Tutorials and Examples

For tutorials of overall product use, see:

 Getting Started Using Adams Car

Example Four-Post Analysis

Although this is an Adams Car example, you can use the general concepts presented here to customize any
template-based product.
 Setting Up and Running an Analysis: Teaches the expert user how to build and run a full-vehicle analysis
with the four-post test rig.
 Creating and Running a Macro: Introduces the concepts of creating and running a macro for the scenario
given above.

Example Event Files

In Adams Car, XML became the default file format for Driving Machine analyses. Although Adams Car still
supports driver control files (.dcf ), it now automatically converts them to .xml. The .xml files are referred to
as event files. Although the contents of the two files types look different, they contain the same event
information. You work with .xml files through the Event Builder.
In the shared Adams Car database, we provide files in both .dcf and .xml format. These files are stored in the
driver_controls.tbl directory/table.

Example .dcd File

The following shows the architecture of a .dcd file and all the options you can set for a .dcd file. It contains
options, logic, and general rules that you must follow when creating a .dcd file.
[MDI_HEADER]
FILE_NAME = filename.dcd
FILE_TYPE = 'dcd'
FILE_VERSION = 1.0 FILE_FORMAT = 'ASCII'

(COMMENTS)
{comment_string}
'Any comment'

[UNITS]
LENGTH = 'meter' || 'millimeter' || 'centimeter' || 'kilometer' || etc.
FORCE = 'newton' || 'kilogram_force' || etc. ANGLE = 'deg' MASS = 'kg'
TIME = 'sec'

[CLOSED_LOOP]
comment = string
steering_control = 'none' || 'curvature' || 'path' || 'lat_acc'
speed_control = 'none' || 'lon_vel' || 'lon_acc' || 'lat_acc' || 'path'
ordinal = 'distance' || 'time'
682 Adams Car
Example .dcd File

lon_vel_max = float
lon_vel_min = float
lon_acc_max = float
lon_acc_min = float
lat_acc_max = float
lat_acc_min = float

(DATA)
$ steering, speed
$ 1 Case{none, none} -- null case, no data required!!
$ 2 Case{none, lon_vel}
$ 3 Case{none, lon_acc}
$ 4 Case{none, lat_acc} -- NOT VALID
$ 5 Case{none, path} -- NOT VALID
{ ( distance || time ) && ( lon_vel || lon_acc ) }
$ 6 Case{curvature, none} -- Must have distance with curvature
{ distance && curvature }
$ 7 Case{curvature, lon_vel}
$ 8 Case{curvature, lon_acc}
$ 9 Case{curvature, lat_acc}
$10 Case{curvature, path} -- NOT VALID
{ ( distance || time ) && curvature && ( lon_vel || lon_acc
|| lat_acc ) }
$11 Case{path, none}
$12 Case{path, lon_vel}
$13 Case{path, lon_acc}
$14 Case{path, lat_acc}
{ x && y && ( lon_vel || lon_acc || lat_acc ) }
$15 Case{path, path}
{ x && y && time }
$16 Case{lat_acc, none} -- NOT VALID
$17 Case{lat_acc, lon_vel}
$18 Case{lat_acc, lon_acc}
$19 Case{lat_acc, lat_acc} -- NOT VALID
$20 Case{lat_acc, path} -- NOT VALID
{ ( distance || time ) && lat_acc && ( lon_vel || lat_acc ) }

[OPEN_LOOP]
ordinal = 'time' || 'distance'
{distance || time steering throttle brake gear clutch}*
0.0 0.0 0.0 0.0 2 0.0
0.1 0.0 0.0 0.0 2 0.0
*You can select distance or time and any combination of steering, throttle, brake, gear, and clutch

.Example corresponding to $ 2 Case{none,lon_vel}:

.....
[CLOSED_LOOP]
STEERING_CONTROL = 'NONE'
SPEED_CONTROL = 'LON_VEL'
ORDINAL = 'TIME'
(DATA)
{ TIME, LON_VEL }
0.0 27.777
 Tutorials and Examples 683
Example Mapping File

0.1 27.777
0.2 27.776
0.3 27.775
0.4 27.774
0.5 27.773
.....

Example corresponding to $ 7 Case{curvature,lon_vel}:

.....
[CLOSED_LOOP]
STEERING_CONTROL = 'CURVATURE'
SPEED_CONTROL = 'LON_VEL'
ORDINAL = 'DISTANCE'
(DATA)
{ DISTANCE, CURVATURE, LON_VEL }
0.0 0.000 27.777
1.0 0.002 27.777
2.0 0.004 27.777
3.0 0.006 27.776
4.0 0.008 27.775
5.0 0.010 27.774
6.0 0.010 27.773
7.0 0.010 27.774
8.0 0.010 27.774
9.0 0.010 27.774
10.0 0.010 27.774
11.0 0.010 27.774
12.0 0.010 27.774
13.0 0.010 27.774
.....

Example Mapping File

The mapping file is acceptable in comma separated value (.csv) format. There are seven columns in each line
(record). Each section must be separated by a blank line.
The first three lines includes the header information and contain the following, in this order:
 Reference template address
 Subsytem major role
 Subsytem minor role

Template mdids://acar_concept/templates.tbl/_rigid_chassis_bed_bof.tpl
Major role body
Minor role any

The next (non-blank) line contains the titles for the columns. These titles should be constant, in this order
(please note that this line is informational only):
684 Adams Car
Example Mapping File

 Class
 Acar_name
 Options
 Values
 Apre_name
 Options
 Comments

Class acar_name options values apre_name options comments

Class: Class is the Adams Chassis entity type such as ConstructionOptions, HardPointPair, HardPoint
(single), PartPair, Part and so on. This is the same as the tag used in the XML subsystem file.
The line containing class name should have blank columns. The line below this line will contains mapping
information about that entity type.
Acar_name: This column contains the names of the Adams Car entity without prefix. Example
'ge[lr]_spindle' should be written as 'spindle'. This column should have values from the line below its class
definition line. This is the name in Adams Car that the corresponding object from Adams Chassis should
map to.
Options: [Only used if the class type is of "ConstructionOption".] This is the option name used in Adams
Car for the design option. Note that in order to map Adams Chassis Construction options within Adams Car
template, your template based product should contain Design Options.
Values: [Only used if the class type is of "ConstructionOption".] This is the value used in the parameter
variable associated with the relevant design option.
Apre_name: This column contains the name of the Adams Chassis entity in the subsystem (that is, the entity
that needs to be mapped into Adams Car).
Comments: This column contains user entered comments. This column may or may not contain any value.
It is not used for mapping, but may be useful for modification of the mapping file itself.
As an example, please see the following Construction Option section for a body subsystem:

ConstructionOptio
n
number_of_body_mounts 1 bushing 1 body_mounts 1
2 bushings 2 2
3 bushings 3 3
4 bushings 4 4
5 bushings 5 5
6 bushings 6 6
 Tutorials and Examples 685
Example Suspension Loadcase File

7 bushings 7 7
8 bushings 8 8
9 bushings 9 9

For all other sub-sections, only two columns are needed (names from Adams Car and Adams Chassis). For
example, the following Hardpoint section for the same body subsystem:

HardPointPair
body_mount_1 body_mount_1
body_mount_2 body_mount_2
body_mount_3 body_mount_3
body_mount_4 body_mount_4
body_mount_5 body_mount_5
body_mount_6 body_mount_6
body_mount_7 body_mount_7
body_mount_8 body_mount_8
body_mount_9 body_mount_9

For further examples of the mapping file format, see the examples in the Adams installation:
<install_dir>\ achassis\map

Example Suspension Loadcase File

In Adams Car, you can use loadcase files to specify different types of suspension analyses. The following is an
example loadcase file.
$-----------------------------------------------MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'lcf'
FILE_VERSION = 4.0
FILE_FORMAT = 'ASCII'
$-----------------------------------------------UNITS
[UNITS]
LENGTH = 'mm'
ANGLE = 'degrees'
FORCE = 'newton'
MASS = 'kg'
TIME = 'second'
$
$Generation Parameters: (Do Not Modify!)
$ loadcase = 1
$ nsteps = 10
686 Adams Car
Example Wheel-Envelope Input File

$ bump_disp = 100.00 rebound_disp = -100.00

$ steering_input = angle
$ stat_steer_pos = 0.00
$
$-----------------------------------------------mode
[MODE]
STEERING_MODE = 'angle'
VERTICAL_MODE = 'length'
$-----------------------------------------------data
[DATA]
$COLUMN: input type: type of input data: side:
$ (c1) wheel z disp / force left
$ (c2) wheel z disp / force right
$ (c3) lateral force (y) left
$ (c4) lateral force (y) right
$ (c5 aligning torque (z-axis) left
$ (c6) aligning torque (z-axis) right
$ (c7) brake force (y) left
$ (c8) brake force (y) right
$ (c9) driving force (y) left
$ (c10) driving force (y) right
$ (c11) steering force / steer angle / rack travel
{ whl_z_l whl_z_r lat_l lat_r align_l align_r brake_l brake_r drive_l drive_r steer}
-100.0000 -100.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
-80.0000 -80.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
-60.0000 -60.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
-40.0000 -40.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
-20.0000 -20.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.000
20.0000 20.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
40.0000 40.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
60.0000 60.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
80.0000 80.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
100.0000 100.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000

Example Wheel-Envelope Input File

The following is an example of a wheel-envelope input file (.wen) that you can use to control a wheel-
envelope analysis.

Note: For wheel-envelope input files, Adams Car ignores columns three through ten: (left and right)
lateral force, aligining torque, brake force, and driving force.

$--------------------------------------------MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'wen'
FILE_VERSION = 5.0
FILE_FORMAT = 'ascii'
$--------------------------------------------UNITS
[UNITS]
LENGTH = 'mm'
FORCE = 'newton'
ANGLE = 'deg'
 Tutorials and Examples 687
Example Wheel-Envelope Output File

MASS = 'kg'
TIME = 'sec'
$--------------------------------------------MODE
[MODE]
STEERING_MODE = 'angle'
VERTICAL_MODE = 'length'
$--------------------------------------------GRID
[GRID]
BOUNDARY_STEERING_GRID = 100.0
BOUNDARY_WHEEL_GRID = 20.0
INTERIOR_STEERING_GRID = 100.0
INTERIOR_WHEEL_GRID = 20.0
$--------------------------------------------DATA
[DATA]
$COLUMN: input type: type of input data: side:
$ (c1) wheel z disp / force left
$ (c2) wheel z disp / force right
$ (c3) lateral force (y) left
$ (c4 lateral force (y) right
$ (c5) aligning torque (z-axis) left
$ (c6) aligning torque (z-axis) right
$ (c7) brake force (y) left
$ (c8 brake force (y) right
$ (c9) driving force (y) left
$ (c10) driving force (y) right
$ (c11) steering steer angle / rack travel
$ {whl_z_l whl_z_r lat_l lat_r align_l align_r brake_l brake_r
drive_l drive_r steer}
-120.0 -120.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -500.0
80.0 80.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -500.0
90.0 90.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -300.0
120.0 120.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -200.0
120.0 120.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 200.0
85.0 85.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 350.0
80.0 80.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 500.0
60.0 60.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 500.0
30.0 30.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 450.0
-30.0 -30.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 450.0
-75.0 -75.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 500.0
-120.0 -120.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 500.0

Example Wheel-Envelope Output File

A wheel-envelope output file (.wev) contains a header and a data table, as explained next.
The first three lines comprise the header and contain the following information, in this order:
 Type of file
 Adams dataset title
 Date and time of file creation
The table that follows the header contains the following information:
 The first column shows the solution step number
688 Adams Car
Example Plot Configuration File

 Columns 2-4 show the data for the left wheel center x, y, z
 Columns 5-7 show the data for the left wheel axis point x, y, z
 Columns 8-10 show the data for the right wheel center x, y, z
 Columns 11-13 show the data for the right wheel axis point x, y, z
The following is an example of a wheel-envelope output file:
Adams Car Wheel Envelope Analysis Output File - acar_v10.0
Adams Car Assembly
2000-01-19 16:41:21
1 -4.2702 -673.57 205.00 -348.83 -1611.7 170.29 7.0293 670.69 205.00 303.63 1620.7 107.88
2 -4.6463 -681.45 225.00 -344.63 -1621.7 206.15 6.7629 678.55 225.00 307.97 1628.3 139.91
3 -4.9532 -687.82 245.00 -340.16 -1630.0 239.60 6.5706 684.92 245.00 311.28 1634.4 170.26
4 -5.2433 -692.82 265.00 -334.67 -1637.0 271.40 6.3755 689.93 265.00 314.35 1639.0 198.89
5 -5.5240 -696.55 285.00 -328.07 -1643.0 301.70 6.1779 693.66 285.00 317.43 1642.1 225.76
6 -5.7905 -699.08 305.00 -320.38 -1648.0 330.44 5.9864 696.18 305.00 320.67 1643.8 250.76
7 -6.0372 -700.45 325.00 -311.59 -1652.1 357.51 5.8099 697.55 325.00 324.25 1644.1 273.76
8 -6.2583 -700.71 345.00 -301.72 -1655.3 382.78 5.6583 697.79 345.00 328.31 1643.0 294.55
9 -6.4469 -699.89 365.00 -290.74 -1657.8 406.03 5.5424 696.93 365.00 333.04 1640.3 312.88
10 -6.5953 -698.01 385.00 -278.64 -1659.4 426.98 5.4752 695.00 385.00 338.63 1636.2 328.39
... .......

Example Plot Configuration File

The following is an example of an Adams Car plot configuration file:
$----------------------------------------------------------------------PAGE

[PAGE]
PAGE_LAYOUT = 11.0
NUMBER_OF_PLOTS = 1.0
PAGE_NAME = page_1
HEADER_LEFT_LINES = 1.0
HEADER_LEFT_LINE_0_TEXT = 'Header Left'
HEADER_LEFT_TEXT_FONT_SIZE = 9.0
HEADER_LEFT_LINES = 1.0
HEADER_LEFT_COLOR = 788529153.0
FOOTER_RIGHT_LINES = 1.0
FOOTER_RIGHT_LINE_0_TEXT = 'Footer Right'
HEADER_LEFT_LINES = 1.0
HEADER_LEFT_LINE_0_TEXT = 'Header Left'
FOOTER_RIGHT_TEXT_FONT_SIZE = 9.0
FOOTER_RIGHT_COLOR = 788529153.0
$----------------------------------------------------------------------PLOT

[PLOT]
INDEX = 0.0
NAME = 'plot_1'
 Tutorials and Examples 689
Example Plot Configuration File

TIME_LOWER_LIMIT = 0.0
TIME_UPPER_LIMIT = 0.0
AUTO_DATE_STAMP = 1.0
AUTO_ANALYSIS_NAME = 1.0
AUTO_SUBTITLE = 0.0
AUTO_TABLE_HEADER = 1.0
(LEGEND)
{placement xloc yloc zloc fill }
2 55.46 85.03 0.00 1
(PLOT_BORDER)
{color line_style line_weight}
788529153 1 1.0
(PRIMARY_GRID)
{color line_style line_weight}
788529165 1 0.5
(SECONDARY_GRID)
{color line_style line_weight}
788529165 1 0.5
(LEGEND_BORDER)
{color line_style line_weight}
788529153 1 1.0
(NOTES)
NUMBER_OF_NOTES = 3.0
(NOTE_1)
{name font color autopos rotation alignment xloc yloc zloc isDate isAnalysis
numStrings}
'analysis' 9 788529153 0 0.0 2 54.3200 4.7836 0.0000 0 1 0 1
STRING_1_TEXT = 'Analysis: test1_parallel_travel'
(NOTE_2)
{name font color autopos rotation alignment xloc yloc zloc isDate isAnalysis
numStrings}
'date' 9 788529153 0 0.0 2 117.8513 4.7836 0.0000 1 0 0 1
STRING_1_TEXT = '15:52:54 11-MAY-98'
(NOTE_3)
{name font color autopos rotation alignment xloc yloc zloc isDate isAnalysis
numStrings}
'NOTE_3' 10 788529163 1 0.0 4 82.6197 56.0575 0.0000 0 0 0 1
STRING_1_TEXT = 'This is my note'
(PLOT_AXES)
{axis_name type label scaling divisions low_limit up_limit color font
rotation alignment placement axis_offset axis_color label_autopos
label_offset label_xloc label_yloc tic_color minor_divs auto_divs use_divs
incs trailing_zeros dec_places sci_lower sci_upper num_font num_color}
'vaxis' 'vertical' 'No Units' 'linear' 8 0 0 788529153 9 90.0 3 0 0.0
788529153 0 10.9 43.4 49.3 788529153 2 1 1 1.0 0 4 -4 5 9.0 788529153
'haxis' 'horizontal' 'Time (sec)' 'linear' 3 0 0 788529153 9 0.0 2 3 0.0
788529153 0 6.5 86.1 4.8 788529153 2 1 1 5.0 0 4 -4 5 9.0 788529153
$----------------------------------------------------------------PLOT_CURVE

[PLOT_CURVE]
NAME = 'curve_1'
PLOT = 'plot_1'
VERTICAL_AXIS = 'vaxis'
HORIZONTAL_AXIS = 'haxis'
HORIZONTAL_EXPRESSION = 'toe_angle.TIME'
VERTICAL_EXPRESSION = 'toe_angle.right'
Y_UNITS = 'no_units'
X_UNITS = 'time'
LEGEND_TEXT = 'Right'
COLOR = 'red'
690 Adams Car
Example Differential Property File

STYLE = 'solid'
SYMBOL = 'none'
LINE_WEIGHT = 2.0
HOTPOINT = 0.0
INCREMENT_SYMBOL = 1.0

Example Differential Property File

The following shows the architecture of a Differential Property File (*.dif ) for modeling a viscous limited-
slip differential in Adams Car. These property files may be referenced by a General Splines and are used to
model torque vs. angular velocity.
$---------------------------------------------------------MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'dif'
FILE_VERSION = 1.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------UNITS
[UNITS]
(BASE)
{length force angle mass time}
'meter' 'newton' 'degrees' 'kg' 'sec'
(USER)
{unit_type length force angle mass time conversion}
'rpm' 0 0 1 0 -1 6.0
$
$-------------------------------------------------------DIFFERENTIAL
[DIFFERENTIAL]
(XY_DATA)
{slip_speed<rpm> torque <torque>}
-90 -4644.00
-85 -3644.00
-80 -2644.00
-75 -1644.00
-71 -844.00
-69 -624.00
-65 -544.00
-60 -444.00
-55 -344.00
-50 -244.00
-45 -144.00
-41 -64.00
-39 -42.00
-35 -34.00
-30 -24.00
-25 -14.00
-21 -6.00
-19 -3.80
-15 -3.00
-10 -2.00
-5 -1.00
0 0.00
5 1.00
10 2.00
 Tutorials and Examples 691
Example Motor Property Files

15 3.00
19 3.80
21 6.00
25 14.00
30 24.00
35 34.00
39 42.00
41 64.00
45 144.00
50 244.00
55 344.00
60 444.00
65 544.00
69 624.00
71 844.00
75 1644.00
80 2644.00
85 3644.00
90 4644.00

Example Motor Property Files

The following shows the architecture of the Adams Machinery Motor Property Files (*.mtr, *.bldc, *.stpr) for
modeling electric motors in Adams.
If you select the Curve Based method, the required property file format is *.mtr. If you select the Analytical
method, Brushless DC and Stepper motors require property files (*.bldc and *.stpr respectively). For the
Curve Based method (*.mtr), the file must contain torque vs. RPM data. For BLDC motors, the file may
contain either angle vs. time or angular velocity vs. time. For Stepper motors, the file may contain either target
angle vs. time or pulses per second vs. time. Examples of each type is included in the acar_shared database.

Curve Based Example Property File

$---------------------------------------------------------MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'mtr'
FILE_VERSION = 4.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------UNITS
[UNITS]
LENGTH = 'mm'
ANGLE = 'degrees'
FORCE = 'newton'
MASS = 'kg'
TIME = 'second'
$---------------------------------------------------------PARAMETERS
[PARAMETERS]
METHOD = 'curve_based'
$--------------------------------------------------------------CURVE
[CURVE]
{ rpm torque}
692 Adams Car
Example Motor Property Files

0.0 120.0
100.0 74.2072
200.0 63.323
300.0 115.5031
400.0 45.7163
500.0 4.7405
600.0 5.0
700.0 0.0
 Tutorials and Examples 693
Example Motor Property Files

BLDC Position Control Example Property File

$---------------------------------------------------------MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'bldc'
FILE_VERSION = 4.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------UNITS
[UNITS]
LENGTH = 'mm'
ANGLE = 'degrees'
FORCE = 'newton'
MASS = 'kg'
TIME = 'second'
$---------------------------------------------------------PARAMETERS
[PARAMETERS]
METHOD = 'analytical'
MOTOR_TYPE = 'bldc'
CONTROL_METHOD = 'position_control'
$--------------------------------------------------------------CURVE
[CURVE]
{ time angle}
0.0 0.0
0.1 90.0
0.2 90.0
0.3 90.0
0.4 90.0
0.5 90.0
0.6 90.0
0.7 90.0
0.8 90.0
0.9 90.0
1.0 180.0
1.1 180.0
1.2 180.0
1.3 180.0
1.4 180.0
1.5 180.0
1.6 180.0
1.7 180.0
1.8 180.0
1.9 180.0
2.0 180.0
2.1 180.0
2.2 180.0
2.3 180.0
2.4 180.0
2.5 180.0
2.6 360.0
2.7 360.0
2.8 360.0
2.9 360.0
694 Adams Car
Example Motor Property Files

3.0 360.0
3.1 360.0
3.2 360.0
3.3 360.0
3.4 360.0
3.5 360.0
3.6 270.0
3.7 270.0
3.8 270.0
3.9 270.0
4.0 270.0
4.1 270.0
4.2 270.0
4.3 270.0
4.4 270.0
4.5 270.0
4.6 90.0
4.7 90.0
4.8 0.0
4.9 0.0
5.0 0.0
6.0 0.0
7.0 0.0
8.0 0.0
9.0 0.0
10.0 0.0
11.0 0.0
12.0 0.0
 Tutorials and Examples 695
Example Motor Property Files

BLDC Speed Control Example Property File

$---------------------------------------------------------MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'bldc'
FILE_VERSION = 4.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------UNITS
[UNITS]
LENGTH = 'mm'
ANGLE = 'degrees'
FORCE = 'newton'
MASS = 'kg'
TIME = 'second'
$---------------------------------------------------------PARAMETERS
[PARAMETERS]
METHOD = 'analytical'
MOTOR_TYPE = 'bldc'
CONTROL_METHOD = 'speed_control'
$--------------------------------------------------------------CURVE
[CURVE]
{ time rpm}
0.0 0
0.05 100
0.1 100
0.2 100
0.3 100
0.4 100
0.5 100
0.6 100
0.7 100
0.8 100
0.9 100
1 100
1.1 100
1.2 100
1.3 100
1.4 100
1.5 100
1.6 150
1.7 150
1.8 150
1.9 150
2 150
2.1 150
2.2 150
2.3 150
2.4 150
2.5 150
2.6 300
2.7 300
696 Adams Car
Example Motor Property Files

2.8 300
2.9 300
3 300
3.1 300
3.2 300
3.3 300
3.4 300
3.5 300
3.6 200
3.7 200
3.8 200
3.9 200
4 200
4.1 100
4.2 100
4.3 100
4.4 100
4.5 100
4.6 50
4.7 40
4.8 30
4.9 20
5 0
6 0
7 0
8 0
9 0
10 0
11 0
12 0
 Tutorials and Examples 697
Example Motor Property Files

Stepper Target Angle Example Property File

$---------------------------------------------------------MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'stpr'
FILE_VERSION = 4.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------UNITS
[UNITS]
LENGTH = 'mm'
ANGLE = 'degrees'
FORCE = 'newton'
MASS = 'kg'
TIME = 'second'
$---------------------------------------------------------PARAMETERS
[PARAMETERS]
METHOD = 'analytical'
MOTOR_TYPE = 'stepper'
INPUT_TYPE = 'target_angle_vs_time'
$--------------------------------------------------------------CURVE
[CURVE]
{ time angle}
0.0 0.0
0.5 0.0
0.9 0.0
1.0 60.0
1.1 60.0
1.9 60.0
2.0 60.0
2.1 60.0
4.1 60.0
5.0 60.0
6.0 60.0
7.0 60.0
698 Adams Car
Example Wind File

Stepper PPS Example Property File

$---------------------------------------------------------MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'stpr'
FILE_VERSION = 4.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------UNITS
[UNITS]
LENGTH = 'mm'
ANGLE = 'degrees'
FORCE = 'newton'
MASS = 'kg'
TIME = 'second'
$---------------------------------------------------------PARAMETERS
[PARAMETERS]
METHOD = 'analytical'
MOTOR_TYPE = 'stepper'
INPUT_TYPE = 'pps_vs_time'
$--------------------------------------------------------------CURVE
[CURVE]
{ time PPS}
0.0 0.0
0.5 0.0
0.9 0.0
1.0 1.0
1.1 1.0
1.9 1.0
2.0 1.0
2.1 0.0
4.1 0.0
5.0 0.0
6.0 0.0
7.0 0.0

Example Wind File

The following shows the architecture of a wind file (.wnd) file and all the options you can set for a .wnd file.
It contains options, logic, and general rules that you must follow when creating a .wnd file.
---------------------------------------------------------------------
MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'wnd'
FILE_VERSION = 1.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------UNITS
[UNITS]
 Tutorials and Examples 699
Example Wind File

(BASE)
{length force angle mass time}
'mm' 'newton' 'degrees' 'kg' 'sec'

(USER)
{unit_type length force angle mass time conversion}
'Nm' 1 1 0 0 0 1E+03
'MPa' -2 1 0 0 0 1
'Nms_d' 1 1 -1 0 1 1E+03
'Nm_d' 1 1 -1 0 0 1E+03
'mm_s' 1 0 0 0 -1 1

$ 1 Nm = 1e3 Nmm = 1 newton*1000mm

$ 1 MPa = 1e6 Pa = 1e6 newtons/M^2*(1M/1000mm)^2 = 1
$ 1 Nms_d = 1e3 Nmms/deg = 1 newton*1000mm*1s/1deg
$ 1 Nm_d = 1e3 Nmm/deg = 1 newton*1000mm/1deg
$------------------------------------------------------WIND_VELOCITY
[WIND_VELOCITY]
ORDINAL = 'distance' || 'time'
(XY_DATA)
{distance <length> || time wind_velocity <mm_s>}*
-10000.00 0.00
0.00 0.00
25000.00 0.00
26000.00 20833.33
50000.00 20833.33
100000.00 20833.33
101000.00 0.00
150000.00 0.00
1000000.00 0.00
$---------------------------------------------------------WIND_ANGLE
[WIND_ANGLE]

(XY_DATA)
{distance <length> || time angle <angle>}**
-10000.00 60.00
0.00 60.00
25000.00 60.00
26000.00 60.00
50000.00 60.00
100000.00 60.00
101000.00 60.00
150000.00 60.00
1000000.00 60.00

*You can select distance or time (should match with the ordinal value specified) and wind_velocity.
**You can select distance or time (should match with the ordinal value specified in wind_velocity block) and
angle.
700 Adams Car
Adams Car Dynamic Suspension Analysis

Adams Car Dynamic Suspension Analysis

This example demonstrates the ability to carry out Dynamic Suspension Analysis. Instead of using a quasi-static
simulation the suspension assembly is simulated with the Adams Solver Simulate/Dynamic command.
This feature allows you to directly provide a RPCIII file or define View Functions to specify Jack and Steering
motion as a function of displacement, force and so on.

Model Description

A Suspension Assembly consisting of a

double wishbone suspension and a rack
and pinion steering system is provided.

A dynamic suspension analysis is carried

out to actuate the wheel pads across a range
of frequencies. We are interested in looking
at the lower control arm bushing force and
how the force changes by replacing the
rigid lower control arm by a flexible body.
In addition, we use the flex body swap
dialog box to switch a rigid lower control
arm with a flexible one. We then plot the
stress on the flexible body node and
visualize it.

Investigate the model and carry out a Dynamic Analysis

Here you first analyze a double wishbone suspension with rigid lower control arm
1. Start Adams Car, Select Standard Interface.
2. Create a new Suspension assembly: File - New - Suspension Assembly. Fill the dialog box as indicated
below. To select the subsystems, Right-click - Search - <acar_shared> to open the file browser.
 Tutorials and Examples 701
Adams Car Dynamic Suspension Analysis

3. The suspension assembly should be displayed.

4. To simulate using the Dynamic Solver Statements, go to Simulate - Suspension Analysis - Dynamic.
5. You will use View Functions to define the vertical displacement of the Jack. The following function
steps up the bounce-rebound amplitude from 10 mm to 30 mm with a frequency of 2 Hz:
step(time,2,10*sin(4*pi*time),8,30*sin(4*pi*time))
(Tire Forces can be added using the function like Static Loads Analysis)
702 Adams Car
Adams Car Dynamic Suspension Analysis

6. To animate the results, from the Review menu, select Animation Controls. Animate the model and
observe the change in the suspension travel.

Review the results

Plot the bushing force in the lca_front bushing:
1. Hit the F8 key in Adams Car to switch to Adams PostProcessor.
2. Locate the bkl_lca_front_force and bkr_lca_front_force REQUEST under user-defined
REQUESTs:
 Tutorials and Examples 703
Adams Car Dynamic Suspension Analysis

The fz_front component corresponds to magnitude of the force in the Z direction. Plot this quantity to
obtain a figure similar to the following:

Change Rigid Lower Control arm to be a Flexible Body

Here you use the Flex body Swap dialog box feature available in the Standard interface to replace the left rigid
lower control arm with a flexible body. The MNF file used for representing this flex body is created in
Nastran.
To replace the lower control arm:
1. Go to Adjust - General Part - Rigid to Flex. This displays the flex body swap dialog box.
2. Right click the Current Part Field - Pick and select the Left Lower control arm. In the MNF File
field, Right-click - Search - <acar_shared>\flexbodys.tbl and select the LCA_left_tet.mnf file.

3. Click on the Connections tab next and highlight the Move column and click Preserve Expression
button and click OK.
704 Adams Car
Adams Car Dynamic Suspension Analysis

4. Now, the rigid lower control arm in red is replaced by the white flexible body.
 Tutorials and Examples 705
Adams Car Dynamic Suspension Analysis

Simulate the Model

You again carry out a dynamic analysis with this model now containing a flexible body.
1. Go to Simulate - Suspension Analysis - Dynamic.
2. Name the Output Prefix to be Rigid_Flex and keep the remaining dialog box unchanged.
After the simulation is successful, animate the model to make sure it is behaving as expected.

Review & Compare Results

Here you plot the bushing force for the lower control arm and compare the force on left and right side.
To review the results:
1. Locate the bkl_lca_front_force and bkr_lca_front_force REQUEST under user-defined
REQUESTs:

2. Because of the left lower control arm being a flexible body, note the difference in the bushing force.
706 Adams Car
Adams Car Dynamic Suspension Analysis

Optional: Load Durability Plugin to display Stresses and Identify the Hotspots
Here you will load the Durability Plugin and identify the hot-spots on the flexible lower control arm and also
plot the nodal stresses. For better visualization, in the Adams Car Standard Interface change the background
color from Black to Gray (Settings - View Background Color).
To Display Stresses and animate the flex body:
1. Change to Adams Postprocessor and switch to Animation mode.
2. Go to View - Load Animation - select Rigid_Flex_dynamic to load the animation.
3. Go to Tools - Plugin Manager and check the load Adams Durability option.
4. In the Animation tab right click the Component field and select the flexible body
gel_lower_control_arm_flex. This only displays the flexible body and not the whole model.

5. Select the Contour Plots tab; set Contour Plot Type to Von Mises Stress and check Display Legend.

6. Select the Hot Spots tab; check Display HotSpots and fill the dialog box as shown below. You are
interested in looking at the top 2 hotspots on the flexible body.

7. Play the animation; you would observe the change in stress with the hot spots being identified.
 Tutorials and Examples 707
Adams Car Dynamic Suspension Analysis

8. From the above exercise, you can note that Node with ID 709 experiences the maximum Von Mises
Stress. You can now, plot the stress at this node. Go to Durability menu at the top and select Nodal
Plots. The dialog for Nodal Plots pops up. In the Select Node List field, fill in 709, Check Von Mises
and click OK.
9. Switch back to Plotting mode in the Adams PostProcessor, Set the Source to be Result Sets; select
gel_lower_control_arm_flex_Stress and component to be node_709_Von_Mises. Your plot should
look something like shown below.
708 Adams Car
Adams Car Dynamic Suspension Analysis

Remarks
 The above example, demonstrates a simple use of applying a non standard excitation to a suspension
assembly. You could use an RPCIII file from test data to actuate your suspension or use other
Adams View functions. An example RPCIII file (roadprofile_lr_channels.drv) has been provided in
the shared car database with your Adams installation
(install_dir\acar\shared_car_database.cdb\loadcases.tbl).
 While animating or during plotting of the hot spots/stresses for the first time, you may see a progress
bar. This is showing the caching of the Flex Cache Files for improving performance for future
animation and post processing.
 Tutorials and Examples 709
Adding the vertical setup mode of Adams Car Suspension Testrig

Adding the vertical setup mode of Adams Car

Suspension Testrig
This example demonstrates the use of the MDI_SUSPENSION_TESTRIG for quasi-static suspension
analysis. The vertical mode named "VERTICAL_MODE_FOR_SETUP" in the loadcase file is added to the
suspension testrig. "VERTICAL_MODE_FOR_SETUP" means the vertical control method at time=0. This
allows you to set the vertical mode method at both the setup phase (time=0) and the simulation phase.
This is very important for models including adjustable forces. Because when you correlates with test data, it
is important to match the physical initial condition setup with that of the simulation.

Model Description

A Suspension Assembly consisting of a

double wishbone suspension including
adjustable force and a rack and pinion
steering system is provided.

We carry out quasi-static suspension

analysis with two setup mode for vertical
control. One is "wheel_center_height".
Other is "contact_patch_height. And we
then plot the toe angle in order to make
sure the differences.

Performing the analysis in order to investigate the vertical setup mode.

Here you first analyze a double wishbone suspension including adjustable force.
1. Start Adams, Select Standard Interface.
2. Create a new Suspension assembly: File - New - Suspension Assembly. Fill the dialog box as indicated
below. To select the subsystems, Right-click - Search - <acar_shared> to open the file browser.
710 Adams Car
Adding the vertical setup mode of Adams Car Suspension Testrig

3. The suspension assembly should be displayed.

4. Go to Adjust - Adjustable Force. And select
".frontsusp_acforce.TR_Front_Suspension_torsional.afl_toe_adjustment" for the "Adjustable
Force" field. Then you can see the desired value (-0.5). This value means that the toe angle is adjusted
to -0.5 at setup phase.
5. Go to Simulate - Suspension Analysis - Parallel Wheel Travel…and click on Alignment Button.

Note: Tip text will display the name of adjustable force.

6. Click "Front" toggle button under "Toe" which will activate adjustable force
".frontsusp_acforce.TR_Front_Suspension_torsional.afl_toe_adjustment".
 Tutorials and Examples 711
Adding the vertical setup mode of Adams Car Suspension Testrig

Now you can see the desired value (-0.5). This value means that the toe angle is adjusted to -0.5 at
setup phase.
Click OK.
7. Set up the analysis as follows. In this case, the vertical travel of the wheel is controlled to keep 0mm
in setup phase.

8. Select OK.
9. Go to Simulate - Suspension Analysis - Parallel Wheel Travel… again
712 Adams Car
Adding the vertical setup mode of Adams Car Suspension Testrig

10. Set up the analysis as follows for the second analysis. In this case, the vertical travel of the contact
patch is controlled to keep 0mm in setup phase.

11. Select OK.

Note: "Absolute" at "Control Mode" means that the vertical displacement is controlled the
displacement with absolute value. "Relative" means that the displacement is relative to the
position at the setup phase.

Review the results

Plot the toe angle in two analyses:
1. Hit the F8 key in Adams Car to switch to Adams PostProcessor.
2. From the simulation list, select the two analyses.
3. From the right of the dashboard, set Independent Axis to Data. (The Independent Axis Browser
appears. You perform the next four steps in the browser.)
4. From the Request list, select wheel travel. You might have to scroll down to see this entry.
5. From the Component list, select vertical_left.
6. Select OK.
7. Locate the testrig.toe_angle REQUEST under user-defined REQUESTs. And select left in
component list.
 Tutorials and Examples 713
Adding the vertical setup mode of Adams Car Suspension Testrig

8. Select Add curve. You can see the plot of wheel_travel vs toe_angle.
The toe angle in Red line(case1...) should be -0.5 by adjustable force when wheel_travel is 0.

9. Create New page.

10. From the right of the dashboard, set Independent Axis to Data. And select jfl_jack_force_data in
request list and displacement in component list.
11. Plot the toe angle again. You can see the plot of contact_patch_height vs toe_angle.
The toe angle in Blue line(case2...) should be -0.5 by adjustable force when contact_patch_height is 0.
714 Adams Car
Adding the length mode for roll analysis of Adams Car Suspension Testrig

Remarks
 "VERTICAL_SETUP_MODE" is available with all quasi-static suspension analysis. When you
create the loadcase file, the setup mode is described as follows in loadcase file.
[MODE]
STEERING_MODE = 'angle'
$ wheel_center_height/ contact_patch_height
VERTICAL_MODE_FOR_SETUP = 'contact_patch_height'
VERTICAL_MODE = 'wheel_center_height'
VERTICAL_TYPE = 'absolute'
COORDINATE_SYSTEM = 'vehicle'

 "Control Mode" is also described as follows in loadcase file.

[MODE]
STEERING_MODE = 'angle'
$ wheel_center_height/ contact_patch_height
VERTICAL_MODE_FOR_SETUP = 'contact_patch_height'
VERTICAL_MODE = 'wheel_center_height'
VERTICAL_TYPE = 'absolute'
COORDINATE_SYSTEM = 'vehicle'

Adding the length mode for roll analysis of Adams Car

Suspension Testrig
This example demonstrates the use of the MDI_SUSPENSION_TESTRIG for quasi-static suspension
analysis. The length mode is added to roll analysis of the suspension testrig. The length mode means that you
can define the vertical length of the center of the table for roll analysis instead of only the total vertical force.
You can set the vertical mode to either "Force" or "Length" for roll analysis.
 Tutorials and Examples 715
Adding the length mode for roll analysis of Adams Car Suspension Testrig

Model Description

A Suspension Assembly consisting of a

double wishbone suspension including
adjustable force and a rack and pinion
steering system is provided.

We carry out roll analysis in quasi-static

suspension analysis with two setup mode
for vertical control. One is "Force".
Other is "Length". And we then plot
some requests in order to make sure the
differences.

Performing the roll analysis in order to investigate the vertical mode.

Here you first analyze a double wishbone suspension including adjustable force.
1. Start Adams 2019, Select Standard Interface.
2. Create a new Suspension assembly: File - New - Suspension Assembly. Fill the dialog box as indicated
below. To select the subsystems, Right-click - Search - <acar_shared> to open the file browser.

3. The suspension assembly should be displayed.

4. Go to Adjust - Adjustable Force. And select
".frontsusp_acforce.TR_Front_Suspension_torsional.afl_toe_adjustment" for the "Adjustable
Force" field. Then you can see the desired value (-0.5). This value means that the toe angle is adjusted
to -0.5 at setup phase.
716 Adams Car
Adding the length mode for roll analysis of Adams Car Suspension Testrig

5. Go to Simulate - Suspension Analysis - Roll & Vertical Force…

6. Set up the analysis as follows. In this case, the vertical mode is controlled with Force mode during
the simulation.
 Tutorials and Examples 717
Adding the length mode for roll analysis of Adams Car Suspension Testrig

7. Select OK.
8. Go to Simulate - Suspension Analysis - Roll & Vertical Force… again
9. Set up the analysis as follows. In this case, the vertical mode is controlled with Length mode during
the simulation.

10. Select OK.

Review the results

1. Hit the F8 key in Adams Car to switch to Adams PostProcessor.
2. From the simulation list, select the first analyses named "mode_Force_roll_angle".
3. From the right of the dashboard, set Independent Axis to Time.
4. Locate the left_tire_force and right_force REQUEST under user-defined REQUESTs. And select
normal in component list.
718 Adams Car
Adding the length mode for roll analysis of Adams Car Suspension Testrig

5. Select Add curve. The sum of two curves is always 6000N.

6. Create New page.

7. From the simulation list, select the first analyses named "mode_Length_roll_angle".
8. Locate the jfl_jack_force_data and jfr_jack_force_data REQUEST under user-defined REQUESTs.
And select displacement in component list.
 Tutorials and Examples 719
Modelling Rack Pinion Steering in ACar using AMachinery Gear

9. Select Add curve. The sum of two curves is constant. This means that the center of the table is
constant during simulation.

Remarks
 When you create the loadcase file for roll analysis, the vertical setup mode is described as follows in
loadcase file.
[MODE]
STEERING_MODE = 'angle'
VERTICAL_MODE_FOR_SETUP = 'wheel_center_height'
$ roll_angle / roll_angle_disp
VERTICAL_MODE = 'roll_angle_disp'
COORDINATE_SYSTEM = 'iso'

Modelling Rack Pinion Steering in ACar using

AMachinery Gear
You can replace 'coupler' type steering gear with 'machinery gear' using this method.

1. Disable existing pinion to rack gear

1. Open _rack_pinion_steering.tpl.
2. Disable the 'grsred_pinion_to_rack' which will be replaced by machinery gear.

1. Create Pinion
1. Select Build → AMachinery Gear → Cylindrical Gear → Cylindrical Gear Element → New.
The Create Cylindrical Gear Element dialog box appears.
2. Enter the values as listed below in the dialog box.
a. Rack gain for one revolution of pinion:
720 Adams Car
Modelling Rack Pinion Steering in ACar using AMachinery Gear

≈ 360o pinion rotation

= 36.0004mm rack displacement
b. Assumptions:
Normal module = 1.55
Normal pitch of pinion = ?*1.55 = 4.87mm
(for better contact ratio with less number of teeth)
Assumed Helix angle on pinion = 20o
Transverse pitch of pinion = 4.87/cos(20)
= 5.18mm
c. Number of teeth on pinion
= rack_gain/ Transverse pinion pitch
= 36.004/5.18 = 6.94 = 7
To avoid interference due to lesser (seven) number of teeth, it is necessary to use profile modification
on pinion.
d. Refer to 'rps_pinion.gea' from 'machinery_examples.cdb/gear_elements.tbl' as property
file.
e. Select 'cfs_pinion_pivot' as construction frame for pinion.
f. Choose connection as fixed joint with 'ges_pinion' from connections tab.
 Tutorials and Examples 721
Modelling Rack Pinion Steering in ACar using AMachinery Gear

3. Click OK. The completed pinion model will be displayed as below:

722 Adams Car
Modelling Rack Pinion Steering in ACar using AMachinery Gear

1. Find Rack placement

1. Pinion number of teeth 7 and module 1.55
2. Pinion PCD is 7*1.55 = 10.85
3. Transverse pitch diameter of pinion = 10.85/cos(20) = 11.54mm
4. Hence rack location from is 11.54/2 ≈ 5.8mm
5. Rack orientation should be same as existing 'ges_rack'
6. Create a construction frame 'rps_rack_ref' with respect to pinion frame
 Tutorials and Examples 723
Modelling Rack Pinion Steering in ACar using AMachinery Gear

1. Create Rack

Assumption:
1. Total rack gain:
Approximately 3 revolutions of pinion (or steering wheel) = 120 mm
2. Transverse Pinion Pitch = Normal Pinion Pitch / cos(helix angle)
= 4.87/cos(20) = 5.18mm
3. Total number of teeth on rack = 120/5.18 = 23
4. Refer to 'rps_rack.gea' in 'machinery_examples.cdb/gear_elements.tbl'
5. Select 'cfs_prs_rack_ref' as construction frame created in step 3.
6. Choose connection as fixed with 'ges_rack'
724 Adams Car
Modelling Rack Pinion Steering in ACar using AMachinery Gear

7. Select OK.
The completed rack model will be displayed as below:
 Tutorials and Examples 725
Modelling Rack Pinion Steering in ACar using AMachinery Gear

1. Create gear force

1. Select gear type 'Simplified' or '3D' from menu:
2. Select Build → AMachinery Gear → Rack Gear → Simplified Rack Gear Force → New
3. Select property file 'rack_simplified_gear_force' from 'machinery_examples/gear_stiffness.tbl'
4. Select rack and pinion gear elements created in step 2 and 3.

5. Click OK.
Alternatively you can select '3D gear force', if required formulation is '3D'.
726 Adams Car
Modelling Rack Pinion Steering in ACar using AMachinery Gear

1. Save Template

2. Create TR_steering subsystem

1. Switch to standard mode.
2. Open TR_Steering subsystem and click yes to use existing _rack_pinion_steering template.
3. Visually inspect rack and pinion if they are meshing correctly without interference.
4. Save TR_steering subsystem.
5. Open the TR_steering subsystem to check if 'MACHINERY_GEAR' block is correctly reflected for
rack, pinion and force elements.

1. Create MDI_FRONT_STEERING subsystem

With _rack_pinion_steering created in step-6 in session, open MDI_FRONT_STEERING subsystem and
click ‘yes’ to use existing '_rack_pinion_steering' template.

Note: Visually inspect the rack and pinion for correct mesh. It will not mesh correctly.
 Tutorials and Examples 727
Modelling Rack Pinion Steering in ACar using AMachinery Gear

The rack and pinion are not meshing correctly in MDI_FRONT_STEERING as the construction frame of
pinion (cfs_pinion_pivot) is changed as mentioned below:
728 Adams Car
Modelling Rack Pinion Steering in ACar using AMachinery Gear

Note the difference of angle between MDI and TR steering subsystems for cfs_pinion_pivot:
1. 45(TR) - 35.4082704862 (MDI)= 9.5917295138
2. Adjust the helix angle of rack by opening the rack gear element in subsystem mode
3. Reduce the helix angle of rack by '9.5917295138 deg'
4. (20-9.5917295138= 10.408deg)

Note: Visually inspect resulting mesh as shown in the figure.

 Tutorials and Examples 729
Modelling Rack Pinion Steering in ACar using AMachinery Gear

5. Click OK.
The completed model will be displayed as below:
730 Adams Car
Modelling Rack Pinion Steering in ACar using AMachinery Gear

6. Save MDI_Steering Subsystem and check the helix angle (BETA) is modified correctly in subsystem
file (in respective MACHINERY_GEAR block)

1. Run Analysis
1. Open mdi_front_vehicle.asy using newly created _rack_pinion_steering and (or select
mdi_front_vehicle_simpli.asy from 'machinery_example.cdb' )
2. Run 'steering' analysis for one complete revolution of steering wheel (3600)
3. Open mdi_front_vehicle.asy using standard assembly file in acar_shared_database and run 'steering'
analysis for one complete revolution of steering wheel (3600)
4. Compare results for 'rack displacement'.
 Tutorials and Examples 731
Modelling Rack Pinion Steering in ACar using AMachinery Gear

5. Rack Displacement
Machinery Gear = 36.2733mm for one revolution of steering wheel
acar_shared_database = 36.004mm for one revolution of steering wheel
732 Adams Car
General Actuation Analysis feature examples

General Actuation Analysis feature examples

Extended description:
 Perform actuation analysis on assemblies.
 Create and modify RPC request map files in a much easier fashion.
 Create and modify actuator setting files (actuator input files) to "import/export" actuator settings.
 Modify actuator parameters in an assembly.

Submitting an actuation analysis

For submitting an actuation analysis, do the following,
1. Open a valid assembly for analysis. The example assembly (actuation_example.asy) provided with the
installation may be used as an example.
2. Open the 'General Actuation Analysis' dialog from the menu. (Simulate -> General Actuation
Analysis -> Submit Analysis). Note that all valid assemblies open in a session can be accessed through
the drop down provided.
 Tutorials and Examples 733
General Actuation Analysis feature examples

3. Enter the required parameters in the dialog. Note that the input parameters can be categorized into
3 classes (output control, simulation, actuator setup) as shown in the figure above.
Output control parameters: To define the output files generated as part of the analysis.
Simulation parameters: To define the simulation length, mode etc.
Actuator setup: To setup the actuator parameters.
Note that the actuator setup is done through the 'RPC request map file' and the 'Actuation input
file'. Sample files have been provided with the installation and may be used as an example.
4. Hit the OK or Apply button of the dialog, when all parameters have been input. Note that the
environment variable MSC_FLATTEN_ADM should not be set.
5. The simulation progress will be indicated by verbose messages displayed in the message window.
6. The end of the simulation will be indicated as shown in the snapshot below,
734 Adams Car
General Actuation Analysis feature examples

7. Once the analysis is finished, open the post processor (F8) and import the RPC file (extension .rsp)
generated as part of the simulation output. The RPC would be located in the current working
directory of the session. Plot the results. An example plot is shown in the figure below,
 Tutorials and Examples 735
General Actuation Analysis feature examples

Setting actuator parameters

The user is provided with the option of using a wizard of a tabular interface for editing actuator data. These
options can be accessed through the Adjust - Actuators - Table/Wizard menus.
The wizard interface is as shown in the figure below,
736 Adams Car
General Actuation Analysis feature examples

The desired assembly can be selected from the drop down list of valid assemblies open in the session. Upon
selection, all actuators in that assembly are populated in the Actuator drop down.
The desired actuator can be selected either through the drop down or using the up-down arrow buttons.
Parameter data related to the selected actuator is displayed in the dialog below and can be set by the user. The
settings are saved to the assembly, using the OK/button. Facility is provided to switch to the "table view"
from the wizard.
The "table view" for setting actuator parameters is shown below,
 Tutorials and Examples 737
General Actuation Analysis feature examples

The table like interface provides the user with an easy way of looking at a list of actuators at once and
activating/deactivating an entire selection. As shown in the figure the desired set of actuators is selected first.
Using the 'Activate Selection' and 'De-activate Selection' buttons, the selected set can be activated and de-
activated at once.
Besides this, the user can choose to edit the list of selected actuators in the wizard view, using the 'Edit
Selection in Wizard' button.
The actuator settings can be saved to a file using the Request map editor functionality, described later.

Request map editor

The request map editor allows the user to:
 Create and edit request maps that are defined in the database.
 Import a request map file and edit the requests defined therein.
 Save a set of requests to a request map file.
The request map editor functionality can be accessed from the Standard Interface menu Tools → Requests
→ Request Map Editor. It can also be accessed from the Template Builder menu Build → Requests →
Request Map Editor. The user can select to display all requests, or browse for requests from the selected
model (Using the All and Browse buttons respectively).
738 Adams Car
General Actuation Analysis feature examples

In order to edit the request data in the table, the user needs to explicitly switch to the edit mode, using the
corresponding check button provided.
The request data is displayed to the user in the tabular form and can be sorted, which makes it easier to locate
and edit the desired request(s). The user may choose to apply the changes to the model directly, or
alternatively, save the data to a request map file. Request maps saved in a template will automatically be used
when a subsystem referencing that template is opened in an assembly. Any request maps that have the same
name will be merged at the assembly level.

Opening/Saving an actuation input map file

An actuation input map file contains a series of parameter-value pairs corresponding to one or more actuators
in an assembly. The parameters include major and minor roles of the actuator, scale factor, offset, time offset,
RPC function etc. Such a file provides an easy way of setting up a large number of actuators at once.
A facility has been provided to the user to view/open an actuation input map file or create one using actuator
data from a valid assembly. The open/save functionality can be accessed from the menu-group Simulate -
General Actuation Analysis - Actuation Input File.
 Tutorials and Examples 739
General Actuation Analysis feature examples

It's not necessary to have any valid active assemblies open in a session, in order to view an existing actuation
input file. Select the desired file and click on the button with a magnifying glass, in order to open the file.
Note that the file gets opened in the user set editor as defined by the optional environment variable
MDI_ACAR_USE_EDITOR. If the variable is not defined, then the file is opened in the message window.
If a valid assembly is open in the session, then the verify functionality is available, by which the user can
compare the actuator data in an assembly, with that in the file. The comparison reports actuators present in
the file that are absent in the assembly as well as incorrect roles set for the actuator, if any. A sample
comparison message is shown below,

Alternatively, a valid assembly can be opened and the actuator settings can be changed manually for each
desired actuator. Using these settings, an actuation input map file can be generated as follows,
740 Adams Car
Path optimization feature example

A facility to export the settings of actuators that belong to the specific type is provided. By default data
belonging to all actuators within an assembly is exported. Specify the file name and the database location to
save the file and hit the OK/Apply button to create the file.

Path optimization feature example

Extended description:
Path optimization is a tool that builds a path around a closed road course that approximates the optimum or
fastest path for a given vehicle. With this tool, we can visualize the input road file overlaid with the centre
line for the optimized path.
In ACar, use Simulate → Full Vehicle Analysis → Path Optimization command to launch the tool. The
dialog for path optimization in ACar looks like the one as below
 Tutorials and Examples 741
Path optimization feature example

The input road file can be visualized when the "Show" button is pressed. The mandatory fields on this dialog
are the "Input Road Data File" and the "Output Path File Name". The road specified by input file can be
optimized by providing values for mandatory fields and hitting the OK/Apply button. The output file
generated contains the optimized road.
After the optimized road file is generated, the centerline for the optimized path is shown overlaid with the
input road. The figure below shows input road file overlaid with the red line, which is the centre line for the
optimized path.
742 Adams Car
Path optimization feature example

In AChassis, use Utilities->Path Optimization command to launch the tool. The dialog for path optimization
in AChassis looks like the one as below
 Tutorials and Examples 743
Importing CAD geometry at the subsystem level

Importing CAD geometry at the subsystem level

This example demonstrates the use of CAD geometry attached to a part at the subsystem level (instead of the
template level).
1. In the Template Builder, open the template mdids://acar_shared/templates.tbl/_rigid_chassis.tpl.
2. Create a new marker named chassis_graphics_ref as shown below:
744 Adams Car
Importing CAD geometry at the subsystem level

3. Switch to the Standard Interface and open the subsystem

mdids://acar_shared/subsystems.tbl/TR_Body.sub. Hit Yes when asked if you want to use the
template in session.
4. Set pvs_graphics_choice to 2 to turn off the Testarossa geometry.
5. Import the Parasolid geometry mdids://acar_concept/shell_graphics.tbl/subcompact.xmt_txt to the
ges_chassis part.
 Tutorials and Examples 745
Importing CAD geometry at the subsystem level

6. Save the subsystem as "my_chassis", and define a new variant named "subcompact":

7. Look in the new subsystem file for the "subcompact" variant of the ges_chassis part:
[PART_ASSEMBLY]
USAGE = 'chassis'
SYMMETRY = 'single'
746 Adams Car
Importing CAD geometry at the subsystem level

MODE = 'rigid'
$ Rigid body data:
MASS = 995.0
SPRUNG_PERCENTAGE = 100.0
PART_LOC_X = 0.0
PART_LOC_Y = 0.0
PART_LOC_Z = 0.0
PART_ORI_ZP1 = 0.0
PART_ORI_ZP2 = 0.0
PART_ORI_ZP3 = 1.0
PART_ORI_XP1 = 1.0
PART_ORI_XP2 = 0.0
PART_ORI_XP3 = 0.0
CM_LOCATION_FROM_PART_X = 1500.0
CM_LOCATION_FROM_PART_Y = 0.0
CM_LOCATION_FROM_PART_Z = 450.0
IXX = 2.00E+08
IYY = 5.00E+08
IZZ = 6.00E+08
IXY = 0.0
IZX = 0.0
IYZ = 0.0

(VARIANTS)
{subcompact}
EXTERNAL_GEOMETRY_FILE =
'mdids://acar_concept/shell_graphics.tbl/subcompact.xmt_txt'
EXTERNAL_GEOMETRY_TRANSPARENCY = 60
(COMMENTS)
{comment_line}
'Chassis Structure'
8. Switch back to the default variant, and the original geometry will be restored.
9. Set pvs_graphics_choice to 2 to turn off the Testarossa geometry again.
10. Set hps_chassis_graphics location to 0,0,0
11. Import shell graphics to define a sports car body:
 Tutorials and Examples 747
Importing CAD geometry at the subsystem level

Be sure to select the reference marker .my_chassis.ges_chassis.mas_chassis_graphics_ref. This tells

Adams Car to attach this geometry to the ges_chassis part, and creates the file reference that will be
saved to the subsystem.
12. Import another shell to define the window glass:
748 Adams Car
Importing CAD geometry at the subsystem level

13. Save the subsystem again, this time as a new variant named "sports". Check the subsystem file
contents again:
(VARIANTS)
{subcompact}
EXTERNAL_GEOMETRY_FILE =
'mdids://acar_concept/shell_graphics.tbl/subcompact.xmt_txt'
EXTERNAL_GEOMETRY_TRANSPARENCY = 60
{sports}
EXTERNAL_GEOMETRY_FILE =
'mdids://acar_shared/shell_graphics.tbl/body.shl'
GEOMETRY_REF_MARKER = 'mas_chassis_graphics_ref'
EXTERNAL_GEOMETRY_COLOR = '.colors.SILVER'
EXTERNAL_GEOMETRY_FILE =
'mdids://acar_shared/shell_graphics.tbl/glass.shl'
GEOMETRY_REF_MARKER = 'mas_chassis_graphics_ref'
EXTERNAL_GEOMETRY_COLOR = '.colors.SKYBLUE'
EXTERNAL_GEOMETRY_TRANSPARENCY = 80