Académique Documents
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Training Guide
VERSION 12.0
PART NUMBER
120VIBTR-01
The information in this document is furnished for informational use only, may be revised from time to time,
and should not be construed as a commitment by Mechanical Dynamics, Incorporated. Mechanical
Dynamics, Incorporated, assumes no responsibility or liability for any errors or inaccuracies that may
appear in this document.
This document contains proprietary and copyrighted information. Mechanical Dynamics, Incorporated
permits licensees of ADAMS® software products to print out or copy this document or portions thereof
solely for internal use in connection with the licensed software. No part of this document may be copied for
any other purpose or distributed or translated into any other language without the prior written permission of
Mechanical Dynamics, Incorporated.
©2002 by Mechanical Dynamics, Incorporated. All rights reserved. Printed in the United States of America.
3
CONTENTS...
Vibration of Flexible Bodies 115
Overview 116
Operating Point 117
Workshop 6—Vibration of Flexible Bodies 118
Using Design Evaluation to Minimize Frequency Response 131
What ADAMS/View Requires 132
Types of ADAMS/Vibration Macros 133
Design Objective Details 134
Dialog Box Cascade 135
Other Considerations 136
Workshop 7—Design Evaluation 137
Theory 153
Introduction 154
Vibration Actuators 155
Analysis Methods 157
Answer Key 159
Answer Key 160
4 Contents
WELCOME TO ADAMS/VIBRATION TRAINING
■ Course Overview, 7
5
About MSC.Software
Lecture
Hands-on workshops
Theory
•
Getting Help in Class
Online help
To access the online help:
■ Press F1 when a dialog box is active
■ From the Help menu, select ADAMS/Vibration Help
Enter a search term Select, and then select the Index tab
Online guides
To access the online guides:
■ From the Help menu, select ADAMS/Vibration Guides
■ To display the ADAMS products home page, Road Map to ADAMS Documentation,
from the Help menu, select Online Guides
Help on help
Access help on help by selecting the:
■ Help on Help bookmark in any ADAMS guide
■ Help toolon the Road Map to ADAMS Documentation or the Road Map to
ADAMS/View Documentation
Course CD
The course CD includes the files you will need to complete each workshop, a set of completed
workshop files, the course guide in pdf format, as well as the related ADAMS/Vibration
documentation.
Technical support
To find your support center, go to http://support.adams.com/services/support/
support_centers.shtm
knowledge base
Go to http://support.adams.com/kb
For a quick tour, go to http://
www.adams.com/mdi/news/dyndim/
vol3_kbtour.htm
Consulting services
Go to http://support.adams.com/
services/consulting.shtm
• Explain the ASK tool and guide the students to register during class.
1 INTRODUCTION
Spring
damper 1
M1
Spring
damper 2
M2
Spring
damper 3
■ What is ADAMS/Vibration?, 20
■ Swept Sine, 23
■ Output Channels, 24
■ Workshop 1—Introduction, 26
13
Overview
”Usually NVH engineering is involved at the end of the design process, after the Vehicle
Dynamics group has completed its study. Therefore the freedom to change the design due
to NVH requirements is limited. Ideally the NVH group should work parallel with the
Vehicle Dynamics group. If we could do it with ADAMS, it would be great.”
Sr. Tech. Specialist CAE-NVH
Major Automotive OEM
14 Introduction
Overview...
ADAMS/Vibration and ADAMS/Linear capabilities
•
ADAMS/Linear
■ Eigenvalues calculation
■ Linear-state matrices computation
■ Mode-shape animation
■ Modal-energy distribution
◆ Available in the GUI in HTML format
◆ Available for flexible bodies
■ Forced-response analysis
■ Frequency-response plotting (TRF, FRF, PSD, modal coordinates,
modal participation)
■ Forced-response animation
■ Integrated with ADAMS/Insight
ADAMS/Vibration
Introduction 15
• FRF stands for frequency response function; TRF stands for transfer function.
Overview...
■ ADAMS/Vibration allows you to:
◆ Take your system to different operating points to analyze the vibratory
behavior (without having to create new models)
◆ Include effects of hydraulics, controls, and other subsystems on the vibration
characteristics
◆ Analyze system modes, including attachment characteristics and other
nonlinear characteristics
16 Introduction
Overview...
Faster; linearly
accurate
Introduction 17
Overview...
18 Introduction
Overview...
Plots, animations,
tables, and some
frequency data within
Frequency Domain Frequency Domain; ADAMS
Inputs Modal Space;
Linear
Faster; linearly
accurate
Introduction 19
What is ADAMS/Vibration?
■ Frequency-domain analysis in the ADAMS/View framework
◆ Frequency (omega) is the independent variable, instead of time
■ Linearized representation of nonlinear ADAMS models
◆ Small displacement analysis about an operating point.
Operating point
F K
disp disp
20 Introduction
Instrumenting the Model
Introduction 21
Input Channels and Actuators
■ Actuators and input channels work together.
■ Actuators apply their force (or torque) through the input channel.
■ These entities are presented together on the same dialog box as shown here:
Input channel
Actuator
22 Introduction
Swept Sine
Swept sine defines a constant-amplitude sine function of increasing frequency being applied to
the model. The amplitude of the sine function and the starting phase angle are required.
f(ω) = F * [cos(θ) + j * sin(θ)]
where:
■ f(ω) is the forcing function
Constant amplitude
Frequency increasing
over interval
Introduction 23
Output Channels
■ Output channels (OC) measure the system's response to the vibration.
■ Output channels are required for performing a forced-vibration analysis.
■ There are two types:
Predefined
◆ There are predefined quantities to choose from (displacement, velocity, and so
on)
◆ The predefined OC always measures the quantity in the global reference
frame.
◆ You prescribe the location using a marker, and choose the direction.
User
◆ The user OC measures in the reference frame of your choice, per your
function specification.
24 Introduction
Forced-Vibration Analysis Specification
■ Collect a set of input/output channels for vibration analysis
■ Define operating point, frequency range and steps
Introduction 25
Workshop 1—Introduction
XI XII I
X II
IX
VIII IV
III
This workshop takes about 30 minutes to complete.
VII VI V
Problem statement•
Familiarize yourself with the ADAMS/Vibration interface by performing a forced-vibration
analysis using a simple two-degree of freedom (DOF), two-mass spring-damper model.
The primary objective of this workshop is to provide a brief overview of the ADAMS/Vibration
interface, including aspects of preprocessing, analysis, and simple results postprocessing. After
you complete this workshop you will have a basic understanding of the ADAMS/Vibration
process that can be applied to your virtual prototypes.
In this workshop you will study damped harmonically forced vibrations. To make it easier to
understand we have kept the model simple. It's a one-dimensional system of two masses, three
springs, and three dampers, as shown next.
Spring
damper 1
k=987.0 N/m
c=3.0 N-sec/m M1
(1.0kg)
Spring
damper 2
k=217.0 N/m
c=0.1 N-sec/m M2
(1.5kg)
Spring
damper 3
k=987.0 N/m
c=3.0 N-sec/m
26 Introduction
Model description
■ The model has two parts (not including ground): M1 and M2.
■ The block-shaped parts are constrained to ground with frictionless translational joints
such that the system has two degrees of freedom.
■ Spring-damper forces act between the parts (three pairs).
■ The model has been parameterized with the following design variables:
◆ Masses: block1_mass, block2_mass
◆ Spring stiffness coefficients: k1, k2, k3
◆ Damping coefficients: c1, c2, c3
◆ Key location distances: d1, d2, d3
Getting started
First, you will start ADAMS/View and import the model.
Introduction 27
Workshop 1—Introduction...
Loading the ADAMS/Vibration plugin
ADAMS/Vibration has been built as a plugin. You can think of it as an additional layer
surrounding ADAMS/View that gives you access to special features, features unique to
vibration simulation.
ADAMS/VIBRATION
g
s in
So
es
lu
roc
tio
ep
n
Pr
ADAMS/View
Postprocessing
This means that you can take a model that works in the time domain, plug in
ADAMS/Vibration, and then build up the essential entities for frequency domain solution.
28 Introduction
Workshop 1—Introduction...
Instrumenting the model with ADAMS/Vibration tools
There are three basic building blocks in ADAMS/Vibration: input channels, output channels,
and actuators.
Introduction 29
Workshop 1—Introduction...
You will drive the 2-DOF system model with a swept sine forced vibration actuator, applied to
an input channel at the center-of-mass (cm) of M2. The output channel will be the vertical (Y)
displacement of the center-of-mass of M1. You will compute the frequency response of the
system. You will calculate the precise magnitude of the M1.cm displacement for the complete
range of frequencies being applied at M2.cm.
1 From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
2 In the Input Channel Name text box, enter .model_1.Input_Channel_1.
3 Right-click in the Input Marker text box, point to Marker, and then select Browse.
The Database Navigator appears.
4 Double-click M2.cm.
ADAMS/Vibration inserts this marker into the Input Marker text box.
5 Select Translational.
6 Set the Force Direction to Global Y.
7 Select Actuator Parameters.
8 Select Swept Sine.
9 In the Force Magnitude text box, enter 1.0.
10 In the Phase Angle (deg) text box, enter 0.0.
30 Introduction
Workshop 1—Introduction...
11 Select OK.
ADAMS/Vibration creates the input channel and displays a screen icon (a red arrow
resembling an SFORCE icon).•
1 From the Build menu, point to ADAMS/Vibration, point to Output Channel, and then select New.
2 In the Output Channel Name text box, enter .model_1.Output_Channel_1.
3 Set Output Function Type to Predefined.
4 Right-click the Output Marker text box, point to Marker, and then select Pick.
5 Using your mouse, point to the center of M1 (the upper box geometry), and then click on
M1.cm.
ADAMS/Vibration inserts the marker into the Output Marker text box.
6 Set Global Component to Displacement.
7 Select Y.
8 Select OK.
You have completed the building blocks for the vibration analysis. The next step is to
configure the analysis and then perform it.•
Introduction 31
• The students may not see the icon if they forgot to reset the model per Step 4 on page 27.
• The need for a screen icon for output channels has been logged as CR22261.
Workshop 1—Introduction...
Performing a vibration analysis
You can perform two kinds of analyses with ADAMS/Vibration: forced vibration and normal
mode. Both of these are linearized solutions, and as such they must be performed about an
operating point. In this workshop you'll perform a forced-vibration analysis about the static
equilibrium position of the system.
1 From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
2 Select New Vibration Analysis.
3 In the corresponding text box, enter .model_1.M2_Forced_Vibration.
4 Set Operating Point to Static.
This linearizes the model around the static equilibrium configuration.
5 Select Forced Vibration Analysis.
6 Select Damping.
7 Right-click the Input Channels text box, point to Input Channel, point to Guesses, and then
select Input_Channel_1.
8 Right-click the Output Channels text box, point to Output Channel, point to Guesses, and
then select Output_Channel_1.
9 Select Logarithmic Spacing of Steps.
This setting affects the distribution of the results data that will appear in the postprocessor.
By using logarithmic spacing, the data points will be better spaced on the frequency axis so
as to produce smoother curves when plotted with a log scale. This smoothing effect is most
noticeable when you have a wide-ranging frequency spectrum. In this workshop, however,
the frequency range of interest is rather narrow: 1 - 8 Hz.
10 In the Frequency Range (hz) area, specify the following:
■ Begin: 1
■ End: 8
■ Steps: 200
32 Introduction
Workshop 1—Introduction...
11 Select OK.
Introduction 33
• The peaks near 4.3 Hz and 5.6 Hz, represent an amplification of the input, whereas at higher frequencies
the response is attenuated.
• The vertical axis label on the students’ plot won’t say Magnitude (dB) for decibels, it will only say Mag-
nitude. It’s a good time for them to recognize this code behavior. Of course, they can update the label
themselves using the property editor.
Workshop 1—Introduction...
To plot frequency response phase in degrees and log scale:
1 Right-click the Page Layout tool , and select the 2 Views-over & under tool .
The plotting area of the screen splits into two plots: the upper containing the frequency
response magnitude plot, and the lower containing a blank plot. You will create a new plot
of frequency response phase in the blank area.
2 Select the lower plot by clicking in the blank area.
3 Choose the input and output channels for the frequency response (like you did in steps 4
and 5 on page 33).
4 Select Phase.
5 Select Add Curves.
ADAMS/PostProcessor plots the frequency response phase as shown below. Note that by
default, the phase units are degrees and are plotted on a linear scale, and the horizontal axis
again displays the frequency on a logarithmic scale.
34 Introduction
Workshop 1—Introduction...
Animating a forced-vibration analysis
Next you perform an animation to inspect the system response to a forced vibration, comparing
the system behavior at the two frequencies: 2.8 Hz and one of the peaks you plotted earlier,
5.6 Hz.
Introduction 35
• If the students get different answers for steps 5 and 9, it usually indicates that they used a different value
for Steps in step 10 on page 32.
Workshop 1—Introduction...
10 Select the Play tool.
Tip: You can better see the phase difference if you have more animation frames and exaggerate
the translation. Try these parameters:
■ End Time: 0.178643
■ Time Increment: 6.0e-4
■ Maximum Translation to 0.05
11 Select the Pause tool.
You have now been introduced to the basic features of ADAMS/Vibration. In the workshops
that follow you will explore other available features.
36 Introduction
Workshop 1—Introduction...
Optional tasks
1 Change the mass of M2 from 1.5kg to 1.0 kg by modifying the design variable m2_mass.
Re-run the frequency response analysis and plot again.
2 Reduce the value of one of the stiffness or damping coefficients (using design variables
listed on page 27), rerun and plot.
3 Perform an automated design study of m2_mass using prewritten command files stored in
the misc subdirectory. Use the F2 key to import each of these command files in the
following order:
■ prep_for_design_study.cmd
■ run_ds_m2_mass.cmd
After the simulations have finished, go to ADAMS/PostProcessor and plot the frequency
response for the five vibration analyses. Look at the command files in a text editor to see
what commands were used to prepare and run this design study.•
Introduction 37
• The strip chart of OBJECTIVE_1 vs. m2_mass doesn't scale properly and looks like a flat line. If
you transfer to full plot, the vertical scale will look fine in PPT.
Workshop 1—Introduction...
38 Introduction
2 VALIDATION EXAMPLE
■ Post-Processing, 42
39
Vibration Analysis Methods Comparison
In time domain, a typical process would be:
◆ Apply forces to excite the system at a given frequency.
◆ Once the system has achieved steady state, compute the system response by
Repeat taking the average of the minimum and maximum response.
This gives you the steady-state response of the system at a given frequency.
◆ Repeat process at another frequency. (You could use a design study to
automate this.)
In frequency domain, the process is:
◆ Define input channels and actuators to vibrate the system.
◆ Define output channel to measure response.
◆ Perform forced-vibration analysis for all frequencies in a single analysis.
In this workshop you will use both of these methods to validate the accuracy of the solution.
40 Validation Example
More Details of Time-Domain Method
■ Obtaining steady-state response
Max
Min
Steady state
3.5 sec.
Validation Example 41
Post-Processing
■ Plotting
◆ System modes
◆ Frequency response
◆ Magnitude
◆ Phase
◆ Power spectral density (PSD)
◆ Modal coordinates
◆ Modal participation
■ Animation
◆ Normal-mode animation
◆ Forced-vibration animation
■ Modal info tables
◆ Modal coordinates
◆ Modal participation
◆ Modal energy
Each can be saved to a file (HTML or text).•
42 Validation Example
• Briefly demonstrate most of the above features using the two-DOF model from this workshop.
Workshop 2—Validation Example
XI XII I
X II
IX
VIII IV
III
This workshop takes about one hour to complete.
VII VI V
Problem statement
Use time domain simulation results to validate the accuracy of frequency domain solutions.
In this workshop, you will run a series of simulations in the time domain and compare the steady
state vibratory behavior of the model with the output from a frequency domain simulation. The
process is as follows:
■ Excite the system at a given frequency in time domain.
■ Once the system has achieved steady state, compute the system response by taking
the average of the minimum and maximum response peaks.
This gives the steady state response (magnitude) of the system at a given frequency.
■ Perform frequency response in ADAMS/Vibration using a swept sine actuator.
■ Compare vibration frequency response with steady state response.
This process is a way to validate your ADAMS/Vibration results, while appreciating the speed
advantages of using frequency domain solution.
Validation Example 43
Workshop 2—Validation Example...
Model description
■ This model is similar to the one used in Workshop 1—Introduction on page 26.
■ The masses of the blocks are equal (that is, block1_mass=block2_mass).
■ Gravity is turned off.
Getting started
First you will start ADAMS/View and import the model.
1 From the Build menu, point to Design Variable, and then select New.
44 Validation Example
Workshop 2—Validation Example...
2 Complete the Create Design Variable dialog box as follows:
■ Name: .model_1.FREQ
■ Standard value: 4.0
■ Value Range by: Absolute Min and Max Values The five frequencies at which
■ Min. Value: 4.0 you’ll be exciting mass M2.
3 Select OK.
1 From the Main Toolbox, within the Create Forces toolstack, select the Applied Force: Force
(Single Component) icon .
This function uses the FREQ design variable you created earlier. The SFORCE function
will impart a 1-Newton sinusoidal force at the frequency, FREQ.
7 Select OK.
Validation Example 45
Workshop 2—Validation Example...
Performing a design evaluation
Next, you will perform a design evaluation using the existing objective, FREQ_RESP.
1 From the Simulate menu, point to Design Objective, and then select Modify.
2 From the Database Navigator, double-click the model name, and then select FREQ_RESP.
3 Review the contents of the Modify Design Objective dialog box, then close it by
selecting Cancel.
The model is ready to be solved in the time domain, but before you do that, you should adjust a
few settings in the interface.
46 Validation Example
Workshop 2—Validation Example...
To prepare simulation settings for design evaluation:
Validation Example 47
Workshop 2—Validation Example...
To perform the design evaluation:
Notice that after 3 seconds of simulation, the integrator error is tightened and the output
step size is reduced by a factor of 5. This is done to distribute enough points evenly over
the peaks and valleys of the output signal so that the maximum and minimum values are
captured correctly.
3 Select Start.
The five design evaluations will take a while. When they’re done, ADAMS/Vibration will
write a table of results to the information window. In addition, ADAMS/Vibration will
display the following information box:
48 Validation Example
Workshop 2—Validation Example...
4 Close the Information box.
5 Close the Info window.
6 Select the Create Tabular Report of Results tool. Complete the dialog box as follows:
■ Result Set: Last_Multi.Design_Study_Results
■ File Name: DS_table.txt
7 Select OK.
8 Inspect the results in the Info window, and then close the window.
9 Store the time-domain simulations by saving the database:
■ From the File menu, select Save Database.
Validation Example 49
Workshop 2—Validation Example...
5 Select Add Curves.
The plot should look like the following. You may have to move the legend.
Steady state
3.5 sec.
After the initial transient has died out, the vibration reaches a steady state solution. The
amplitude at steady state is the vibratory response of the system.
6 Use the Surf option and review the vibratory characteristics of the other runs named
Run_*.
7 Return to ADAMS/View by pressing F8.
50 Validation Example
Workshop 2—Validation Example...
Analyzing frequency response with ADAMS/Vibration
You already generated the time-domain results needed to validate ADAMS/Vibration. Now you
will perform the frequency response analysis in the frequency domain. In this section you will:
■ Load the ADAMS/Vibration plugin
■ Create an input channel and actuator
■ Create an output channel
■ Define and perform the vibration analysis
1 From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
The Create Vibration Input Channel dialog box appears.
2 In the Input Channel Name text box, enter .model_1.Input_Channel_1.
3 Right-click the Input Marker text box, point to Marker, and then select Browse.
The Database Navigator appears.
4 Double-click M2.cm.
ADAMS/Vibration inserts this marker into the Input Marker text box.
5 Select Translational.
6 Set the Force Direction to Global Y.
7 Select Actuator Parameters.
8 Select Swept Sine.
9 In the Force Magnitude text box, enter 1.0.
10 In the Phase Angle (deg) text box, enter 0.0.
11 Select OK.
Validation Example 51
Workshop 2—Validation Example...
To create the output channel:
Tip: This output channel is identical to the one you created in Creating an output
channel on page 31.
The Perform Vibration Analysis dialog box appears. Complete the dialog box as shown
below:
52 Validation Example
Workshop 2—Validation Example...
3 Select OK.
ADAMS/Vibration performs a forced-vibration analysis.
Note: Because we’re still using the standalone Solver for the vibration analysis, a benign
warning will be issued to the message window when ADAMS/vibration reads in
the analysis files.
The design study results (in dashed blue) are plotted on top of the vibration results (in solid
red).
Validation Example 53
Workshop 2—Validation Example...
Next, you will change the curve for the design study results so that it has symbols instead of a
line.
1 Select the design study results curve, either by left-clicking it, or by navigating through
the treeview.
2 In the property editor, perform the following:
■ Set Symbol to @.
■ Set Line Style to none.
3 In the treeview, select haxis (the horizontal axis).
4 In the Scale list, select Linear.
5 In the treeview, select vaxis (the vertical axis).
6 In the property editor, select the Labels tab.
7 In the Label text box, enter Magnitude (dB).
8 In the treeview, select legend_object (the legend).
9 From the Placement list, select Bottom Left.
10 Select one of the plot's internal grid lines.
11 In the Title text box, enter Validation of Frequency Response - Magnitude. To do this, you may
have to clear the selection of Auto Title.
12 In the Subtitle text box, enter Results Comparison: Time Domain versus Frequency Domain. To
do this, you may have to clear the selection of Auto Subtitle.
13 In the property editor, select the 2nd Grid tab.
Tip: To find the tab, use the arrow keys in the property editor.
54 Validation Example
Workshop 2—Validation Example...
14 In the Y text box, enter 2.
The results of the five time-domain solutions have validated the single ADAMS/Vibration
analysis.
15 How many frequencies were studied using the Design Study? _____________
17 Has the frequency-domain solution solved for more frequencies in less time?
__________Yes __________ No
Wrap-up
1 Exit ADAMS/PostProcessor and return to the modeling window.
2 Exit ADAMS/View.
Validation Example 55
Workshop 2—Validation Example...
56 Validation Example
3 POWER SPECTRAL DENSITY (PSD)
Determine the power spectral density (PSD) output at the driver's seat in a
conceptual vehicle model for a given road input PSD.
■ PSD Actuator, 59
57
PSD—What is it?
■ Power spectral density is the amount of power per unit (density) of frequency
(spectral) as a function of the frequency.
■ The power spectral density describes how the power (or variance) of a time series is
distributed over a frequency range.
■ PSD can also be understood as a measure of the intensity in the frequency domain.
■ Mathematically, it is defined as the Fourier transform of the auto correlation sequence
of the time series. An equivalent definition of PSD is the squared modulus of the
Fourier transform of the time series, scaled by a proper constant term.
■ Being power per unit of frequency, the dimensions are those of power divided by
Hertz.
Problem statement
Determine the power spectral density (PSD) output at the driver's seat in a conceptual vehicle
model for a given road input PSD.
In this workshop you will determine the effect that road vibration has on a passenger. You will
learn how to define a PSD vibration actuator.
You can define four kinds of actuators in ADAMS/Vibration:
■ Swept Sine
■ Rotating Mass
■ PSD
■ User
After finishing all of the workshops, you will know how to define all of the actuator types. You
should already be comfortable with the swept sine actuator, since you used it in the last two
workshops. In this workshop you will focus on the PSD actuator. In Workshop 4—User-
Specified Vibration Actuators on page 79, you will learn about the user-defined actuator.
Finally, you will use the rotating mass type in Workshop 5—Rotating Mass Vibration Actuator
on page 97.
1 From the Build menu, point to Data Elements, point to Spline, and then select Modify.
2 From the Database Navigator, double-click the model name and select SPLINE_1.
The Modify spline dialog box appears.
This is the PSD data that will be applied to the front wheels of the model. The frequency
range of this spectrum goes from 0.1 to 10 hertz.
4 Close the Modify spline dialog box.
1 From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
The Create Vibration Input Channel dialog box appears.
2 In the Input Channel Name text box, enter .automobile.Input_Channel_FL.
13 Select Apply.
14 Create the input channel for the front right wheel, frwheel:
2 Select Apply.
3 Create another output channel to measure velocity:
4 Select OK.
1 From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
2 Complete the dialog box as shown next:
Make sure
you leave this
unchecked
Tip: If you double-click the blank Input Channels text box, the Database Navigator appears
allowing you to select both channels at once.
3 Select OK.
1 Open ADAMS/PostProcessor.
2 Right-click the viewport and select Load Plot.
3 Set Source to PSD.
4 From the Output Channels list, select seat_displacement and seat_velocity by holding down
the Ctrl key while selecting.
5 Select Add Curves.
ADAMS/PostProcessor generates the Vibration PSD plot, showing one curve for each
output channel. Notice that both curves are similar in shape.
• CR32306 has been logged to address the issue of the analysis frequency range not being honored.
Workshop 3—Power Spectral Density (PSD) Input...
Running vibration analysis again
Here you'll rerun the vibration analysis with higher output resolution to better identify the
resonance peaks. You can reuse the existing state matrices, since neither the model nor the
inputs/outputs changed.
1 From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
2 Select Vibration Analysis.
3 Right-click the Vibration Analysis text box, point to Vibration_Analysis, point to Guesses, and
then select VibrationAnalysis_PSD.
Notice how ADAMS/Vibration updates the Perform Vibration Analysis dialog box with
the analysis specifications you used before.
4 Change the frequency range and steps as follows:
■ Begin: 0.1
■ End: 10.0
■ Steps: 500
5 Select Reuse Existing State Matrices.
Notice that many parts of the dialog box are greyed out. This is to ensure that you don’t
accidently change any of the inputs and outputs.
6 Select OK.
1 Launch ADAMS/PostProcessor.
3 Note significant peaks and valleys and write their frequencies here:
Peaks _______ _______ _______ _______
Valleys _______ _______ _______ _______
Changing parameters
Now, you change the damping properties of spring dampers and run another vibration analysis
to see how the vibration response changes. You create an analysis by importing the
specifications from the last simulation.
The vehicle model you've solved so far had what you might consider “brand new” dampers,
with each damping coefficient being equal and at a nominal design value. Now suppose that
over the life of the vehicle, the dampers had worn so that they are no longer equal from wheel-
to-wheel, and now supply less damping altogether. To reflect this scenario by importing a
command file, you update the damping parameters.
flwhdamp 1e-3
frwhdamp 0.5
rlwhdamp 0.8
rrwhdamp 1.0
1 From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
2 Select New Vibration Analysis.
3 Clear the New Vibration Analysis text box, and enter Uneven_Damper_Wear.
4 Select Import Settings from Existing Vibration Analysis, and when the Database Navigator
opens, select VibrationAnalysis_PSD.
Notice that ADAMS/Vibration updates the Perform Vibration Analysis dialog box with the
analysis specifications you used before.
5 Select OK.
The resonant peaks have increased in magnitude due to the reduction of damping resulting
from the worn-out dampers.
____ In phase
____ Out of phase
Explain why: ____________________________________________________________
11 Animate the forced vibration results for the other frequencies that you recorded earlier,
on page 71.
Wrap up
1 Close ADAMS/PostProcessor and return to the modeling window.
2 Save your database.
3 Exit ADAMS/View.
77
Overview
■ Any user function of the independent variable, omega, can be specified in the
ADAMS/View Function Builder:
f(ω) = g(ω)
where:
◆ ω is the frequency
Amplitude determined
by user function
Frequency increasing
over interval
78 User-Defined Input
• There are some limitations to using the SPLINE function in your user expression. Currently, no interpo-
lation is being done, so you will have to interpolate the data to align with the outputs.
• You can think of the user function as a way of directly controlling the amplitude of a swept sine with your
own function.
Workshop 4—User-Specified Vibration Actuators
XI XII I
X II
IX
VIII IV
III
This workshop takes about 30 minutes to complete.
VII VI V
Problem statement
Vibrate the conceptual vehicle by applying a general function of frequency through a vibration
actuator.
In this workshop you will see how you can write your own frequency-based function to vibrate
a model at its input channels. You will learn to modify an existing vibration model to suit a
different vibratory condition. In this example, you will take the conceptual vehicle model from
the last workshop and change its vibration actuator force from PSD to a user-written function.
You will also learn to plot system modes, modal participation, and modal coordinates.
User-Defined Input 79
Workshop 4—User-Specified Vibration Actuators...
Model description
The model is the same conceptual vehicle model used in Workshop 3—Power Spectral Density
(PSD) Input on page 60. The wheel-to-chassis dampers have equal properties that represent the
brand-new (or unworn) condition.
Getting started
First, you import the model and load the ADAMS/Vibration plugin.
You can see that the command file is issuing a straightforward command to load the
ADAMS/Vibration plugin from the .MDI.plugins library. When you load the plugin
yourself (through the Tools -> Plugins menu), it executes the same command. You can
learn more about your models and the commands used to build them by reviewing the
contents of your command files.
7 Close your text editor without saving.
80 User-Defined Input
Workshop 4—User-Specified Vibration Actuators...
Creating input channels
Next, you modify the existing left and right input channels so that they use a user-defined
vibration actuator function representing exponential frequency decay.
1 From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select
Modify.
2 When the Database Navigator opens, double-click the model name and select
Input_Channel_FL.
User-Defined Input 81
82 User-Defined Input
Workshop 4—User-Specified Vibration Actuators...
5 From the Status Bar of the main modeling window, select the List Information about Database
Objects tool .
The Information window appears with the details of the two input actuators. Notice that
each input channel is referencing the same vibration actuator, Vibration_Actuator_1.
Now you will look deeper to get information about Vibration_Actuator_1.
6 From the Information window, in either of the General Parameters sections, click on
(Vibration_Actuator_1), making sure to click at the center of the text so that the text box
field of the information window updates showing the text vibration_actuator_1, as shown
below.
7 Select Apply.
The Information window updates with details about the vibration actuator you selected.
Notice that the force_expression parameter shows the exponential frequency decay
function you defined earlier.
User-Defined Input 83
Workshop 4—User-Specified Vibration Actuators...
8 To empty the contents of the information window, select Clear.
9 To close the information window, select Close.
10 To clear the Select List, select Clear All.
1 From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
2 In the New Vibration Analysis text box, enter VibrationAnalysis_User.
3 Select Import Settings from Existing Vibration Analysis, and when the Database Navigator
appears, double-click VibrationAnalysis_PSD.
The Perform Vibration Analysis dialog box updates with the analysis specifications you
used in the last workshop.
4 Select Logarithmic Spacing of Steps.
5 Leave the Begin and End times as-is (0.1 and 10.0, respectively).
6 In the Steps text box, reduce the data resolution by changing the value from 500 to 50.
7 Select OK.
When the vibration analysis is finished, the dialog box will close by itself.
1 Launch ADAMS/PostProcessor.
2 Set Source to System Modes.
3 From the Eigen list, select EIGEN_1.
84 User-Defined Input
Workshop 4—User-Specified Vibration Actuators...
4 Select Add Scatters.
ADAMS/PostProcessor plots the real and imaginary parts of the eigenvalue solution. Here
you can see that the model is stable because the system modes do not lie in the positive real
quadrants.
5 Right-click the Page Layout tool, and select the 2 Views, over & under tool .
Note: If your Information window displays other information leftover from earlier steps,
clear the window and repeat step 8.
The table has been saved to disk. Now you will import that data into the animation window
so that it will be displayed below the scatter plot.
12 Right-click the animation window and select Load Report.
The eigenvalue table displays in the report window. Now you will reduce the font size so
that you can see more of the data in the window.
15 Select the report window by clicking in it.
User-Defined Input 85
• Some students my be confused during the saving process because the button says Open, when you'd think
it should say Save.
Workshop 4—User-Specified Vibration Actuators...
You should see something similar to what is shown below.
■ Right-click the Page Layout tool, and then select the Page Layout: 1 Views tool .
■ To redisplay the dashboard, select the Toggle Dashboard Visibility icon.
■ Right-click the viewport and select Load Plot.
86 User-Defined Input
Workshop 4—User-Specified Vibration Actuators...
2 Set Source to Modal Participation.
3 Select Surf.
4 From the Input Channels list, select Input_Channel_FL.
5 From the Output Channels list, select seat_velocity.
6 From the Modes list, select modes 5 through 8.
7 Select Magnitude.
ADAMS/PostProcessor plots the participation of modes 5 through 8. Here you can see that
mode 7 makes little contribution across the entire frequency spectrum, whereas mode 6
participates across several frequencies, coming to a significant magnitude peak between 5.0
to 6.0 hertz.
5 Compare mode 2 with some of the others using a keyboard-based method of selection:
■ Using the mouse, select mode number 2 again. Then, using only the keyboard, hold
down the Shift key and click the Down arrow a few times.
The plot window and legend updates, plotting a curve for each mode that you are
selecting with the keyboard.
88 User-Defined Input
Workshop 4—User-Specified Vibration Actuators...
■ Continue selecting other modes to plot in this manner until you are comfortable with
this method of plotting.
The curves you just plotted were on a mode-by-mode basis. Each curve represented a
given mode's coordinates across the frequency spectrum. Now you will plot the modal
coordinates data using a different feature by frequency instead of by mode.
6 From the Modal Coordinates By list, select Frequency.
The list of frequencies updates, showing 50 outputs from 0.1 to 10 hertz, per your vibration
analysis specification.
7 Scroll to the bottom of the list of frequencies and select number 10.0.
The plot window updates with a plot of modal coordinates versus mode number, as shown
below.
8 Which mode has the largest modal coordinates value at 10 Hz? _____________________
This curve shows the modal coordinates for each mode, at a given frequency.
9 Quickly surf through the other 49 frequencies to see how the curve shape changes:
■ If you used the Plot Tracking tool, clear its selection.
■ Using your mouse, select mode number 10.0 again.
■ Using only the Up arrow on your keyboard, scroll to the next frequency in the
frequency list (~9.1 Hz).
■ Continue using the Up arrow to quickly surf through the remaining frequencies.
Tip: Use the Shift key if you want to compare some range of frequencies.
User-Defined Input 89
Workshop 4—User-Specified Vibration Actuators...
Wrapping up
To wrap up:
Optional tasks
1 Review the 16 eigenmodes by performing a normal mode animation.
■ Create a new page.
■ Load the vibration animation.
■ Select Normal Modes Animation.
■ Step through the modes, animating each one as you go.
Earlier in step 8 on page 89, you noted that mode 8 had the largest modal coordinates value
at 10 Hz. Perform a forced vibration animation at 10 Hz and compare that vibratory
behavior with the normal mode animation of mode 8.
2 Change the damping rates of the spring dampers and see how the modal participation has
changed.
■ Using the F2 key, import the file uneven_damper_wear.cmd, in the damper_wear
subdirectory.
■ Create a new vibration analysis by importing the settings from the last simulation.
■ Run the vibration analysis.
■ Plot the modal coordinates data by frequency, comparing the results from
VibrationAnalysis_User with the results from the worn damper analysis.
90 User-Defined Input
5 ROTATING MASS VIBRATION ACTUATOR
91
Rotating Mass
■ Problem definition: Perform vibration simulation of a model with a rotating
component with unbalanced mass
■ Examples: Unbalanced automobile tire
Unbalanced
masses
◆ F = m*r*ω2
■ Force components
◆ Leading: Fx = F cos(ω*t)
◆ Lagging: Fy = F sin(ω*t)
■ To model rotating mass
◆ Two input channels
◆ Two vibration actuators
◆ M = (m*r*ω 2)*d
■ Moment components
◆ Leading: Mx = M cos(ω*t)
◆ Lagging: My = M sin(ω*t)
■ To model moment effects due to rotating mass
◆ Two input channels
◆ Two vibration actuators
Unbalanced
masses m
r
d
f(ω) = m * ω2 * r
where:
◆ ω is the frequency
t(ω) = m * ω2 * r * d
where:
◆ t(ω) is the moment due to unbalanced mass with offset
◆ d is the distance of the unbalanced mass perpendicular to the plane
Increasing amplitude
Increasing frequency
Problem statement
Study the vibratory effects of an out-of-balance mass on a wheel.
In this workshop you will study the vibratory effects of an out-of-balance wheel in a quarter
suspension model. You will learn how to create rotating-mass vibration actuators (leading and
lagging) and perform vibration analyses to see the effect that a change in suspension design has
on the frequency response.
■ Force elements: A linear spring damper exists between the upper and lower control
arms and its stiffness and damping coefficients are parameterized. Two bushings
supply stiffness and damping characteristics along the model DOF. The bushing
translational coefficients are parameterized with design variables:
1 From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
The Perform Vibration Analysis dialog box appears.
2 Select New Vibration Analysis.
3 In the corresponding text box, enter .sla.eigen_nodamp.
4 For Operating Point, select Static.
This linearizes the model around the static configuration.
5 Select Normal Mode Analysis.
6 Since you want to ignore damping for this analysis, clear the selection of Damping.
This ensures that damping effects will not be included.
7 Select OK.
ADAMS/Vibration performs a normal-modes analysis. The process runs quickly. If no
error messages appear, you can assume the vibration analysis completed correctly. If you
receive error messages, correct the problem, and rerun your analysis.
1 Launch ADAMS/PostProcessor.
2 From the option menu located in the menu bar below the File menu, select Animation.
ADAMS/PostProcessor switches to animation mode.
3 Right-click the animation window, and then select Load Vibration Animation.
The animation for the eigen_nodamp analysis appears in the animation window and is
titled EIGEN_1.
4 In the dashboard, select the tab labeled Mode Shape Animation.
5 Select the Play tool to animate the mode shapes.
6 Next to the Mode Number text box, use the +/- tool to change modes.
Note: To view the animation from different angles, rotate the view by typing a lowercase
r and then using the mouse to rotate the view.
1 From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
The Create Vibration Input Channel dialog box appears.
2 In the Input Channel Name text box, enter .sla.leading_channel.
3 Right-click the Input Marker text box, point to Marker, and then select Browse.
The Database Navigator appears.
4 Double-click spindle.cm.
ADAMS/Vibration inserts this marker into the Input Marker text box.
5 Select Translational.
6 Set the Force Direction to Local Y.
7 Select Actuator Parameters.
8 Select Rotating Mass.
9 Select Force and select Leading.
10 In the Mass text box, enter the expression (1/16(pound_mass)).
11 In the Radial Offset (in plane) text box, enter the expression (100mm).
12 Select Apply.
Make these
changes
Now you have a pair of actuators that combined together represent the effect of having a 1/
16th-pound weight on the wheel at a 100 mm radial distance from the spin axis. These
rotating mass actuators don't actually add mass to the system: they only produce a force that
is equivalent to the mass.
2 Select OK.
2 Select OK.
1 Launch ADAMS/PostProcessor.
2 Create a new page.
3 Right-click the viewport and select Load Plot.
4 Set Source to Frequency Response.
5 From the Input Channels list, select both lagging_channel and leading_channel.
6 From the Output Channels list, select rack_displacement.
7 Select Magnitude.
8 Select Add Curves.
ADAMS/PostProcessor generates the Magnitude vs. Frequency plot, showing one curve
for each input channel. Now you can use a feature that will combine the results of each
individual channel.
9 Click in the blank space in the Input Channels list to clear the selection of the input
channels.
10 Select Sum All Input Channels (located beneath the Input Channels list).
Notice that the input channels have been greyed-out, indicating that both are being summed
together so you need not select them yourself.
11 Verify that Output Channel contains rack_displacement.
12 Select Magnitude.
ADAMS/PostProcessor generates the Sum of All Inputs curve, which is the combined
effect of the leading and lagging actuators.
The three resonant frequency peaks are:
_________Hz, __________Hz, _________Hz
Animating results
Here you inspect the forced vibration animation to see how the system vibrates at each resonant
peak.
1 Right-click the Page Layout tool, and select the 2 Views, Side by Side tool.
2 Right-click the viewport and select Load Vibration Animation.
3 From the Database Navigator, double-click Baseline.
A front view of the suspension appears to the right of your frequency response plot.
4 In the dashboard, select Forced Vibration Animation.
5 In the Maximum Translation text box, enter 100.
This will exaggerate the motion on the screen so you can see the vibration better.
6 Select Automatically set time fields for one cycle (located beneath the Time Increment text box).
Notice that the End Time and Time increment text boxes have been automatically updated
with values and greyed-out.•
7 To animate, select the Play tool.
8 To see how the system vibrates at higher frequency of the rotating mass, drag the
frequency slider bar all the way to the right and then release it.
9 In the text box below the Frequency slider, double-click the current value to select the text,
type 0.94, and then press Enter.
Does the animation look familiar? It resembles the mode shape you saw earlier in the
normal-modes analysis on page 100. This time, however, the animation is showing how the
system is vibrating in response to the rotating mass forcing function at the wheel.
• If the students wonder what the Automatically set time fields for one cycle feature does, have them
read the status bar when they put their cursor over the checkbox.
Workshop 5—Rotating Mass Vibration Actuator...
10 Set the Frequency to the following. (These values correspond to the peaks in the plot.)
■ 22.3
■ 81.2
Note: If you click in either the plot or animation window, this will unset some of your
animation settings in the dashboard. You will have to re-enter the Maximum
Translation value and reselect the checkbox, Automatically set time fields for one
cycle.
pnt3_ref
pnt7_ref raised
lowered ~3mm
~12mm
Reviewing results
In this section you load your new results, view the modal energy table, and overlay your results
onto a transfer function plot.
1 Launch ADAMS/PostProcessor.
Your last page is displayed with the plot on the left and the animation on the right.
2 Right-click in the animation window and select Load Vibration Animation.
3 In the Database Navigator, choose the analysis named Proposed.
4 Dismiss the warning box by selecting OK.
ADAMS/PostProcessor updates the window and dashboard.
5 What is the name of the analysis, as shown in the title of the animation window?
_________________________________________________________________
6 Select Modal Info.
7 In the Modal Information dialog box, select Modal Energy.
Mode number
Total kinetic
energy
Percentage
contribution
Note: To resize the window, drag the bottom corner of the window.
Notice that for mode 1 the largest percentage of kinetic energy is in the chassis, and is
acting in the vertical (Z) direction. Other parts in the system have negligible kinetic energy
contributions.
Review the data tables for each of the 3 modes, and answer the following questions:•
8 Which mode has the maximum total KE? _____________
9 For mode 2...Which part has the most KE? _________ In which direction?______
10 For mode 3...Which part has the most KE? _________ In which direction?______
• Sometimes the energy table doesn't update properly when clicking the arrow button on the right. It may
display a number 3 in the text box but the table still shows mode 2. One workaround is to enter the mode
number by hand.
Workshop 5—Rotating Mass Vibration Actuator...
Plotting for comparison of results
Here you plot the transfer function for the two designs, named Baseline and Proposed, and
compare the results.
3 Right-click the Page Layout tool, and select Page Layout: 1 View tool.
4 On the right side of the dashboard, select Surf.
5 Set Source to Transfer Function.
6 Select both Baseline and Proposed analyses.
7 If not already selected, select Sum All Input Channels.
8 Select rack_displacement as the output channel.
9 Select Magnitude.
ADAMS/PostProcessor generates the transfer function plot with curves for each analysis.
Wrap-up
1 Close ADAMS/PostProcessor.
2 Save your model in command file format.
3 Exit ADAMS/View.
Optional tasks
Perform a design study of DV_pnt7_y_loc to see how that design variable influences the resonant
frequency of the spindle vibration (also known as wheel shudder).
1 Import the file misc/prep_for_design_study_incl_freq.cmd. This file will build the simulation
script and create an objective that calculates the peak magnitude across the frequency
spectrum.
2 Run the design study with the following parameters:
■ sim_script_name: Design_Study_Script
■ model_name: .sla
■ variable_name: DV_pnt7_y_loc
■ objective_names: OBJ_MAG
■ number_of_levels: 5
115
Overview
■ Frequency response of a model with flexible body representation
■ Model of a bonding machine with flexible bodies for table legs and bonder arm
■ What is the effect of base excitation on the bonder tip motion?
Flexible bodies
Problem statement
Investigate the influence of base excitation on the tip motion of a robotic bonding machine.
In this workshop, you will see that ADAMS/Vibration can be used just as easily with flexible
body models as without. You will learn to perform vibration analyses at different operating
points in the duty cycle of the robot, compute strain energy, plot frequency response, and
animate results. You will study how the system behaves for two different designs of the robot's
flexible forearm.
Model description
■ The model represents a robotic bonding machine that is rigidly mounted to a table.
■ Five flexible bodies are included: four flexible legs support the table, and a flexible
forearm is used in the robot mechanism.
■ The table is mounted to a base part with a fixed joint at the bottom of each leg.
■ The base part itself is connected to ground with a translational joint and spring
damper force, so as to allow vertical motion of the system.
1 From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
The Create Vibration Input Channel dialog box appears.
2 In the Input Channel Name text box, enter .table.Input_Channel_1.
3 Right-click the Input Marker text box, point to Marker, and then select Browse.
11 Select OK.
Output_Channel_X LASER.laser_tip X
Output_Channel_Y LASER.laser_tip Y
Output_Channel_Z LASER.laser_tip Z
1 From the Settings menu, point to Solver, and then select Display.
The Solver Setting dialog box appears.
2 From the Update Graphics list, select Never.
3 Select Close.
Do not close this dialog box. You will continue by setting up the modal energy
computation.
1 Launch ADAMS/PostProcessor.
2 Simultaneously plot the frequency response of Output_Channel_X, for all three analyses.
Hint: Use Surf.
You should see a frequency response plot resembling the figure below, with each curve
representing the response at a different operating point.
It is evident that the system does not vibrate the same at every stage in its duty cycle. If it
did, all the curves for each operating point would be identical.
3 Comparing the shapes of the three curves, the response for the operating point at
__________ seconds differs from the other two curves.
5 The two resonance peaks below 100 Hz occur at the following frequencies:
_________ Hz __________Hz.
6 Repeat step 2 again for Output_Channel_Z.
7 For the three curves, the resonance peaks of displacement magnitude in the z direction
(vertical) occur in a narrow frequency range, from _______ to _______hertz.
8 If you used the Plot Tracking tool, clear its selection so that it isn't tracking anymore.
Deformed
body
• Step 9: Have the students perform a normal mode animation of eigenmodes 6 and 7. This will help them
to understand why the forearm would deform in a coupled manner.
• Step 10: Students must load the vibration animation for .table.Half_Second before trying to display
the modal energy information.
Workshop 6—Vibration of Flexible Bodies...
7 Select OK.
The new flexible body appears superimposed with the original one, as shown below. Notice
that it is slightly wider.
FIXED_1
FIXED_2
FLEX_ALTERNATE
14 Select Magnitude.
• Some DOS windows will appear on the screen as the .mtx files are being generated for the new flexible
body.
Workshop 6—Vibration of Flexible Bodies...
16 Were you able to reduce the magnitude of the resonance peak at 121.7 Hz with the
alternate design?
______ Yes ______ No
17 Create a new page, load the vibration animation for Alternate_Design and animate the
forced vibration at 121.7 Hz in a zoomed isometric view.
18 Is the mode at 121.7 Hz still vibrating with coupled vertical and translational motion?
Wrap up
To wrap up:
1 Close ADAMS/PostProcessor.
2 Save your model in binary format.
3 Exit ADAMS/View.
Optional tasks
■ Perform a normal-mode animation and review the mode shapes.
131
What ADAMS/View Requires
■ Model that has been parameterized with design variables *
■ Multi-run script that runs a vibration analysis
■ Design objective
Tip: Use the /View variable and Vibration Macro option
• Review the dialog boxes and ask the students if they have any questions.
Other Considerations
■ Often, vibration issues must be balanced with other design considerations. Therefore,
you may want to have more than one design objective included in your design
evaluations.
■ Design study
◆ Allows multiple design objectives
■ DOE
◆ Allows multiple design objectives
■ Optimization
◆ Can only have a single design objective.
◆ You can, however, define a weighted “cost” function to effectively study
multiple objectives, c1, c2, c3
◆ For example: Cost = 3*(c1)**2 + 2*ABS(c2) + 10*ABS(c3)
◆ Modify the macro to suit your needs.
Problem statement
Minimize the vertical acceleration of a rail bogie across the frequency range of 0.1 to 80 hertz.
In this workshop, you will learn how to use design evaluation tools to improve your designs.
You will take a model that has been instrumented for vibration analysis and create an objective
function and a multi-run simulation script. You will also perform a design study of suspension
parameters. Then, you will use optimization to find the combination of parameter variables that
will minimize the vertical acceleration of the bogie.
Stiffness coefficients for K11, K22, K33, Diagonal entries for stiffness matrices of
FIELDs K44, K55 FIELDs: SPRING_MAIN_FL,
SPRING_MAIN_FR, SPRING_MAIN_RL,
SPRING_MAIN_RR, representing three
translational and two torsional stiffness
coefficients.
Damping ratio for FLD_C_RATIO Damping ratio for all fields.
FIELDs
Stiffness and damping for RAIL_STIFF Translational stiffness coefficient for
BUSHINGs between RAIL_DAMP bushings: FL_BUSH, FR_BUSH, RL_BUSH,
wheel and rail (ground) RR_BUSH. Translational damping
coefficient for bushings: FL_BUSH,
FR_BUSH, RL_BUSH, RR_BUSH.
1 Locate an input channel at one of the wheels, right-click and select it.
2 From the Edit menu, select Modify.
The Modify Input Channel dialog box appears with your input channel and its definitions.
3 Inspect the settings for the input channel, noting that a swept sine is being applied to a
marker on the wheelset. A force magnitude of 1000.0 N is being applied in the local z
direction with zero phase angle.
4 Select Cancel.
5 Clear the select list.
1 From the Build menu, point to ADAMS/Vibration, point to Output Channel, and then select
Modify.
2 From the Database Navigator, select Output_Channel_1.
3 Inspect the settings for the output channel, noting that acceleration of the wheelset is
being measured in the global z direction.
4 Select Cancel.
1 From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
2 From the New Vibration Analysis list, select Vibration Analysis.
3 Right-click the text box, point to Vibration Analysis, point to Guesses, and then select
Baseline.
4 Inspect the analysis specifications, and complete the following:
■ The __________ vibration analysis will linearize the model about the ____________
operating point.
■ Damping will be ___________ and ______ steps will be used across a frequency
range of ________ to ________ hertz.
5 Close the dialog box without running the analysis.
1 Load the script-creating dialog box by importing the file cre_vib_solve_script_dlg.cmd from
the dbox subdirectory.
The Create Vibration Multi-Run Script appears.
2 In the Sim Script Name text box, enter VIBRATION_SOLVE_MULTIRUN.
3 Right-click the Vibration Analysis Name text box, point to Vibration Analysis, point to
Guesses, and then select Baseline.
• Mention that the file for the custom dialog box is also included in the ADAMS/Vibration installation
directory: \install_dir\vibration\examples\macros.
Workshop 7—Design Evaluation...
To inspect the multi-run simulation script:
1 From the Simulate menu, point to Simulation Script, and then select Modify.
2 In the Database Navigator, choose the script named VIBRATION_SOLVE_MULTIRUN.
The Modify Simulation Script dialog box appears with the commands as shown below:
3 Briefly review the commands and see if they make sense to you.
4 Select Cancel.
1 Plot the frequency response magnitude for the summed input channels.
You should see a plot on page_1, similar to the one shown next:
Note that the curve has a few resonance peaks at certain frequencies. You are interested in
how the shape of this curve will change as the bogie's design parameters are swept during
a design study. To perform a design study, you must create a design objective. In this
example, you want one that captures the magnitude of the peaks in the curve. The next
section will show you how to do that.
2 Return to the modeling window.
1 From the Simulate menu, point to Design Objective, and then select New.
The Create Design Objective dialog box appears.
2 In the Name text box, enter MAX_FRAME_CM_ACC.
3 From the Definition by list, select /View Variable and Vibration Macro.
The Create Vibration Design Objective Macro dialog box appears.
4 In the Macro Name text box, enter eval_fva_results.
5 Right-click the Return Value Variable text box, point to Variable, and then select Create.
The Create Design Variable dialog box appears.
6 In the Name text box, enter FVA_RESPONSE_VARIABLE.
7 From the Type list, select Real.
8 From the Units list, select Acceleration.
9 Leave all other settings at their defaults.
10 Select OK.
The dialog box closes and the name of variable, FVA_RESPONSE_VARIABLE, is placed
in the Create Vibration Design Objective Macro dialog box.
11 From the Target Vibration Data list, select Frequency Response: All Inputs, 1 Output.
12 Right-click the Output Channel text box, point to Output Channel, point to Guesses, and then
select Output_Channel_1.
13 Select Maximum.
The dialog box closes and both the macro name, eval_fva_results, and the name of variable,
FVA_RESPONSE_VARIABLE, are placed in the Create Design Objective dialog box.
16 Select OK.
The design objective and all its dependencies have been created. To review, a cascade of
what you've created is like this:
1 From the Settings menu, point to Solver, and then select Output.
The Solver Settings dialog box appears.
2 Select More.
3 Set Output Category to Database Storage.
4 Under Individual Simulations, set Save Analysis to Yes.
5 Under Multi-Run Simulations, set Save Analysis to Yes.
6 Select Close.
This will permit different frequency responses to be plotted one over the other at the end of
the design study analysis.
• If students want to compare the evaluated value to what is shown in a frequency response plot, they will
have to change the plot's vertical axis to a linear scale.
Workshop 7—Design Evaluation...
Performing a design study analysis
Next, you study and plot the effect of the design variable K11, a suspension stiffness parameter
representing the first diagonal entry in the stiffness matrix for the fields. You will plot the
frequency response for the five trials, one on top of the other. By doing this you'll be able to see
the effect of the design change.
■ Model: .bogie
■ Simulation Script: VIBRATION_SOLVE_MULTIRUN
■ Study a Objective: MAX_FRAME_CM_ACC
■ Select Design Study
■ Design Variable: K11
Make sure you use
■ Default Levels: 5 this script.
3 Select Start.
The design study runs and plots the objective versus design variable for each trial in the
design study as shown below:
1 Launch ADAMS/Postprocessor.
Tip: Make sure ADAMS/View is the active window.
2 Create a new page.
3 Set Source to Frequency Response.
4 From the Simulation list, drag-select the five runs Baseline_1 through Baseline_5.
9 Describe what appears to be the main effect of the design variable, K11.
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10 Return to the modeling window.
1 Launch ADAMS/Postprocessor.
Tip: Make sure ADAMS/View is the active window.
2 Create a new page.
3 Set Source to Frequency Response.
9 What appear to be the main effects that parameter K33 has on the vertical acceleration of
the bogie?
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10 Return to the modeling window.
2 Select Optimizer.
The Solver Settings dialog box displays the Optimization options.
3 Select More.
4 In the Tolerance text box, enter 1.0E-5.
5 In the Increment text box, enter 1.0E-4.
6 Close the Solver Settings dialog box.
7 Select Start.
The command window displays output from the optimizer, showing how it's progressing.
1 From the Main Toolbox, double-click the Select tool to reset the model.
2 From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
3 In the New Vibration Analysis text box, enter Optimized.
4 Select Import Settings from Existing Vibration Analysis.
5 From the Database Navigator, double-click Baseline.
ADAMS/Vibration updates the vibration analysis specifications.
6 Select OK.
1 Launch ADAMS/PostProcessor.
2 From the treeview, select Page_1.
3 Set Source to Frequency Response.
4 From the Vibration Analysis list, scroll up and select Optimized.
5 Select Sum all Input Channels.
6 From the Output Channels list, select Ouput_Channel_1.
7 Select Magnitude.
Here you can see that the optimizer has indeed found a combination of K11 and K33 that
minimizes the maximum acceleration peak across the frequency spectrum.
Wrap up
To wrap up:
1 Close ADAMS/PostProcessor.
2 Delete the simulation results you are not interested in.
3 Save your database.
4 Exit ADAMS/View.
Optional tasks
1 Perform a forced vibration animation and review the behavior at frequency peaks.
153
Introduction
To reduce a nonlinear model to a linear form, ADAMS/Vibration performs an eigensolution on
the nonlinear model. The iterative eigensolver in ADAMS/Vibration uses the complete set of
model modes to converge to a subset of modes within the specified error tolerance. The
canonical form1•of the linear model is constructed from this subset of model modes. For some
small models, ADAMS/Vibration may not compute the desired number of modes. If you want
to view the complete set of model modes, use ADAMS/Linear.
ADAMS/Vibration creates linearized models from nonlinear ADAMS models in the form of:
x· = Ax + Bu
y = Cx + Du
where:
1
•. De Silva, Clarence W., “Vibration Fundamentals and Practice”, CRC Press 2000.
154 Theory
Vibration Actuators
This section describes the calculations for the various vibration actuators ADAMS/Vibration
uses. Included are:
■ Swept Sine
■ Rotating Mass
■ User-Defined Function
Swept Sine
Swept sine defines a constant amplitude sine function being applied to the model. The amplitude
of the sine function and the starting phase angle are required and must be specified on the Create
Vibration Actuator dialog box.
f ( ω) = F ⋅ [ cos ( θ ) + j ⋅ sin ( θ ) ]
where:
Rotating Mass
A rotating mass applies a frequency-dependent force. This actuator represents the force due to
a rotating mass located at a specified offset from an axis of rotation. The axis of rotation is
defined by the input channel that this vibrational actuator is applied to.
2
f ( ω) = m ⋅ ω ⋅ r
where:
■ ω is the frequency
Theory 155
Vibration Actuators...
Similarly, a rotating mass placed at a distance offset along the axis of rotation results in an
unbalanced moment.
2
t ( ω) = m ⋅ ω ⋅ r ⋅ d
where:
User-Defined Function
You can define any function of the independent variable omega:
f ( ω) = g ( ω)
where:
■ ω is the frequency
156 Theory
Analysis Methods
This section describes the calculations for the analysis methods used in ADAMS/Vibration.
Included are:
■ Frequency Response
■ PSD Computation
Frequency Response
For frequency response computation, the linearized model is represented as:
x(s) = Ax(s) + Bu(s)
y(s) = Cx(s) + Du(s)
where s is the Laplace variable
The system transfer function can be represented as:
y(s ) –1
H ( s ) = ---------- = C ( sI – A ) B + D
u(s)
where:
■ H(s) is the transfer function for the model
■ I is the identity matrix of dimension equal to the number of system states
For a given vibration analysis, the system frequency response is given as:
y ( s ) = H ( s )u ( s )
–1
x ( s ) = ( sI – A ) B
Theory 157
Analysis Methods...
PSD Computation
PSD of output channels for given input PSDs is given as:
p ( s ) = H∗ ( s ) ⋅ U ( s ) ⋅ H ( s )
where:
■ p(s) is the matrix of power spectral density
■ H*(s) is the complex conjugate transpose of H(s)
■ U(s) is the matrix of input spectral density
The matrix of input spectral densities is a diagonal matrix with the vibration actuator PSDs on
the diagonal locations.
158 Theory
B ANSWER KEY
This appendix contains the answers to the questions listed in this training
guide.
159
Answer Key
Step 10, page 69: You are seeing a rounding-off effect in the plotter due to the vertical axis Db
scale. If you set the vaxis scale to "linear" you'll see the full lower bound of the results data.
Step 11, page 69: It wouldn't be able to solve beyond 10 Hz.
Step 15, page 106: In this model, to emphasize the peaks, the damping coefficients for the
bushings and spring are either very small or have been set to zero. Therefore, in this case you're
not simply seeing differences due to damping effects. Instead, this is an aliasing or resolution
issue. For this vibration analysis, the resolution of output data was set to 300 logarithmically
spaced steps. This is not enough to capture the exact frequency of the peaks in the curve.
Although you are near the absolute peak, you're not quite there. By solving with more output
steps (for example, 5000) you will get closer to the frequencies calculated in the normal-modes
analysis.
Step 5, page 110: EIGEN_3
Step 11, page 113: True. Wheel hop vibration has been reduced.
Step 12, page 113: False. The driver will feel less vibration.
Step 13, page 113: True. Chassis heave magnitude has increased.
Step 14, page 113: True. The frequency of heave has shifted lower.
■ The forced vibration analysis will linearize the model about the static operating point.
■ Damping will be included and 400 steps will be used across a frequency range of 0.1
to 80 hertz.
Step 9, page 147: The main effect of K11 is to shift the frequency of the second peak and to
reduce the magnitude of the higher frequencies. The lower frequency peak isn’t affected as
dramatically.
Step 9, page 149: The main effects of parameter K33: