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Overview
This guide introduces you to the most basic concepts of Using
ADAMS/Controls, part of the MSC.ADAMS® suite of
24software. If you’ve never used ADAMS/Controls before, this
guide is a good place to start.
You begin learning ADAMS/Controls with Introducing and
Starting the Tutorials on page 3. This material explains the
basics of the MSC.ADAMS side of the ADAMS/Controls
interface. Then, you continue with the tutorial that is associated
with the specific controls application you are using, including
EASY5, Control System Import, or MATLAB.
■ Introducing and Starting the Tutorials, 3
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 MSC.Software Corporation. MSC.Software Corporation assumes no
responsibility or liability for any errors or inaccuracies that may appear in this document.
Copyright Information
This document contains proprietary and copyrighted information. MSC.Software Corporation permits licensees of
®
MSC.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 MSC.Software Corporation.
Copyright © 2005 MSC.Software Corporation. All rights reserved. Printed in the United States of America.
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ADAMS, EASY5, MSC, MSC., MSC.ADAMS, MSC.EASY5, and all product names in the MSC.ADAMS Product
Line are trademarks or registered trademarks of MSC.Software Corporation and/or its subsidiaries.
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proprietary version developed and maintained by MSC.Software Corporation. All other trademarks are the property of
their respective owners.
Government Use
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(Commercial Computer Software) and DFARS 227.7202 (Commercial Computer Software and Commercial
Computer Software Documentation), as applicable. 3
1 Introducing and Starting the Tutorials
Overview
This chapter starts you off on the process of adding controls to your
MSC.ADAMS model. Following this chapter are tutorials for each
of the controls applications you can use with ADAMS/Controls:
MSC.EASY5, Control System Import, and MATLAB. After you
finish this chapter, continue with the tutorial that is specific to the
controls application you are using.
This chapter contains the following sections:
■ About the Tutorial, 4
■ Starting ADAMS/View, 4
Starting ADAMS/View
In this section, you learn how to create a new directory and start ADAMS/Controls from
within ADAMS/View in the UNIX and Windows environments.
In the UNIX environment, you start ADAMS/View from the MSC.ADAMS Toolbar, and
then, from within ADAMS/View, you load the ADAMS/Controls plugin. For information
on the MSC.ADAMS Toolbar, see the online help for Running and Configuring
MSC.ADAMS.
Getting Started Using ADAMS/Controls
Introducing and Starting the Tutorials 5
In the Windows environment, you start ADAMS/View from the Start menu, and then load
the ADAMS/Controls plugin. For more information, see the online help for Running and
Configuring MSC.ADAMS.
To start ADAMS/View:
Antenna
Elevation bearings
Reduction gear
Azimuth rotor
Loading ADAMS/Controls
Because ADAMS/Controls is a plugin for ADAMS/View, you need to load
ADAMS/Controls when you use it with ADAMS/View.
To load ADAMS/Controls:
5 Select the Reset to Start tool to reset the simulation back to its first frame.
6 Rerun the simulation.
Now that you’ve deactivated the azimuthal motion, the antenna moves up and
down, but it does not sweep horizontally as it did during the last simulation.
Note: You might detect some small movement in the azimuthal direction because the
model has no constraints or restoring forces to control its natural movement. You
should also notice that the bending of the antenna support beam decreases when
the azimuthal motion is deactivated. The flexing illustrates that a certain amount
of coupling takes place between the elevation and azimuthal movements.
Getting Started Using ADAMS/Controls
10 Introducing and Starting the Tutorials
Control
system
Getting Started Using ADAMS/Controls
Introducing and Starting the Tutorials 11
1 From the Build menu, point to System Elements, point to State Variable, and then select
Modify.
3 Select control_torque.
Getting Started Using ADAMS/Controls
12 Introducing and Starting the Tutorials
4 Select OK.
The Modify State Variable dialog box appears.
Figure 4. Modify State Variable Dialog Box
5 Look in the F(time, ...)= text box and verify that the run-time function for the input
variable, control_torque, is 0.0.
Because the control torque will get its value from the control application, the 0.0
will be overwritten during each step of the simulation.
6 Select Cancel to close the Modify State Variable dialog box.
Note: After you close the box, click in the background of the screen to clear the
selection of the model.
Getting Started Using ADAMS/Controls
Introducing and Starting the Tutorials 13
3 Look in the Function text box and verify that the run-time function for the input
variable reads: VARVAL(.main_olt.control_torque).
Note: VARVAL (variable value) is the MSC.ADAMS function that returns the
value of the given variable. Notice that the function is defined as the value
of the control_torque variable. In other words, the input control torque
(azimuth_actuator) gets its value from the input variable.
4 Select Cancel to close the Modify Torque dialog box.
Getting Started Using ADAMS/Controls
14 Introducing and Starting the Tutorials
1 From the Build menu, point to System Elements, point to State Variable, and then select
Modify.
5 Look in the F(time, ...)= text box to verify that the run-time function for the output
variable is AZ(MAR70, MAR26).
This function returns the angle about the z-axis, the vertical axis about which the
antenna rotates. Therefore, the function assigns the rotational position of the
antenna to the output state variable.
6 Right-click the Name text box, point to ADAMS_Variable, point to Guesses, and then
select rotor_velocity.
The Modify State Variable dialog box updates.
Getting Started Using ADAMS/Controls
Introducing and Starting the Tutorials 15
7 Look at the F(time, ...)= text box and verify the run-time function for the output
variable is WZ(MAR21, MAR22, MAR22).
This function measures the rotational velocity of the rotor relative to ground.
8 Select Cancel to close the dialog box.
10 Confirm that Type is set to non_linear and Initial Static Analysis is set to No.
Note: If Type is set to linear and Initial Static Analysis is set to Yes,
ADAMS/Controls conducts a static analysis before the linear analysis.
Otherwise, ADAMS/Controls performs an initial conditions analysis.
11 Verify that the ADAMS/Solver choice is set to Fortran and MSC.ADAMS host is set to
your machine name.
Be sure that the name for ADAMS Host is a fully qualified hostname. (To be fully
qualified, the hostname must contain the workstation and domain name.) If the
ADAMS Host is not fully qualified, edit the value in the text box so that it is fully
qualified.
12 Verify that Dynamic States Output is selected.
This is only relevant for ADAMS/Chassis models imported into ADAMS/View.
13 Verify that the Plant Export dialog box is completed as shown in Figure 7 on
page 17.
Getting Started Using ADAMS/Controls
Introducing and Starting the Tutorials 17
This order is
important.
14 Select OK.
ADAMS/Controls saves the input and output information in an .m (for MATLAB)
or .inf file (for MSC.EASY5). It also generates a command file (.cmd) and a dataset
file (.adm) that are used during the simulation process.
Note: The ant_test plant you just created is saved in the modeling database. By
importing settings from an existing plant, you can create new plants based
on plants you already created.
Getting Started Using ADAMS/Controls
18 Introducing and Starting the Tutorials
Note: You have now finished the introduction to the ADAMS/Controls tutorials. To
continue learning the ADAMS/Controls interface, go to the tutorials that follow
this section. If you are using:
Overview
This chapter teaches you how to use ADAMS/Controls with
MATLAB. It contains the following sections:
■ About the Tutorial, 20
Starting MATLAB
A note about your MSC.ADAMS license(s): Running an ADAMS/Controls cosimulation
will check out an ADAMS/Solver license and possibly an ADAMS/View license (for
interactive simulations only). To ensure that you are able to run these products, close your
current ADAMS/Controls session.
4 At the prompt, type who to get the list of variables defined in the files.
MATLAB echoes the following relevant information:
ADAMS_cwd ADAMS_inputs ADAMS_poutput ADAMS_sysdir
ADAMS_exec ADAMS_mode ADAMS_prefix ADAMS_uy_ids
ADAMS_host ADAMS_outputs ADAMS_solver_type
ADAMS_init ADAMS_pinput ADAMS_static
You can check any of the above variables by entering them in at the MATLAB
prompt. For example, if you enter ADAMS_outputs, MATLAB displays all of the
outputs defined for your mechanism:
ADAMS_outputs=
rotor_velocity!azimuth_position
Note: If you want to import the linearized MSC.ADAMS model, use ant_test_l.m
instead of ant_test.m. The main difference is in the ADAMS_mode variable:
❖ In ant_test.m, ADAMS_mode=non_linear.
❖ In ant_test_l.m, ADAMS_mode=linear.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATLAB 23
2 From the File menu, point to New, and then select Model.
A new selection window for building your block diagram appears.
3 Drag and drop the adams_sub block from the adams_sys_ selection window onto the
new selection window.
4 Double-click the adams_sub block.
All of the elements in the subsystem appear.
Figure 9. adams_sub block
Note: The inputs and outputs you defined for the model appear in the sub-block. The
input and output names automatically match up with the information read in from
the ant_test.m file.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATLAB 25
Note: If the Simulink model containing the adams_sub block was created in an earlier
version of ADAMS/Controls, you should run adams_sys again to create a new
adams_sub block to replace the existing one for better performance.
Step Parameters
Step Time: 0.001
Initial Value: 0
Final value: 0.3
Sample time: 0.001
2 Numerator: [950]
Denominator: [0.001 1]
Absolute tolerance: auto
Sum Parameters
1 SumP
Icon shape: Rectangular
List of signs: +-
[ ] Show additional parameters
2 SumV
Icon shape: Rectangular
List of signs: +-
[ ] Show additional parameters
Scope
torque
rotor_vel
azimuth_pos
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATLAB 27
1 From the menus on the Simulink window, select Simulation, and then select
Configuration Parameters.
1 A time display in the upper left corner of the MSC.ADAMS screen tracks the
seconds of the simulation. To pause the simulation, move your cursor to the
Simulink window, point to Simulation, and then select Pause.
MATLAB suspends the simulation.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATLAB 33
2 Now go back to ADAMS/View. While the simulation is paused, you can change
the orientation of the model with the View Orientation tools in the Main toolbox.
These tools help you to look at the model from different vantage points.
Figure 13. View Orientation Tools
3 Once you have finished reorienting the model, resume the simulation by selecting
Simulation, and then Continue, from the toolbar on the Simulink window.
1 Start ADAMS/View from your working directory and read in the command file,
ant_test.cmd.
4 Select OK.
The results are loaded. Now, you can plot any data from the cosimulation and play
the animation.
5 From the Review menu, select Postprocessing.
ADAMS/View launches ADAMS/PostProcessor, a postprocessing tool that lets
you view the results of the simulations you performed (see Figure 16 on page 36).
ADAMS/PostProcessor has four modes: animation, plotting, reports, and 3D
plotting (only available with ADAMS/Vibration data). Note that the page in the
plot/animation viewing area can contain up to six viewports to let you compare
plots and animations.
Figure 16. ADAMS/PostProcessor Window
Page Viewports
Menu bar
Menu toolbar
Treeview
Property editor
Status toolbar
Dashboard
Overview
This chapter teaches you how to import the C-code of control systems
designed in control programs into MSC.ADAMS in terms of GSE
(General State Equations). It contains the following sections:
■ Step One – Create MSC.ADAMS Target for Real Time
Workshop, 40
■ Step Two – Create Control System for Code Generation, 41
■ Step Three – Code Generation of Control System, 46
■ Step Four – Create GSE from the Simulink Model, 50
Getting Started Using ADAMS/Controls
40 Learning ADAMS/Controls with Control System Import
If MATLAB/Simulink and MSC.ADAMS cannot be run on the same machine, you will
have to perform additional steps to realize the cross-platform control system import. For
more information, refer to the online help.
■ On Windows:
adams05r2 python ($adams_dir)\controls\utils\process.py -v 7
Alternatively, you can copy the process.py file from the <adams_dir>/controls/utils/
directory on UNIX or <adams_dir>\controls\utils\ on Windows to the current
directory and issue the following command:
■ On UNIX:
adams05r2 -c python process.py -v 7 exit
■ On Windows:
adams05r2 python process.py -v 7
Note: The argument -v 7 stands for MATLAB 7 (R14). For other supported
MATLAB releases and their associated arguments, run the python script
with the argument -h.
This command customizes several files from the MATLAB installation for the
MSC.ADAMS target and your computer setup. You should notice several new
files in your working directory with a .tlc extension and two new files with a .tmf
extension. These are files required by MATLAB’s Real Time Workshop in the
steps that follow.
To start MATLAB:
1 Start MATLAB in the same directory as the one the model and Simulink files
reside.
2 Set up the MEX utility, if not already set up.
Enter mex -setup from the MATLAB command window, and then select the
appropriate compiler.
Getting Started Using ADAMS/Controls
42 Learning ADAMS/Controls with Control System Import
rotor_velocity!azimuth_position
Based on this template, you can design continuous, discrete, or hybrid control
systems. These are the files you already copied into the local directory.
2 To open hybrid.mdl, from the File menu, select Open. Or, double-click the file in
the file browser.
In the following context, the hybrid control system will be used as the example
to illustrate the process. Figure 19 shows the hybrid system. Figure 20 on
page 44 and 45 shows the topology.
Figure 19. Hybrid Control System
Getting Started Using ADAMS/Controls
44 Learning ADAMS/Controls with Control System Import
Step Parameters
Step Time: 0.001
Initial Value: 0
Final value: 0.3
Sample time: 0.01
2 Numerator: [950]
Denominator: [0.001 1]
Absolute tolerance: auto
2 Numerator: [600.5]
Denominator: [1 -.3679]
Sample time: 0.001
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with Control System Import 45
Gain
Gain: 0.5
Multiplication: Element-wise(K, *u)
[ ] Show additional parameters
Inport
Name: rotor_velocity
Port number: 1
Name: azimuth_position
Port number: 2
Outport
Name: control_torque
Port number: 1
Getting Started Using ADAMS/Controls
46 Learning ADAMS/Controls with Control System Import
1 From the Tools menu, point to Real-Time Workshop, and then select Options.
The Simulation Parameters dialog box appears.
2 Verify that Generate code only is not selected.
3 Complete the Simulink Parameters dialog box for your release of MATLAB, as
shown in Figure 21 on page 47.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with Control System Import 47
Real-Time Workshop
MATLAB R13.1 and below
Real-Time
Workshop
MATLAB R14 and
higher
Real-Time Workshop
MATLAB R13.1 and below
Real-Time
Workshop
MATLAB R14 and
higher
Real-Time Workshop
MATLAB R13.1 and below
Real-Time
Workshop
MATLAB R14 and
higher
Getting Started Using ADAMS/Controls
50 Learning ADAMS/Controls with Control System Import
6 Complete the dialog box as shown in Figure 24, and then select OK.
Figure 24. ADAMS/Controls System Import Dialog Box
1 From the Settings menu, point to Solver, and then select Dynamics.
The Solver Setting dialog box displays.
2 Change Formulation to SI2.
3 Set Category to Executable.
4 Set Hold License to No.
This setting is critical to using the RTW dll in repeated simulations in
ADAMS/View.
5 Select Close.
6 Run a simulation with a step size of .001s and duration of .25s.
During the simulation, the antenna motion behaves the same as the one in the co-
simulation.
7 Press F8 to open ADAMS/PostProcessor.
8 Plot and animate, as desired.
ADAMS/PostProcessor displays the plot of azimuth position versus time, as shown
in Figure 27 on page 54.
Getting Started Using ADAMS/Controls
54 Learning ADAMS/Controls with Control System Import
Your RTW dll can contain discrete states and counters. When performing repeated
simulations (for example, design of experiments or design optimization), these
entities need to be reset to their original values at the beginning of each simulation.
When you rewind a simulation in ADAMS/View, the RTW dll is released and
reacquired, thereby resetting the discrete states and counters to their original state.
Changing this behavior by issuing commands in ADAMS/View causes unexpected
simulations after the first one.
Figure 28. Control Torque vs. Time
Getting Started Using ADAMS/Controls
56 Learning ADAMS/Controls with Control System Import
4 Learning ADAMS/Controls with
MSC.EASY5
Overview
This chapter teaches you how to use ADAMS/Controls with
MSC.EASY5. This chapter does not include information on the
basics of MSC.EASY5. For that information, refer to the appropriate
MSC.EASY5 documentation.
It contains the following sections:
■ About the Tutorial, 58
Starting MSC.EASY5
To start MSC.EASY5:
■ Start MSC.EASY5 on your system from the directory that contains the file with
the antenna example. This is the working directory that you created in Step One
- Importing the MSC.ADAMS Model on page 6.
2 Select Select/Configure ADAMS model in the lower left corner of the Component
Data Table.
The MSC.ADAMS Interface dialog box appears as shown below.
Figure 32. MSC.ADAMS Interface Dialog Box
3 Select ant_test.
4 Select Co-Simulation (Discrete).
Options 1 and 2 are continuous simulation methods and option 3 is a discrete
simulation method. For information on choosing a simulation method, see the
online help.
Getting Started Using ADAMS/Controls
62 Learning ADAMS/Controls with MSC.EASY5
Tip: For a description of the component inputs, outputs, and states, select the
respective tabs.
Note: You configure the ADAMS block the first time by reading in an .inf file.
This defines the extension inputs, such as ADAMS_ANIMATION_MODE,
ADAMS_Solver, and so on. Subsequest reconfigurations of the block by
reading in a new .inf file do not overwrite the existing setting. You can
change the settings of the extension inputs at any time by manually
resetting them before closing the ADAMS block CDT using the OK
button.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MSC.EASY5 63
6 In the Component Data Table, in the Inputs tab, enter a value for the following
input modes:
■ For ADAMS_Animation_mode, enter 1 to define interactive mode as the animation
mode. For more details about animation modes, see the ADAMS/Controls online
help.
❖ For ADAMS_Output_Interval (output rate interval), enter .001.
❖ For Communication_Interval (communication rate interval between
MSC.ADAMS and MSC.EASY5), enter 0.001. It should not be larger
than the ADAMS_Output _Interval.
Note: The ADAMS_Output_interval in the Component Data Table determines
the rate at which ADAMS/Controls writes its result to file (and
updates the animation, if in interactive mode). It is the interval at
which the result is written to file once. It has the lower limit of Time
Increment (see step 5 on page 70), and works best if
ADAMS_Output_interval is a multiple of Time Increment for integration.
The same rule applies to the Strip Chart output rate.
■ Alternatively, if you select Option 1 in step 4, the Component Data Table appears
as follows:
❖ In function evaluation mode, the communication interval option is not
needed because the integrators determine the communication interval.
❖ Leave Use_Adams_ICs at its default (1).
If the Use_Adams_ICs flag is set to 1, the model uses the MSC.ADAMS
initial conditions.
If the flag is set to 0, the model relies on MSC.EASY5 to provide the
initial conditions (for example, starting a simulation from the end of the
last run simulation, which is stored in MSC.EASY5).
❖ Set the parameters as shown in Figure 34 on page 64.
Getting Started Using ADAMS/Controls
64 Learning ADAMS/Controls with MSC.EASY5
1 Review the controls block diagram in Figure 35. Begin recreating the diagram with
the blocks from the Add Components menu.
2 Place the Step Function Generator block in the diagram first.
3 Click on the Step Function Generator block using the middle mouse button.
The Component Data Table appears.
4 Set the step time (TO) to 0.01 and the step value (STP) to 0.3, and then select OK.
Figure 35. Controls Block Diagram
5 Connect the input blocks by clicking once on the First Order Lag block and then on
the MSC.ADAMS Mechanism Block.
MSC.EASY5 labels this connection as S_Out_LA11.
Getting Started Using ADAMS/Controls
66 Learning ADAMS/Controls with MSC.EASY5
6 Connect the output blocks in the diagram by clicking on the MSC.ADAMS Mechanism
Block and then on the Summing Junction block. Be sure to connect the
azimuth+position output to the first Summing Junction block (SJ) and the rotor_velocity
output to the second Summing Junction block (SJ11).
8 Click the Strip Chart using the middle mouse button to display the Component Data
Table. Set the sample period TAU to .001, and then select OK.
Note: You must edit the connection from the MSC.ADAMS Mechanism Block to the
Strip Chart because MSC.EASY5 automatically connects the state vector
from the MSC.ADAMS block to the display variable on the Strip Chart.
9 From the File menu, select Save As, and then enter a file name for your controls
block diagram.
You have now created the controls block diagram.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MSC.EASY5 67
1 From the toolbar at the top of the MSC.EASY5 main window, point to Analysis, and
then select Simulation.
The Simulation Data Form window appears.
2 Select the Plotting tab.
3 For plot variables, select Selected from the pull-down menu.
Getting Started Using ADAMS/Controls
68 Learning ADAMS/Controls with MSC.EASY5
A Plot Specification Form appears where you define the variables that you want to
plot after the simulation.
Note: If you are using the completed block diagram from the file,
antenna.0.ezmf, which was provided for you in the examples directory, you
may find that the Plot Specification Form opens with information that is
unnecessary for this tutorial. After removing this information, the Plot
Specification Form should look like the one shown in Figure 36.
Figure 36. Plot Specification Form
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MSC.EASY5 69
4 Select the variables that you want to plot for the simulation.
For this tutorial, you will select three variables: rotor_velocity, azimuth_position, and S2
LA11.
a Under Dependent Variables, select the Variable #1 field. Then, select the box
next to the field.
The Select Plot Variables select list appears.
b Expand the AO component, and then double-click rotor_velocity to select it.
The rotor_velocity component now appears as Variable #1 to be plotted.
c Repeat this procedure for a second and third variable. For the second variable,
select azimuth_position, and for the third, select S2 LA11 (the input to the
MSC.ADAMS block as indicated in Figure 35 on page 65).
The finished Plot Specification Form should look like the one in Figure 37.
Figure 37. Plot Specification Form
Getting Started Using ADAMS/Controls
70 Learning ADAMS/Controls with MSC.EASY5
5 Return to the General tab in the Simulation Data Form window, and then specify the
following simulation parameters:
❖ For Start Time, enter 0.0.
❖ For Stop Time, enter .25.
❖ For Time Increment, enter .001.
❖ For Integration Method, enter BCS Gear.
For more information about the simulation settings, see the MSC.EASY5 manual.
A new ADAMS/View window appears and the analysis begins on the model
specified in the MSC.ADAMS block. ADAMS/View displays the analysis for you.
1 As the simulation begins, arrange the windows so that you have a good vantage
point to view the antenna model.
Note: The MSC.ADAMS model is initialized to the current simulation time in
MSC.EASY5.
2 Start and pause the simulation by selecting Continue and Break on the interactive
plot window.
ADAMS/View accepts the control inputs from MSC.EASY5 and integrates the
MSC.ADAMS model in response to them. At the same time, MSC.ADAMS
provides the azimuthal position and rotor velocity information for MSC.EASY5 to
integrate the Simulink model. The simulation process creates a closed loop in
which the control inputs from MSC.EASY5 affect the MSC.ADAMS simulation,
and the MSC.ADAMS outputs affect the control input levels. See Figure 2 on page
10 for an illustration of the closed-loop simulation process.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MSC.EASY5 71
2 Now go back to ADAMS/View. While the simulation is paused, you can change
the orientation of the model with the View Orientation tools in the Main toolbox.
These tools help you to observe the model from different vantage points.
Figure 39. View Orientation Tools
3 Once you have finished reorienting the model, select Continue to continue the
simulation.
ADAMS/View closes automatically after the simulation finishes.
The MSC.EASY5 Plotter window and the Plot Selection Menu appear.
Figure 40 on page 73 shows how the plot should look. Notice that the control
torque reaches a peak, and then settles down as the antenna accelerates. As the
antenna gets close to its final position, the torque reverses direction to slow down
the antenna. The antenna moves past its desired position, and then settles down
to the point of zero error. At this point, the torque value is also zero.
1 Display ADAMS/View in a new system window and read in the command file,
ant_test.cmd.
2 From the File menu, select Import.
The File Selection dialog box appears.
3 Select the following:
❖ For File Type, select ADAMS Results File.
❖ For Files to Read, select ant_test.res.
❖ For Model, select main_olt.
When you read in results files, be sure to include the model name because
ADAMS/View needs to associate the results data with a specific model.
Note: You can plot any data from the simulation and rerun the animation from
ADAMS/View.
4 From the Review menu, select Postprocessing.
ADAMS/View launches ADAMS/PostProcessor, a postprocessing tool that lets
you view the results of the simulations you performed. Take a minute to familiarize
yourself with ADAMS/PostProcessor.
Figure 16 on page 36 shows the ADAMS/PostProcessor window.
5 From the dashboard, set Source to Objects.
6 From the Model list, select .main_olt.
7 From the Filter list, select constraint.
8 From the Object list, select antenna_joint.
9 From the Characteristic list, select Element Torque.
10 From the Component list, select Y.
11 Select Add Curves.
ADAMS/PostProcessor generates the curve.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MSC.EASY5 75
Overview
This chapter teaches you how to import dynamic system
models designed in MSC.EASY5 into an MSC.ADAMS
model. Importing an MSC.EASY5 model into MSC.ADAMS
enables you to build, test, and refine your combined model
using the 3D visualization and design features available in
ADAMS/View.
This feature is available only with MSC.EASY5 version 7.1
and later.
We assume that you:
■ Read the previous chapter in this guide
■ Know how to export MSC.ADAMS plant files
■ Know how to use MSC.ADAMS Mechanism Blocks
in MSC.EASY5
This chapter contains the following sections:
■ Setting Up the Environment, 78
Notes:
■ If, unlike the antenna controller model, your MSC.EASY5 model contains
components from a licensed library (for example, the Thermo-Hydraulic,
Powertrain, or Gas Dynamics libraries), you will need to make sure
MSC.ADAMS finds your MSC.EASY5 license. Failure to perform this step will
result in the MSC.EASY5 license library not being found. You will not be able
to proceed with the tutorial.
■ MSC.ADAMS supports the Compaq Visual Fortran Version 6.6B compiler
only. The MSC.EASY5 model import feature is not supported with the GNU or
Microsoft FORTRAN compilers on Microsoft Windows.
1 Start MSC.EASY5.
2 Open an MSC.EASY5 command shell: from the MSC.EASY5 File menu, select
Open Command Shell.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with Dynamic Systems Import from MSC.EASY5 79
1 From the Start menu, point to Settings, and then select Control Panel.
2 In the Control Panel dialog box, select the System icon.
3 In the System Properties dialog box, select the Advanced tab.
4 In the Advanced tab container, select Environment Variables.
MSC.ADAMS must know the path to the subdirectory of your MSC.EASY5
installation tree:
❖ lib_nt_DVF6 - If you are using the Compaq Visual FORTRAN compiler.
❖ lib_nt_IF8 - If you are using the Intel FORTRAN 8 compiler.
5 Using the path from step 3 on page 79, in the Environment Variables dialog box,
append or create the path to the user variable as follows:
Variable Name = PATH
For the Compaq Visual FORTRAN compiler, enter the following, where
<CURRENT_VALUE> is the current value of PATH:
1 Launch MSC.EASY5, move to the directory where the MSC.ADAMS model files
and MSC.EASY5 model files reside, and open the MSC.EASY5 antenna controller
model.
2 If MSC.EASY5 is running on an IBM RS6000 workstation, you must modify the
antenna control system by removing the Interactive Simulation components, such
as strip charts, because you will not run the MSC.EASY5 model in the
MSC.EASY5 environment.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with Dynamic Systems Import from MSC.EASY5 81
c Select ant_test as the exported MSC.ADAMS model and choose the first
option for execution mode: Function Evaluation (no feedthrough).
d Close the panel by selecting Done.
The Component Data Table for the MSC.ADAMS Mechanism Block is
updated as shown next.
Figure 45. Component Data Table after Re-Configuration
1 Launch ADAMS/View.
2 Import the MSC.ADAMS antenna model, ant_test.cmd: from the ADAMS/View File
menu, select Import.
3 If the Controls menu does not appear on the ADAMS/View menu bar, load the
ADAMS/Controls plugin:
❖ From the Tools menu, select Plugin Manager.
❖ In the list of plugin names, find ADAMS/Controls, and then select Load.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with Dynamic Systems Import from MSC.EASY5 85
4 From the Controls menu, point to Control System, and then select Control System
Import.
d Select Import I/O Signals from Existing Controls Plant to display the Database
Navigator.
e In the Database Navigator, select ant_test.
The output and input signal text boxes update automatically, as shown in
Figure 46.
7 When you have finished examining the Information window, select Close.
The MSC.EASY5 controls system has now been incorporated into your
MSC.ADAMS model. Next you'll run a simulation to see how it performs.
Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with Dynamic Systems Import from MSC.EASY5 87
1 From the Settings menu, point to Solver, and then select Dynamics.
The Solver Settings dialog box appears.
2 Change the Formulation setting to SI2.
This change is necessary because the SI2 formulation is better able to deal with the
rapid value change. In this model, the rapid change is associated with the STEP
function in the MSC.EASY5 model.
3 Select Close.
4 Run a simulation with step size of 0.001 seconds and duration of 0.25 seconds.
During the simulation, the antenna moves the same as it did during the co-
simulation in the preceding chapter.
5 Switch to ADAMS/PostProcessor and examine the results.
Getting Started Using ADAMS/Controls
88 Learning ADAMS/Controls with Dynamic Systems Import from MSC.EASY5
6 From the list of analysis results plot the azimuth_position versus time.
ADAMS/PostProcessor displays the plot of azimuth position versus time, as shown
next.
Figure 48. Simulation Result: Azimuth Position versus Time