Description of SIMPACK and 3rd Party Modules

Basic Modules and Wizard

Module

Description

SIMPACK Pre(processor)

Enables user to build models from the ground up. With the large variety of included modeling
elements, basic models can be generated for investigating general dynamic phenomena. The preprocessor is required for most other SIMPACK modules.

SIMPACK Solver

This is the heart of SIMPACK whose strengths can be summed up in three words: accurate, fast and
robust. With the solver analyses within the time and frequency domain can be carried out, e.g.
equilibrium, eigenvalue analysis and time integration.

SIMPACK Post(processor)

Is required for the visualization of results. 2D and 3D plots can be easily generated along with 3D
animations. An extensive library of filters enables easy data processing. Templates for standard
reports can be readily generated with which result files can be easily exchanged or compared.

Wizard

Enables easy setup of standardized models and analysis processes for deployment mode of
SIMPACK. Non-expert SIMPACK users can carry out company specific standard analyses using
SIMPACK Wizard.

General Modules
Module

Description

SIMPACK Contact

SIMPACK Contact allows the calculation of contact points and forces between two- and threedimensional geometries and bodies.
Two different contact modeling approaches are available:
a) Contact localization via moved markers
b) Calculation of the contact patches and forces using the intersection areas of the bodies in
contact
The contact contour of elastic bodies is considered to be un-deformable and is attached to the
elastic body at one point, e.g. via a RBE-element. Therefore, the contact patches do not follow the
elastic deformation of the participating bodies (in case that the elastic deformation should be
considered, please see SIMPACK FlexContact).

SIMPACK User

SIMPACK User is a module to extend SIMPACK functionality by adding modeling elements or plot
data filters from user-written FORTRAN 90 or C subroutines.
For SIMPACK USER an appropriate compiler is needed.
The module SIMPACK User allows both the creation of user routines and their use in SIMPACK
models.

SIMPACK Control

Enables the use of control elements in SIMPACK, e.g. sensors, A/D converters, several types of
controllers, and actuators.

SIMPACK NVH (Noise

Vibration Harshness)

Helps the user to carry out vibration analyses within SIMPACK. With the NVH module, complex
models may be linearized and solved analytically within the frequency domain, thus saving vast
amounts of CPU time. Alternatively, the non-linear models may be solved iteratively within the time
domain, using various NVH methods. The results of the time and frequency domain solutions may

be easily compared for ensuring the suitability of the chosen method.

SIMPACK Non-linear
Elastomere (Pfeffer)

The force element SIMPACK Elastomere uses non-linear force laws according to the theory of Peter
E. Pfeffer. 8 parameters may be defined for each one of the 3 translational and 3 rotational degrees
of freedom in order to comply with the force law.

SIMPACK DynamicBushing

This element is a rubber and hydromount Force Element, which considers the non-linear effects,
including the frequency and amplitude dependent characteristics, of a bushing. The element
combines the effects of various other Force Elements within one element.

SIMPACK Order Analysis

The Order analysis Filter performs the FFT of the analyzed signal. The width of the rectangle FFTwindow depends on the reference rotational velocity. The assignment between the frequency of
rotation (and the orders of this frequency) and the analyzed signal can then be performed.

Flexible Body Simulation Modules

Module

Description

SIMBEAM

SIMBEAM is a pre-processor to provide flexible, beam FE-structures for SIMPACK, including

geometric stiffening effects.

SIMPACK FlexModal

Used for integrating elastic bodies from FE codes into SIMPACK

SIMPACK FlexContact

SIMPACK FlexContact contains functionalities for the calculation of contact points on elastic bodies.
The contact patches follow the deformation of the elastic bodies.

SIMPACK LOADS Static

LOADS Static allows forces and reference accelerations to be exported in order to perform quasistatic stress analyses in FEM programs.

SIMPACK LOADS Stress

LOADS Stress enables a modal stress and strain recovery in the SIMPACK post-processor for static
as well as dynamic excitation. In the SIMPACK post- processor stresses are represented either as
contour plot or as 2d plot, whereas strain is available as 2d plot only.

SIMPACK LOADS Durability

LOADS Durability is an add-on to LOADS Stress, which enables the export of stress results to Fatigue
tools such as FEMFAT-MAX.

SIMPACK FlexTrack

Plug-In that takes the elastic deformation of a limited track section (up to several kilometers) into
account. The elastic section is fixed in space and does not move with the vehicle. The elastic track is
imported from a corresponding FE-model.
(The modeling of an elastic track foundation with constant or variable stiffness that moves with the
wheels along the track is already possible with standard SIMPACK Rail.)

SIMPACK FAT4FEM

(3rd Party) SIMPACK FAT4FEM is a fatigue tool that is integrated into SIMPACK. The fatigue
evaluation is started from the SIMPACK post-processor and the results of the fatigue evaluation may
be represented in the SIMPACK post-processor as a contour plot.

Code Export Modules

Module

Description

SIMPACK Code Generation

During SIMPACK Code generation the equations of motion created in SIMPACK are exported as
source code. This exported code will be compiled and linked to stand-alone executables.
-

s-Function
DAE executable
ODE executable
Test executable
User specific executable

SIMPACK Code Execution

SIMPACK Code Execution is the execution of the generated code.

SIMPACK Real-time Library

For each platform a special SIMPACK Real-time Library is necessary due to the platform specific
compiler.
-

dSPACE

XPC

VxWorks

CAD Interfaces
Module

Description

CATSIM V5 (Creator and

Runtime)

CatSIM is a directional interface between SIMPACK and CATIA V5. It allows the exchange of inertia
data (mass, inertia tensor, centre of gravity), geometry (markers, co-ordinate systems), graphics and
the kinematic relations.

ProSIM

ProSIM is a bi-directional interface between SIMPACK and Pro/ENGINEERsupporting the exchange

of inertia data (mass, inertia tensor, centre of gravity), geometry (markers, co-ordinate systems),
graphics and the kinematic relations. ProSIM and SIMPACK refer to a common data base, providing
that model changes in one program depending on the users wish take effect also in the other.

CACE Software Interfaces

Module

Description

SIMAT

Two-part interface between SIMPACK and MATLAB Simulink:

MatSIM

Linear System Interface (exchange of linear system matrices)

Co-Simulation Interface (simultaneous simulation of SIMPACK and Simulink-part with the

respective solver and exchange of results).

Interface for export of MATLAB Simulink models to SIMPACK. MATSIM converts the Simulink models
exported via the Realtime Workshop for SIMPACK. MATSIM is needed when exporting the Simulink
models as it has to be selected as the target. For using MATSIM the module SIMPACK Control is also
needed.

FMI

Functional Mockup Interface for model exchange and software tool coupling (www.modelisar.com)

IPC

Interface for coupling SIMPACK to other simulators via co-simulation using TCP/IP-based sockets.

Automotive Modules
Module

Description

SIMPACK Automotive

Plug-In for modeling and analyzing the dynamics of road vehicles, including
-

Models for road layout and road excitations

SIMPACK vehicle track joint and according sensor element

suspension kinematics sensors (steering and jounce/rebound)

Library with parameterized SIMPACK substructure models of various vehicle components (e.g.
wheel suspensions, steering elements, drive train, etc.)

Control elements for modeling of driver behavior

Tire models (Pacejka Magic Formula/Similarity and HSRI)

SIMPACK USER Tire interface (requires SIMPACK USER)

TNO MF-Tyre

(3rd Party) TNO Delft-Tires implementation of the Pacejka Magic Formula tire model. MF-tire is semiempirical approach for tire modeling which enables simulation for steady-state and transient tire
behavior

TNO MF-SWIFT

(3rd Party) Includes the MF-tire functionality and in addition to this, MF-Swift uses a rigid ring model in
which the tire belt is assumed to behave like a rigid body.

TM Easy Tyre

(3rd Party) Semi-physical easy to use tire model for low frequency applications in vehicle dynamics.
Direct physical meaning of the TMEasy parameters enables their easier identification

SIMPACK Interface to FTire

FTire
SIMPACK Interface to CDTire

(3rd Party) (Flexible Ring Tire Model) for vehicle ride comfort and dynamics simulations. Fully
nonlinear, for extremely short road surface wavelengths, structural dynamics based, sidewall contact,
misuse scenarios, tread wear, belt temperature distribution model

CDTire

(3rd Party) (Comfort and Durability Tire) for comfort, durability and handling analysis. Belt is rigid or
flexible ring or flexible shell (controlled switching between these basic types triggered by road surface
info), arbitrary road surface wavelength, accumulated sidewalls, arbitrary large belt and sidewall
deformations

Virtual Suspension

Automotive suspension based on look-up tables. Primarily used for Hil/Sil applications

Rail Modules
Module

Description

SIMPACK Rail

Allows the modeling and analysis of railway vehicles, including

SIMPACK RailWear

Models for tracks (inertia-fixed and elastic) and irregularities

Library of parameterized vehicle components (wheelsets, wheels, bogies, complete vehicles,

etc.)

Multiple non-linear and quasi-linearized wheel-rail contact models

Contains the rail switch functionality

Calculation of wheel and/or rail wear and material removal, consisting of

-

a user routine which defines the appropriate data structures and data handling for the wear
calculation

a pre-defined wear law for adhesive wear with material removal according to Krause/Poll

the possibility to add other wear laws for adhesive wear, rolling contact fatigue etc.

Drive Line Modules

Module

Description

SIMPACK Drive Line

Selection 1

Selection of specialized driveline simulation relevant force elements:

SIMPACK Drive Line

Selection 2

Selection of specialized driveline simulation relevant force elements:

FE053 Cardan Joint , FE053 Const. Velocity Joint, FE056 Differential Gear Box, FE057 Planetary
Gear Box Does not contain nor require Drive Line Selection 2.

FE058 Cardan Shaft, FE054 Const. Velocity Shaft, FE067 Gearbox Synchronizing
Does not contain nor require Drive Line Selection 1.

SIMPACK Gear Pair

The SIMPACK Force Element Gear Pair allows the detailed modeling of gear boxes, including
multiple gear wheel contact, clearance and flank contact switches. Both spur and helical gears such
as external and internal involute gears may be modeled.

SIMPACK Belt

Plug-in for simulation of belt drives. Model based on a modal description of the belt, including
longitudinal and lateral dynamics of belt. A detailed description of belt slip is included.

Shaft Coupling

Used for modeling detailed spline couplings

Wind Modules
Module

Description

SIMPACK Rotorblade

Enables easy generation of basic and advanced (torsion bend coupling) flexible rotorblades.
Requires SIMBEAM.

SIMPACK Interface to
AeroDyn (NREL)

Used for coupling the aerodynamic forces from Aerodyn (NREL) with SIMPACK

SIMPACK Interface to
AeroModule (ECN)

Used for coupling the aerodynamic forces from AeroModule (ECN) with SIMPACK

SIMPACK Wind Turbine

Control Interface

Used for integrating standard Wind Turbine control dlls into SIMPACK. Requires SIMPACK Control

Engine Modules
Module

Description

SIMPACK Hydraulic Lash

Adjuster (HLA)

The Hydraulic Lash Adjuster (HLA) is used for a detailed representation of a HLA for valvetrain
applications as well as a hydraulic tensioner system for chain or belt models. It provides, based on
geometry and oil properties, a detailed description of the oil flow including mass effects of plunger
and valve ball.

SIMPACK Valve Spring, Multi

Mass Model

The SIMPACK Multi Mass Valve spring Model is based on a 1D multi mass description including the
spring dynamics and nonlinear behavior due to coil contact.

SIMPACK Valve Spring,

SIMBEAM Model

The SIMPACK SIMBEAM Valve spring Model is based on a 3D flexible Beam description including
the spring dynamics and nonlinear behavior due to coil contact. Widening and twisting of spring as
well as lateral movement is covered. From a detailed SIMBEAM spring pre processing model a 1D
segment multi mass model can be automatically derived in order to achieve high detail in spring
vertical behavior coupled with optimized calculation time.

SIMPACK Gas Force

Control Element to automatically apply cylinder gas forces on 1 or more cylinders, regarding firing
order and deviation to ideal crank angle due to flexible crankshaft torsion.

SIMPACK Chain

Plug-in for simulation of chain (e.g. for timing mechanism). Chain types covered are:
-

roller and bushed chain

silent (or inverted tooth) chain
smart chain

The module includes:

-

full elasticity (linear or nonlinear) for link-link, link-sprocket and link-guide contact.
flexible guides can be taken into account
untrue chain sprockets

automatic chain creation

Bearing Modules
Module

Description

Journal Bearing

Force Element in order to define a radial and/or axial journal bearing in terms of multiple discrete
radial or axial forces acting on the nodes in bearing shell of a flex. body.

SIMPACK Interface to
TOWER Module HD
Impedance (3rd Party)
TOWER Module HD
Impedance (3rd Party)
SIMPACK Interface to
TOWER Module HD
Reynolds (3rd Party)
TOWER Module HD
Reynolds (3rd Party)
SIMPACK Interface to
TOWER Module Full EHD
(3rd Party)
TOWER Module Full EHD
(3rd Party)

Interface to Software Tower (by IST GmbH) for simulation of hydrodynamic bearings. Radial and
axial bearings are covered. The Interface is split up in three levels:
-

Impedance: look-up table method, generated during pre processing.

Online FEM: detailed simulation of hydrodynamic effects by solving Reynolds equation online.
Including global elasticity. Detailed description of bearing geometry and surface roughness
possible.

Full EHD: as above plus local deformation of bearing shell included in hydrodynamic
simulation.

Biomotion Modules
Module

Description

SIMPACK Biomotion Force

Elements

Additional elements for the implementation of biomechanical human body models which can be
used to analyze ride comfort, handling, occupational safety or other man-machine interactions. (A
compatible human-body-model generator is available by 3'rd party
www.biomotion-solutions.com)

SIMPACK Biomotion
Motorcycle Rider

A motion controller for a realistic rider model which is designed for motorcycle dynamics analysis
using SIMPACK Automotive.
Contrary to other rider models, Biomotion MC-Rider enables the virtual rider to steer the bike by arm
movements and not only by artificial steering axxis torque. Thus, MC-Rider accounts for realistic
rider-handlebars interaction.

SIMPACK Biomotion HASPowertool Controller

Hand-Arm-System (HAS) for Power Tools is a motion controller based on Biomotion Elements which
enables a virtual human operator holding a power tool in a desired working pose keeping predefined
pressing forces. Designed to be used with handheld power tools for vibration exposure minimization
or handling comfort optimization.

Tokens
Module

Description

Token/s

Enables user to solve models independent of modules used. For example, a model containing
contact elements may be solved even if a contact module license is not available. Tokens apply only
to solver licenses.