培训教程adams_bs_9th[1]

1,編者：廖偉志虎門科技股份有限公司Tel:02-29958040,Fax:02-29957792Email:Johnson.Liao.tw台北總公司:北縣三重市重新路五段635-2號10樓,教材編號：ADAMS-199901_9,2001.4第9版,ADAMSBasicTraining高階機械系統動態分析軟體Multi-bodySimulationSystem,R11,2,ADAMS基礎訓練課程,單位：,姓名：,3,ADAMS基礎訓練課程,軟硬體系統大整合,FEPre/Postprocessorsane.g.Ansys,Abaqus,Hypermesh,Patran.,RPCProFatigueTools,IntegratedADAMSloadstransfertoFE-Fatiguetools,FE-Fatigue,EmpiricalDynamicsModeling,VirtualTestLaboratory,MSC.Fatigue,0:大系統,4,ADAMS基礎訓練課程,ADAMSR11.0家族,0:ADAMS家族,5,ADAMS基礎訓練課程,一般個人電腦軟、硬體規格,註：1.以上規格為建議的最低要求2.PC作業系統MSWindowNT4.0/20003.ADAMS對圖形顯示需求較大，使用支援OpenGL的顯示卡，對執行效率有明顯幫助。4.編譯器是選擇性，非必需品。5.UNIX工作站有SGI,HP,SUN,IBM四種平台。其中SGI工作站支援平行處理架構。,0:ADAMS軟、硬體規格,6,ADAMS基礎訓練課程,系統整合一覽表,0:系統整合一覽表,7,ADAMS基礎訓練課程,目錄:ADAMS基礎訓練(適用11.x,10.x版),Chapter1:環境介紹Chapter2:實體模型建構Chapter3:接點介紹Chapter4:物體運動行為與負載Chapter5:量測(Measure)Chapter6:運動模擬specifiedthrougheitherthenumberoftotalsimulationstepsorthefixedstepsize),13:模擬型式,123,ADAMS基礎訓練課程,Kinematicsimulationscalculatemotionthatisindependentofforcesappliedtothesystem,butdepends,rather,onlyontheconstraintsandprescribedmotionsinthesystemToperformakinematicsimulation,ADAMSonlyneedstosolvethealgebraic(constraint)equationsassociatedwitha0DOFsystem;thuskinematicsimulationsarefastandaccurateKinematicsimulationsallowdeterminationofpossiblerangesfordisplacement,velocity,andaccelerationofanypointinthemechanism,butonlyfor0DOFsystemsKinematicsimulationscalculatereactionforcesinconstraintsthatarerequiredtogenerateprescribedmotionsforparts.Reactionforceswilldependuponthemassproperties,accelerations,andappliedforcesofthepartsinthesystem.,Typicalapplicationsforakinematicsimulationinclude:designingamechanismforthetransferofmotionthroughalinkagepreliminaryexaminationofacomplicatedmodelintendedforsubsequentdynamicsimulations,運動分析模擬,13:模擬型式,124,ADAMS基礎訓練課程,動力分析模擬,Dynamicsimulationsprovidethetimehistorysolutionforallofthedisplacements,velocities,accelerations,andinternalreactionforcesforanon-zeroDOFsystem,thatisdrivenbyasetofexternalforcesandexcitationsToperformadynamicsimulation,ADAMSmustsolvethefullsetofnon-lineardifferentialandalgebraicequations(DAEs)DynamicsimulationsarethemostcomputationallydemandinginADAMSandthereforemakeuseofarobustsuiteofintegratorsforsolution,13:模擬型式,125,ADAMS基礎訓練課程,線性化分析模擬,YoucanaskADAMStolinearizethesystemofnonlinearequationsofmotionaboutaparticularoperatingpoint,thusformingasetoflinear,timeinvariantequationsFromthelinearsetofequations,youcanaskforaneigen-simulationtoobtaineigenvaluesandeigenvectorsforthelinearizedsysteminorderto.visualizethenaturalfrequenciesandmodeshapesofyoursystemcomparewithtestdataorresultsdatafromFEAFromthelinearsetofequations,youcanalsocalculatestate-spacematriceswhicharethecoefficientsforarepresentationofthemechanicalsystemasamultiple-input,multiple-outputtransferfunctioninordertoprovidemechanicalplanttocontrolsystemdesignsoftwarepackageslikeMATRIXxandMATLAB,13:模擬型式,126,ADAMS基礎訓練課程,選擇模擬型態的流程圖,13:模擬型式,127,ADAMS基礎訓練課程,CASE2:SimulationTypes,14:解自然振頻,學習目標：1.設定sensor2.執行多種分析2.1static2.2dynamic2.3kinematic3.Measure設計-位移、角度4.線性化分析，得dampingratio及naturalFrequency,128,ADAMS基礎訓練課程,EOM線性化基本概念_N.F.及DampingRatio,EquationofMotion:,=Freevibration(HomogenousSol.),Reference:ElementsofVibrationAnalysis,L.Meirovitch,14:線性化基本概念,129,ADAMS基礎訓練課程,解線性化，求自然頻率?,1.需有A/Linear的使用授權，為A/Solver的一部份。2.結構的自由度不可為零。3.求解步驟：3.1先執行，找到靜平衡狀態。3.2再執行，執行計算線性模態。,DampedNaturalFrequency!單位為Hz,14:如何得到自然頻率,下一個模態,上一個模態,動態展示,顯示eigenvalue,繪製複數實虛部投影圖,130,ADAMS基礎訓練課程,阻尼定義：MSSv.s.FEM,14:阻尼,1.何謂structuraldampingfactor(complexstiffness)?2.何謂viscousdampingcoefficient?,131,ADAMS基礎訓練課程,其他輔助工具,命令瀏覽器-A/view全部完整功能。若在工具列或下拉式選單找不到的功能，均可在命令瀏覽器中找到。,資料庫瀏覽器-提供物件之間的關連、屬性資訊，並可同步修改及瀏覽。,函數建構器-提供百餘種函數，亦可自行定義函數。,表格編輯器-提供對marker,point,variable等的表格化編輯和修改。,量測兩點距離,提供多體質量(multi-mass)的等效質量、面積慣性矩資訊。,將兩個model合成一個model，建立大組合體(assemble)。,列出所有Model的接合關係,列出model的資訊，如DOE、物件數目、接合種類數目。,執行系統命令，如notepad。,讀取*.cmd檔,讀取*.log檔,default是aview.log該檔紀錄執行時的訊息，對於除錯有很大的幫助,巨集指令、自訂功能表及對話框編輯器,15:其他工具,132,ADAMS基礎訓練課程,資料庫瀏覽器（DatabaseNavigator）,資料庫瀏覽器提供物件屬性直覺式的編輯和瀏覽。對於複雜模型非常有幫助。Tools|DatabaseNavigator,15:其他工具,New,133,ADAMS基礎訓練課程,命令瀏覽器（CommandNavigator）,15:其他工具,有部分功能並不在工具列中，如：自定不規則輪廓，朝Z方向抽拉一段距離,134,ADAMS基礎訓練課程,碰撞問題,以contactpair建構時，必須注意在碰撞平面上是定義為無窮大的，所以必須設定一個關係去關閉它。過程有些複雜。所以，我會建議使用GFORCE去定義，配合IMPACT(orBISTOP)和STEP函數，很容易建構出有限長度的碰撞問題。在10版新增一個circletocurve，如此可以將碰撞面的邊線轉換成bsplinecourve，很容易去滿足目的(由matrix轉成spline)。在contactarray均有static和dynamiccoefficient的特性，可滿足各種接觸特性（含線性、非線性）。對於不規格邊緣的碰撞問題，若能配合CAD軟體，更容易得到curve資料。Road與Tire之間碰撞關係，請用ADAMS/Tire定義。,16:設定contact元素,135,ADAMS基礎訓練課程,碰撞對(ContactPair)_1,Pin-in-Slot(2D),CAMCurve-toCurve(2D),均不支援lift-off特性。,16:設定contact元素_1,136,ADAMS基礎訓練課程,碰撞對(ContactPair)_2,ContactForce支援lift-off特性,16:設定contact元素_2,與平面接觸時，接觸徑向方向為定義接觸平面marker的Z方向,137,ADAMS基礎訓練課程,碰撞對圖示,16:設定contact元素_2,R10,R11,138,ADAMS基礎訓練課程,接觸矩陣（ContactArray）,接觸矩陣定義接觸力的特性建構接觸力時必須同時定義接觸矩陣，另外，不同的接觸力可共用相同的接觸矩陣。接觸矩陣內的參數與IMPACT函數的參數相同。,16:ContactArray,139,ADAMS基礎訓練課程,新的碰撞模組,使用ParasolidSolidContacttechnologyGeneral3Dcontact支援一般3D實體外型之碰撞接觸分析，同時提供兩種模式：1.Impactfunction2.RestitutionCoefficient(PossionMode)ADAMS3D碰撞支援多點同時碰撞。不支援2Dto3D細部內容請參閱ADAMS/SolverUserGuide,Statement/Contact,140,ADAMS基礎訓練課程,使用函數來定義接觸關係_1,1.IMPACT(onesides),y,z,y,z,x,Marker.t2,x,Roller.cm,16:設定函數來定義contact_1,141,ADAMS基礎訓練課程,使用函數來定義接觸關係_2,2.BISTOP(twosides),16:設定函數來定義contact_2,142,ADAMS基礎訓練課程,專題：彈射設備,16:VFORCE函數來定義,考慮球於彈射後受空氣影響的效應,143,ADAMS基礎訓練課程,VFORCE:marble_to_hammer_contact,DEFmarble_to_hammer_contactFORCE_VECTORID4J.target_practice.hammer.FMA29I.target_practice.marble.MAR_1RM.target_practice.hammer.MAR_1FX_FUNCIMPACT(DZ(.target_practice.marble.cm,.target_practice.hammer.cm,.target_practice.ground.recoil),VZ(.target_practice.marble.cm,.target_practice.hammer.cm,.target_practice.ground.recoil),20.0,100.0,1.01,1.0,0.2)FY_FUNC0FZ_FUNC0,16:VFORCE函數來定義,144,ADAMS基礎訓練課程,VFORCE:marble_aero_drag_force,DEFmarble_aero_drag_forceFORCE_VECTORID5J.target_practice.ground.FMA32I.target_practice.marble.MAR_2RM.target_practice.ground.MAR_1FX_FUNC-0.5*1.3e-9*VX(.target_practice.marble.cm)*,VM(.target_practice.marble.cm)*0.45*(pi*100)*,STEP(DX(.target_practice.marble.cm,.target_practice.launch_pad.TIP),-1.0E-002,0.0,”,1.0E-002,1.0)FY_FUNC.FZ_FUNC0,16:VFORCE函數來定義,145,ADAMS基礎訓練課程,Marblerelationship,16:VFORCE函數來定義,146,ADAMS基礎訓練課程,VFORCE-launchpad_contact,DEFmarble_to_launchpad_contactFORCE_VECTORATTRIBUTES.target_practice.marble_to_launchpad_contact.AttrID3J.target_practice.launch_pad.FMA15I.target_practice.marble.cmRM.target_practice.launch_pad.LCSFX_FUNC-0.1*IMPACT(,DY(.target_practice.marble.cm,.target_practice.launch_pad.LCS,.target_practice.launch_pad.LCS),VY(.target_practice.marble.cm,.target_practice.launch_pad.LCS,.target_practice.launch_pad.LCS),10.0,1.0E+02,1.01,1.0,0.1),*STEP(DX(.target_practice.marble.cm,.target_practice.launch_pad.TIP,.target_practice.launch_pad.TIP),-0.01,1,0.01,0)*STEP(TIME,0.16,1,0.165,0.0)FY_FUNC.FZ_FUNC0,16:VFORCE函數來定義,147,ADAMS基礎訓練課程,LaunchPadRelationship,16:VFORCE函數來定義,148,ADAMS基礎訓練課程,使用Impact函數注意事項,1.Makesureyouhavecarefullyselectedanddefinedthesystemvariablesyouusetodefinexandx.Someofthesevariablesreturnonlyamagnitudewhileothersreturnbothamagnitudeandadirection.2.Foraction-reactiontranslationalforcesADAMSusestheline-of-sightmethodfordeterminingtheforcedirection.Foraction-onlytranslationalforces,ADAMSusesthecomponentmethod.Fortorsionalforces,ADAMSappliesthetorqueaboutthez-axesoftheIandJmarkers.3.BecauseADAMSusestheline-of-sightmethodfordeterminingthedirectionofaction-reactiontranslationalimpacts,neverallowthedistancebetweentheIandJmarkersforthistypeofimpacttoequal0.,16:使用Impact函數注意事項,149,ADAMS基礎訓練課程,使用Impact函數注意事項（續）,4.Theforceofimpactisonlyasvalidasthevaluesofk,e,c,andd.However,evenwhentheforceofimpactisnotvalid,itmaybepossibletoobtainasolutionforthegeneralmotioncharacteristicsofthesystem.5.Whenyouchoosekandetodescribeacurveofforcevs.displacement,rememberthattheunitsyouareusingaffectcurvestiffness.Becauseonemillimeterismuchsmallerthanoneinch,thesamekandecreateastifferspringinaNewton-millimetersystemthantheycreateinapound-inchsystem.6.Evaluatektodetermineifitistoohighforthedefinedproblem.7.Avoidusingvaluesofethatarelessthanorequaltoone.Thesecurveshaveaslopediscontinuityatx=0.Fore*.gra,=*.req,=*.res,=系統內定值*.res為binary,使用時機：當輸出*.adm檔時，會將此設定記錄於最後一段。所產生的*.res為文字檔格式。Script:RESULTS/FORMATTED,20:基礎A/solver概論,175,ADAMS基礎訓練課程,BasicADAMS/SolverPreview-結構圖,20:基礎A/solver概論,A/View,Analysisfiles.out.gra.req.res,Dataset.adm,A/Solver,Interactivesolvercommand,ADAMSCommandfile(.acf),Messagefile(.msg),輸入,輸出,輸出,輸入,輸出,輸入,輸入,或,A/ViewCommandFile(.cmd),輸入,IntegratedA/Solver,176,ADAMS基礎訓練課程,*.gra,*.req,*.res,*.sav,ADAMS/Solver檔案組合關係,輸入,輸出,*.adm,*.acf,*.cmd,177,ADAMS基礎訓練課程,副程式鏈結的結構圖,20:基礎A/solver概論,178,ADAMS基礎訓練課程,A/Solver資料檔(.adm),ADAMS/Viewmodelname:mod1!-SYSTEMUNITS-!UNITS/FORCE=NEWTON,MASS=KILOGRAM,LENGTH=MILLIMETER,TIME=SECOND!-MATERIALS-!adams_view_name=steelMATERIAL/1,NAME=steel,YOUNGS_MODULUS=2.07E+005,POISSONS_RATIO=0.29,DENSITY=7.801E-006!-PARTS-!-Ground-!adams_view_name=groundPART/1,GROUND,MATERIAL=steel!adams_view_name=MAR_301MARKER/301,PART=1,QP=-200,-50,0,REULER=180D,90D,270D!adams_view_name=MAR_3001MARKER/3001,PART=1,QP=-100,-50,0,REULER=180D,90D,270D,.!-Part-!adams_view_name=PART_100PART/100,MASS=3.063445536,CM=204,IP=10690.14849,957.3267301,10690.14849,MATERIAL=steel.!adams_view_name=MAR_201MARKER/201,PART=100,QP=-200,0,0,REULER=180D,90D,270D,.!adams_view_name=CYLINDER_1GRAPHICS/2,CYLINDER,CM=200,LENGTH=200,RADIUS=25!,!-Part-!adams_view_name=PART_1000PART/1000,QG=100,0,0,MASS=3.063445536,CM=304,IP=10690.14849,957.3267301,10690.14849,MATERIAL=steel!adams_view_name=MAR_1MARKER/303,PART=1000,QP=-200,350,0,REULER=0D,90D,0D!,.!-DYNAMICGRAPHICS-!adams_view_name=FORCE_1_force_graphic_1GRAPHICS/1,FORCE,ETYPE=SFORCE,EID=1,EMARKER=201!,.!-CONSTRAINTS-!adams_view_name=JOINT_1JOINT/1,TRANSLATIONAL,I=3004,J=3002!.!-FORCES-!adams_view_name=FORCE_USERSFORCE/1,TRANSLATIONAL,I=201,J=301,ACTIONONLY,FUNCTION=USER(201,301,301,10.0,1.0E+06,1.5,100.0,1.0E-02)!adams_view_name=FORCE_IMPACTSFORCE/2,TRANSLATIONAL,I=2001,J=3001,ACTIONONLY,FUNCTION=,IMPACT(DZ(2001,3001,3001),VZ(2001,3001,3001)10.0,1.0E+06,1.5,100.0,1.0E-02)!-GRAVITATIONALACCELERATION-!ACCGRAV/JGRAV=-9806.65!-ANALYSISSETTINGS-!OUTPUT/REQSAVE,GRSAVE!RESULTS/!END,20:基礎A/solver概論,179,ADAMS基礎訓練課程,提供A/Solver撰寫自己的副程式,對於自行撰寫的副程式，均為USER(P1,P2,.,Pn)(請參考export.def及A/solversubroutine手冊).;GSEYX=_GSEYX44;GSEYU=_GSEYU44;MOTSUB=_MOTSUB28;RELSUB=_RELSUB8;REQSUB=_REQSUB24;SAVSUB=_SAVSUB8;SENSUB=_SENSUB24;SFOSUB=_SFOSUB28SFORCE/8,.,function=IMPACT(DZ(2001,3001,3001),VZ(2001,3001,3001),10.0,1.0E+06,1.5,100.0,1.0E-02)SFORCE/8,function=USER(201,301,301,10.0,1.0E+06,1.5,100.0,1.0E-02)+subroutineSFOSUB(id,time,par,npar,dflag,iflag,value),20:基礎A/solver概論,180,ADAMS基礎訓練課程,Ex:subrouti