SIMPACK Basics Training 1

SIMPACK Basics Training 1

Contents
Theory
Exercise
SIMPACK AG
>> Model Setup Double Pendulum
Overview of SIMPACK Trainings
Preprocessing: Bodies
What is SIMPACK?
Preprocessing: Joints
SIMPACK Application Areas

SIMPACK Products
Preprocessing: Sensors
Solver: Test Call
Solver: Time Integration
SIMPACK Interfaces
Postprocessing: 3D Animation
SIMPACK MBS Elements
Postprocessing: 2D Plot
SIMPACK MBS Equations of Motion

SIMPACK Solver Options
>> Model Setup Two Mass Oscillator
SIMPACK Numerics
Preprocessing: Force Elements
SIMPACK Graphical User Interface (GUI)
Preprocessing: Excitations
Solver: Static Equilibrium
Solver: Preload
SIMPACK Documentation
Solver: Natural Frequencies
SIMPACK Model Setup Process
Postprocessing : Mode Shape 3D Animation and 2D Plot

(Pre, Solver, Post: Linear System Analysis)
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
SIMPACK Data Flow
Page 2

SIMPACK AG
Theory
Activities
SIMPACK Software Development (Multi
Body System Dynamics)
Software Sales
Software Training
SIMPACK Academy
Hotline, User Meetings, SIMPACK News
Engineering & Consulting Business (OnSite, Off-Site and Hosting):
Complete Projects
Setting up Models, Real Time
Models, User Routines, Concept
Computations
Version 2012-05-07
etc.
Page 3

Overview of SIMPACK Trainings
Theory
Basics Training
(Flexible Bodies)
Contact Mechanics
SIMULINK Interfaces
NVH (Noise Vibration Harshness)
C ----------------------------------------------------C task = 0 : I/O-Values

C ----------------------------------------------------C Parameters
C ---------C Name
'123456789012345678901234567890'
par_str( 1) = 'Stiffness
'
par_str( 2) = 'Damping
'
par_str( 3) = 'Reference Marker
'
User Routines
Automotive
Engine
Drivetrain
Rail
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Flex Modal
Code Export
Page 4

What is SIMPACK ?
Theory
SIMPACK = General Multi Purpose MBS System

- General 3D MBS Model Set-up
- Powerful Time and Frequency Domain Solver
Accurate, Fast, Stable and Reliable
- 2D-Plot and 3D-Visualisation
- Optimised Application Specific
Modelling Elements and Analysis Methods
- Optimum Connectivity to Matlab/Simulink
- Parameterised Code Export
- Performant and Accurate Integration of
Flexible Bodies
- Dynamic Load Data Export
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- Open User Element Interface
Page 5

SIMPACK Application Areas
Theory
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SIMPACK
Page 6

SIMPACK Products
Theory
Basic Module
- Kinematics & Dynamics: Pre, Post, Solver
Application Specific Add On Modules

- Engine (Cranktrain, Valvetrain, Timing)
- Automotive (Basic, Tires, Realtime, )
- Rail (Basic, Rail Switches, )
General Add On Modules
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- NVH
- CAD Interfaces
- FEM Interfaces
- Durability Interfaces
- Matlab/Simulink Interfaces
- Code Export
- User Routines
- Parametervariation (= Virtual Testing Lab, VTL)
- IPC
- and more
Page 7

SIMPACK Interfaces
Theory
MSC.NASTRAN
NX NASTRAN
NEi NASTRAN
CATIA
PERMAS
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DSHplus
Page 8

SIMPACK Basic MBS Elements (1) - Library
Theory
Reference System:
Inertial fixed
Moved
Body:
Rigid
Elastic beams (SIMBEAM)
Arbitrarily shaped elastic bodies (FEM-Interface)
Joints/Constraints:
Standard:
Revolute (1-3 DOF)

Prismatic (1-3 DOF)
User defined (1-6 DOF)
Excitation joints (motion dependent on time)
Application Specific:
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Vehicle track joint

Chain link path joint
Virtual suspension joint
Cardan joint
Constant velocity joint
Screw joint
Gear box constraints (e.g. differential gear,
planet gear, ...)
And more
Page 9

Theory
Force Elements
Standard:
Spring (linear/nonlinear)
Damper (linear/nonlinear)
User defined force law
(by expression)
Excitation forces (force/torque
dependent on time)
point to point (ptp)
Application Specific:
Single sided contact

Non-linear friction
Stick-slip elements
Tire models
Chain forces
Gearwheel forces
Hydraulic lash adjuster
Dynamic valve spring contact
Elastic gear box
Hydraulic bearing
Hysteresis effects
Frequency dependent bushing
Generic forces by measured
transfer function
components (cmp)
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Page 10

Theory
Control Elements
Disturbances
Deterministic
Stochastic
Sensors
Kinematic measurements
MBS states
Time excitations (u-input)
Signal Converters
A/D
D/A
Signal Manipulators
PIDT1 controller combinations

General signal manipulation
Manoeuvre controller ('non-linear
transfer function')
Application specific controllers (e.g.
automotive driver controller)
Actuators
Force/torque actuator
Motion actuators
Excitations
Signal generation in
order to excite the MBS
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Sensors
Kinematic measurements
Page 11

MBS Kinematics and Dynamics
Theory
Kinematics
Describes the motion of the
system with respect to the
kinematic joints and constraints
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Describes the motion of the

system due to applied forces
Page 12

SIMPACK MBS Equations: Relative Coordinates (1)
Theory
Absolute Coordinates (= SIMPACK optional)

Rigid body motion,
described with respect
to the inertial frame:
1
Always max. dimension of

equations of motion (each
body always requires 6
MBS states)
IFr1(x,y,z); IFA1(a,b,g)
3
inertial frame
Position
Positions
Orientations
Velocity
Acceleration
r ( x, y, z )
A (a , b , g )
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Large absolute values in

MBS body position
describing states
Page 13

SIMPACK MBS Equations: Relative Coordinates (2)
Theory
Relative Coordinates (= SIMPACK Default)

Rigid Body motion
description by vector chain:
(i.e.: only rotational Joints)
Kin. tree structure
1r2 (a2); 1A2(a2)
a3
a2
IFr1 (a1); IFA1(a1)
a1
2r3 (a3); 2A3(a3)
Small absolute values in

MBS body position
describing states
inertial frame
Position
Velocity
position
Positions
x,1,ya, 2z ),a3)
rr ((a
Orientations
orientation
A (A
a ,(ba,,ga), a )
1 2 3
Acceleration
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Equations of motion with

minimal coordinates
Separation of Joints (= tree

structure defining joints)
and Constraints (= loop
closing Joints) in
SIMPACK.
A
Page 14

SIMPACK Solver Options
Theory
Solver Modes Available in SIMPACK

Test Call
Kinematics
Equilibrium
Static Equilibrium
Driven Equilibrium
Preload
Time Integration
Measurements
Eigenvalues
Linear System Matrices
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Co-Simulation
Page 15

SIMPACK Numerics
Theory
SODASRT_2 Solver (SIMPACK Default)

SIMPACK-own, optimized numerics
(Adaption of DASSL)
Root Function handling (Integrated into
respective elements)
Index2 stabilization (Constraint
equations solved on position and
velocity level)
Each state coordinate with individual
tolerances
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No artificial numerical damping !
Fast, Accurate, Robust, Reliable
Page 16

SIMPACK Documentation
Theory
SIMPACK Documentation is available via:

SIMPACK menu bar
F1-button in SIMPACK
Features:
Navigation tree
Index
Bookmarks
Sophisticated text search
Tutorials
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Example models
Page 17

SIMPACK Model Setup Process
Theory
Real System
Separate into Bodies, Joints, Force Elements, ...

CAD
FEM
...
Draw Topology
External Data
Model Setup in SIMPACK
Mass,
Center of
Gravity,
I-Tensor,
Marker,
3D-Primitive
Joints
Constraints
Force Elements
Excitations
Sensors
From Marker,
To Marker,
Type
From Marker,
To Marker,
Type
From Marker,
To Marker,
Type
Type,
Parameter,
u-Vectors
From
Marker,
To Marker,
Type
...
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Bodies
Page 18

Steps in Setting up a Model in SIMPACK
Theory
1.
Divide your mechanism into Bodies, Joints, Constraints, Force Elements
2.
Picture topology
3.
For the Body specify the following:

Mass
Center of Gravity
Inertia
Markers
Primitives (3D-geometry)
For the Joint specify the following:
From Marker
To Marker
Joint Type
5.
(Constraints)
6.
(Force Elements)
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4.
Page 19

Exercises
Exercise
Double Pendulum
One Mass Oscillator
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Single Pendulum
Two Mass Oscillator

Page 20
10

Model Setup Single Pendulum Overview
Theory
Processing
Post-Processing
Body Definition
Joint Definition
Online Time Integration

Test Call
3D Animation
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Pre-Processing
Page 21

Model Setup Single Pendulum - Bodies
Theory
All Body properties are described in a local

coordinate system
= Body Reference Frame (BRF)
From Marker
Mass and Center of Gravity

Moments of Inertia
Markers
Primitives (3D Geometry)
To
Marker (0,3)
BRF
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Page 22
11

Model Setup Single Pendulum - Joints
Theory
Joints act between two Markers

Joint states are measured with respect to the From Marker
Joint type (0 - 6 DOF)
Initial States
From Marker
To Marker
(0,3)
BRF
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Each Body must have

one, and only one, Joint!
Page 23

Theory
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SIMPACK GUI Main Window
Create Bar appears by right mouse

click in the 3D Page.
Page 24
12

SIMPACK GUI Model Setup Creating a new Model
Theory
Create a new model:
Select one of the available

templates
Version 2012-05-07
Your
SIMPACK
GUI can look
like that:
Page 25

SIMPACK GUI Model Setup Open an Existing Model
Theory
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Another option is to
open an already
existing model.
Page 26
13

SIMPACK GUI Model Setup 3D Page I
Theory
Model Tree
click with right mouse

button to set up views
and 3D properties
3D-view control (zoom,
translation, rotation) with
3 mouse buttons while pressing
the Ctrl key
or via space mouse
SIMPACK Model
in the 3D Page
Shows all Elements

used in your Model
Interactive model set up by

using the various SIMPACK
library elements
Contains Model
specific settings
3D-Window control by
mouse buttons while
pressing the CTRL key
3D-window settings by
clicking with the right mouse
button in the 3D-window area
Message Log
Information about current
SIMPACK processes
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Warnings and Error Messages:

Always check the first error or
warning message in order to
solve a problem !
Page 27

SIMPACK GUI Model Setup 3D Page II
Theory
Further basic functions:
Undo / Redo
Version 2012-05-07
Multi-edit Elements by multi-selecting

them either in the 3D Page or in the Model
Tree (hold Ctrl while selecting)
Multiple Bodies or other Elements
can be modified simultaneously
Page 28
14

SIMPACK GUI Model Setup 2D Page
Theory
Version 2012-05-07
The topology of the 2D

Page corresponds to the
built up model.
It can give you a clearer
overview about elements
and connections.
Switch between 3D and
2D Page at the bottom of
the main window of the
SIMPACK GUI.
Access 2D Properties
with right click on the 2D
Window:
Enable/disable
visibility of Elements
Show grid
Page 29

SIMPACK Program Exercise
Exercise
Create a new model, change the

background color, try to control the 3D
view (translate, rotate, zoom)
Set up the single pendulum in SIMPACK
Perform Online Test Call
Perform Online Time Integration
Change initial Joint State position
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Review position and orientation of BRF!
Page 30
15

SIMPACK Program Exercise Model Data
Theory
Marker on Reference Frame

Joint
Characteristics
0.8m
c.g.
a
Body 1
Sphere:
Radius = 0.2 m
Rod:
Diameter = 0.1 m
Length = 0.8 m
Mass = 5 kg
Ixx = 0.08 kg*m^2 (with respect to center of gravity)
Iyy = 0.08 kg*m^2 (with respect to center of gravity)
Izz = 0.08 kg*m^2 (with respect to center of gravity)
Revolute Joint
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Page 31

Model Setup Single Pendulum Test Call
Theory
To check your model prior to performing

any calculations/ solver tasks use the Test
Call
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Online: Quick view of the results of the Test Call

online on your screen
Offline: Creates an additional ASCII result file
(*.tes) with the results
Page 32
16

Model Setup Single Pendulum 3D View
Theory
View Setup: 3D Properties and View Properties
Right mouse click in the 3D Page:
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In the navigation bar:
Page 33

Body Reference Frame (BRF)
Each Body in the MBS model

has its own BRF
The BRF is always located at
(0,0,0) by definition and cannot
be deleted
All Marker coordinates are given
with respect to the BRF
(except Markers specified
relative to a Reference Marker)
Theory
Even if the BRF is an ordinary

marker, it is not recommended to
use it for modelling purposes. In
order to keep a clear model
structure it is better to create a new
Marker at (0,0,0) and assign an
appropriate name to it.
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P1
P2
Page 34
17

Exercise
Open the model

12_body_positioning_marker and change
the position of the Joint From Marker.
Open the model
13_body_positioning_joint and modify the
Joint State.
Open the model
14_body_positioning_body_on_body.
Mass_2 is connected to Mass_1. See how it
moves with Mass_1.
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Open the model

15_body_positioning_wall. Reconnect the
Bodies to the wall. Have a look at what is on
the rear side of the wall.
Page 35

Position of a Body in Space
Theory
The position of a Body in space is

given by its relation to the inertia
system (Isys) or another Body
Example:
Isys
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Body1 is fixed to the

inertia system with its BRF
at P1.
Body2 is rotating around
P3 on Body1.
The position of a Body in
space results from the joint
definition of this body (=
assignment of joint
coupling markers).
Page 36
18

Position of 3D Primitives (1)
Theory
Graphical elements (3D Primitives) are

visualization elements without any
physical meaning (except functional
Primitives such as gearwheels) to the
MBS system.
The position of any 3D Primitive on a
body is given with respect to a Marker
located on the Body (default is the
BRF).
P2 sphere
xcenter
ycenter
z
center
P2
BFRF cuboid
xcenter
ycenter
z
center
P1
P1 belongs to Body1, even if no

3D graphic is visible at its location.
Isys
BFRF
BRF
The cuboid is defined with respect

to BRF with primitive built in
coordinates of P2.
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The center of the sphere is defined

with respect to P2 with additional
primitive built in coordinates.
Therefore no Marker is needed in its
center.
Page 37

Position of 3D Primitives (2)
Theory
Changing the built-in

positions of 3D primitives
will not change the position
of the body in space!
P2 sphere
P2
BFRF cuboid
xcenter
ycenter
zcenter
xcenter
ycenter
zcenter
P1
Isys
BFRF
BRF
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Even if the shape of the body has

changed, all marker positions will
stay at the same location. The
body did not move at all.
Page 38
19

Model Setup Double Pendulum Overview
Theory
Pre-Processing
Processing
Post-Processing
Body Definition
3D Animation
Joint Definition
Test Call
State Plots
Copy & Paste
Offline Time Integration
PostProcessor
Version 2012-05-07
Measurements
Page 39

Time Integration
Theory
a1
The integrator solves the

equations of motion
resulting in Joint states and
their first derivatives:
a2
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The time integration results are

saved in the output path in the
file <modelname>.sir
(SIMPACK Intermediate
Results) and can be viewed in
the PostProcessor.
Page 40
20

Solver Settings: Access from Model Tree
Theory
Version 2012-05-07
Every model has ists own Solver Settings

Different Solver Settings can be generated
For the calculations only the activated Solver
Settings are considered
Page 41

Solver Settings: Result File and Parallel Solver
Theory
The path definition for models

simulation results as well as the
basename for the result files can
be defined under Result file.
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The number of threads to be

dedicated to the defined solver
task can be given under Parallel
Solver. Increasing the number of
threads generally implies shorter
solving times, especially for
complex models.
Page 42
21

Solver Settings: Time Integration Configuration
Theory
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The integration time as well as the

solving method and tolerances
can be given under Time
Integration.
Page 43

Solver Settings: Measurements configuration
Theory
The result data that is written out to an

.sbr file can be configured from the
SIMPACK SolverSettings.
There are two tabs:
General
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Result Configuration
Page 44
22

Sensors
Theory
Sensors are used to obtain measurement

data between two Markers. The data is
calculated with Full Measurements.
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Rerunning an integration is not necessary

for newly defined Sensors.
Page 45

Time Integration with Measurements
Theory
Version 2012-05-07
Performing Measurements
after the Time Integration
provides positions, velocities
and accelerations of all
Sensors as well as forces in
Joints and Force Elements
and all specific outputs
defined by the user.
Page 46
23

SIMPACK PostProcessor: Measurement Results
Theory
Animation Geometry
Time
Sensors: translational position measurements
Sensors: translational velocity measurements
Sensors: translational acceleration measurements
Sensors: rotational position measurements
Sensors: rotational velocity measurements
Sensors: rotational acceleration measurements
Force Elements: applied forces on From Marker
Force Elements: applied torques on From Marker
Force Elements: values of force element specific output values
Joint States: position values
Joint States: velocity values
Joints: joint constraint forces (output system dependent on global setting from Globals!)
Joints: joint constraint torques (output system dependent on global setting from Globals!)
Flexible Bodies: Position of flexible states
Flexible Bodies: Velocity of flexible states
Constraints: constraint constraint forces/torques
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Y-Output: user defined co-simulation output channels

Result Elements: user defined output channels
Substitution Variables: defined substitution variables
Page 47

SIMPACK Jobs: Offline Time Integration
Theory
Time Integration
statistics
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Measurements
Page 48
24

Theory
With the Online Time Integration, the model motion can be calculated and animated in
SIMPACK Pre without saving it first.
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This allows to check the

model correctness before
saving and to quickly get a
first view of its general
behavior.
Also, there is no end time in
the integration and the
sample rate can be manually
changed continuously.
No results are saved for this
integration task.
Page 49

Exercise
a
Body 1
a
Body 2
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Both Bodies are identical
Page 50
25

Exercise
Set up the double pendulum in

SIMPACK using 'Copy & Paste'
Configure and perform an Offline
Time Integration with
Measurements
View the double pendulum
results in the State Plots
Change initial joint states of the
double pendulum and try again
Version 2012-05-07
Review position and orientation

of the double pendulums BRFs!
Page 51

PostProcessor Basics
THEORY
Theory
Areas/Elements and Terminology
Generating Simple Plots
Modifying Element Properties
Generating Animations
GUI Features
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Overview to the PostProcessor
Page 52
26

PostProcessor Basics - Areas
THEORY
Theory
Menus and Icons
Session Tree
Result Tree
Graphics Area
Page
Page Title
Diagram Title
Header
Graphics Table with Grid
Graphics Table
Diagram
Animation
Etc.
Animation
Menus and Icons

Script Console
Status Bar
Progress Bar
Footer
Progress Bar
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Status Bar
Standard GUI for

SIMPACK!
Page 53

PostProcessor Basics - Result Tree
Model containing the

Animation Geometry,
i.e. the Bodies and
their respective
Primitives and Markers
THEORY
Theory
Result Tree can be

expanded, collapsed or
turned off
Result Tree shows loaded
results files
SIMPACK .sbr files -generated by a

SIMPACK calculation
ASCII Data files
.sbr files store the calculation

data in Output Data Types
Modelling Elements
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Each Output Data Type

consists of Output Channels
Page 54
27

PostProcessor Basics Session Tree and Plotting Elements
THEORY
Theory
Expand/Collapse
Tree
Close Tree
A Project is a logical
grouping of data and
determines the
configuration. More
Projects can be open in
one Session.
A Curve displays value
pair data. The display
can be switched off.
A Pageset is a
container holding one
or more Pages.
A Diagram is the
container displaying
curves.
A Filter is used to amend

the value pair data.
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A Page is the container

for every Element in
the Graphics Area.
All Titles in the Session Tree Elements can be changed!

Page 55

PostProcessor Basics Session Tree and Animation Elements
An Animation is the cell

into which a Model and
respective geometry
can be loaded.
THEORY
Theory
A Model contains the

animation geometry.
The display can be
switched off.
Body Markers can be
displayed. The default
is not displayed.
Bodies contained in the

Model. The display of
the Bodies geometry
can be switched on or
off for each individual
Body.
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Primitives: The display can

be switched on or off
individually.
The Titles of Session Tree Elements

are determined by the model!
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28

PostProcessor Basics Starting
EXERCISE
Exercise
Version 2012-05-07
Open the PostProcessor

from the Desktop icon
Page 57

PostProcessor Basics Generating A Simple Plot
EXERCISE
Exercise
Create a new Project with the filename and Title 03_generating_curves.

Load in the sbr file ENG_V_ANGLE_15.sbr., which is stored in the output folder
Version 2012-05-07
Plot force output absolute force value from the Result Tree, Output Channels and by
adding a Curve to a Diagram.
Enter the value pairs directly. Try pulling in a SubVar.
Page 58
29

PostProcessor Basics Modifying the View
EXERCISE
Exercise
Zoom In Ctrl + left mouse button

top bottom or right left.
Refit Refit Icon or Ctrl + middle

mouse button.
Zoom Out - Ctrl + left mouse button

bottom top or left right.
View move - Ctrl + right mouse

button.
Or with the mouse wheel.
Box-zoom Shift + draw box with

mouse.
F6 turn on/off display of Session and

Result Trees.
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Box-zoom
F11 Full screen.

Page 59

PostProcessor Basics Modifying the Curve Properties
Pick mount_fr, the remaining curve in the

Graphics Area. The curve will be highlighted in
the Session Tree.
Edit the Properties from the format menu or by

right clicking: color, style, width. Turn on the
Markers and change their color to black.
Create a new Page.
Plot constr force-torque

crank_shaft_rotation Constraint Torque
1.
Set the X-source to the crankshaft joint

velocity.
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Select the curve mount_fl in the Session Tree

and delete it. Repeat for mount_rr.
EXERCISE
Exercise
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PostProcessor Basics Plot Pages and Graphics Table
THEORY
Theory
Version 2012-05-07
The Plot Page Consists of

Graphics Table containing Cells
Title
Header
Footer
Page 61

PostProcessor Basics Page Properties (1) Page Appearance
EXERCISE
Exercise
Select the Page with the force-torque

crank_shaft_rotation and start the page
properties window.
Change from portrait to landscape.
Change the margins.
Change the Title to Crankshaft Torque.
Turn off Header and Footer.
Set the background color to light grey.
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All modified properties can be applied to

either the Selected Page, Parent
PageSet or Current Project!
Page 62
31

PostProcessor Basics Page Properties (2) Graphics Table Cells
EXERCISE
Exercise
Create a new Page.

Split the Graphics Table into four cells from the Table icon.
For mount_fl, plot the 'force force' for x, y and z. Leave the bottom right
cell free.
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Split the emtpy cell and plot the absolute force for mount_rr and mount_fr,
then delete the diagrams.
Try moving and switching Diagrams between cells by dragging with the
left mouse buton.
Set the Page back to three cells.
Page 63

PostProcessor Basics Multi-Curve Generation (1)
All Channels of One Output Data Type
EXERCISE
Exercise
Create a new Project 05_multi_curve_generation.
Version 2012-05-07
Drag the Output Data Type force force into the Graphics Area. All Output
Channels of all Force Elements will be plotted.
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32
Create another page.
Drag the modeling Element engine_mount_fl into the graphics table.
EXERCISE
Exercise
Version 2012-05-07
PostProcessor Basics Multi-Curve Generation (2)

All Channels of One Modelling Element
Page 65

PostProcessor Basics Selecting One or More Elements
EXERCISE
Exercise
How does one select an Element?
Selecting in the Session Tree
Single-Select
Multi-Select
Picking in the Graphics Area
Left mouse button
Long left mouse button
Middle mouse button
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All Elements can be Multi-Selected!

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33
Create Page.
Multi-Select the z for all Force Elements under force force.
Drag them into the Graphics Table.
EXERCISE
Exercise
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PostProcessor Basics Multi-Curve Generation (3) With Multi-Select
Page 67

PostProcessor Basics Multi-Curve Generation (4) Channels in Multiple Diagrams
EXERCISE
Exercise
Create Page.
Split the Graphics Table into four cells.
Version 2012-05-07
Drag the engine_mount_fl under force force into the Graphics Table with
the right mouse button.
Select from the menu 'One channel per diagram'.
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34

PostProcessor Basics Multi-Curve Generation (5) Elements in Multiple Diagrams
EXERCISE
Exercise
Create Page.
Split the Graphics Table into 3 cells.
Version 2012-05-07
Drag the Output Data Type 'force force' with the right mouse button into
the Graphics Table.
Select from the menu 'All selected channels of one element per diagram'.
Page 69

PostProcessor Basics 3D Diagram Comparing Results
EXERCISE
Exercise
Create Page.
Open the sbr file, ENG_V_ANGLE_90_VTL.sbr
Version 2012-05-07
Add 3D Diagram to a cell.

Drag $o_ENG_VEL_Z into the 3D Diagram (first one in the result tree).
Try filling the Curves Curve Property
Page 70
35

PostProcessor Basics 3D Diagram Campbell Filter 1000 & Surface Generator 1001
EXERCISE
Exercise
Campbell Filter for order analysis

Waterfall surface plots
Version 2012-05-07
Examples available from the Documentation
Page 71

PostProcessor Basics Cut, Copy and Pasting of Elements
EXERCISE
Exercise
How does one Cut, Copy and Paste?

Select the Element(s).
Then Cut or Copy.
Ctrl + X or Ctrl + C,
Right mouse button
Format menu
Edit menu
Paste to where required.
How does one Move an Element?
Version 2012-05-07
Elements can be dragged with

the mouse to a location; similar
to a cut and paste.
Page 72
36

PostProcessor Basics Undoing and Redoing of Actions
EXERCISE
Exercise
How does one undo an action?

All actions in a Project can be
undone.
Undone actions can be redone.
Each Project has an undo and

redo stack (the stack is cleared,
however, after a result file reload).
Version 2012-05-07
Scrolling through the Session Tree.
Page 73

PostProcessor Basics Editing of Elements
Edit-in-Place?
The Title of a selected Element
can be edited directly in the
Session Tree with:
EXERCISE
Exercise
Multi Edit of Element Properties

The properties of more than one Element can
be modified in one action.
F2
The properties will be modified for all selected

Elements.
Second click
Why are some fields empty?
Single Edit of Element Properties
This is performed in exactly the same way as

for a single-edit.
Right clicking
Opening the Format menu
Version 2012-05-07
The properties of a selected

Element can be modified by:
All Elements can be Multi-Edited!

Page 74
37

PostProcessor Basics Diagram Properties (1) Axis
Type
Logarithmic
Linear
Ticks - Grid
MainAxis numbering
SubGrid
Scaling
Auto Scale
Box Zoom
Version 2012-05-07
EXERCISE
Exercise
Page 75

PostProcessor Basics Diagram Properties (2) Title, Legend and General
Exercise
Title
Text
Alignment
Text Attributes
Text Alignment
Legend
Position
Appearance
General
Layout
Appearance
Version 2012-05-07
Page 76
38

PostProcessor Basics Diagrams with Multitple Axes
EXERCISE
Exercise
Adding an Axis to a
Diagram
Primary Axis
Assign the new

Axis to a Curve
Version 2012-05-07
Alternatively the
Curve can be
dropped directly on
the respective Axis.
Page 77

EXERCISE
Exercise
Pull in the Animation Geometry from the sbr file into a cell or Animation Page. This can
be done at any level in the Animation Geometry from the sbr file. Try pulling in a few
selected Bodies. (use the Engine_ForceArrow.sbr)
The Model will be displayed in the Graphics Area and the respective Elements shown
in the Session Tree.
Modify the view with the mouse. Similar to in the Model Setup window.
Switch on and off some of the Elements. Change some Primitive properties.
Version 2012-05-07
PostProcessor Basics Generating An Animation
Page 78
39

PostProcessor Basics Animation Player
EXERCISE
Exercise
Define an animation and curve in the same Page.
Start the animation from the toolbar of from the Player.
Record the animation and play it back with the standard media player.
Version 2012-05-07
Try changing some of the record settings.
Page 79

PostProcessor Basics Force/ Torque Arrows
EXERCISE
Exercise
Force and Torque arrows are generated by pulling in

the respective Output Channel.
force force, force torque, joint force and joint torque
can be pulled in.
Version 2012-05-07
Generate force and torque arrows. Notice their

difference in appearance.
Page 80
40

One Mass Oscillator Overview
Theory
Pre-Processing
Processing
Post-Processing
Body Definition
3D Animation
Joint Definition
Test Call
State Plots
Copy & Paste
PostProcessor
Force Definition
Measurements
Input Functions
Static Equilibrium
Version 2012-05-07
Preload
Page 81

Forces
Theory
Version 2012-05-07
Forces act between two Markers

Force type (PtP or Cmp)
Forces are calculated in the
coordinate system the From Marker
3D Representation
Page 82
41

Point to Point Forces (PtP)
Theory
To Marker
From Marker
Y
No torsional stiffness
Point to Point forces are
applied at the From Marker.
The equal and opposite
reaction force (top arrow), is
applied at the To Marker.
Be careful not to allow the
markers to pass through each
other during simulations.
Z BRF
Version 2012-05-07
X Y
F = c |r|
Page 83

Component Forces (Cmp)
Theory
To Marker
r
From Marker
Y
Z BRF
Translational and torsional

stiffnesses (all components)
Component forces are calculated
in the reference frame of the From
Marker, and also applied at this
position on this Body.
The reaction force is applied at the
To Marker.
To compensate the resulting
moment a reaction moment (rxF)
is applied on the From Body.
Version 2012-05-07
X Y
Fi = ci ri
Page 84
42

Program Exercise One Mass Oscillator
Exercise
Set up the one mass oscillator in

SIMPACK
Configure and perform a
SIMPACK Offline Time
Integration with Measurements
View 3D animation of the results
View and configure 2D plots of
the results
Version 2012-05-07
Review position of the one mass

oscillator BRF!
Page 85

One Mass Oscillator Model Data
Excercise
Body One
Mass = 23.5kg
0.3m
Body 1
0.2m
Spring/Damper
Stiffness = 200N/m
Damping = 20Ns/m
Nominal Length = 0.3m
04
Body 1
Version 2012-05-07
Page 86
43

One Mass Oscillator Static Equilibrium and Preload
Theory
Theory: Model - Dynamics

Cut free principle
m
c
g
lo
l 0 , F0
p
v,v
mg
= 640 Kg
5
= 1,6 * 10 N/m
= 9,81 m/s
m
= 0,4 m
c*(lo - p) - d*v+F0
Elements:
Joint:
Newton: mass * acceleration = force mv = c*(lo - p) - d*v + F0 - mg
Task:
1 DOF
mg
Position p
Velocity
Acceleration
c*(lo - p) +Fequ
p
Equilibrium 1: pequ = ?
Version 2012-05-07
Bodies
mg
Prismatic joint
Spring/damper
Gravitational force
Reference frame
p pequ
c*(lo - pequ) +F0
Equilibrium 2: Fequ = ?
Page 87

One Mass Oscillator Static Equilibrium and Preload
Theory
v,v
mg
cut free principle
l 0 , F0
p
c*(lo - p) - d*v +F0
mass * acceleration = force
mv = c*(lo - p) - d*v + F0 - mg
Task:
v,v = 0
mg = c(l0 -p) + F0
Equilibrium 1: pequ = ? l0 - (mg - F0)/c

Equilibrium 2: Fequ = ? mg - c*(l0 - p)
[m]
[N]
Version 2012-05-07
Newton:
Page 88
44

Exercise
Calculate a Static Equilibrium

position of the one mass
oscillator
Reset joint state and calculate
the Preload of the one mass
oscillator
Check results with Test Call
Version 2012-05-07
Check results with Online Time

Integration
Page 89

Static Equilibrium I
Exercise
Before you start calculating your

Static Equilibrium, you must
configure the Static Equilibrium
Solver Settings
You can choose between the

Newton Method and the Time
Integration Method
Version 2012-05-07
Generally you should try out both,

as one might lead you to unrealistic
results
Page 90
45

Static Equilibrium II
Exercise
Version 2012-05-07
Create an equilibrium state using the

Online Static Equilibrium online Icon
Page 91

Static Equilibrium III
Exercise
Version 2012-05-07
In order to reset the Static Equilibrium State

select Actions Reset States to Zero and
overwrite the selected States to Zero.
Page 92
46

Preload
Exercise
The solver task Preload finds the right

preload on every chosen force element to
bring the system to equilibrium without
modifying its position.
Version 2012-05-07
This feature will be available from

SIMPACK 9.1.
Page 93

Input Functions
Theory
Version 2012-05-07
Data is entered as paired

values and step, linear or
cubic spline interpolation is
used to calculate curve
definition.
Input Functions are mainly
used for non-linear forces
and for inputting
measurement data.
Import Data from *.afs files
( See Documentation)
Page 94
47

Input Functions
Theory
Version 2012-05-07
Input Functions take

precedence over other
parameters (i.e. stiffness
and damping).
Page 95

Input Functions
Theory
Getting a closer look at an Input Function:

Coordinate information by sliding with mouse
over curve
Version 2012-05-07
Coordinate information by showing Value Slider
Page 96
48

Exercise
Modify the one mass oscillator

concerning a nonlinear spring
stiffness
Version 2012-05-07
Perform a Offline Time

Integration and check the
results
Page 97

Model Setup Two Mass Oscillator Overview
Theory
Pre-Processing
Processing
Post-Processing
Body Definition
3D Animation
Joint Definition
Test Call
State Plots
Copy & Paste
PostProcessor
Force Definition
Measurements
Mode Shapes
Input Function
Static Equilibrium
Excitation
Preload
Version 2012-05-07
Eigenvalues
Page 98
49

Exercise
Set up the two mass oscillator
Version 2012-05-07
Review MBS Info, Test Call,

Online Time Integration, 2D
Plot, Static Equilibrium and
Preload
Page 99

0.3m
Body Two
Mass = 12.5 kg
Spring/Damper
Stiffness = 100N/m
Damping = 20Ns/m
Nominal Length = 0.4m
0.4m
04
Body 1
Body 1
0.2m
Theory
04
Body 2
Body 2
0.2m
Version 2012-05-07
Page 100
50

Model Information 2D Page
Theory
The topology of the 2D

Page corresponds to
the built up model.
It can give you a
clearer overview about
elements and
connections.
Version 2012-05-07
Switch between 3D
and 2D Page at the
bottom of the main
window of the
SIMPACK GUI.
Page 101

Model Information Referencing/ Referenced Elements
Theory
This is a useful function to find out which elements are connected to a specific
modeling element:
Right-click on the
respective element
Under Referencing
Elements you find the
elements which are
defined upon this Body
Under Referenced
Elements you find the
elements your selected
Version 2012-05-07
Body references
Page 102
51

Model Information Mass Properties
Theory
Information on mass, center of gravity and inertia

of a single body
of a number of bodies or an entire model
(by activating the flg for combined mass calculation
Information is given
Version 2012-05-07
- visually
- printed in the Message Log
Page 103

Two Mass Oscillator Time Integration I
You perform either an Online or an Offline

(with/ without measurement) Time Integration
Exercise
Offline
Online
Version 2012-05-07
The result is a 3D animation
Page 104
52

Exercise
Version 2012-05-07
Two Mass Oscillator State Plots and PostProcessor I
Page 105

Two Mass Oscillator PostProcessor II
Exercise
Version 2012-05-07
The .sir file only contains the Joint States of the Model and some solver statistics
Page 106
53

Two Mass Oscillator Eigenvalues
Theory
Before calculating
Eigenvalues, the model must
be in an equilibrium state!
Perform the Eigenvalue
Calculation by selecting the
corresponding icon
Hit Perform eigenvalue

calculation
Version 2012-05-07
Visualize the eigenmodes by

selecting them and hitting the
Play-button in the Mode
Animation
Page 107

Model Setup Two Mass Oscillator Mode Shapes
Exercise
Have a look at the Mode Shape

Animation.
Version 2012-05-07
Play around with 3D Animation

module.
Page 108
54

Model Setup Two Mass Oscillator Excitation I
Theory
Excitations are signal generators.

The signals can be used to excite
joints, moved markers and
force/torque actuators or to generate
SIMPACK Control input values.
Version 2012-05-07
The defined curves, possibly from a

library, are exported as position,
velocity and acceleration vectors for
use in modelling.
Page 109

Model Setup Two Mass Oscillator Excitation II
Steps to define Moved Markers, Rheonomic

Joints and time depending Forces/Torques
by SIMPACK Time Excitations
SIM PACK M odel:
Theory
Quart er Car
Time Excitation
Parameters
Force
ForceElement
Element
Rheonomic
RheonomicJoint
Joint
s0 = 0;
A = 0.2 m;
u_1
u_2
u_3
..
..
u_10
u_11
..
..
u_N
s(t)
sp(t)
Time Excitation
Generator
Input Functions
(Tables)
spp(t)
Polynomials
Version 2012-05-07
Moved
Marker
Marker
Move
= 5 rad/s
Page 110
55

Model Setup Two Mass Oscillator Example Excitation I
Theory
Moved Marker (Type 95)

Sinusoidal Excitation (Type 01)
Amplitude = 0.1 m
Frequency = 3.14 rad/s
Body 1
Version 2012-05-07
Body 2
Page 111

Exercise
Define two mass oscillator excitation

scenario No. I
Perform a Time Integration
Check results (3D Animation, 2D Plot)
Moved Marker (Type 95)
Version 2012-05-07
Sinusoidal Time Excitation (Type 01)

Amplitude = 0.1 m
Note:
Moved Markers cannot be used as FROM or TO with Joints!
Page 112
56

Model Setup Two Mass Oscillator Example Excitation II
Theory
Body 1
Force Excitation (Type 93)
Body 2
Version 2012-05-07

Amplitude = 20 N
Page 113

Model Setup Two Mass Oscillator Example Excitation III
Theory
Joint Excitation (Type 40)
Body 1

Amplitude = 0.1 m
Version 2012-05-07
Body 2
Note:
Moved Markers cannot be used as FROM or TO with Joints!
Page 114
57

Exercise
Define two mass oscillator excitation

scenarios No. II and III
Perform a Time Integration
Check results (3D Animation, 2D Plot)
Joint Excitation (Type 40)
Version 2012-05-07

Amplitude = 0.1 m
Page 115

Summary
Exercise
PreProcessing
Processing
PostProcessing
Body Definition
3D Animation
Joint Definition
Test Call
State Plots
Copy & Paste
PostProcessor
Force Definition
Measurements
Mode Shapes
Input Functions
Static Equilibrium
Excitations
Preload
Version 2012-05-07
Eigenvalues
Page 116
58

SIMPACK Basics Training 1

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