables is created.
The name and description can be edit manually.
1. After 1. simulation create an experiment.
2. Change the sensitive parameter and run a simulation.
3. Create next experiment of 2nd run.
Modeling the elevator
We will use a control loop to control the elevator lift:
Input: selected floor number
Output: angular velocity of the motor
Proportional gain:
Gain: 50
Max/Min Output: 100/-100
2nd order filter:
nat. frequency: 0.5 Hz
damping: 1
filter P-element
E-motor
40
Global parameters (Ctrl+g)
The global parameter feature is used to assign a character string to a
numerical value that can be found in several components.
Once a global parameter has been defined, a parameter value can
be replaced by the global parameter expression equations
containing global parameters can be defined.
41
There are 3 types of global parameters corresponding to the type of
variable they replace: real, integer or text:
Real
Integer
Text
Batch Runs (Ctrl+b)
the Batch Runs feature is used to launch several simulations with a
variation of one or various parameters
parameter study/sensitivity analysis
42
Batch Runs (Ctrl+b)
A parameter variation can be defined in 2 different ways:
Variation between 2 limits
Variation of data sets
Batch Runs (Ctrl+b)
Variation between 2 limits:
In this case, a step size is defined for each parameter as well as the numbers of
values below and above the reference value.
In this example, for the counterweight mass, the reference value is 705, with a step
size of 50, Num below of 2 and a Num above of 1, the mass value will be:
605, 655 below, 705 and above 755 kg
With this option, the total number of simulations is equal to the number of all the
parameter combinations
43
Batch Runs (Ctrl+b)
Variation of data sets:
In this case, data sets are defined by the user.
The total number of simulations is equal to the number of data sets defined.
Batch Runs (Ctrl+b)
The Batch Mode must be activated in the Run parameters:
Activate and select Batch run
44
Batch Runs (Ctrl+b)
Launching the simulation in Batch Mode
Batch Runs (Ctrl+b)
Post processing of the Batch Mode data:
Create a standard plot window
Apply the Batch plot icon on the plot area
45
The supercomponent facility
Reduce the size of components and thus the size of the sketch.
Build a customized component ease of use, IP protection.
Mark the region required to
create your supercomponent.
Then, in the edit menu you will
find Create supercomponent
(Ctrl+W). Or right click and Create
Supercomponent)
46
Right click on the icon created
after create supercomponent
Then,select Open Supercomponent
Select or create an icon
to represent your supercomponent
Or use the standard icon.
47
You can select your icon
from our standard libraries.
According to the supercomponent
characteristic (number and type of
ports), AMESim automatically
detects the type of icon that can be
used.
You can also create your own
category to include all your
supercomponents.
If you dont find the right icon, you
can design a new one.
Now select the new created
category and click on
New Comp Icon.
48
Give icon name and short description
Save icon as an image file
Defining the ports location
Using the standard AMESim
conventions for the different
types of ports
Save icon in
AMESim
environment
Select the supercomponent name
and description.
49
Save in created category
Save in created category if default super
Component icon is selected.
50
When the supercomponent icon
and category is already set, we can
proceed to save the
supercomponent
User can set the
supercomponent image
51
The supercomponent can now be used as a regular AMESim
component.
You can also edit the supercomponent later on in modeling, available
supercomponents:
LMS Imagine.Lab AMECustom
AMECustom is part of the LMS Imagine.Lab Suite.
It is used to:
Select, hide and set default parameters of standard or user-defined
submodels and supercomponents.
Define families of components based on the same architecture (or
code) but with different parameters.
Encrypt submodels or supercomponents to exchange them with
customers/suppliers (IP protection).
52
Let's open AMECustom and select the elevator supercomponent.
Access to all the
submodels used in the
supercomponent.
Click on one of them to
modify the internal items
Associated parameters
can be changed & hidden
in here.
Check the parameters
and variables that will
be displayed.
Once everything has been setup, save the item.
Settings
The customized supercomponent can be
encrypted with a password.
Nobody can see the structure of the
supercomponent or modify the hidden items
without the password (PW: training)
Save the customized supercomponent also
in the training library.
53
2 components are now available in the training library
Parameters of customized
supercomponent
Project 1 Elevator
The complete system:
54
Project 1 Elevator
Create Html-report of the complete Elevator model.
Filename
A user-defined
template can be
used
Note graphs and eigenvalues table have to be present in
the system in order to be included in the report.
A user defined
report contains
the required
number of items
Project 1 Elevator
Export sketch and Plots to PowerPoint
Ctrl+C
Ctrl+V in PowerPoint slide
or
select the components
55
Project 1 Elevator
The purge tool: an AMESim file (.ame extension) is actually an archive
file and contains several files when it is open:
Filename.ame Filename_.results
Filename_.cir Filename_.state
Filename_.c Filename_.err
Filename_.obj / .o Filename_.la
Filename_.exe Filename_.lock
Filename_.make Filename_.sad
Filename_.data Filename_.sai
Filename_.sim Filename_.ssf
Filename_.oil Filename_.bak.log
Filename_.param Filename_.bak
Filename_.var Filename_.jac
Some of these files are not compulsory for the system definition (layout,
parameters, etc ) and can be removed since they can be easily recreated: this is
the case of the results or the executable files that can be large.
The purge feature enables this selective deletion in order to have .ame file
smaller in size.
Project 1 Elevator
The purge tool: the file selected to perform a purge should not be
open in AMESim
The files selected by default can be safely removed.
An AMERun option is available to prevent the deletion of
files necessary for AMERun only users.
A custom selection can be done.
56
Project 1 Elevator
The purge tool: an AMEPurge shell command is available
run option to keep the executable for AMERun
recursive option to purge all the .ame systems located in the current directory and
subfolders
Table of Contents
Appendix
57
Table of Contents
Analysis in the Frequency domain (FFT, LA, Bode, Modal shapes),
Appendix
Project 2: Powertrain
The aim of this project is to get in touch with the
frequency domain in AMESim.
We will analyze the frequency behavior of a vehicle
drive-train system including Linear Analysis (LA),
system modal shapes and FFT.
Crankshaft
Dual-Mass-Flywheel
- Eigenvalues
- Modal shapes
- Frequency response
58
Type of analysis
Linear Analysis
Time
Domain
Frequency
Domain
Use always the Time domain and Frequency Domain to analyze your model.
Linear Analysis: Eigenvalues
Eigenvalues
Definition of time(s) at which we want to linearize a system.
R4_crankshaft*.ame
1. Set the linearization
time(s).
+
2. Display Eigenvalues for
each linearization time.
59
Linear Analysis: Modal shapes
Modal shapes of a R4 crankshaft:
To display the modal shapes of a physical system we have to set the
specific state variables as observers.
R4_crankshaft*.ame
flywheel pulley
!
We will use the velocity variables
of each crankshaft part.
Modal shapes
We look then at the system's eigenvalues.
The Modal shapes option can be displayed for each selected frequency.
R4_crankshaft*.ame
60
Modal shapes of the R4 crankshaft model:
R4_crankshaft*.ame
pulley
flywheel cyl. 1- 4
AMESim representation
Linear Analysis: Frequency response
Frequency response (time domain):
We will analyze the frequency response of a functional vehicle drive-train model.
To start, please build the following model:
Drivetrain_DMF*.ame
- inertia: 0.01, 0.01, 0.1 kgm
- stiffness: 0.25, 25 Nm/
- damping: 0.01, 0.1 Nm/(rev/min)
61
System frequency of the DMF 8.51 Hz
System frequency of the Drive-train 63.17 Hz
DMF acts like a low-pass filter
Analytical calculation of
system frequencies:
sys
sys
inertia
stiffness
f
t 2
1
=
Drivetrain_DMF*.ame
Linear Analysis: Eigenvalues (FFT)
Eigenvalues:
We can us the FFT function in AMEPlot for frequency analysis in the time domain.
A FFT will only be generated for the displayed plot area.
1. Zoom the specific range
2. Set the FFT options
3. Plot FFT
62
Open the animation window
Set the right variable in the animation to show the working of the DMF
Drivetrain_DMF*.ame
Frequency response (frequency domain):
In addition to the Observer variables, Control variables have to be defined.
In this example we define the gain output (Hz) as the control variable.
The rotary accelerations are set as Observer variables.
Drivetrain_DMF*.ame
63
Frequency response (frequency domain):
Once the Control and Observer variables are defined the simulation can be
launched and the Frequency Response option can be chosen.
Drivetrain_DMF*.ame
Linear Analysis: Root locus
Root locus
The root locus is mainly used to study the stability of a system and is the
representation of the eigenvalues in the real/imaginary complex coordinate system.
The analysis is based on a batch run with only on varying parameter.
Drivetrain_DMF*.ame
Variation of the DMF-inertia
64
Table of Contents
Tutorial 1 Elevator: Basic AMESim features
Tutorial 2 Powertrain: Advanced AMESim features
Appendix
Table of Contents
Productivity tools and Interfaces
Improving your AMESim model (state count, run stats, run parameter,
activity index, selective save)
The AMESim Interface facility (Matlab/SL, Excel)
The AMESim Design Exploration module
Appendix
65
State count
The State count feature gives an indication on the number of times a
specific state variable is controlling the integrator step size. This is
especially useful to see which variable is the cause of a slow
simulation (large number of controls compared to the other state
variables) . These variables accessible by clicking
The list can be sorted by state N,
controls, submodel names, etc by
clicking on the corresponding
column title
When selecting a state variable,
a green label indicates which
component this state belongs to
The RSTAT submodel (Control and signal library) gives different
information on the time step size used during the simulation as well
as the type of algorithm used.
Solver information
66
The run parameters
The run parameters window
To monitor the
simulation time
during a run
Transient
parameters
For solver
statistics
To continue a
simulation from
the time it was
previously
stopped
To start a
simulation using
the results of the
previous run as
initial values
Type of run:
standard or batch
Type of integrator: the fixed step integrator is
only used to check the consistency of a system
aimed at real time usage
The run parameters
The run parameters window: standard integrator
When cautious is
used, more solvers
tests are performed
during the simulation
= increase of CPU
time
To limit the solver
step size remember
the standard solver
uses an automatic
variable step
To eliminate some
discontinuity
handling; use with
care!
To enable the activity
index calculations
Convergence criteria: default value
of 1e-5 is usually the best
compromise, 1e-7 is an alternative
When checked, all the variable input values such
as values coming from a look-up table, stay
constant (initial value) during the transient
Error handling for
convergence; mixed is
the best compromise
To add the
discontinuity points
to the results file
Run mode
67
The run parameters
The run parameters window: fixed step integrator
Method
Time step
Order (when
applicable)
Solver information
The statistics option in the Run Parameters window writes in the
Simulation run window the results from State Count + RunStats (final
time only).
68
Selective save: it is possible to save the simulation results of only
selected variables, thus reducing the results file size, especially for
large systems and small communication intervals.
Selective save
On a selection from the tools menu or by
right-click
Selective save
Selective save: can also be done on individual components.
69
AMESim Interfaces: Matlab
An AMESim system can be controlled by Matlab m-files:
List of the MATLAB commands available to control AMESim from MATLAB:
type help amesim at the MATLAB command prompt:
Matlab can be launched from AMESim with the advantage of being
started in the same folder as the AMESim system
The AMESim file needs to be previously compiled in AMESim and opened to be
able to use the Matlab scripts (can be open in AMESim GUI or using the
AMELoad shell command).
Additional files such as the .data file needs also to be generated in
AMESim, either by going up to the Run Mode or by using the write
auxiliary files command from the file menu.
AMESim Interfaces: Matlab
70
AMESim Interfaces: Simulink
Simulink is widely used for the modeling of control systems. AMESim
being specifically designed for physical modeling, i.e. plant modeling,
an interface between both tools is necessary.
2 levels of interface are available:
1. A code export from AMESim into Simulink (generation of a Mex-file = use of
a S-function in Simulink) One of the Simulink solvers is used for the
computation of the entire system.
2. A co-simulation mode, controlled by Simulink but in which both solvers are
working concurrently, exchanging information discretely The interface
block in Simulink is also a S-function block.
The Export Setup Module
The Export Setup module is aimed at gathering the parameters and
variables that need to be exchanged with an internal or external
specific process such as the one used for Design Exploration or Visual
Basic Interface.
Export_setup*.ame
71
The Input parameters:
Origin:
Submodels
Global Parameters
User defined
Type:
Real
Integer
Discrete
String list
Formatted strings
Attributes
Default value
Name
Bounds
Drag and Drop
Export_setup*.ame
Simple output parameters:
Drag and Drop
Real scalars
Final values
Export_setup*.ame
72
Compound output parameters = Post-processed outputs
Mathematical expressions using inputs and simple output parametes.
An expression editor is available:
Export_setup*.ame
Available post-processing functions:
All functions ever supported by AMESim
Variable value at time t
Mean value of a variable
Min and Max, global or local, reached by a variable
Time when min or max is reached
Time when a variable reaches a given value
'Distance between' two curves (integration of absolute 'y' differences)
Restriction to a time interval
Export_setup*.ame
73
AMESim Interfaces: Excel
The first step consists in gathering the input and output parameters
that will be changed and observed in Excel by using the AMESim
Export Setup feature.
Then, in Excel, Visual Basic functions are available to:
Get AMESim parameters: AMEVbaGetPar
Change AMEsim parameters: AMEVbaPutPar
Run AMESim: AMEVbaRun
Get AMESim final results: AMEVbaGetFinalRes
Get AMESim simulation results: AMEVbaGetRes
These VBA subroutines are defined in the VBA-Interface.bas file.
74
VBA functions are then created in Excel to arrange the different data
coming from and going to AMESim
Parameters can be modified
Final results can be displayed
Results for the entire transient are also accessible and graphs can be
automatically created.
Wheel velocity
-2
-1
0
1
2
3
4
5
6
7
0 1 2 3 4 5 6 7 8 9 10
Time (s)
V
e
l
o
c
i
t
y

(
m
/
s
)
Wheel velocity
Excel
AMESim
75
AMESim Interfaces: Excel/VBA
Requirements:
Knowledge in VBA programming
An export-runtime license
More information in AMESim manual
Other details:
Since this interface uses VBA
subroutines, it is not only dedicated
to Excel but it can be used in any
application supporting VBA.
VBAInterface.xls
AMESim Design Exploration module
The Design exploration capabilities of AMESim are both internal (built-
in) and external (interfaces).
Both are pre-processed using the Export Setup module in AMESim:
Export Module
AMESim
Design exploration
Module
External tool
AMESim
Daily use, basic features
AMESim systems only
Advanced needs
Process integration
Direct interface with Optimus and iSight
76
Key features:
DOE
Sensitivity analysis (parameter study)
Full factorial
Central composite
Optimization
NLPQL
Generic Algorithm
Quality Engineering Methods (Robustness, Reliability)
Monte-Carlo
Problem definition:
Select the Inputs and outputs with the export module
Select the useful inputs/outputs
Set the values techniques, objetives,
Export_setup*.ame
77
Execution:
A single control panel to create, edit,
start and post-process studies
Several studies may coexist
(but not run concurrently)
Results available in ASCII files
Export_setup*.ame
Optimization:
Important: During the optimization process, AMESims goal is to make a quantity
as close as possible to zero. Objectives are defined consequently as compound
output parameters.
The best solution can be
applied to the system
Export_setup*.ame
78
Design Exploration Post treatment:
Interaction/effect table
Main effect and interaction diagrams:
Pareto plots:
Monte-Carlo, Purpose:
To see the impact of some input parameters distributions on a specific output
variable.
79
Table of Contents
Appendix
The AMESim preferences menu
The AMESim preferences (1)
If checked, the sketch is
automatically locked
when going back to the
Sketch Mode.
If checked, confirmation
window when deleting
components
80
Automatic lock sketch
Going back to sketch mode, by default the sketch area is protected
preventing any unwanted change or deletion of the model structure
(text can still be added).
The locker has to be released to allow any change to the system.
This automatic lock sketch option can be turned off in the AMESim
preferences menu (Options list).
Left click
Starters
There is a possibility to start a new system using a starter file, i.e. an
AMESim file containing elements that are repetitively used by the
user.
81
Starters
A standard file can be saved as a starter file, parameters and global
parameters are associated with the model.
Access to starters is determined by the path list and by the starter
directory setting in the AMESim preferences.
C compiler used on Windows platform. GNU
GCC is supplied with AMESim, Visual C++
is necessary when using the Simulink interface.
82
When switching from parameter mode to run
mode, some additional files used during for the
simulation are created (such as .data). If the
system is located on a remote machine on a
slow network, the creation can be longer
than usual and there are some cases for
which those files are still not created when
launching the simulation. Increasing the
delay will set a delay between the hit of
the start run button and its action.
When this option is selected, any variables in
the Watch window are automatically exported
to a file named ./${system_name_.csv} at the
end of the simulation run.
The delay for automatic update controls how
often a plot (or a Variable List dialog box) is
updated when the Automatic update option is
selected. The default option of 2000 ms is the
smallest value that is acceptable.
83
This feature is a display feature, which means it does not affect any
calculation.
It enables to change the unit display of parameters and variables.
Parameters normally associated with units can be displayed with Y
units. Example: in mechanical components, masses are expressed in
kg, they can be expressed in g.
Unit conversion
Unit conversion
SI and non SI units can be used in the same system.
A local AME.units file is created in the folder where the current
AMESim file is located. Any file opened in this folder will use the same
translations.
Standard units
Custom units
84
Unit conversion
we can select directly a local unit to a parameter or a variable.
Common parameters
The common parameters feature: assigning the same value to
parameters with the same name in several components. Only selected
components are taken into account.
??? when parameters have
different values assigned
85
Common parameters
Changing a value in the common parameters window changes the
corresponding value in all selected components.
Note that the value can be a global parameter.
Copy/Paste parameters
Copy/Paste parameters: Parameters with the same name can be
copied from one component to another.
86
Change of parameters name
Names (titles) of parameters set by default can be changed by the
user.
1. Double-click on the
parameter title
2. Title modification
3. Title can be reset to
its default value.
Consequence on the Copy/Parameters feature: this can be defined
(in AMESim preferences) to be valid:
only for original titles
only for set titles
for both titles
87
For example, if the option set titles is chosen, only user-defined
matching names will be taken into account:
Between both components, the only common parameter is the angle of the
sheave
Changing the original title from angle of the sheave to driving sheave angle in
one of them with the option set titles in AMESim preferences will give the
following message when doing a copy/paste parameters:
Path handling
The handling of path to tables can be changed. Three options are
possible. For the last two options the following pre-requisites must be
respected:
the data file name must start with
the circuit name followed
by _.filename.
the data file must be stored
in the same location as
the circuit.
88
Path handling
The three options are as follows:
Use standard behavior: If you use this option, the name of the file selected
will not be modified. This option also ensures that relative paths are used
when possible. When relative paths cannot be used, absolute paths will be
used.
Replace with the generic name: This option replaces the name of the file
selected with the generic name when possible - ${circuit_name}
Replace with the full generic name: This option replaces the name of the file
selected with the full generic name when possible - ${full_circuit_name}
Expand vectors
Some components such as distributive hydraulic lines contain vectors.
When the Expand vectors option is checked, all the members of the
array are displayed and can be changed individually.
HL040 submodel
Off
On
89
Plotting Capabilities
Separate Y-axis:
Y-axis:
Mouse right-click
or double-click
Changing the curve formats
Mouse right click or double-click
on the title or the graph keys.
90
Create X-Y plots:
Apply the X-Y transformation by
clicking the XY icon and then
the desired plot area.
X
Y
The axis can be interchange by right-click on the plot.
Adding and remove rows and columns to an existing graph:
Mouse right-click
on the plot area
Remove row/column
by mouse right-click
91
Zoom functions:
Auto-scale
Zoom by defining a box
Zoom in/out with left/right mouse-click
back to previous zoom
The scale of the axis can
be selected manually, by
right-click on the desired
axis.
Edit the standard plot title layout in the AMESim preferences:
edit title display
custom or automatic
and position of legend.
92
Right click on the plot. From there Graph to get the Graph Titles.
Save configuration
To save the plot configuration (layout, text, format, data source, etc,..)
and reuse it later (load plot configuration).
93
By default, plot configuration files
have the.plt extension
Tip: Save configuration under:
{circuit name}_.plotname.plt
Saves the file in .plt
extension
Loads the
saved file
Export values
To save results as an ASCII file to be used in third party tools such as Microsoft
Excel or Matlab.
Note the ability to automatically create
.csv data files of selected variables
(AMESim preferences Simulation).
94
Save data
The results are saved in XML format and can be used in AMESim plots as input
data. With this function, the data organization is saved (especially useful with
multiple row and column graphs).
Note the ability to automatically create
.csv data files of selected variables
(AMESim preferences Simulation).
Open data files
Data can be imported into AMESim plot window. Data format is either the one
generated by AMESim or a multi-column ASCII one; this function can be used to
compare simulation results with experimental data.
95
Create tabs in AMEPlot.
Since AMESim Rev. 9 plot pages can be created in the Plot window. The pages
can be saved using save plot configuration.
For each page the data can be saved or exported separately.
Open the page menu by
right-click on the plot title.
Labels and Alias
Labels showing the name and instance of all the components (or
selected ones) can be displayed on the sketch.
Labels can be moved, rotated
or individually hidden.
Right click on the selection
96
Labels and Alias
Names of components can be changed by the user: this name is an
alias.
Right click on the selection
The list of all the aliases is also accessible.
Text, pictures and objects
Text, objects and pictures can be add on the sketch.
97
Text, pictures and objects
Text, pictures and objects can be modified.
Compare systems
The compare systems feature (tools menu) enables to compare
several versions of the same initial system.
The compare systems is available in Parameter mode.
98
Multi-window display
It is possible to have multiple windows open in AMESim
Elements can be copied from one window to another (copy/paste
parameters included)
With a single Run license, only one system can be simulated at once
Birds eye view
a global view of the system when this one is bigger than the current
window position of the current window in the global one.
Accessible from the View menu or from a right-click on the sketch.
Entire sketch view
99
Birds eye view
The window can be resized.
The current view in the global one can be moved to change the actual
sketch area.
Resize
Move
Training AME1 Getting started with AMESim
LMS International 2012
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