adams-atv实例4

AdamsTrackedVehicleToolkitTemplate-basedarchitectureStringTrackSimulationTutorialAugust2009MSC.SoftwareSwedenABAdamsTrackedVehicleToolkitStringTrackSimulationTutorialMSC.SoftwareSwedenAB2(7)Theinformationinthisdocumentisfurnishedforinformationaluseonly,mayberevisedfromtimetotime,andshouldnotbeconstruedasacommitmentbyMSC.SoftwareSwedenAB.MSC.SoftwareSwedenABassumesnoresponsibilityorliabilityforanyerrorsorinaccuraciesthatmayappearinthisdocument.Thisdocumentcontainsproprietaryandcopyrightedinformation,MSC.SoftwareSwedenABpermitslicensesofAdams®TrackedVehicletoolkitsoftwaretoprintoutorcopythisdocumentforinternaluseinconnectionwiththelicensedsoftware.NopartofthisdocumentmayatanytimebecopiedforanyotherpurposeordistributedortranslatedintoanyotherlanguageordistributedtoanythirdpartywithoutthepriorwrittenpermissionofMSC.SoftwareSwedenAB.Adams®isaregisteredtrademarkofMSC.Software.Allotherproductnamesaretrademarksoftheirrespectivecompanies.Copyright2009byMSC.SoftwareSwedenAB.Allrightsreserved.AdamsTrackedVehicleToolkitStringTrackSimulationTutorialMSC.SoftwareSwedenAB3(7)AboutThisDocumentThisdocumentcontainsthetutorialsfortheATVtemplate-basedtoolkit.Usethetutorialexercisestolearnhowtousetheinterface,andhowtoexecutesimulations.Theexercisesare,whenitcomestosystemspecificcommands,writtenforWindowsplatformwherenotexplicitlystatedUNIX.AdamsTrackedVehicleToolkitStringTrackSimulationTutorialMSC.SoftwareSwedenAB4(7)StringTrackSimulationProblemstatementInthisexerciseatrackedvehiclemodelwillbesetuptousethesimplerStringTrackmodelratherthanthefull3DdynamictrackLoadATVpluginandopentankassemblyFirstyouwillloadtheAdamsTrackedVehicleToolkitpluginandopenanexistingATVassembly,tank.asy1.StartAdams/Viewbyrunningthe$ADAMS_INSTALLATION\atv\atv_aview.batfileandthenselectStandardInterfaceenvironment2.TheAdamsTrackedVehicleToolkitpluginwillnowautomaticallybeloaded3.FromtheFilemenu,pointtoOpenandselectAssembly4.Right-clickinthefieldandselectSearch–atv_shared/assemblies.tbl5.Opentheassemblytank.asy6.Closethemessagewindowwhentheassemblyisreadyanddisplayedonthescreen•Thetankmodelhasbeenloaded•Asyoucansee,thetracksegmentsarenotyetinplaceAdamsTrackedVehicleToolkitStringTrackSimulationTutorialMSC.SoftwareSwedenAB5(7)TracksystemsetupNowitistimetosetupthevehicleforsimulationwhichincludeswrappingthetracksegmentsaroundthewheels1.FromtheATVmenu,selectTrackSystemSetup–TrackSystemWrapping2.SelectStringTrackintheTrackModelTypeoptionmenu3.Right-clickintheSoilPropertyFilefieldandselectSearch–atv_shared/soil.tbl4.Selectthefilemsc_0001.spf•Thisfiledefinestheroadcontactproperties•Inourcase,wewillrunonHardSoilwiththeparametersfoundintheselectedfile•Toseetheparametersinthefile,clickthebuttonnexttotheSoilPropertyFilefield5.Right-clickintheRoadDataFilefieldandselectSearch–atv_shared/roads.tbl6.Selectthefilebump.rdf7.Movetheroadinthexdirectionbyentering15400.0,0.0,0.0intheRoadReferenceLocfield8.Todefinetheroadforthestringtrackmodel,selectthefollowingparameters:RoadXLimits=-40000.0,2000.0RoadYLmits=-4000.0,4000.0NumberofRoadSegments=200.0,40.0FilterFactor=0.0FilterLevel=1.09.ClickontheTrackSystemstabandselectVehicleSymmetrytoHalfVehicle•Halfofthevehicleisundisplayed,andthehullisautomaticallyconstrainedwithaPlanarjointintheglobalXZ-plane•Thisoptionisveryusefulforstraight-runsimulationsasitwillreducethemodelsize(numberofequations)10.ClicktheWrapbutton•Youwillnowseethewhitestringtrackbeltwheelsaroundthetrackwheels•Thesewheelssymbolizetheinertiaofthetrack,andthetrackforceswillbeappliedtothemaswellasthegroundcontactforces11.ClosethemessagewindowandclosethesetupdialogboxwhenthesetupiscompletedAdamsTrackedVehicleToolkitStringTrackSimulationTutorialMSC.SoftwareSwedenAB6(7)SetvehiclepropulsionBeforewestartthesimulationweneedtodefinehowtodrivethevehicle.Theassemblyincludesasimplifiedpowertrain,connectedtothesprocket.Onthedriveshaftamotionisdefinedthatdrivesthevehicle.Themotionispredefinedasastepfunctionrampinguptherotationalvelocityfromzerotoauser-specifiedvalueat1second.Therotationalvelocitycanbechangedthroughaparameter.1.Tomodifytherotationalvelocityparameter,selectParameterVariablefromtheAdjustmenu2.SelectTable3.Displaythevariablesinthetank_powertrainsubsystem4.Changethevalueoftheparameterpvl_sprocket_angular_velocityto180.0andclickOKSolversettingAdjustthesolverparametersfordynamicanalysis1.OpentheSolverSettingsdialogboxfromtheSettingsmenu–Solver–Dynamics2.Enterthefollowingparameters:Corrector=ModifiedHmax=0.002SubmitAdams/SolverfilesYouwillnowcreatetheAdams/Solverfilesthataretobeusedintheanalysislateron1.Toexecutethesimulation,selectSimulate–TrackedVehicleAnalysis–Submitfromthemenu2.Enterparameters:AnalysisName=exercise04EndTime=10.0NumberofSteps=2000ModeofSimulation=backgroundInitialVelocity=0.0SetDEBUG/EPRINT=YesStartatEquilibrium=YesAdamsTrackedVehicleToolkitStringTrackSimulationTutorialMSC.SoftwareSwedenAB7(7)3.EnabletheSetEquilibriumParameterstoggle,andenterthefollowingparametersforthefirststaticanalysis:Error=1.0Maxit=250Stability=1.0Imbalance=0.1Enabletheseconds