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    2 views67 pages

    Dicas Convergencia ADAMS

    Uploaded by

    RafaelRaiderLeoni

    Copyright:

    © All Rights Reserved
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    ADAMS/Solver Primer Ann Arbor August, 2004 Dan Negrat Dan.Negrut@mscsoftware.com Andrew Dyer Andrew Dyer@mscsoftware.com A. Introduction......scssonsnnnninsnstnniennannnsinnntnsieinanensiisnatnseeseasse 1.1. _ Solving Nonlinear Equations. The Newton Method. Definitions, Notations, Conventions. 1. Generalized Coordinates used in ADAMS .....0:.snsnnnenansnnnnnnnnsene 2.2, Joints itt ADAMS........snsnnnnnnnnninininnnnnnininninnnansennaisnnnis 2.3. Motions in ADAMS. Initial Condition Analysis. 3.1. Position Initial Condition AnalySis .....000nmnmnmnnnnnnnnnnninnnnnnnnne 3.2. Velocity Initial Condition Analysis ....00.o:nsmsnninnsnninnnsennnisnnnis 3.3. Force and Acceleration Initial Condition Analysis. 4, Kinematic Analysis, 4.1, Position-Level Kinematic ANalYSi8 ...0nunsnmnnnnnnnnnnnnnnnnnnnnnne 4.2. Velocity-Level Kinematic Analy$i8....00ssnsusnsnnsnnnnnesennnisnnnnsn 4.3. Acceleration Level Kinematic Analysis 5. Dynamic Analysis 5.1, Nomenclature, Conventions, Definitions........::nmnnnmnnnnnnnnnse 5.2. Formulation of Equation Of Motion in ADAMS .....0.ssssnsennssenans 5.3. Numerical Solution for Dynamic Analysis. Jacobian Computation, 6. Statics Analysis 6.1, The STATIC approach ...nsnsnnnnnnnneinnnninnnieimnsninnsinnannnnse 6.2. The DYNAMIC Approach ...osssnsnninninnnnsnninninnnnnsinnnisnnnis 6.3. The STATIC_HOLD Attribute. 7. A Simple Pendulum Example. 71 72. 73 The Simple Pendulum Model .....0:ssnnnnnnninnnninnniannnniennis Initial Condition Analysis .......0.0smunnnnnennnntnnnnieininnnnnseenni Dynamic Analysis Conversion to First-order System 14, 15. Kinematic ANALYSIS ..unonnnnnninninninninninnnninninninninnnnnnnnnnnnnnne Static AMALYSIS ..oonmnnnnninninnnnnninninnnnnnnnnnnnnnnnnnnnnnnnns 8. Ways and Means for Improving your MSC.ADAMS Simulation. 81 8.2, 83. 8.4 85 85.1 8.5.2, 8.5.3, Settings in the INTEGRATOR Statement Settings in the EQUILIBRIUM Statement ....nunnnnnnnnnnnnnnnnnnnne Rules of Thumb for Creating Robust Models in ADAMS .......c.ssssesn Validating your Simulation Results Debugging Support in ADAMS/Solver. DEBUGVEPRINT sso sosnssniniesnnnnnnininnninininnininisieinnsnnnsie DEBUG/RHSDUMP .....ssssnsnnntnnsininninnninnsinnnisnnnis DEBUG/TMDUMP Appendix A. Integration Jacobian 1. Introduction The purpose of this document is to introduce the ADAMS user to the theory that underlies the ADAMS/Solver. A basic understanding of the theory and the ways in which the solver works can help the user make good modeling decisions, or choose a set of simulation parameters that will lead to faster and more reliable simulations. This document provides in section 1.1 a very brief introduction to the Newton- Raphson method for the solution of non-linear systems. Virtually all analysis modes in ADAMS use this algorithm, and the user is strongly encouraged to understand the basics. This is essential for understanding the informational and debugging messages that ADAMS/Solver provides, why an equilibrium analysis is challenging, how changing the Jacobian evaluation pattern is going to impact the convergence properties of the solver, and list goes on. In the first part of the document (sections 2 through 6) the focus is on equation formulation and solution. The reader is introduced to the concept of generalized coordinates, as well as the equations that govern the most representative types of analyses that can be performed by the ADAMS/Solver; i., Initial Condition Analysis, Kinematic Analysis, Dynamics Analysis, and Static/Quasi-static Analysis. These equation sets are rather abstract, and therefore this discussion is followed in section 7 by a simple test case that reinforces in a simplified two-dimensional framework the process of deriving the equations for each analysis type. Section 8 discusses ways in which an ADAMS/Solver simulation can be made to run faster and more robustly. Subsections 8.1 and 8.2 are focused on dynamics and statics simulations as they are typically more challenging. The discussion will cover relevant parameters associated with the INTEGRATOR and EQUILIBRIUM statements Subsection 8.3 provides a set of recommendations and good practices for ADAMS. modeling. Subsection 8.4 discusses the issue of validating your results in ADAMS, while subsection 8.5 explains how the user can get useful debug information from ADAMS/Solver: 1.1. Solving Nonlinear Equations. The Newton Method The Newton Method is widely used by ADAMS/Solver and is an important numerical algorithm to understand in order to produce models that lead to robust and fast simulations. In one dimension, the Newton-Raphson algorithm finds the root x" of a non-linear equation f(xy=0 a) where the function :R — R is assumed to be differentiable. If an initial approximation x” of the root is provided, a new configuration x'" , hopefully closer to the root x" is computed as o£") LO) where /’0 is the derivative of the function with respect to the variables on which it depends. Q This strategy of updating the value of x is obtained by linearizing the function f at the point x"), Thus, SOD FM) + FM) HX) GB) Rather than solving /(x)=0, the root of the right hand side expression in Eq.(3) is sought. This leads to a linear equation, and its root is denoted by x": _f@) FR") which is the configuration update defined in Eq.(2). The algorithm continues by setting x

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