Home

AMESim 4.0 User Manual

1. 54 Component labels 59 Display 59 Hide 59 Compound Output Parameter removing 565 Compound Output Parameters 555 564 adding 565 expression evaluation rules 566 Compound output parameters 273 Compount Output Parameters expression 566 Connect 384 Constraint variables
2. 57 Removing 57 Rotating 56 Text menu of plot 530 Text parameters 417 tf2ame m 235 Thermal Hydraulic Component Design library 40 Thermal Hydraulic library 40 Thermal library 40 Thermal Pneumatic library 40 Thermal ports 395 Tile
3. 492 Full factorial 282 578 594 fx2ame m 235 fxy2ame m 235 Index 644 G Gear s method 464 Generic submodel Changing parameters 411 Generic supercomponent Changing parameters 418 Genetic algorithm 580 600 Mutation probability 601 Population size 601 Reproduction ratio 601 Seed
4. 513 Windows menu 519 ameputcuspar 245 ameputcuspar m 235 ameputgpar 245 ameputgpar m 235 ameputp 246 ameputp m 235 AMERun 7 246 amerun m 236 AMESet 6 AMESim Quitting
5. 231 Exploded supercomponent 196 Export facility 267 Export format 556 AMESim 4 2 User Manual 643 Export Name 558 Export plot picture 511 Export setup 29 268 Compound output parameters 273 Formatted string 269 Input Parameters 269 Template files 272 Terminology
6. 527 Order tracking 527 16 6 3 The margin menu 527 16 6 4 The curve menu 528 Curve format 528 AMESim 4 2 User Manual xv Remove 529 FFT 529 16 6 5 The text menu 530 Edit 530 Delete 530 Font 530 Color 531 Rotate 531 16 7 The Plot manager
7. 601 Geocom ports 395 Get AMESim demo 33 380 Global parameters 29 425 Assigning 426 Components using 215 Create a generic supercomponent containing 213 Defining in terms of other global parameters 427 Modifying deleting 427 Graph Plotting 65 Graphs menu 30 349 Grid of plot
8. 25 Minimal discontinuity handling 461 463 Mirror an icon 43 54 Modal shapes 178 487 Plotting Energies 491 Plotting Magnitudes 488 Relation to time domain 184 Mode Operations Toolbar 34 Model 58 Monitor time 455 463 Monte Carlo 277 294 580 602 Controls tab
9. 463 Integrator Error type 460 Maximum time step 457 Tolerance 456 Integrator type 454 Interchange axis of plot 527 Interface menu 347 Create interface icon 30 Display interface status 30 Import linear model 30 Interfaces AMESim interfaces 29 Interface Menu
10. 516 Automatic lock sketch 343 AutoScale 90 514 Auxiliary system 190 392 Recovering from supercomponent 331 Available customized 28 Available supercomponents 28 328 Axis menu of plot 520 B Backspace 390 Batch options 454 Batch parameters 29 427 Defining batch parameters
11. 146 Set final values 29 424 Shadow subsystem 406 Show all replay symbols 32 Sign convention 111 Signal ports 394 Compatability with other ports 92 SIMP1 Use in batch runs 457 Simple Output Parameter removing 564 Simple Output Parameters 555 563 adding 563 Simulation Starting
12. 345 GCC compiler 345 Component 383 Adding to sketch 383 Assigning a supercomponent 404 Changing color 305 Connections between 385 Moving 75 393 Removing a supercomponent 406 Removing from sketch 54 Selecting a submodel for 400 Component icon Rotating 54 Selecting
13. 45 2 3 8 Displaying Hiding component labels 46 2 3 9 Online help 46 2 3 10 Keyboard Shortcuts 47 AMESim 4 2 User Manual iii Chapter 3 Getting Started 49 3 1 Introduction 49 3 2 Starting AMESim 49 3 3 Creating a new sketch 51 3 3 1 Opening an empty system 51 3 3 2 Lock button 52 3 3 3 Libraries Categories 52 3 4 Example 1 Simulation of a mass spring system 53 3 4 1 Building the mass spring model 54 3 4 2 Assigning submodels to components
14. 104 413 constraints 288 Continuation run 90 455 Control library 39 Control variable 482 AMESim 4 2 User Manual 641 Controls for design exploration 577 Cooling System 40 Cooling System library 40 Coordinates of a plot 515 Copy common parameters 400 Copy from shadow 28 Copy of selected objects
15. 466 Warnings Errors report 466 Windows menu 33 117 379 Cascade 33 Write aux files 26 X XY plot 133 517 XYs table format 621 Z Zoom of plot 89 514 Zoom Previous of plot 514 Index 656 AMESim 4 2 User Manual Reporting Bugs and using the Hotline Service AMESim is a large piece of software containing many hundreds of thousands of lines of code With software of this size it is inevitable that it contains some bugs Naturally we hope you do not encounter any of these but if you use AMESim ext
16. 582 Editing existing 583 Making it active 584 Removing 583 Study for design exploration 580 Submodel 58 384 385 Aliasing 81 Assigning submodels to components 58 Changing parameters 411 Procedure to remove a submodel 397 Removing in Sketch mode 396 Removing in Submodel mode 403 Selecting
17. 326 Copy of selected system 120 Copy to shadow 27 Copy to supercomponent 27 335 Copy Cut and Paste actions 120 Create a template 321 Create an HTML report 320 Create export icon 398 Current drawing settings 28 340 Cursor method of adding components 384 Cursor method of moving components 393 Curve Altering characteristics of 136
18. 325 Starting 49 system files 627 AMESim auxiliary system Copying to 392 AMESim demonstration examples 111 213 AMESim icon designer 207 AMESim linear analysis results Importing into MATLAB 230 AMESim preferences 342 AMESim User Interface 23 AMESim 4 2 User Manual 639 AMESim Workspace 23 Animation for modal shapes 489 Annotation object
19. 234 Numerical stiffness 464 Nyquist plot 172 491 O objectives 288 Objects Adding to sketch 383 Removing from sketch 390 Observer variable 482 Index 648 OnLine 379 Online help 33 46 Open an empty system 24 Optimization 277 288 579 Apply best results
20. 27 328 AMESim 4 2 User Manual 655 Update curves of plot 516 Use old final values 88 455 V Values Minimum maximum and default 80 Variables 29 Variables window 497 498 501 Creating Plots 501 vectors as Input Parameters 561 View menu 347 Workspace 347 View pulldown menu Parameters 431 W Warning messages in a run
21. 584 Execution 590 19 6 The Design Exploration Definition dialog box 591 19 6 1 Description 591 19 6 2 DOE 591 Common part 592 Parameter study 593 Full Factorial 594 Central Composite 595 19 6 3 Optimization 596 Table of contents xviii Common part problem definition 597 NLPQL 599 Genetic algorithm 600 19 6 4 Monte Carlo
22. 531 16 7 1 Plotting functions of existing items 532 16 8 Useful shortcuts for AMEPlot 536 Chapter 17 3D plots and order analysis facilities 537 17 1 Surface plots 537 17 1 1 Types of surface plots 538 2D plot 538 Waterfall 538 Mesh 538 Surface 539 Surface with light 539 17 1 2 How to create a surface plot 540 17 1 3 Surface plot options 542 17 2 XYZ plots
23. 427 14 3 5 Common parameters 429 14 3 6 Export setup 430 14 4 Facilities provided by the other menus in the menu bar 431 14 4 1 Parameters item of the View menu 431 Using the Parameters window 431 Create your own sets of parameters 432 Facilities available in the Parameters window 434 14 4 2 Compare systems item of the Tools menu 435 Using the Compare systems facility 435 Description of the colours used in the Compare systems facility 437 Facilities available from the Compare systems dialog box 438 Tricks and tips 440 Table of contents xii 14 4 3 Write auxiliary files 440 14 5 Right button operations 441 14
24. 31 54 Remove a component submodel 42 397 404 Remove a line run 75 Index 650 Remove text 57 Removing a component 44 Replay 69 112 470 Adding Min Max 477 Adding titles 477 Adding Value 477 Available Units 477 Fully expanded 474 Selecting a symbol
25. 383 Annotation tools 301 Add an instance of an object 302 Adding arrows and lines 302 Adding rectangles and ellipses 302 Adding stored images 303 Adding text 301 Changing object 302 Annotation Tools Toolbar 35 Apply best results 293 Arrow key method 393 Arrow keys method of moving components 393 Auto Update of plot
26. 476 Scrollbar 476 Symbol Settings 475 System Closing 324 Displaying more than one 117 Opening an empty 51 Opening an existing 316 Physically impossible 467 Saving 317 System parameter set Load Save 422 T Table editor 32 37 139 378 1D table
27. 56 Add titles to plot 516 Air Conditioning library 40 Algebraic loop 96 Algorithms for optimization 579 Aliases 81 Submodel Alias List 339 Aliasing Parameter titles 82 Submodel titles 81 Unaliasing 82 Variable titles 83 Aliasing with data sampling
28. 65 Simulation Post processing 346 Sketch Creating a new 51 Sketch area menus 305 Copy 305 Reset color 307 Set color 305 Sketch mode 35 41 383 399 Slow simulation Speeding up 496 Snap 385 Solution Uniqueness 98 Solver type Cautious
29. 518 16 5 5 The Windows pulldown menu 519 16 5 6 The Help pulldown menu 519 16 6 The AMEPlot main window 520 16 6 1 The axis menu 520 Axis Format 520 Title 521 16 6 2 The plot menu 522 Format 522 Options 522 Surface plots 524 Add 525 Remove 527 Interchange axis 527 Font
30. 350 Add category 350 Remove category 351 Add component 352 Remove component 353 Icon designer 354 General use of Icon designer 355 Selecting or creating an icon for a supercomponent 357 11 4 8 Tools menu 358 Check submodels 358 Expression Editor 365 Purge 367 Pack Unpack facility 369 Table editor 378 Start AMECustom AMESet AMEAnimation Matlab 378
31. 461 Special m files 234 Special AMESim files 623 Spectral map 517 ss2ame m 235 ssp file 239 Index 652 Stabilizing Dynamic run 458 Stabilizing run 458 Stabilizing run diagnostics 107 466 Stabilizing run options 458 Standard library 39 Start AMECustom AMESet Matlab
32. 399 400 Submodel Alias List 28 339 Submodel mode 35 41 399 Enter Submodel mode 58 Premier Submodel 42 Remove a component submodel 42 AMESim 4 2 User Manual 653 Submodels folder of AMESim node Files in 625 submodels index file 625 Supercomponent 187 194 404 Behavior in Submodel mode 194 Brief description 193 Changing parameters
33. 555 Export to an external tool 556 Export values of plot 511 Expression editor 32 365 415 Expressions 366 For Export setup 566 External variables 27 85 385 Displaying 401 Extra libraries 39 F Facilities available in Parameter mode 411 Factors for design exploration 577 FFT
34. 514 AutoScale All 514 Coordinates 515 3D Rotation 515 16 5 4 The Tools pulldown menu 515 Plot manager 515 Add text 516 Update 516 Automatic update 516 Add titles 516 FFT 517 Spectral map 517 Batch plot 517 XY Plot 517 XYZ Plot
35. 611 Scatter plot 606 Design matrix 596 Index 642 Design of experiments 277 578 Central composite 579 Full factorial 578 parameter study 578 Destroy all graphs 349 Differential algebraic equations 95 162 231 Direct connection 389 DIRECT submodel 77 389 399 Disable beep
36. 311 Edit properties 311 Order 311 Set attributes as default 312 Bird s eye view 312 Help 313 11 4 Facilities available through the menu bar 314 11 4 1 File menu 314 Opening a new system 314 Opening an existing system 316 Saving a system 317 Save as starter 318 Reload saved version 319 Touch 319 HTML report
37. 388 Changing color 305 Constructing 74 Removing 75 Line segment 73 74 388 Linear analysis 163 Performing 480 Why do it 479 Linear Analysis mode 446 Linear Analysis Status 482 Linear analysis status with vectors 485 Linear Analysis Times Setting
38. 42 Parameter study 578 593 Parameterization of model for export 556 Parameters 29 Batch run 427 Change 61 80 Copy Paste 441 Integer 416 Load Save 420 442 Real 415 Setting 79 Text
39. 293 Best results 587 Optimus Interface with 570 Options button 80 Options menu 28 336 Order analysis facility 537 Ordinary differential equation 94 Output 85 385 Overlap rule 383 P Pack 369 Unpack 369 Pack Unpack
40. 33 Tile all graphs 31 349 Time domain mode 446 Tolerance Integrator 456 Toolbars 33 Tools menu 31 358 Touch 319 Transfer function 235 238 240 Trash can button 390 Tricks and Tips 43 Adding some Text 45 Displaying Hiding component labels
41. 623 B 3 The AMEIcons file 625 B 4 The submodels index file 625 B 5 The AME make file 626 B 6 Files created for AMESim 627 B 7 Purge tool for system files 629 B 8 Pack Unpack facility 629 Appendix C Description of EXPORT functions 631 Index 637 Table of contents xx AMESim 4 2 User Manual 1 Chapter 1 Introduction 1 1 What is AMESim AMESim stands for Advanced Modeling Environment for performing Simulations of engineering systems It is based on an intuitive graphical interface in which the system is displayed throughout the simulation process AMESim uses symbols to represent individual components within the system which are either based on the standard symbols used in the engineering field such as ISO symbols for hydraulic components or block diagram symbols for control systems or when no such standard symbols exist symbols which give an easily recognizable pictorial representatio
42. 208 Adding text 209 Creating 205 Define a port type 210 Icon designer 354 Icons menu 350 Multiple submodels for a single icon 92 Naming the icon 211 Remove category 351 Resizing 210 AMESim 4 2 User Manual 645 Saving the icon 211 Icon designer Adding ports
43. 482 Clipboard 392 Close all 33 Close all graphs 31 Closing the Main Window 25 Color preferences 28 306 Common parameters 29 429 Communication interval 453 Compare systems 31 435 Description of the colours used in the Compare systems facility 437 Using the Compare systems facility 435 Compatible types 385 Compilers
44. 334 Copy to supercomponent 335 11 4 3 Options menu 336 Path List 336 Submodel alias list 339 Preferred units 339 Current drawing settings 340 Color preferences 341 AMESim preferences 342 11 4 4 View menu 347 Bird s eye view 347 11 4 5 Interface menu 347 Display interface status 348 11 4 6 Graphs menu 349 11 4 7 Icons menu
45. 481 15 8 2 Linear Analysis Status 482 15 8 3 Changing the LA status of a variable 483 Global changes of LA status 483 Changing the status of an individual variable 484 15 8 4 Eigenvalue Analysis 485 15 8 5 Modal shapes 487 How do I select the observer variables to use 487 Plotting Magnitudes 488 Plotting Energies 491 15 8 6 Bode Nichols and Nyquist plots 491 15 8 7 Root locus plots 495 15 9 Speeding up a slow simulation 496 15 10 Variables window 497 15 10 1 Use of the Variables window
46. 199 6 4 3 Displaying the available supercomponents and their categories 199 6 4 4 Removing a supercomponent or a category 200 6 4 5 Modifying a supercomponent 201 6 5 Constructing a supercomponent of a P I D controller using your own icon 203 6 5 1 Creating a supercomponent category 203 6 5 2 Creating a supercomponent icon 207 6 6 Creating a generic supercomponent containing global parameters 213 Chapter 7 The AMESim MATLAB Interface 221 7 1 Introduction 221 7 2 Tutorial examples 221 7 2 1 Setting the MATLAB path list 222 7 2 2 Setting the MATLAB working area 223 7 2 3 Importing AMESim results into MATLAB 223 7 2 4 Running AMESim simulations from MATLAB 225 Running a simulation from AMESim 226 Running
47. 569 Running a simulation 271 AMEPlot Adding rows and columns 506 Edit menu 512 File menu 509 Main window 520 Menu bar 508 Plot menu 522 Short cuts for 536 Structure of 505 Toolbars 507 Tools menu 515 View menu
48. 319 Print Print selection and Print display 322 Last opened files list 324 Close 324 Quit 325 11 4 2 Edit menu 326 Copy 326 Display auxiliary 326 Select all 326 External variables 327 Find submodel 327 Update categories 328 Available supercomponents 328 AMESim 4 2 User Manual ix Available customized 334 Available user submodels
49. 369 pck file 372 AMEPack Wizard 370 Panic step reductions 467 Parameter Changing title of 417 Parameter mode 35 42 399 Change submodel parameters 42 Common parameters 42 Compilation before entering 42 Copy submodel parameters 42 Enter 60 Set global parameters 42 Specify a batch run
50. 33 381 Acknowledgement before deleting 343 Active study 584 Active window 392 Activity index 32 42 247 Mathematical definitions 248 Using the AMERun Activity index facility 249 Using the AMESim Activity index facility 249 Adams interface 398 Add component to sketch 31 Add Row Column to plot 525 Add text to plot 516 Add text to sketch
51. 55 Adding ports to the icon 356 AMESim 393 Compatible ports 384 Post Processing Tools Toolbar 37 Powertrain library 40 Preferences 342 Preferred units 28 339 Premier submodel 35 59 399 400 Preview of the system 342 Print 26 322 Print display 26 322 Print o
52. 245 amegetp m 235 amegetvar 237 amegetvar m 235 AMEIcons file 625 amela 246 amela m 236 AMEload utility 223 ameloadj m 235 ameloadt 236 ameloadt m 235 AMEPilot launching
53. 378 Start run 35 State count 99 469 Finding the submodel 101 State observer 482 All state observers 32 483 No state observers 32 483 State space 230 231 238 State variable 62 104 412 Constraint 104 Explicit 104 Implicit 104 Initial va
54. 393 Drawing tools 209 Dynamic blocks 123 Dynamic run 458 Dynamic run options 458 E Edit basics 193 201 203 330 331 Edit constituents 201 330 Edit menu 27 326 Copy 27 Cut 27 Delete 27 Paste
55. 481 Linear ports 394 linear regression coefficients 288 Linear system 237 List of opened files 33 List of studies 581 Listing AMESim parameters From MATLAB 227 Load an existing system 24 Load plot configuration 30 468 Load system parameter set 29 Lock all states 32 Lock button
56. 29 iSIGHT interface with 570 J jac file 239 Jacobian files 485 Index 646 K Keyboard shortcuts 25 47 L LA status Changing 483 Labels Show 77 Last systems opened list 26 Libraries 39 52 Licence viewer 33 378 Line run 73 74 383 388 Adding to sketch
57. 58 3 4 3 Setting parameters 60 3 4 4 Running a simulation 63 3 4 5 Plotting graphs 65 3 4 6 Replay facility 69 3 4 7 Save and quit AMESim 72 3 5 Example 2 A simple mechanical system 72 3 5 2 Displaying labels on the sketch 76 3 5 3 Setting parameters 79 3 5 4 Changing the values 80 3 5 5 Aliases for a parameter title a submodel and a variable title 81 Aliasing submodel titles 81 Aliasing parameter titles 82 Aliasing variable titles 83 3 5 6 Setting parameters and running a simulat
58. 567 18 8 1 Setting Input Parameters 567 File naming rules 567 Common format rules 568 Real Input Parameters 568 Integer Input Parameters 568 String list 569 Formatted string 569 18 8 2 Running the simulation 569 18 8 3 Getting the results 569 File name rules 569 Results format 570 Output template file 570 18 9 Direct interfaces 570 AMESim 4 2 User Manual xvii 18 9 1 Interfaces with iSI
59. 138 4 6 1 Creating a 1D table data file using the Table editor 139 4 6 2 Building the system and setting parameters 141 4 6 3 Running the simulation 143 Chapter 5 Batch Runs and Linear Analysis 145 5 1 Introduction 145 5 2 Example 1 The quarter car model 145 AMESim 4 2 User Manual v 5 2 1 Selective save 146 5 2 2 Batch runs 148 Defining batch parameters 149 Initiating a batch run 151 Plotting curves for a batch run 152 5 3 Example 2 A catapult to demonstrate locked states 155 5 3 1 Introduction to locked states 155 5 3 2 Demonstration
60. 113 AME make file 626 AME units 340 ame2data 236 ame2data m 235 amebode m 235 AMECustom 6 amegetcuspar m 235 amegetcuspar 244 amegetgpar 244 amegetgpar m 235 Index 638 amegetp
61. 242 Special submodels in Run mode 243 7 3 4 Running AMESim simulations from MATLAB 244 amegetcuspar 244 amegetgpar 244 AMESim 4 2 User Manual vii amegetp 245 ameputcuspar 245 ameputgpar 245 ameputp 246 amela 246 amerun 246 Chapter 8 Activity index 247 8 1 Introduction 247 8 2 Mathematical definitions 248 8 3 Using the AMESim Activity index facilit
62. 614 2D format 615 3D table 617 Index 654 Special formats 613 Table of 1D tables 619 XYs table 621 Table of 1D tables format 619 Technique Design of experiment 592 Temporal Analysis Toolbar 37 Text 383 Adding to sketch 36 Editing characteristics 127 Moving
63. 39 The extra libraries 39 2 2 The AMESim four working modes 41 2 2 1 Sketch Mode 41 2 2 2 Submodel Mode 41 2 2 3 Parameter Mode 42 2 2 4 Run Mode 42 2 3 Tricks and Tips 43 2 3 1 The Lock Button 43 2 3 2 Rotating and mirroring an icon 43 2 3 3 The Status Bar 43 2 3 4 Removing a component 44 2 3 5 Drag and Drop 44 2 3 6 Adding some Text 45 2 3 7 The Ports
64. 579 19 3 2 Optimization 579 NLPQL 579 Genetic algorithm 580 19 3 3 Monte Carlo 580 19 4 Main principles 580 19 5 The Design Exploration dialog box 581 19 5 1 Description 581 19 5 2 The list of studies 581 19 5 3 The execution panel 582 Log 582 Warning 582 19 5 4 Actions that Control your DOE 582 Study management 582 Post processing
65. 156 5 3 3 Locked states 158 5 3 4 Error type 161 5 4 Example 3 Linear analysis with a simple mass spring system 162 5 4 1 Linear analysis 163 5 4 2 Eigenvalue Analysis 166 Non linearities 168 5 4 3 Equilibrium position 171 5 5 Example 4 Frequency response analysis with a mass spring damper system 172 5 5 1 Bode Nichols and Nyquist plots 172 5 5 2 Root locus analysis 175 5 6 Example 5 Modal shape analysis with a mechanical system 178 5 6 1 Modal shapes 178 5 6 2 Relate the modal shape analysis to the time domain
66. 498 The main functions of the Variables window 498 The right button menu 498 15 10 2 Creating your own sets of variables 499 15 10 3 The facilities available in the Variables window 501 Chapter 16 The Plotting facilities 503 16 1 Simple plots 503 16 2 Batch plots 504 16 3 Structure of AMEPlot 505 16 4 The AMEPlot Toolbars 507 16 5 The AMEPlot Menu bar 508 16 5 1 The File pulldown menu 509 Open 509 Save configuration 510 Save data
67. 618 Graphical representation 618 A 5 Table of 1D tables format 619 Mathematical definition 619 Preferred layout in text editor 619 Example of layout in the Table editor 620 Restrictions 620 Graphical representation 620 A 6 XYs table format 621 AMESim 4 2 User Manual xix Mathematical definition 621 Preferred layout in text editor 621 Example of layout in table editor 622 Graphical representation 622 Appendix B Special files used by AMESim 623 B 1 Introduction 623 B 2 AMESim nodes
68. 149 Batch run 148 Initiating 151 Plotting curves 152 Selection 153 504 Batch set up method User defined data sets 151 Vary between 2 limits 150 Batch setup of plot 523 Batch simulation from MATLAB 229 Bird s eye view 29 Blank plot button 37 303 Bode plot 172 233 234
69. 510 Export values 511 Export plot picture 511 Print 512 Table of contents xiv Quit 512 16 5 2 The Edit pulldown menu 512 Copy area 512 Rotate text 513 Clear area 513 Select all text 513 16 5 3 The View pulldown menu 513 Zoom 513 Zoom 514 Zoom Previous 514 AutoScale
70. 8 1 6 New AMESim 4 2 features 9 1 6 1 Export facility 9 1 6 2 Design Exploration 9 1 6 3 Compiler flags 11 1 6 4 Stabilizing runs 11 1 6 5 Display of vectors 11 1 6 6 Interfaces 13 1 6 7 Submodel call modifications 14 1 6 8 Model simplification and Real time 14 1 6 9 Compare Systems 15 1 6 10 Pack and Unpack 16 1 6 11 Enumeration 18 1 6 12 Watch Parameters and Variables 19 1 6 13
71. 64 Set run parameters 64 452 Run type 454 Running a simulation 63 446 S Saturation values Use in replay 478 Save a model 57 Save all variables 31 Save configuration of plot 510 Save data of plot 510 Save next status 446 Global change 147 447 Individual variable change 147 448 AMESim 4 2 User
72. 199 Managing supercomponents 198 Modifying 201 Multilevel 199 Plotting variables 197 Ports 192 Recursive not allowed 199 202 332 Removing 200 330 Rules for names 192 Save 217 Surface plots 537 Symbol Arrow 476 Gauge
73. 602 19 7 The Design Exploration Plots dialog box 604 19 7 1 Description 604 19 7 2 Static part 604 19 7 3 Dynamic part 605 History plot 605 Scatter plot 606 Main effect diagram 608 Pareto diagram 609 Histogram 610 19 7 5 Array of possible plots according the study type 611 Appendix A Formats supported by the AMESim Table Editor 613 A 1 Introduction 613 A 2 1D table format 614 Mathematical definition 614
74. 46 Drag and Drop 44 Keyboard shortcuts 47 Online help 46 Ports 45 Removing a component 44 Rotating and mirroring an icon 43 Status Bar 43 Two Phase Flow 40 U Uncertainty 294 Units Preferred 339 Unlock all states 32 Update categories
75. 27 Rotate 27 Effect Table 288 Effect table 584 Eigenvalue Analysis 166 485 Electrical ports 395 Electro Mechanical library 40 Equilibrium position 171 480 Error messages in a run 466 Error type 161 460 Execution panel for design exploration 582 Expand vectors 28 Explicit system
76. 602 Mouse right button menu 38 Move a connected component 75 Move text 57 N New features 9 Nichols plot 172 491 NLPQL algorithm 579 Desired final accuracy 600 Iteration 599 Print mode 600 Relative gradient step 599 NLPQL algorithm for optimization 599 Non linear system
77. 529 Setup 523 FFT plot 517 File menu 25 314 Close 26 HTML Report 26 New 25 Open 25 Quit 26 Save 25 Save as 25 Touch
78. 184 5 7 Reference 185 Chapter 6 The Supercomponent Facility 187 6 1 Introduction 187 6 2 Constructing a supercomponent of a P I D controller using a standard icon 187 6 2 1 Comparing a flat system with a system containing a supercomponent188 6 2 2 Creating a supercomponent 190 6 3 Supercomponent facility 194 6 3 2 Exploring a supercomponent 195 6 3 3 Changing parameters of a supercomponent 196 6 3 4 Plotting variables of a supercomponent 197 6 4 Managing Supercomponents 198 6 4 1 Different types of supercomponent 198 Generic supercomponents 198 Table of contents vi Customized supercomponents 198 6 4 2 Multi level supercomponents
79. 343 Discontinuities 114 Record of 466 Discontinuity printout 114 Display auxiliary 27 326 Display component labels 46 Display interface status 348 Displaying labels on the sketch 76 Documentation set 4 Drag and Drop 44 Drag and drop method 383 393 Drag and drop method of adding components 384 Drag and drop method of moving components
80. 356 Structure of dialog box 355 Iconify all graphs 31 349 Icons folder of AMESim node Files in 624 IFP C3D 32 IFP Drive 41 Implicit loop 96 Implicit system 234 Implicit variable 95 Import Adams model 398 Import linear model 398 Index of nil potency
81. 384 Actions when a component is added to the sketch 384 Compatible ports 384 Connections between components 385 Why can t I connect two components 385 12 2 3 Adding a new line run to the sketch 388 12 3 Removing AMESim objects delete and cut operation 390 12 3 1 Removing objects 390 12 3 2 Deleting loose lines 391 12 3 3 Reconnecting loose lines 391 12 4 AMESim auxiliary system 392 12 5 Moving components 393 12 6 AMESim ports 393 12 7 Removing submodels 396 12 7 1 Why remove a submodel 396 12 7 2 Procedure to remove one or more sub
82. 100 Chapter 19 AMESim Design exploration module 602 the population size should be chosen in function of the number of parameters Experiments shows that often gives good results A high reproduction ratio often leads to fast convergence but it is also likely to lead to a local convergence A reproduction ratio between 50 and 85 often gives good results The number of generations to set depends on the number of runs you are ready to accept in term of calculation time but it must be greater than 10 to get relevant results 19 6 4 Monte Carlo Figure 19 23 Monte Carlo definition The most important feature is the two tabs The Controls tab containing the list of inputs that can be declared as controls The Responses tab containing the list of outputs that can be declared as responses For both lists the first column contains the names you gave to each parameter in the export setup Controls Figure 19 24 Controls tab The Used column contains check boxes If it ticked AMESim will make the parameter value vary respecting population size 4 5 number of parameters AMESim 4 2 User Manual 603 The distribution type set in the Distribution column It could be Uniform or Gaussian The mean value set in the Mean value column The value stored in the Std deviation Amplitude which is the standard deviation for a
83. 163 231 Input 86 385 Input Parameter 555 Input file 567 User defined 557 Input Parameters From global parameter 557 from submodel 557 Removing 558 Types 559 With vectors 561 Integer discrete Input Parameters 560 Integer Input Parameters 560 Integration methods
84. 417 Parameters menu 29 421 Paste from clipboard 27 Paste of copied system 120 Path List 28 336 Additional directories 337 Piloting simulations using AMEPilot 567 AMESim 4 2 User Manual 649 Planar Mechanical library 41 Plot Adding text 109 Adding titles 108 Batch 504 Blank 303 Drag and d
85. 543 17 3 Order analysis facility 545 Spectral map 545 Order tracking 546 Fixed sampling 546 Spectral map 548 Zoom constraints 549 Creating a spectral map 549 17 3 1 The Order Amplitude 552 Definition 552 Order tracking technique 552 Reference velocity 553 Creating an order amplitude plot 553 Chapter 18 AMESim export module 555 18 1 Introduction 555 18 2
86. 476 Responses for design exploration 577 Right button operations Parameter mode 441 Robustness analysis 277 Root locus plot 175 495 Rope ports 394 Rotary ports 394 Rotate an icon 43 54 Rotate text 56 Run Dynamic 102 Stabilizing 102 Run mode 35 42
87. The lever submodel is only valid for small angles about the horizontal There is a 5 to 1 velocity ratio provided by the lever We restrict the movement of the lever using the submodel MAS005 This submodel is also used to take into account the fact that the center of mass of the lever is to the right of the pivot The two instances of submodel LSTP0A parameters have their contact damping values adjusted to ensure there is no bounce when they hit the lever Chapter 5 Batch Runs and Linear Analysis 158 Figure 5 14 Fall of the mass The objective now is to start with the projectile and lever in equilibrium but with the large mass still 2m above the lever 5 3 3 Locked states If an explicit state or implicit state variable is locked it is held at a fixed value during a stabilizing run Constraint state variables cannot be locked This can be used to obtain partial equilibrium states By default all state variables are unlocked and are allowed to evolve in a stabilizing run in an attempt to find an equilibrium state To Lock Unlock individual state variables 1 Click on a component icon with the mouse right button 2 Select View lock states in the menu The Locked states status dialog box appears as in Figure 5 15 It shows the explicit or implicit state variables if any of the submodel The locked unlocked status is shown in a check box To change the status of each variable you can either
88. 196 333 411 Creating 190 355 Creating category for 203 Creating icon for 203 Customized 190 198 Displaying the available supercomponents and their categories 199 Edit basics 201 330 Edit constituents 201 331 Exploring 195 External variables 196 Full description 193 Generic 190 198 List of available
89. 390 Design exploration 32 277 Controls 577 Factors 577 Responses 577 Design Exploration Definition dialog box 591 Design Exploration dialog box 581 Design Exploration Plot History plot 605 Interaction diagram 607 Main effect diagram 608 Pareto diagram 609 Plot type 605 Possible plots
90. Using an existing icon from an existing category to store the supercomponent The following system uses a PID controller from the Control category It shows a position control of a mass The second order lag is used to model the actuator mechanism electrical hydraulic pneumatic of the force applied to the mass Chapter 6 The Supercomponent Facility 188 6 2 1 Comparing a flat system with a system containing a supercomponent Step 1 Create a control loop Construct the following model Figure 6 1 Control loop model 1 Click the Premier submodel button in Submodel mode 2 In Parameter mode set the following parameters Submodel Number on sketch if any Title Value UD00 1 output at start of stage 1 null 1 output at end of stage 1 null 1 duration of stage 1 s 20 output at start of stage 2 null 0 4 output at end of stage 2 null 0 4 PID000 proportional gain null 30 integral gain null 10 LAG2 damping ratio null 0 7 MAS004 displacement port 1 m 0 6 mass kg 10 coefficient of viscous friction N m s 10 inclination 90 port 1 lowest 90 port 1 highest degree 0 AMESim 4 2 User Manual 189 3 You can then run a simulation with a final time of 80 seconds and plot the mass displacement together with the system input which is UD00 1 output Figure 6 2 Plot of the mass displacement Notice how the mass position tries to follow the d
91. interaction diagram AMESim 4 2 User Manual 579 All these post treatments are available in AMESim and are described in 19 7 The Design Exploration Plots dialog box Central composite The central composite can be seen as a full factorial to which some extra runs are added You define 5 levels a high level a low level a central level a high star level and a low star level The low and high levels are used to perform the same sequence of runs as for full factorial The other ones are used to perform 2 N 1 extra runs The main objective of that technique is to obtain a quadratic response surface model AMESim allows you to perform such a technique but the post treatment that leads to the response surface model is not provided yet with AMESim 19 3 2 Optimization By optimization we mean a process of finding the best set of parameters to reach a goal while not violating some constraints In AMESim the goal is always to make a quantity as close to zero as possible To do optimization two algorithms are available in AMESim NLPQL Genetic algorithm NLPQL NLPQL is an implementation of a sequential quadratic programming SQP algorithm SQP is a standard method based on the use of gradient of objective function and constraints to solve nonlinear optimization problem This method works fine provided that The problem is not too large Functions and gradient
92. 17 1 Surface plots Two situations are common in AMESim applications where surface plots can be useful Figure 17 1 Graph area format dialog box Chapter 17 3D plots and order analysis facilities 538 We do a batch run and create 2D plots of the results The large number of curves makes comparisons difficult and so we convert to a surface plot We have an array of values which we plot as a 2D plot An example is the arrays of pressure and flow rate variables in some of the hydraulic line submodels It is possible to convert to surface plots and visualize water hammer effects To get a good results there should be at least five 2D plots We introduce the topic by illustrating the different types of surface plot available To initiate the process use the right button menu in the 2D plot and select Surface plot This produces the Graph Area Format dialog box shown in Figure 17 1 with the Surface plot tab selected The 2D radio button will be selected The different types of surface plot are created by selecting another radio button and clicking on OK 17 1 1 Types of surface plots 2D plot This is always the starting point However if a true surface plot has already been created you can return to the starting 2D plot by selecting this button Waterfall This is the simplest surface plot It is a simple stack of slices Slices can hide each other if hide line option is selected the default The Y axis represen
93. AMESim 4 2 User Manual 185 Chapter 5 Batch Runs and Linear Analysis 186 AMESim 4 2 User Manual 187 Chapter 6 The Supercomponent Facility 6 1 Introduction As a model gets bigger it becomes more and more difficult to find a particular constituent component in it and a single snapshot of the whole system cannot be taken easily The supercomponent facility overcomes these problems The principle is to select a group of components and shrink wrap them onto a single icon For all libraries there are strong advantages in using the supercomponent approach To create a supercomponent the basic stages are the following 1 Create a circuit from AMESim standard components and or specific library components We could call this a single level or flat system 2 Test it thoroughly 3 Select the area of the model that is to become the supercomponent 4 Declare it to be supercomponent 5 Associate it with either a standard or an user constructed icon 6 Define the ports of this icon 7 Give the supercomponent a name a brief description and a full description 8 Use it in the same way as a normal AMESim component We now give a simple example to get you started using the supercomponent facility We recommend you to reproduce this example yourself 6 2 Constructing a supercomponent of a P I D controller using a standard icon Objectives Describing the whole process of creating a supercomponent
94. Paste to the same or a different AMESim system Paste into certain word processing documents Make a supercomponent Set color Changing the color of components and line runs This process can be applied to a collection of selected objects or to all objects of a particular type 1 Select the components or line runs 2 Create the right button menu 3 Select Set color The Select color dialog box is produced Chapter 11 Facilities Available in all Modes 306 Figure 11 11 Select color dialog box 4 Define the color you want and click on OK To revert selected components and line runs to their default colors 1 Select the components and line runs 2 Create the right button menu 3 Select Reset color Changing the color of categories and line runs This process applies to all objects in the currently active sketch and to any objects subsequently added to any sketch 1 Select Options Color preferences This produces the Color preferences dialog box AMESim 4 2 User Manual 307 Figure 11 12 Color preferences dialog box In the Categories and Lines option groups 2 Select a category or a line in the pulldown menus 3 Click on the color box to display the Select color dialog box 4 Select one of the basic colors or move the cross cursor on the color palette to create your customized colors Figure 11 13 Color selection Reset color At least one component or line run s
95. Your cursor becomes an A letter 2 Click on the sketch at the place where you want to add text The A letter will be transformed into a blank field 3 Type Mass Spring System 4 Click outside of the field to quit the editing mode To rotate text Select the text then click the mouse middle button or use the Ctrl R keys Alternatively you can right click on the text and select the Rotate selection menu You have two possible orientations for the text you put on the sketch Figure 3 8 Rotate text Note The zero velocity source fixes the position of the spring port to which it is attached The 1 port and 2 port masses each have an arrow and the components are added to the sketch so these point in the same direction The reason for doing this will be explained later The following field appears on the sketch AMESim 4 2 User Manual 57 To remove text Select the text to be removed and do one of the following Press the Del key or Right click and select Cut in the contextual menu or Type Ctrl X or Select Edit Cut To move text within the display 1 Click on the text to select it 2 Drag and drop the text to the new area or 1 Double click on the text The cursor becomes the selected text 2 Click in the area you want to place the text Your system is now complete and you are ready to proceed to the next stage Before going further it may be a goo
96. 113 4 3 4 Discontinuities and discontinuity printout 114 4 4 Example 3 Car suspension 115 4 4 1 Displaying two or more AMESim systems simultaneously 117 4 4 2 Selecting components line runs and text 118 4 4 3 Copy Delete Cut and Paste Actions 120 4 4 4 Dynamic blocks 123 4 4 5 Comparing the body displacement with different suspensions 126 4 4 6 Editing the characteristics of existing text 127 4 5 Example 4 Cam operated valve 128 4 5 1 Description 129 4 5 2 Simulating the system 130 4 5 3 Creating an XY plot 133 4 5 4 Using the plot manager 134 4 5 5 Altering the characteristics of a plotted curve 136 4 6 Example 5 Vehicle Driveline
97. 30 349 LSODA 465 M Magnetic ports 395 Margin menu of plot 527 Marking components line runs and text 118 MATLAB 221 Path list 222 MATLAB linear systems Importing into AMESim 237 MATLAB Simulink interface 398 MATLABPATH 222 Maximum time step 456 457 Mechanical library 39 Menu Bar
98. Folder Exists Purpose submodels always Used to store details of submodels and supercomponents associated with the node Icons only if a category has been created Used to store category icons and icons of components stored in the category lib only if a user cre ates it manually The preferred place to store an archive li brary a or lib data only if a user cre ates it manually The preferred place for any data files doc always The preferred place to store any docu mentation files such as HTML File Exists Purpose submodels in dex always Used to associate submodels and super components with icons AMEIcons only if a catego ry is created Used to specify the files of the category associated with the node AME make only if created manually Used to modify the behaviour of the fa cility that creates or makes the execut able of an AMESim model AMESim 4 2 User Manual 625 components in the category the icon description and the position and type of their ports Files and folders in the submodels folder spe files which specifies the characteristics of the submodel These files are read by AMESim and specify how the call is to be made to the submodel sub files which specify the contents of a supercomponent c or f files which are the source code of the submodels o or obj files which are the object code of the submodels created when t
99. Scatter X X X X X X Interaction diagram X X Main effect diagram X X Pareto diagram X X Histogram X X X X X X History X X X X X X Scatter X X X X X X DOE Optimization Monte Carlo Parameter Study Full Factorial Central composite NLPQL Genetic Algorithm AMESim 4 2 User Manual 613 Chapter 19 AMESim Design exploration module 614 AMESim 4 2 User Manual 613 Appendix A Formats supported by the AMESim Table Editor A 1 Introduction It is often necessary to define data in an ASCI file in a special format that can be read by an AMESim submodel The data is needed for a large variety of purposes and consequently there are a large number of different formats However there are five special formats which are very widely used 1D table 2D table 3D table Table of 1D tables XYs table In addition there is another format currently not used by any AMESim submodels but used by AMESim using File Export values in a plot This format is called XYs table Files can always be created in a normal text editor but for these 4 special formats an AMESim utility called the Table editor is available to assist you The utility allows you to Create a new data file Load an existing data file Preview graphically the data Modify the data points Add new data In this appendix we use the following notation
100. When AMEPack looks at important auxiliary files such as those associated with submodels and supercomponents it has the AMESim node label for the senders directory system If the same node label is found on the recipient path list AMEPack will try to install the files at this node 4 Select the menu item Tools Unpack or 4 Click on the Open button The Open dialog box appears The Open dialog box appears 5 Select the package file you want to unpack 5 In the File type pulldown menu select the pck type 6 Select the package file you want to unpack Chapter 11 Facilities Available in all Modes 376 The AMEUnpack dialog box appears Figure 11 100 AMEUnpack dialog box You must fill the Extract to common directory field This is the extract direc tory and will be where the models ame files will be stored The data files that these models require will be in subdirectories of this directory Customize target directories Remember that AMEPack will try to locate many auxiliary files in existing AMESim nodes that have the same node label as on the senders directory system What happens to any files that are not located in this way By default new AMESim nodes will be created as subdirectories of the extract folder However if you check Customize target directories you can choose the AMESim nodes in which you want to save the files You can check Overwrite existing files if some files already exist in the
101. AMEVbaRun system subErr Arguments system String expression whose value is the complete path and name of an AMESim system without extension If the system argument is a wrong system name or path an error message is displayed subErr optional 0 by default Integer It stores a flag corresponding to the final status of the call to AMEVbaRun If subErr 0 AMEVbaRun has succeeded If subErr 1 AMEVbaRun has failed The AMEVbaGetFinalRes subroutine Definition It reads titles and values of final results in the AMESim system and stores them into final result tables Syntax Call AMEVbaGetFinalRes system outTitles outValues subErr Or AMEVbaGetFinalRes system outTitles outValues subErr Arguments system String expression whose value is the complete path and name of an AMESim system without extension If the system argument is a wrong system name or path an error message is displayed outTitles Array of type String It stores final result titles imported from the AMESim system specified by the system argument It has to be declared in the main VBA code before calling AMEVbaGetFinalRes outValues Array of type Double It stores final result values imported from the AMESim system specified by the system argument It has to be declared in the main VBA code before calling AMEVbaGetFinalRes subErr optional 0 by default Integer It stores a flag corresponding to the
102. Euler s method is order 1 You can set the order to 2 3 or 4 AMESim 4 2 User Manual 463 the capability of the real time platform The dynamics of the model must be sufficiently slow Study of this often in volves determining the eigenvalues of the system Experienced users often developed very complex high fidelity models in AMESim To run these models in a real time environment normally involves work to reduce the complexity This process is often called model reduction After a while the modeler begins to think that the model is sufficiently reduced to run in the target real time environment At this stage the reduced model can be run in AMESim with the fixed step fixed order integration methods provided Remember that the reference results are the high fidelity results If this is successful the export to the real time environment can go ahead For the rest of this section we will assume that we are doing general simulation with variable step variable order methods The standard integrator One very common problem that arises in simulation of engineering systems is that of numerical stiffness A stiff problem is one in which there is a time constant which is extremely small compared to the simulation range i e Final time Start time The famous Gear s method was specifically developed to solve such problems Most other integration algorithms are impossibly slow when applied to such problems Another common problem is
103. Figure 15 13 Run Parameters dialog box General tab With the General tab selected you have access to values and options which apply to both the standard integrator and fixed step integrators as in the example shown in Figure 15 13 The Value column is editable To change a value 1 Double click on it 2 Type the new value in the edited box The meaning of the first two items in the list is obvious A short note on the third item and on the various option buttons is appropriate Communication interval During the run data is added to the results file The communication interval specifies how often this is done The smaller the communication interval is the larger the results file is Most AMESim users like about 1000 points in their result files Hence the formula is good in most situations The communication interval and the step size used by the AMESim integrator are completely independent If you enable the Discontinuity printout button extra values are added to results file at these discontinuity points Communication interval Final time Start time 1000 Chapter 15 Facilities Available in Run Mode 454 Integrator type Run type If Batch is selected the Batch options button is sensitive Click on this if you want to specify a subset of batch runs to occur Define which runs to suppress in the Batch Run Selection dialog box Figure 15 14 Batch run selection
104. Global change of Locked status 449 Submodel change of Locked status 450 Change of Locked status for individual state variables 451 Global view of locked unlocked status for all the state variables of a complete model 452 15 3 3 Setting run parameters 452 General tab 453 Standard options tab 456 Fixed step options tab 462 15 3 4 Integration methods used 463 Fixed step integrators 463 The standard integrator 464 15 3 5 The Simulation run dialog box 465 Log report 466 Warnings Errors report 466 P
105. If the system is stable the method is normally reliable The method does not always work and when it does work it may give an equilibrium position which is not accessible from the starting value Uniqueness of solution Normally if a solution is obtained it does not vary significantly with parameters such as integrator tolerance If there are multiple equilibrium positions it is difficult to tell in advance which one will be found CPU time Can be significantly higher If the method works CPU times are normally lower Parameters available to aid convergence We can vary all the dynamic run parameters tolerance error type maximum step size standard cautious final time The following parameters will influence the success of the run and the CPU time tolerance error type standard cautious Chapter 4 Advanced Examples 106 We now give a brief note on some of these points Uniqueness of an equilibrium position To illustrate the non existence of a unique equilibrium position we present two examples Figure 4 7 No equilibrium state Here there is no equilibrium state The stabilizing run must and does fail Figure 4 8 Infinite number of equilibrium positions Here there are a whole range of positions which are equilibrium states In other words there are an infinite number of equilibrium positions The stabilizing run finds one of these The Hold inputs constant methods finds the equilibrium pos
106. Single run examples are explained in Chapter 3 and Batch runs are described in Chapter 5 This gives access to radio buttons to select either the standard or a fixed step integrator Normally you require the standard integrator If you have any sort of implicit variables in your system you will not be able to select Fixed step integrator here are two radio buttons Single run Batch AMESim 4 2 User Manual 455 Miscellaneous Figure 15 15 Summary of the run characteristics Note that the accuracy of the CPU time depends on the platform you are using On at least one platform CPU times are extremely inaccurate Monitor time is enabled by default and a progress bar appears at the bottom of the Simulation run dialog box Figure 15 16 Progress bar On some platforms creating this bar slows the simulation down significantly on simple runs Experiment with your local AMESim running with the button enabled and disabled If there is a significant difference you may prefer to keep it disabled If you want to do bench mark tests it is a good idea to disable it Continuation run is disabled by default Sometimes you do a simulation run and you subsequently wish you had set a greater final time You can reset it and execute the whole run again but this is not attractive if the run was long The alternative is increase the final time enable the Continuation run check button The results
107. The Run Parameters dialog box appears as in Figure 3 18 This allows you to change the characteristics of a run The display comprises various numerical values you can change plus a collection of tabs The options are set by default to the most commonly used values Figure 3 18 Run parameters dialog box You are going to change the Final time to 1 0 s and the Communication interval to 0 01 s 2 Double click on the final time value 3 Type 1 0 AMESim 4 2 User Manual 65 4 Double click on the communication interval value 5 Type 0 01 6 Press the Enter key 7 Validate your changes by clicking on the OK button Now the run parameters are set We can start the simulation using the follow ing procedure Step 3 Start simulation Click on the Start Run button to initiate a run In the present example the run will be over very quickly We can plot results immediately 3 3 5 Plotting graphs Step 1 Plot variable from a component 1 Click on the 1 port mass The Variable List dialog box shown in Figure 3 19 appears Figure 3 19 Variable list dialog box The main part of the display is a list of titles describing the variables their units and final values 2 Select velocity at port 1 Chapter 3 Getting Started 66 3 Drag and drop it on the sketch or click on the Plot button The window below appears Figure 3 20 Curve of the velocity at port 1 4 Click on the 2 port mass 5
108. The dialog box then takes on the form shown in Figure 11 82 Note If you open an AMESim system that was created with a older version than AMESim 4 2 the Check submodels facility will start automatically If this check is performed without problems it is done in the background and you will never know that in happened If a problem does occur it will revert to foreground mode and you will see the special dialog box Chapter 11 Facilities Available in all Modes 360 Figure 11 82 Expanded Check Submodels dialog box Note the Use path from circuit check box By default this is enabled System details are stored in a cir file and this contains details of the path of any sub model or supercomponent set Normally we expect these objects not to have moved and so you do not need to change the default However if you move a ame file from one computer system to another the path in the cir file becomes irrelevant and hence you should disable this check box Note also the tabs labeled Submodels selected by default and Report The first show the tree structure of the circuit as the check proceeds and the second is more detailed and contains no graphics It is of a form that can be printed 2 Click on the Start button Each submodel supercomponent of the model is checked against the specifica tion of this submodel supercomponent When the submodel or supercompo nent is set AMESim records the directory or folder in which submodel su
109. Use the Unlock All and Lock All buttons or Click on an individual check box AMESim 4 2 User Manual 159 Figure 5 15 Lock and unlock options To change globally the locked states status of all state variables of selected components 1 Use the Tools pulldown menu 2 Select Unlock all states or Lock all states Figure 5 16 Tools menu To view the locked unlocked status of all the state variables of a complete model 1 Use the Tools pulldown menu 2 Select Lock states status a dialog as shown below is produced 3 Note that if you click on a submodel name in this list the associated submodel is shown with a green label in the sketch Chapter 5 Batch Runs and Linear Analysis 160 Figure 5 17 Locked States Summary In the present example We must lock 2 state variables displacement and velocity in the heavy mass both of which are set to 0 0 Figure 5 18 Lock the velocity and displacement state variables of the mass All the other states we wish to evolve into a partial equilibrium so that the lever will be at rest with the right hand side down in the extreme position 1 Check Stabilizing mode in the Run parameters dialog box and start a run 2 Look in the Variable list dialog box of the heavy mass and note that it still has a displacement and velocity of 0 0 3 Check in the Variable list dialog boxes of the other components and note that many variables have changed For instance in the l
110. amegetgpar m gets a global parameter This is described in 7 3 4 Running AMESim simulations from MATLAB ameputgpar m sets a global parameter This is described in 7 3 4 Running AMESim simulations from MATLAB amegetvar m extracts the named variables from previously loaded R and S vectors This is especially convenient for post processing This is described in 7 3 4 Running AMESim simulations from MATLAB Chapter 7 The AMESim MATLAB Interface 236 amela m sets linearization times for an AMESim system The syntax is described in section 7 3 4 Running AMESim simulations from MATLAB amerun m runs an AMESim model with possibility to set run parameters An example on usage is given in section 7 2 Tutorial examples The syntax is described in section 7 3 4 Running AMESim simulations from MATLAB You can use the MATLAB help facility to gain information on the syntax of each of these commands 7 3 2 Importing temporal time history results from AMESim After a simulation it is possible to import the results into MATLAB for further analysis There are two commands that can be used for this ame2data and ameloadt The first assumes that you have saved data from an AMESim plot window while the latter imports a results file into MATLAB Another command that may be useful in this concept is the ameplot command which simplifies plotting AMESim data with MATLAB ame2data The ame2data command loads an AMESim plot fi
111. 35 43 52 384 388 Locked states status 32 155 449 Global change 449 Individual state variables 158 451 Submodel change 450 Log file 604 Log file viewer 588 Log report 466 Loose line Deleting 391 Loose lines 391 Reconnecting 391 AMESim 4 2 User Manual 647 Lower all graphs
112. 4 Use the mouse right button or Ctrl M to mirror the component mirror about a vertical axis 5 Use the mouse middle button or Ctrl R to rotate the component as required 7 Put the component into the required position and click the mouse left button Drag and drop method To drag and drop do the following 1 Move the category dialog box so that the destination position of the component is exposed 2 Drag and drop the component to the required position Actions when a component is added to the sketch Which ever method of adding the component is used An attempt is made to connect the component to other components already added to the sketch If only one submodel is available it is assigned to the component If no submodel is available from the path list the component cannot be added to the sketch Compatible ports Two ports are compatible if they are of the same type or at least one of them is a signal port 6 To abandon the operation press Del the backspace key or Escape Alternatively click on the Trash can button The cursor should re turn to its normal appearance This is the most flexible method of adding a component to the sketch because the category dialog box is hidden during the operation and you can easily rotate and mirror the component AMESim 4 2 User Manual 385 Connections between components AMESim allows components to be connected together at their ports without line runs
113. AMESim 4 2 User Manual 471 15 6 1 Basic controls of Replay The most widely used controls are shown below Figure 15 33 Basic controls of replay You can select part or all of the sketch when the Replay dialog box is displayed Click on Rebuilt selection to update the labels displayed based on this new selection This is slow on a big system Do not use this button for changes which do not involve changing the selection Click on Close to terminate the replay session Click on Options to gain access to more advanced replay options 15 6 2 Advanced options for Replay When you click on Options the Replay display changes as shown in Figure 15 34 Advanced options for Replay The extra commands are grouped under various headings You can also use the slider to select a time Alternatively you can edit the time in the input box If you wanted the forces in N at time 5 seconds ensure the unit N is selected and edit the value in the input box to 5 If you then do File Print you will get a paper copy of the system including the replay details Alternatively you can Copy Paste to a word processor Go to start time Stop Play Fine adjustment of current time Go to end time Chapter 15 Facilities Available in Run Mode 472 Figure 15 34 Advanced options for Replay Time settings You can make reasonable changes to these using the input boxes and sliders The changes you make will change the way the animation behave
114. B 5 The AME make file The AME make file specifies how AMESim creates the executable for the systems you build This executable is the one you run in Simulation mode The executable is created using rules formed by reading and processing the AME make files that are found in the directories of the AMESim path list These files usually contain four lines An example of an AME make file is given from the Cooling System library CC I AME lib c CC L THISNODE lib MACHINETYPE lAC win32 THISNODE lib MACHINETYPE AC lib The first line tells AMESim how to compile the code generated for your system The second line tells AMESim what utility to use to create the executable after it has compiled the generated code This is normally a C compiler a Fortran compil er or a link loader The third and fourth lines tell AMESim of any extra libraries that must be linked when the executable is formed The third line is used by Unix systems whereas the fourth one is used by Windows systems AMESim will take the first two lines of the first AME make it finds on the path list and merge the third or fourth lines of all the AME make files it finds Initially the only AME make is in the AMESim system area specified by the AME environment variable It can be useful to copy this file into your working area using cp AME AME make copy AME AME make You can then edit it so that the executables are created in a different way Equ
115. Click on Update sketch AMESim 4 2 User Manual 477 15 6 4 Using saturation values The symbols are by default scaled to suit data in the results file You may be interested in showing some values which do not display well on this scale To remedy this set the Min and Max values Figure 15 38 Set the Min and Max values Any symbols corresponding to values outside this range will then be displayed in a distinctive way such as a different color or a patterned color instead of a solid color Figure 15 39 Patterned color and solid color Note What has been described so far sets global properties It is also possible to set these properties local to a single symbol To do this right click on a symbol Alternative select a collection of symbols or select using the rubberbanding method Normal components will have black squares in the corners and symbols will have green squares Right click on one of the symbols Any changes you make will be applied to all of the selected symbols If a symbol is of no interest select Delete Chapter 15 Facilities Available in Run Mode 478 15 6 5 Some ideas Experience suggests the following work well If there is a direction associated with the value such as linear or rotary speed hydraulic flow rate etc use the Arrows option with values displayed With the Arrows symbol you can only set a maximum saturation level If you set this very low e g 1 0e 6
116. File Save File Close However AMESim will not allow you to save an incomplete supercomponent Figure 11 52 The supercomponent must be complete Available customized Figure 11 53 Available customized dialog box Chapter 11 Facilities Available in all Modes 334 The process of creating and maintaining customized objects is primarily the domain of AMECustom However you can check if customized objects are available remove a customized object and start AMECustom from AMESim Initiate the process as follows 1 Edit Available customized If you highlight a particular customized object you can Remove it by clicking on Remove Start AMECustom to edit it by clicking on Load Available user submodels Figure 11 54 Available User Submodels dialog box You can create and maintain your own submodels using AMESet Within AMESim you can check if user submodels are available The Available user submodels dialog box allows you to display the list of user submodels to remove one or start AMESet from AMESim Initiate the process as follows 1 Edit Available user submodels If you highlight a user submodel you can Remove it by clicking on Remove Start AMESet to edit it by clicking on Load Copy to supercomponent To use this facility 1 You must select at least one object If the object is a component it must have a submodel You cannot copy to a su percomponent a single line run It
117. Preferred layout in text editor 614 Example of layout in the Table editor 614 Restrictions 614 Graphical representation 615 A 3 2D table format 615 Mathematical definition 615 Preferred layout in text editor 615 Example of layout in the Table editor 615 Restrictions 616 Graphical representation 617 A 4 3D table format 617 Mathematical definition 617 Preferred layout in text editor 617 Example of layout in the Table editor 618 Restrictions
118. Select this checkbox if you want AMESim to ask for confirmation before any object is deleted from the sketch Disable beep Select this checkbox to prevent AMESim from beeping on detecting an error Automatic lock sketch Select this checkbox to ensure the lock icon is in the locked position when Sketch mode is entered The Application Font button gives access to a Select Font dialog box Figure 11 65 Select font dialog box Chapter 11 Facilities Available in all Modes 344 If you make any changes they will be applied to AMESim On some machines when AMESim is installed the default font is unsuitable Use this facility to correct Figure 11 66 You can modify the default font if necessary Background this enables you to personalize the background normally grey when no system is displayed Number of files in Last Open Files list this is 4 by default Drawing Settings Selecting this tab gives a collection of options for changing the default characteristics of annotation objects Figure 11 67 Settings of annotation objects Changes you make will apply to future objects you add to the sketch Compilation Parameters AMESim 4 2 User Manual 345 Using Windows Figure 11 68 Two compilers are available GCC compiler for Windows AMESim needs a compiler to produce the executable file of your system The compiler allows you to go to the Parameter mode At this stage AMESim
119. Terminology 555 18 3 Main principles 556 18 4 The Export Parameters Setup dialog box 556 Table of contents xvi 18 5 Exporting inputs 557 18 5 1 Adding inputs to the export setup 557 Submodel parameters as inputs 557 Global parameters as inputs 558 User defined inputs 558 18 5 2 Removing inputs from the export setup 558 18 5 3 Input Parameter properties 558 Export Name 558 Type of parameters 559 Read only fields 561 18 5 4 Vectors as Input Parameters 561
120. The standard AMESim library provides 2 categories lick on the Mechanical category button A new window is created as in Figure 3 4 When you open an empty system the button is unlocked Then you can start building your sketch If you open an existing system unlock the button by clicking on it to be able to modify the system The Lock button is a safety device that can be used to prevent you from accidentally altering the system If you can t modify the system it may be because the system is locked Mechanical Signal Control and Observers AMESim 4 2 User Manual 53 Figure 3 4 Mechanical category If you have optional libraries such as the hydraulic or pneumatic libraries these will be included as other categories in the vertical toolbar You are now ready to start the first example 3 3 Example 1 Simulation of a mass spring system Objectives Go through the whole process of creating a model Add text to the sketch Use the replay facility Figure 3 5 shows the system you will simulate It is chosen as a very simple system that is immediately recognizable Title Component label Close button Zero velocity source 2 port mass Chapter 3 Getting Started 54 All the components you need are in the green Mechanical category Figure 3 5 Mass spring model 3 3 1 Building the mass spring model Step 1 Select rotate and mirror an icon 1 Click on the Mechanical cate
121. These will be presented in this section amegetcuspar The amegetcuspar retrieves the parameter info from the customized objects submodels or supercomponents amegetcuspar SYS SUBMODEL INSTANCE NAME gets the value of the parameter NAME in submodel SUBMODEL for the system SYS The NAME is either the parameter name or its title An INSTANCE value of 1 means all instances The function returns the number of parameters found submodel instance param title value and parameter name as in out_found_number out_submodel out_instance out_par_title out_value out_unit out_parname amegetcuspar sysname All return values are cell arrays num sub inst titles values units name amegetcus par circuit1 SUBSYSTEM 1 pipediam amegetcuspar circuit1 SUBSYSTEM 1 pipe diameter for all pipes amegetcuspar circuit1 SUBSYSTEM 1 pipe diame ter for all pipes amegetcuspar circuit1 1 pipediam amegetcuspar circuit1 amegetcuspar circuit1 pipediam_SUBSYSTEM_1 amegetgpar amegetgpar SYS NAME gets the value of the global parameter NAME in the system SYS The NAME is either the name or its title The function returns the number of parameters found submodel instance parameter title value and parameter name as in out_found_number out_par_title out_value out_parname amegetgpar sysname This command returns as cell arrays all the parameters tha
122. User Manual 275 polynomialIntegrator_ in tpl file named polynomialIntegrator_ in 4 Run the simulation using AMEPilot and load the polynomialIntegrator_ out file into an editor The results are integralValue 1 11000000000004e 003 P 3 21000000000000e 002 restrictedInteg 1 11000050000000e 003 5 Now change the startTime to 2 and the stopTime to 8 Note that 6 Run the simulation with AMEPilot The contents of polynomialIntegrator_ out is then conform to our expectation integralValue 1 11000000000004e 003 P 3 21000000000000e 002 restrictedInteg 5 70000299999993e 002 Note Simple output parameters are values obtained directly from the results file Compound outputs parameters are obtained by post processing a valid expression involving Simple output parameters Input parameters and other Compound output parameters 3t2 2t 1 td 2 8 570 Chapter 9 Getting Started with AMEPilot and the Export module 276 AMESim 4 2 User Manual 277 Chapter 10 Getting started with AMESim design exploration features 10 1 Introduction The design exploration module in AMESim provides you with a set of techniques which will allow you to explore your design space We assume you have a mature model but you still have freedom to experiment with some of the parameters 1 You want to determine which parameters influence some performance criterion 2 You want to experiment with a collection parameter
123. if displayed also re sponds to this format Figure 8 7 Two formats for activity indexes You can do various sorts of processes If you click on a tab at the top of any column the list will be sorted according to the selected column This means for example that you can sort the activities by physical type R C I but the most useful sort is by index so that we can see the energy active and energy passive items AMESim 4 2 User Manual 253 Figure 8 8 List sorted by type You can do special plots If you select one or several items in the list the Plot button becomes available If you click on it you will get a graphical representation of the selected activity indexes 7 Sort the list by clicking on the Index tab and plot the two most active items Note that these are the linear inertia of the car and the rotary inertia of the engine This seems very reasonable Note that their sum is over 90 Figure 8 9 Plot of the two most active items 8 Next select the three smallest activities and plot them Together they account for about 0 02 of activity Figure 8 10 Plot of the three smallest activities Looking at these values we can see that dissipation in both RL01 submodels is so small that we could use RL02 instead Chapter 8 Activity index 254 8 3 2 Example 2 the 3 piston pump case study The aim of this example is to describe how Activity Index Analysis was applied to a complex multi domain model o
124. in2 2 30228495004801e 002 1 18964124698163e 001 in1 in2 6 52131038554993e 004 1 60774631889675e 002 Chapter 19 AMESim Design exploration module 586 Statistics To display the statistic table you can The following dialog box appears Figure 19 4 Statistics table It gives for each inputs and outputs the mean value the standard deviation the skewness and the Kurtosis For a random variable X the formulae applied to get these results are Select the study item in the study list and click on the menu item Data Statistics or Right click on the study item in the study list and select Statistics in the menu 3 1 1 tan 1 1 4 4 1 3 3 1 2 1 N i i N i i N i i N i i X N Kurtosis X N Skewness N X deviation dard S X N value Mean AMESim 4 2 User Manual 587 Using the Save to file button you can save the contents of that window to an ASCII file In the case diplayed in Figure 19 4 the contents of the file is Figure 19 5 Contents of the file Plot You can create normal AMESim plots when a study is in progress This is very useful particularly with an automatic update applied to the plot because you can then watch the evolution of the study In addition you can create special plots specif
125. the environment variable has been set up properly If it prints something that does not contain this string we need to add the AMESim path to it In a C shell this is done by the following command setenv MATLABPATH MATLABPATH AME matlab amesim If you are using Korn shell ksh or Bourne shell sh try the following MATLABPATH MATLABPATH AME matlab amesim export MATLABPATH If echo MATLABPATH produced an empty string or an error message set the environment variable MATLABPATH as follows for C shell setenv MATLABPATH AME matlab amesim and for ksh or sh MATLABPATH AME matlab amesim export MATLABPATH The setting of the environment variables can be performed automatically on login if you add the commands used above to your cshrc for csh or to your profile ksh or sh Note The commands should be put in your start up file cshrc or profile after the AME environment variable is set AMESim 4 2 User Manual 223 7 2 2 Setting the MATLAB working area When starting MATLAB make sure you are in the directory where your AMESim models are stored A file browser is available in MATLAB to change to this directory If you have closed AMESim it is necessary to run the AMELoad utility from a terminal window if you are using Unix or from a DOS window if you are using Windows This utility unpacks the AMESim ame file it receives in argument provided it is
126. value Output template file The value stored in that file are meaningless for the user but is meaningful for some AMESim add on like the MS Excel interface 18 9 Direct interfaces Based on the export module AMESim provides direct interfaces to some commercial tools Using these interfaces these tools will be able to pilot simulation and get results from it In this section each subsection describes a direct interface to a given tool In all cases the first step consists in setting up the export as described earlier in this chapter 18 9 1 Interfaces with iSIGHT and Optimus Figure 18 11 Export format 1 Once your export setup is done in the Export Parameters Setup tick the Export parameter setup check box Then Export format pulldown list is made available 2 Click on it and select the name of the tool you want to use 3 Save the export setup As an input template file is created when saving the export setup a template of the output file is also created This file has the same name as the output file excepted that the extension of that file is out tpl It may be useful when you are using an external tool like Optimization tools which needs such a template AMESim 4 2 User Manual 571 iSIGHT When you have saved the export setup AMESim creates a file directly readable by iSIGHT using the MDOL format see iSIGHT manual for more details If your model is named myModel then the name of the created file
127. wanting fine details to be represented in the sketch at the expense of the simulation time built this model This model contains Moving parts pistons inlet valves and outlet valves with their inertias friction phenomena were taken into account Elastic end stops of the valves Elastic contact between piston and camshaft Hydraulic volumes Pressure drops due to restrictions Leakage flows in pistons This model contained 35 state variables pressure in volumes velocity and displacement of inertias and relative displacement in the piston camshaft contacts AMESim 4 2 User Manual 255 Figure 8 11 A complex model of pump Chapter 8 Activity index 256 These state variables had to be correctly initialised and a simulation for 10 revolutions of pump were carried out in order to reach an equilibrium state At 1000 rpm the range needed for the simulation was 0 0 6 sec the tolerance was 10 7 and the computation time was 2 h 26 min with a PC working at 800 MHz State variables were initialized with the final values obtained at the end of this simulation Eigenvalue analysis performed at intervals of 0 01 seconds revealed a large range of frequencies You can see below the highest and lowest non zero frequencies at a time of 0 01 seconds Figure 8 12 Highest and lowest frequencies at 0 01 seconds Relating this to the concept of a proper model clearly the highest frequencies are outsid
128. 15 43 Status of variables 2 Click on the item in the Status column to produce the pulldown menu 3 Select the required status 4 Click on OK to accept any changes you make or Cancel to abandon them Note with this version of the Variable List dialog box you can also Change a variable title Plot graphs Note also that the status of vectors of state constraint and fixed variables can be displayed two ways according to the state of the Expand vectors item of the Options menu AMESim 4 2 User Manual 483 Figure 15 44 Expand vector in the Options menu If it is checked then each component of the vector can be set individually Figure 15 45 Components of the vectors can be set individually If it is not checked then all the components of the vector are assigned the same status at once In this case when all the components have the same status for a given vector then the common status is displayed otherwise the Status field is set to Figure 15 46 Different status for elements of same vector displayed as 15 8 4 Eigenvalue Analysis In LA mode click on the Eigenvalues Modal shapes button to produce the Linear Analysis eigenvalues dialog box Chapter 15 Facilities Available in Run Mode 484 Figure 15 47 Eigenvalues dialog box If there is a choice of jac files for the active system you select the one you want using the Jacobian file pulldown menu If the simulation is still r
129. 18 5 5 Formatted string Input Parameters 562 18 6 Exporting simple outputs 563 18 6 1 Adding simple outputs to the export setup 563 18 6 2 Removing simple outputs from the export setup 564 18 6 3 Simple output properties 564 Export name 564 Read only fields 564 18 7 Compound Output Parameters 564 18 7 1 Adding compound outputs to the export setup 565 18 7 2 Removing simple outputs from the export setup 565 18 7 3 Compound output properties 565 Export name 566 Expression 566 18 7 4 Expression evaluation rules 566 18 8 Piloting simulations from outside
130. 3D plot Hide lines within waterfall and mesh plots you can show or hide lines which are not obscured by the suface Show mesh you can show or hide the mesh corresponding to the points used to draw the surface x cos Chapter 17 3D plots and order analysis facilities 544 Figure 17 10 Build the following system Step 1 Set parameters Figure 17 11 Plot of X Y and Z against time The parameters are obvious from the equations shown in Figure 17 10 but obviously you must use x instead of theta Leave the ramp at the default settings Step 2 Run the simulation and plot X Y and Z against time 1 Set the final time to 50 and perform the run Plot X Y and Z against time respecting this order Step 3 Convert to a XYZ plot 1 Use Tools XYZ plot Note the cursor change 2 Click on the plot area to produce your spiral y sin z 0 01 AMESim 4 2 User Manual 545 Figure 17 12 XYZ plot Step 4 View the XYZ plot from different angles 1 Click on the 3D rotation button in the plot toolbar Note the cursor changes to 2 Put the cursor on the XYZ plot hold the left button and move the cursor The surface will redraw when you release the left button 17 3 Order analysis facility Order analysis is a post processing tool used extensively in automotive industry Order analysis allows engineers to analyze and diagnose vibrations and noise in variable speed systems
131. 4 2 User Manual 565 Figure 18 9 Empty list of Compound Output Parameters 18 7 1 Adding compound outputs to the export setup Compound Output Parameters are computed by AMEPilot using an expression that you supply The expression can be any valid combination of Simple Output Parameters Input Parameters other Compound Output Parameter simple mathematical functions special export functions Simple mathematical functions are things like sin exp abs etc These are described in Expression Editor page 366 Some special export functions globMin globMax and restrict have been introduced in the example in Chapter 10 Getting started with AMESim design exploration features The full list of special export functions and a description of each is given in Appendix C Description of EXPORT functions In order to add a new Compound Output Parameter go through the following steps 1 If necessary select Parameter Export Setup to create the Export Parameter Setup dialog box 2 Ensure the Compound Output Parameters is the active tab 3 Click on the Add button A new line appears in the input list 18 7 2 Removing simple outputs from the export setup To remove a parameter from the Compound Output Parameter list select it in the list and click on the Remove button or press the Delete key 18 7 3 Compound output properties Once the Compound Output Parameters have been added their properties have to
132. 491 C Cascade all graphs 31 349 Categories 52 Category 383 399 Removing 200 Central composite 579 595 Changing mode 300 Index 640 Check submodels 31 Characteristics of a submodel have changed 361 Customized 365 Inconsistency problems 361 Specification of a submodel is not found 363 Clear variable
133. 5 The whole family of AMESim products Figure 1 5 AMESim Libraries Figure 1 6Interfaces with AMESim AMESim 4 2 User Manual 9 1 6 New AMESim 4 2 features There have been many improvements implemented in AMESim 4 2 Here are some of the most important ones Unless otherwise stated the features are included in standard AMESim Export facility Design Exploration Compiler flags Stabilizing runs Display of vectors Interfaces Submodel call modifications Model simplification and Real time Compare Systems Pack and Unpack Enumeration Watch Parameters and Variables Online help 1 6 1 Export facility This facility enables you to pilot AMESim simulation executables from outside AMESim You set up the export by defining inputs and outputs of the model and postprocessing operations you want applied to these outputs A specific dialog box is provided for this Figure 1 7 Setting up an Export of an AMESim model From outside AMESim you can use a new utility called AMEPilot to drive the simulations Chapter 1 Introduction 10 The Export facility can be used by advanced users to set up their own interfaces between AMESim and other software All users have access to a new standard AMESim facility that uses Export and AMEPilot to provide a Design Exploration environment 1 6 2 Design Exploration Design Exploration is actually three facilities Design Of Experiments Determine which parameters influence some performance
134. 524 H Help menu 33 379 402 Hide all replay sysmbols 32 Hide component labels 46 Hold inputs constant 105 463 HTML report 26 319 Create a template 321 Create an HTML report 320 Hydraulic Component Design library 39 Hydraulic library 39 Hydraulic Resistance library 39 I Icon Add category 350 Adding ports
135. A sequence of x values is strictly monotonic if it satisfies one of the following conditions or If N 1 the sequence is taken to be strictly monotonic The five special formats will now be described x1 x2 xN x1 x2 xN lt lt lt x1 x2 gt gt xN gt Appendix A Formats supported by the AMESim Table Editor 614 A 2 1D table format This is the format read by the AMESim utility function rtable1d Tables read using this utility are normally processed using linear splines or cubic splines functions Mathematical definition Preferred layout in text editor There should be two real numbers per line separated by a white space This gives two columns the first column being the x values and the second column the y values Example of layout in the Table editor Figure A 1 Layout for a 1D table Restrictions If the table is processed using linear splines the number of data pairs must be greater than or equal to 1 If there is only one data point y is assumed to be constant for all x If the table is processed using cubic splines the number of data pairs must be greater or equal to 2 If the values are to be processed by any sort of linear or cubic splines x values must be strictly monotonic xi yi i 1 1 N AMESim 4 2 User Manual 615 Graphical representation The data is represented as a 2D plot Figure A 2 2D plot A 3
136. AMESim Design exploration module 590 Figure 19 7 Best result For NLPQL optimization studies not all the runs are stored in that file In this case one line corresponds to one iteration The definition of iterations is given in NLPQL page 580 Execution Start You can start a study execution using the Start button It starts the active study which is the one in bold font You can only start one study execution at a time so that the Start button is disabled when a study is being processed Stop To stop a study execution use the Stop button It will stop immediately all the processes attached to the study execution It is enabled only when a simulation is running Close Use the Close button when you have finished to use the design exploration module You are not allowed to close the Design exploration dialog box while a study is executed If you try to do so you are asked if you want to end the execution If you answer Yes it is as if you clicked on the Stop button Then nothing is done AMESim 4 2 User Manual 591 19 6 The Design Exploration Definition dialog box 19 6 1 Description You will use the Design Exploration Definition dialog box to create or to edit a new study see Creating a study page 583 and Editing an existing study page 583 Figure 19 8 shows the dialog box It is dynamically adapted to the study type selected in the drop down list on the top left corner This drop down
137. Chapter 4 Advanced Examples 118 Figure 4 25 Display of two systems The next stage in our example is to select the complete quarter car system copy and paste it to the other system Make sure both systems are in Sketch mode 4 3 2 Selecting components line runs and text If AMESim objects are selected They can be deleted copied or pasted into the same or another AMESim system They can be made into a supercomponent The shadow subsystem can be used in Submodel mode The Common parameters facility can be used in Parameter mode They can be pasted into documents in many word processing software Note Only one of the windows is active To make a particular window system active click in it Different systems can be in different AMESim modes One system can be in Sketch mode and the other in Parameter mode AMESim 4 2 User Manual 119 To select several objects The shift key allows you to select several objects which are not connected together 1 Hold down the Shift key and click on a component line or text object It becomes selected and it is circled with black dotted lines 2 You can select other objects in the same way but if the object is already select ed it becomes unselected Figure 4 26 Select several objects In Figure 4 26 one component one line run and one text object are selected To select a larger group of objects 1 Put the mouse poin
138. Click on velocity at port 1 6 Drag and drop in the window containing the first plot AMEPlot 1 The graph is updated as follows Figure 3 21 Graph updated with the two curves Note the menus of the graph window File Edit View Tools Windows Help Most of these menu items are self explanatory The less obvious ones will be introduced in later examples Note The Graphs pulldown menu in the AMESim menu bar applyies to all graphs AMESim 4 2 User Manual 67 Figure 3 22 Graphs menu 7 Go back to the graph window 8 Select the Tools pulldown menu Figure 3 23 Tools menu 9 Select Add Titles This places the variable titles on the plot Step 2 Change the characteristics of text 1 Click on one of the titles with the mouse right button 2 Use the menu to change the font type the size and the color You can also pick up the title with the left button and reposition it Step 3 Change the title text 1 Click on the title 2 Click a second time on the selected text 3 Type the new text in the field Step 4 Print the plot Chapter 3 Getting Started 68 1 Select File Print Figure 3 24 File menu Using Windows The following dialog box or a similar one is displayed Figure 3 25 Print dialog box Click on OK AMESim 4 2 User Manual 69 Your printer should produce hard copy of the display If this does not happen contact your local system administrator There m
139. Curve menu of plot 528 Customized submodel Changing parameters 419 Customized supercomponent Changing parameters 411 Cut 390 Cut of selected system 120 D DASSL 465 data2ame m 235 Debug compilation 28 Deiconify all graphs 31 349 Delay for slow network 346 Delete
140. Figure 13 6 Exploring a supercomponent If you then click on one of the supercomponent constituents another Submodel List dialog box appears Chapter 13 Facilities available in Submodel mode 406 Figure 13 7 Submodel list This new Submodel List contains only one item which is the submodel assigned to the component in the supercomponent You are not allowed to remove or replace the submodel associated with the constituent of a supercomponent from this dialog box If you want to do so you must edit the supercomponent constituents as explained in Chapter 6 section 6 4 Managing Supercomponents Modifying a supercomponent 13 6 Removing a supercomponent from a com ponent If a supercomponent is assigned to a component you can click on it to get a dialog box similar to the one shown in Figure 13 5 To remove the supercomponent click on the Remove button However you can simply select another submodel or supercomponent in the list when this is possible 13 7 Shadow subsystem Definition The Shadow subsystem facility allows you to make a copy of the currently marked system including the submodel parameters At the same time all submodels are removed from the marked components in the sketch The sketch can be modified in some way and then the submodel parameters are automatically copied back AMESim 4 2 User Manual 407 This is very useful in two situations You are using the Hydraulic Component De
141. Icons Menu 31 Tools Menu 31 Windows Menu 33 Help Menu 33 2 1 3 The Toolbars 33 The File Operations Toolbar 34 The Mode Operations Toolbar 34 The Annotation Tools Toolbar 35 The Edit Operations Toolbar 36 The Temporal Analysis Toolbar 37 The Post Processing Tools Toolbar 37 The Linear Analysis Toolbar 38 2 1 4 The mouse right button menu 38 2 1 5 The libraries 39 The standard library
142. If you remove a component icon the icon is destroyed and you can not use it for an other component If you want to keep the icon you can copy the files xbm and ico in a new folder AMESim 4 2 User Manual 355 The general form of the Icon designer dialog box is shown in Figure 11 79 Figure 11 79 Icon designer The idea is to draw on the left hand part the icon you want To do this you have some tools Clear drawing area useful if you make a mess and want to start again Load icon from file Save icon to specified file normal so that it can be read back later using Load icon from file Save icon to AMESim file this is the natural choice when you are creating a supercomponent A new category icon would be saved to a xbm file and a new component icon to a ico file Undo the last operation Add remove a grid on a icon Zoom the left hand drawing area Adjust the size of the icon Drawing area Chapter 11 Facilities Available in all Modes 356 Freehand drawing Drawing lines Drawing rectangles and ellipses or when used with the shift key squares and circles Adding text Erasing Moving your drawing up down left right Checking the cursor position Adding ports to the icon An icon port is where the component will connect to other components or to a line run A port must be located On a black squa
143. License viewer 378 11 4 9 Windows menu 379 11 4 10 Help menu 379 Online 379 AMESim demo help 380 Get AMESim demo 380 About 381 Chapter 12 Facilities Available In Sketch Mode 383 12 1 Introduction 383 12 2 Adding objects to the sketch 383 12 2 1 AMESim overlap rule 383 Table of contents x 12 2 2 Adding components to the sketch 383 Cursor method 384 Drag and drop method
144. Manual 651 Submodel change 147 448 Save no variables 31 Save plot configuration 30 469 Save status 446 Save system parameter set 29 Saved column 148 Search facility Variables window 501 Select a submodel for each component 42 Select all 27 119 326 Selecting objects Rubber banding method 299 Shift Right click method 299 Selective save
145. Online help 20 Chapter 2 The AMESim Workspace 23 2 1 The AMESim User Interface 23 2 1 1 The Main Window 23 Starting AMESim 23 Closing the Main Window 24 Table of contents ii 2 1 2 The Menu Bar 24 File Menu 25 Edit Menu 27 Options Menu 28 View Menu 29 Parameters Menu 29 Interface Menu 29 Graphs Menu 30
146. Plot Figure 16 11 A typical XY plot XYZ Plot This menu item is used to eliminate the current X axis variable and replace it by the first Y axis variable The second Y axis variable becomes a new Y axis and the remaining Y axis items become Z axis items This implies there must be at least three Y axis variables The cursor changes its appearance and you select the plot that you wish to operate on If there were originally N Y axis items the result will be N 2 twisted wire curves in 3D space This menu item is used to eliminate the current X axis variable and replace it by the last Y axis variable This implies there must be at least two Y axis variables The cursor changes its appearance and you select the plot that you wish to operate on Chapter 16 The Plotting facilities 518 Figure 16 12 A typical XYZ plot 16 5 5 The Windows pulldown menu 16 5 6 The Help pulldown menu The items apply to all graphs The function of each item is obvious from its name This menu contains only an About menu item which provides the AMESim current version Its associated shortcut is F1 AMESim 4 2 User Manual 519 16 6 The AMEPlot main window This is the place where the curves are plotted By using the mouse right button you can get different menus depending on the position of the mouse pointer If you right click on or close to an axis you will get the axis menu If you right click in a plot area you will get t
147. Table Editor A particular format can be selected from a pulldown menu Figure 11 9 Table formats The display is divided into three areas as shown below Figure 11 10 Table Editor The graphical display and graphical options areas can be suppressed or redisplayed using View Plot graph in the menu bar but note that for 3D tables no graphical representation is available The default form of graphical display area varies according to the table option displayed It has its own toolbar to make it very similar to an AMESim plot The graphical options area is useful for investigating different interpolation types and data out of range options As many Table editors as you like can be displayed simultaneously Close a Table editor using File Quit in the menu bar Data entry Graphical display Graphical options AMESim 4 2 User Manual 305 11 3 Facilities available through sketch area menus In the sketch area a right button click produces a menu The nature of this menu depends upon where the pointer was and what objects if any where selected when the mouse button was clicked Here an object can be a component line run text or any other sort of object We list the possible items that are on the menu in all modes Copy At least one object should be selected The selected objects are copied to the auxiliary system or to the clipboard You can see the auxiliary system by doing Edit Display auxiliary You might do this to
148. To cut do one of the following Right click on one of the component objects to produce the component menu and select Cut Chapter 12 Facilities Available In Sketch Mode 392 Figure 12 10 Right click menu Select Cut in the Edit pulldown menu Figure 12 11 Edit menu Press Ctrl X Select the Cut button in the toolbar to cut the objects If a component was one of the selected objects and a connected line run was not then the line remains and is known as a loose line Normally you delete or reconnect loose lines 12 3 2 Deleting loose lines To delete one or more loose lines you can either 1 Select the loose lines and delete them like any other AMESim object or 2 Select Delete loose lines in the Edit pulldown menu 12 3 3 Reconnecting loose lines To reconnect a loose line you can either 2 Near the end of the loose line left click with the control key pressed AMESim then behaves as if the line run was in process of being drawn If pos sible any submodel for the line run and its parameters will be retained 1 Offer up a compatible component note the green squares and allow it to snap to the line run AMESim 4 2 User Manual 393 12 4 AMESim auxiliary system Copying objects into the AMESim auxiliary system Cut operations for removing objects place the objects in a special AMESim auxiliary system Selected objects can also be placed in this auxiliary system without rem
149. Tools Update curves in the pulldown menu of AMEPlot or Click on the Update curves button Figure 3 56 Update the curves Plot other graphs and note how the system achieves an equilibrium state 5 Close the system now by selecting File Close 3 5 Example 3 A system using an implicit variable Objectives Using the properties of the signal ports Constructing a model using an implicit variable Figure 3 57 Model containing an implicit variable 1 Create the system shown in Figure 3 57 2 Use Premier Submodel 3 In Parameter mode save the model as SignalPort and change the frequency of the left sine wave source to 0 5 Hz 4 Leave the other parameters at their default values Chapter 3 Getting Started 92 If you are very observant you will notice the spring submodel is now SPR000 whereas it was SPR000A in all the previous examples Before going further in this exercise we will see why SPR000 has to be used instead of SPR000A we will make a few observations about signal ports 3 5 1 Multiple submodels for a single icon In you saw how to examine the external variables of a submodel Using this technique you see the external variable of MAS002 in Figure 3 48 The external variables for XVLC01 and SPR000 in the Quarter car example are shown below Figure 3 58 External variables for XVLC01 and SPR000 The important point is that MAS002 and XVLC01 provide both a velocity in m
150. We have removed the first transient phase by starting in an equilibrium position but we have kept the second phase This is a safe and reliable way of getting an equilibrium position However for a big system the extra run necessary could be very long An alternative way of getting an equilibrium position using a stabilizing run is described in the next chapter 3 4 9 Zoom a plot Using the zoom plot facility you can get more accurate values as in Figure 3 54 1 Click on the Zoom icon of the Plot manager or select View Zoom 2 Click on the plot to define the first corner of the zooming zone Chapter 3 Getting Started 90 3 Keep the mouse left button held move the pointer to the opposite corner of the zooming zone and release the button the zoom is done automatically Figure 3 54 Zoom of a curve To display the original curve 1 Click on the AutoScale icon or select the menu View AutoScale 2 Then click on the plot 3 4 10 Continuation run 1 Click on the Run Parameters button and extend the final time to 10 seconds Figure 3 55 General options tab 2 Tick the Continuation run box The run will start from where it left off 5 seconds and continue until 10 sec onds This is useful for very long simulations you want to continue without starting again from the beginning 3 Click on OK AMESim 4 2 User Manual 91 4 Click on Start run button To update the curves do either Select
151. adjoining component submodels This means that the submodels which are not compatible are not included in the list 2 Tick or untick the check box labeled Copy common parameters when submodel changes according to your needs It must normally be ticked so that the value of the parameters that are common to the submodel currently assigned and to the new submodel the active one when the OK button is clicked are kept If you do not want these parameters to keep their current value you just have to untick this check box In this case the parameters of the new submodel will be assigned their default value 3 Click on OK The highlighted submodel is now associated with the component Description of the Submodel List dialog box External Variables The External variables button produces a dialog box showing the external variables of the highlighted submodel External variables are quantities produced by a submodel that are exchanged with other submodels associated with connected components or lines Chapter 13 Facilities available in Submodel mode 402 External variables produced by a submodel are called outputs External variables required by a submodel are called inputs The main function of a submodel is to calculate its outputs from its inputs Figure 13 2 The External Variables dialog box Figure 13 2 shows a typical example The information about outputs and inputs is useful in discoverin
152. an implicit variable is required You have seen implicit variables in Example 3 of this chapter These were deliberate implicit variables declared in the submodels In the case of implicit variables introduced by algebraic loops they are accidental We would rather they were not there but we have no alternative As a final statement on algebraic loops Algebraic loops are best avoided but it is not possible to avoid them totally Please note If a solution cannot be obtained is it a failure of the integrator or is there genuinely no solution to the equations It is usually very difficult to answer this question If a solution is obtained is it unique If there is more than one solution have we obtained the right one Often a solution can be obtained without any numerical problems You must rely on physical analysis to see if the solution is reasonable This is of course always true for simulation AMESim 4 2 User Manual 99 Chapter 3 Getting Started 100 AMESim 4 2 User Manual 99 Chapter 4 Advanced Examples In this you will Construct more complex examples Do stabilizing runs See aliasing with data sampling Use a dynamic block Use rotary mechanical components 4 1 Example 1 Quarter car continued Objectives Display the state variables of a system Find starting values using Stabilizing run Use of Save data and Load data for comparing gr
153. called from the directory where this file is stored In our case this is MSD ame which we want to use with MATLAB For using any command mentioned in this section it is necessary that an AMESim model for which a simulation has been run is available and unpacked 7 2 3 Importing AMESim results into MATLAB When your AMESim model MSD ame is unpacked and you have MATLAB running try to reproduce the following run session gt gt help ameloadt AMELOADT Load AMESim RESULTS format temporal files Using Windows First you must check that the MATLAB path list contains a directory such as AME matlab amesim where AME is the directory where AMESim is installed To do so 1 Start MATLAB and select the menu File Set Path This produces a dialog box from which you can click on the Add Folder button A directory browser appears 2 Move to your AME matlab amesim directory 3 Click on the buttons OK 4 Save and Close This will add this directory to the MATLAB path list 5 Start MATLAB application if it is not done and type help amesim to get a table of contents of the available commands It also enables you to run the commands described in this manual Chapter 7 The AMESim MATLAB Interface 224 R S AMELOADT NAME extracts temporal results and variables name for the system NAME and sort it in alphabetic order The data in RESULTS file is placed in matrix R This matrix is of si
154. criterion Optimization You want to experiment with a collection of parameters in order to optimize some criterion Robustness analysis using Monte Carlo methods You want to find out how variations in a parameter due to production tolerances different operating conditions or wear effect performance AMESim 4 2 User Manual 11 Figure 1 8 Optimizing an Active Suspension using a Genetic Algorithm Chapter 1 Introduction 12 Figure 1 9Varying a tire stiffness in a Monte Carlo study 1 6 3 Compiler flags The AMESim development team has experimented with compiler flag options for the simulation executable This results in faster simulation runs particularly on Unix platforms 1 6 4 Stabilizing runs There have been improvements to the stabilizing run algorithm and this improvement is particularly noticable with lubrication systems 1 6 5 Display of vectors A popular request of displaying vectors in compact or expanded form is implemented AMESim 4 2 User Manual 13 Figure 1 10 Compact and expanded form of vectors Chapter 1 Introduction 14 1 6 6 Interfaces iSIGHT and Optimus Interfaces with the design exploration software iSIGHT and Optimus are provided as an option These use the Export setup and AMEPilot facilities Figure 1 11 Export to external tools MSC ADAMS Another optional interface is provided with the multibody software MSC ADAMS This all
155. direc tory and you can Ask to open models after unpacking Information In this area you have the list of files contained in the pck and you can have also useful information to help you unpack this package like compi lation of submodels or libraries 9 Click on the browser button to select the directory you created A message informs you that the package has been successfully unpacked Figure 11 101 Information message 10 Click on OK AMESim 4 2 User Manual 377 11 Click on Finish button to end the operation 12 Load the models transferred and check they run OK For a heterogeneous trans fer AMEUnpack will create the submodel object files by compiling the source code AMEUnpack will also attempt to create any utility libraries lib or a files by compiling the source and building the libraries This is normally successful if the library is arranged in a standard way For a homogeneous transfer normally the object files and any lib or a files will have been included Table editor The table editor can be started using Tools Table editor or by clicking on the toolbar button Please refer to Table editor page 304 for details Start AMECustom AMESet AMEAnimation Matlab You can start AMECustom AMESet and Matlab from AMESim if you have the corresponding license License viewer This utility indicates who is using AMESim licences Figure 11 102 License viewer who is using w
156. displacement x when the time t is zero In this model each mass has two state variables Recall that the complete model has 4 state variables see Figure 3 13 1 Click on each component in turn and look at its parameters 2 Return to the 1 port mass MAS001 In order to get more interesting results we will reset the velocity initial value to 1 m s Note there are two editable columns in the dialog box The one on the left is for changing the titles and the one on the right is for changing the values Note The zero velocity source has no parameters to change Hence an empty dialog box is produced dt dx dt dv AMESim 4 2 User Manual 63 3 Make sure the value of velocity at port 1 is highlighted i e it is predominantly black 4 Enter 1 5 Press the Enter key You could enter new values for other parameters but if necessary 6 Click on the OK button The result is shown in Figure 3 16 Figure 3 16 Change the velocity value 3 3 4 Running a simulation Step 1 Enter Run mode 1 Click on the Run mode button The display changes as follows Note You can load a minimum default or maximum value by pressing the appropriate button The minimum and maximum values are for guidance only and you can set values outside this range Chapter 3 Getting Started 64 Figure 3 17 Run mode Step 2 Examine Set Run parameters 1 Click on the Run Parameters button
157. displays the parameters of the selected component 3 Drag and drop a parameter to the Parameters window as in Figure 14 31 Add a tab Right click on the Parameters window and select Add tab in the menu Remove a tab Right click on the Parameters window and select Remove tab in the menu Action Process AMESim 4 2 User Manual 433 Figure 14 31 Drag and drop of the parameters 4 If you want to remove a parameter from the Parameters window right click on the parameter and select Delete in the right button menu see Figure 14 29 Step 2 Add a new set of parameters If you want to organize your parameters in different sets you can add a new tab in the Parameters window 1 Right click on the Parameters window and select Add tab in the right button menu see Figure 14 29 A new tab is created 2 Add the parameters you want to put in the new set of parameters You can create up to 15 tabs Chapter 14 Facilities available in Parameter mode 434 Figure 14 32 Several sets of parameters Facilities available in the Parameters window The Check submodels tab The Check submodels facility creates automatically a Parameters to check tab when it fails to update a parameter or when there is a doubt about the value of a parameter In this case when you close the Check submodels dialog box the following message appears Figure 14 33 Warning message AMESim informs you that a tab has been added to the Paramete
158. exercise After completion of these exercises you should be able to perform simple simulation studies using standard AMESim components and submodels We recommend that you also do the exercises in immediately or soon after you complete 3 1 Starting AMESim The display shown in Figure 3 1 appears This is the main display of AMESim Using Unix Talk to your system administrator who will show you how to set up your working environment so that you get access to AMESim To start AMESim in a suitable window change to the directory where you wish to work and type AMESim Using Windows Do one of the following Select AMESim from the menu Program Imagine AMESim AMESim produced by the Start button or Double click on the AMESim icon on your desktop or Type AMESim in a MS DOS Command window You can configure Windows so that AMESim starts automatically by dou ble clicking on a system file ame file from the Windows Explorer To do so please refer to the set up procedure in the installation note Chapter 3 Getting Started 50 Figure 3 1 AMESim main interface The display is empty since no model is opened or being created To construct a system it is necessary to create a new empty model Then you can build a sketch and store the system on your computer Figure 3 2 Create a new empty model Lock button Categories Open an empty system button AMESim 4 2 User Manual 51 3 2 Cr
159. explained in Full factorial page 579 The input list displayed for the Full factorial study techniques is shown in Figure 19 14 Figure 19 14 List of inputs There are two more columns compared with the standard ones The first one is the low level The second one is the high level The way to change these values depends on the type of parameter attached to it Display of the code Display of the value AMESim 4 2 User Manual 595 If it is a discrete one 1 Click twice on the corresponding cell 2 An arrow appears 3 Click on the arrow 4 A dropdown list gives you the main possible values 5 Select the value you want to set otherwise you edit it in the normal way An example of a design matrix corresponding to a Full factorial is given in Figure 19 15 On that figure you can see the two possible displays Figure 19 15 Design matrix for a full factorial For the design matrix of a full factorial DOE 1 means the low level whereas 1 means high level Central Composite For Central composite DOE there are three more columns than for Full factorial DOE They display the high star level low star level and central level see Central composite page 579 for more details Figure 19 16 Central composite You edit these values in the same as for the Full factorial DOE In the design matrix the correspondence between levels and codes are the following 2 mean
160. extremely useful as an aid to understanding Chapter 3 Getting Started 72 3 3 7 Save and quit AMESim Step 1 Save and close the system 1 Select File Save to save your system 2 Select File Close to close your file If you select Close before saving the system AMESim displays a Save system dialog box Click on Yes To save the system at any stage you can either Select Save or Type Ctrl S Step 2 Reopen your system 1 Select File Open A browser is displayed 2 Double click on the name of your system When the system is opened 3 Remove the two springs and replace them by two spring dampers 4 Right click on the text 5 Select Edit in the pulldown menu 6 Change the title to Mass Spring Damper System Figure 3 31 Mass Spring Damper system Step 3 Leave AMESim 1 Select File Quit in the pulldown menu If you want to start the next exercise click on the button 3 4 Example 2 A simple mechanical system Objectives Constructing a more complex system using a line connection Moving a component connected to a line without disconnecting the line AMESim 4 2 User Manual 73 Putting labels on the sketch Aliasing parameters variables and submodels Using the External Variables facility Using the Plot manager Zoom Using a Continuation run Figure 3 32 Quarter car system In this exercise you will construct
161. facility is useful for advanced users who wish to obtain a partial equilibrium for their system The Locked status of state variables can be changed Globally for the currently selected sub system For all state variables in a submodel For individual state variables It is also possible to get a view of all the state variables of the current model sorted by their Locked Unlocked status Global change of Locked status 1 Select the part of the system of interest or select the whole system using Ctrl A or Edit Select all 2 Create the right button menu or use the Tools menu In either case select Unlock all states or Lock all states Chapter 15 Facilities Available in Run Mode 450 Figure 15 6 Tools menu Submodel change of Locked status 1 Make sure you are in Time domain mode 2 Right click on a component or line run to produce the pulldown menu Figure 15 7 Right click menu 3 Select Lock states to produce the Locked states status dialog box Figure 15 8 4 Click on Unlock All or Lock All as appropriate Note The default is that all states are unlocked This means all states are free to evolve during the stabilizing run If all states are locked then the stabilizing run does nothing All state variables will have their values set in Parameter mode AMESim 4 2 User Manual 451 Figure 15 8 Lock states status dialog box Change of Locke
162. final status of the call to AMEVbaGetFinalRes If subErr 0 AMEVbaGetFinalRes has succeeded If subErr 1 AMEVbaGetFinalRes has failed TheAMEVbaGetRes subroutine Definition It reads titles and results in the AMESim system and stores them into result tables Chapter 18 AMESim export module 576 Syntax Call AMEVbaGetRes system outTitles outValues subErr Or AMEVbaGetRes system outTitles outValues subErr Arguments system String expression whose value is the complete path and name of an AMESim system without extension If the system argument is a wrong system name or path an error message is displayed outTitles Array of type String It stores result titles imported from the AMESim system specified by the system argument It has to be declared in the main VBA code before calling AMEVbaGetRes outValues Array of type Double It stores result values imported from the AMESim system specified by the system argument It has to be declared in the main VBA code before calling AMEVbaGetRes subErr optional 0 by default Integer It stores a flag corresponding to the final status of the call to AMEVbaGetRes If subErr 0 AMEVbaGetRes has succeeded If subErr 1 AMEVbaGetRes has failed AMESim 4 2 User Manual 577 Chapter 18 AMESim export module 578 AMESim 4 2 User Manual 577 Chapter 19 AMESim Design exploration module 19 1 Introduction The design e
163. in a model and must have the same value To learn more about global parameters see 14 3 3 Global parameters To describe this process we use an example stored in the demo area Step 1 Get the system from the AMESim demos 1 Help Get AMESim demo to produce the Choose Demo dialog box 2 Open the ManualTutorials folder and select FlatTwin ame 3 Click on Copy and open The system is shown below Chapter 6 The Supercomponent Facility 214 Figure 6 50 Flat twin system It is a simple representation of a twin cylinder engine 4 Go to Parameter mode and look at the six global parameters Figure 6 51 Global parameters Each one of these is used in one or more submodels 5 Click on one of the crank icons to see how these are used in a component Figure 6 52 Crank parameters AMESim 4 2 User Manual 215 Step 2 Create a supercomponent containing components using global parameters 1 Select all objects in the sketch using Ctrl A 2 Holding the Shift down click on the rotary mass You should now have all components selected except the rotary mass Figure 6 53 Selection of the components 3 Start making supercomponent using Edit Copy to supercomponent to get the Auxiliary System dialog box Figure 6 54 Auxiliary system dialog box 4 Specify the supercomponent name as TWINCYLINDER and the brief descrip tion as twin cylinder engine Step 3 Specify an icon for the supercomponent 1 It is
164. is myModel_ desc To use this file just load it into iSIGHT and use iSIGHT as normal In iSIGHT you recover all the inputs with default values bounds and outputs Be aware that every time you do this manipulation the myModel_ desc is overwritten In this case you may loose your changes Thus it is strongly advised you save your description file in iSIGHT before changing anything Optimus When you have saved the export setup AMESim calls an executable provided with Optimus ensure that this executable is reachable from your working environment An OPTIMUS document is generated that knows how to pilot the AMESim model and can read the results This document can be loaded into Optimus For more details about that process please refer to the Optimus user manual 18 9 2 AMESim Visual Basic Applications interface This paragraph is only intended for Windows users who know how to include some subroutines in Visual Basic code and having some skills in Visual Basic for Applications coding To have a good idea of what the interface can do please refer to the Excel example that is available from the following AMESim menu Help Get AMESim demo Interfaces AMESimVba Open the ExcelInterface ame system and follow the instructions The Visual Basic for Applications VBA is a macro language that can be used to customize and extend MS Office applications The AMESim VBA interface is a set of VBA subroutines gathered in a VBA module This
165. load an existing system a browser appears so that you can indicate the path of the system to open Figure 2 24 Browser 1 Select the system you want to open and click on Open or 2 Double click on the system you want to open Closing AMESim When you close the main window you automatically exit from AMESim To close the main window do one of the following Click on the close button Press Ctrl Q Select File Quit in the Menu bar We will now describe the components of the main interface of AMESim Refer again to Figure 2 23 2 1 2 The Menu Bar The Menu bar gives you access to the main features of AMESim Open an empty system Load an existing system Chapter 2 The AMESim Workspace 26 Figure 2 25 Menu bar 2 1 3 The Toolbars The toolbars display buttons corresponding to AMESim main features You have several toolbars at your disposal In all modes The File Operations Toolbar The Mode Operations Toolbar The Annotation Tools Toolbar The Temporal Analysis Toolbar In run mode only The Post Processing Tools Toolbar The Linear Analysis Toolbar To know more about the AMESim working modes see The AMESim four working modes page 34 The File Operations Toolbar Note Some features are also available through keyboard shortcuts which are given in the menus See the list of Keyboard Shortcuts Start a new syste
166. make a valid comparison it is better to have them all with the same unit e g all linear velocities in m s This is the best solution for a magnitude modal shape Some variables such as linear and rotary velocity hydraulic or pneumatic flow rate and electrical flow rate have special significance in that an energy is proportional to the square of these variables In bond graph terms these variables are called flows It is necessary to introduce a different constant of proportionality for each observer to get an expression for the energy In this case the units need not be the same This is the solution for energy modal shapes The general procedure is as follows Chapter 15 Facilities Available in Run Mode 486 1 Click on the Eigenvalues Modal shapes button to produce the Linear Analysis eigenvalues dialog box Referring to Figure 15 49 note that eigenval ues are either real or occur in conjugate pairs 2 Create the Modal Shapes analysis dialog box as follows Highlight the eigenvalue of interest Note that if it is part of a conjugate pair you get precisely the same result from an eigenvalue and its conjugate Click on the Modal shapes button to produce the Modal Shapes analysis dialog box Figure 15 49 Figure 15 49 Modal Shapes analysis 3 You can reorder the observer variables by highlighting items in the list and clicking on Move up or Move down Now see Plotting Magnitudes Plotting Ener
167. must be linked at least to one component 2 Edit Copy to supercomponent This creates the Auxiliary System dialog box in the form used for creating a su AMESim 4 2 User Manual 335 percomponent Figure 11 55 Auxiliary system dialog box The function of the Mirror Rotate Paste and Print buttons is obvious If you click on Supercomponent the dialog box toggles to its smaller size without the special buttons and boxes needed for creating a supercomponent The minimum you must do to create a supercomponent is 1 Select an existing or create a new icon suitable for the supercomponent 2 If the supercomponent has ports specify them completely by right clicking on it 3 Specify a suitable supercomponent name 4 Click on Save The following are optional but it is a good idea to do them 1 Specify a one line brief description 2 Complete a full description of the supercomponent If the supercomponent has ports specify them completely Chapter 11 Facilities Available in all Modes 336 11 4 3 Options menu This menu contains the following submenus Path List The path list controls The component categories that are displayed in AMESim The accessible submodels The way the executable files generated by AMESim are created The priority for Premier submodel facility When you select the Path list menu item the following dialog box appears Options menu Items availa
168. name of that parameter is fluidPropsFile This corresponds to a submodel parameter which indicates the file which contains the fluid properties to use You have set the following list of possible values which is obviously a list of available files waterProps data dieselProps data 15W40 data If you want to perform a run using the fluid properties of diesel add the following line to the input file Formatted string Formatted strings should not appears in the input file The value used for these parameters are built up using values of other Input Parameters 18 8 2 Running the simulation To perform the simulation you will need an executable provided with AMESim which is named AMEPilot You call this executable giving an argument the which is the name of your model not including the ame extension but including the full access path For instance you will call from a command line AMEPilot myArea myModel 18 8 3 Getting the results File name rules The name of the file AMEPilot uses to store output parameter values is based on the name of the target model If your model is named myModel then the input file indexOfFluid 2 or indexOfFluid 0 2e1 fluidPropsFile 2 Chapter 18 AMESim export module 570 name is myModel_ out Results format As for the input file in the output file there is one line per output Each line starts with the export name of the output parameter followed by the corresponding
169. note the angle is in the range 0 to 360 degree The displacement is so low on this scale that we do not see it Both quantities are plotted against time To get the cam profile we want the displacement plotted against the angle This is described as an X Y plot in contrast to the normal Time Y plot 4 4 3 Creating an XY plot AMESim provides two ways of doing this The first way is very specific and the second very general With the plot shown in Figure 4 40 do the following 1 Click on the X Y plot button of the plot toolbar Note that the cursor changes its appearance 2 The next stage is to click in the graph area you want changed to an X Y plot In this case there is only one graph area in the plot so click on this Figure 4 41 shows the new plot Figure 4 41 X Y plot The problem here is that the angle is the vertical axis and we would prefer it to be the horizontal axis This is easily remedied 3 Put your pointer in the graph area and select Interchange axes from the right button menu Chapter 4 Advanced Examples 134 Figure 4 42 Interchange axes option from the right button menu We now have the plot we want Figure 4 43 Axes have been changed Compare Figure 4 43 with Figure 4 39 We can achieve the same result using a more powerful and flexible method This requires use of the plot manager 4 4 4 Using the plot manager 1 Select Plot manager in the plot toolbar The Plot manager dialog box appear
170. opposite side of the new icon as in Figure 6 38 Figure 6 38 Select the ports Step 2 Adding text on the icon 1 Click on the Add text button and type in the H s text 2 Add the text string to the center of the drawing area Figure 6 39 Add text Remember that you can always select the Undo button if things look bad Step 3 Using drawing tools 1 Click on the Draw rectangles button Figure 6 40 Add a rectangle Chapter 6 The Supercomponent Facility 210 2 Add the rectangle to the sketch Step 4 Resizing the icon 1 Adjust the icon using the blue arrow buttons so as to move it up in the icon square 2 Now there is a lot of unnecessary white space at the bottom of the icon 3 Remove this by reducing the icon height at the top of the window Figure 6 41 Resize the icon Note that although the port styles have been added to the icon the ports are not yet defined Ports have the following restrictions They must be on the perimeter of the icon They cannot be in a corner They must be positioned at a black cell There are two features that can help you to do this Figure 6 42 Zoom Increase the zoom to say 800 Use a grid All you have to do is click on the grid button Step 5 Define a port type Figure 6 43 Menu of the port type 1 Click on the Define ports and port types button AMESim 4 2 User Manual 211 2 Select a suitable square in t
171. or state space form the equations can be writ ten as where u is a vector of control inputs x is a state vec tor y is a vector of observer outputs A B C D x u y t xvals AMELOADJ asks for the name of the system A B C D x u y t xvals AMELOADJ system N loads the Nth jacobian A B C D x u y t xvals AMELOADJ system N M loads the Nth jacobian from the Mth batch run See also EIG CONTROL system toolbox AMELOADT gt gt A B C D ameloadj Name of the system MSD Linearization time 1 s There are 3 free state variables MAS001 instance 1 velocity at port 1 m s MAS001 instance 1 displacement port 1 m SD0000 instance 1 spring force N x Ax Bu y Cx Du AMESim 4 2 User Manual 233 There are 1 control inputs SIN0 instance 1 sine wave output There are 1 observer outputs MAS001 instance 1 velocity at port 1 m s gt gt format short e gt gt eig A ans 0 5 0000e 00 3 1225e 01i 5 0000e 00 3 1225e 01i gt gt damp A Eigenvalue Damping Freq rad s 0 00e 00 1 00e 00 0 00e 00 5 00e 00 3 12e 01i 1 58e 01 3 16e 01 5 00e 00 3 12e 01i 1 58e 01 3 16e 01 gt gt step A B C D 1 gt gt bode A B C D gt gt amebode MSD These values are reproduced in the numerical results but there is an extra eigenvalue of 0 This is because there is a connection between the two state variables displaceme
172. ously saved This opens a file browser A configuration file plt contains information on the settings of one or more plots such as the colors text fonts scale axis number of rows and or columns if there are several plots 2 Select the file giving the configuration you require Note The data points of the curve s are not loaded from the plt file they come from the current simulation Chapter 15 Facilities Available in Run Mode 468 An attempt will be made to reconstruct the plot s using the current results file Even if the system has been partially reconstructed there is a reasonable chance that some or all the figures can be regenerated A similar menu item is available from the AMEplot window see 16 5 1 The File pulldown menu The difference here is that you load the plot configura tion of one or more plots that were previously saved Save plot configuration 1 Use Graphs Save plot configuration The dialog box shown in Figure 15 30 appears 2 Select a directory where you want to save your configuration file 3 Type in a name for the file 4 Click on the Save button The preferred extension for saving a graph configuration is plt Figure 15 30 Save As dialog box A similar menu item is available from the AMEPlot window see 16 5 1 The File pulldown menu The difference here is that you save the plot configura tion of all the plots currently opened 15 5 State count facility The main
173. p gt Any kind of HTML code can be included in all other parts of the HTML file fonts pictures colors Print Print selection and Print display In all cases you will get a Print dialog box Using Windows The following dialog box or a similar one is displayed Figure 11 35 Windows Print dialog box AMESim 4 2 User Manual 323 These are general dialog boxes for printing The important features allow you to Select a printer Print using this printer or store the print in a file Select a page size Select Portrait or Landscape Specify color or grey scale Request multiple copies If you wish to print an exploded supercomponent you can do this from an Explore Supercomponent dialog box by clicking on the Print button Using Unix the form is The following dialog box is displayed Figure 11 36 Unix Setup Printer dialog box Chapter 11 Facilities Available in all Modes 324 Figure 11 37 Explore supercomponent dialog box In the File menu there are three types of print Print This option prints the whole system even if part or all of it is currently off screen You can use Ctrl P as a shortcut Print selection This option is sensitive only if at least one object in the system is selected Only the objects currently selected will be printed Print display This prints only the part of the system that is currently visible Last opened files list Th
174. parameter in the export setup Inputs You can tick the check boxes of the column Used for the input parameters you want to involve in the optimization process the input parameters you want AMESim to make them vary When NLPQL technique is selected it is not possible to tick the lines corresponding to discrete parameters Remember you must use the Genetic algorithm if you want to use discrete parameters When the check box is not ticked the value of the input remains constant during the optimization process The value is specified in the Default value column Lower bound and Upper bound columns are ignored for these parameters For the other inputs AMESim makes their values vary within the range specified by Lower bound and Upper bound columns For the NLPQL algorithm you must specify a starting value for all used inputs In that case the default values are used as starting values Outputs Tick the check boxes of the column Objective to set the corresponding output as an objective The optimization algorithm will make the sum of the absolute value of all the objective outputs and will try to make it as small as possible Using the Lower bound and Upper bound columns you can set constraints on several outputs For instance in Figure 19 20 we want to minimize the absolute value of out1 while keeping out2 greater than 15 An output is saved in the log file if it is an objective or if it is under constraints AMESim 4 2 User
175. produce the dialog box shown in Figure 4 2 click on the State count button Submodel Number on sketch if any Title Value Body_Mass MAS002 1 body velocity 0 0 body displacement 0 0 SPR000A 2 spring force with both displacements zero 0 0 Wheel_Mass MAS002 3 wheel velocity 0 0 wheel displacement 0 0 SPR000A 4 spring force with both displacements zero 0 0 AMESim 4 2 User Manual 101 Figure 4 2 State count dialog box In this example it is mostly the state variable wheel velocity in submodel MAS002 Wheel Mass which slows down the simulation If the simulation is slow you can click on Update or check the Automatic update box You can rearrange the list by clicking on the Controlled tab If you double click on an item in the list AMESim will identify the corresponding component as in Figure 4 3 Figure 4 3 Search facility With a simple dynamic run for 5 s the velocity and displacement of the car body Note The numbers will vary slightly according to the platform on which you are running Chapter 4 Advanced Examples 102 is shown in Figure 4 4 Figure 4 4 Curves of the velocity and displacement of the car There are two distinct phases to the motion 1 The car attempts to find an equilibrium position before the step is reached The situation is as if the car body was lifted up on its suspension so that the springs and tires were relaxed with the tires just touching the road and t
176. run slower and be more detailed To add titles for the x and y axes 1 Select Tools Add titles just like on any plot but this does not give the ob server variable titles 2 To get the observer variable titles select ModalShapes Add Observer Titles Temporal view of modal shapes As an aid to understanding of modal shapes a temporal view is provided Starting from a model shape plot do the following steps 1 Select ModalShapes Temporal view 2 The pointer will take a special form Select the modal shape plot of interest To animate a collection of modal shape plots If you have more that one modal shape plot displayed you can animate them all by using ModalShapes Start Stop AMESim 4 2 User Manual 489 Figure 15 53 Temporal view of modal shapes Plotting Energies In the Modal Shapes analysis dialog box 1 Ensure all observer variables are such that an energy is proportional to the square of their value 2 Adjust the scale factor values if necessary in order to get energies when these scale factors are multiplied by the square of the observer values 3 Click on the Plot Energies button 4 Add titles or adjust and start the animation as for the magnitudes 15 8 6 Bode Nichols and Nyquist plots To plot these you must Have at least one observer variable Have at least one free state Do the linearization at an equilibium position If you break the first two rules AMESim w
177. runs Select a symbol to use Define the characteristics of the symbol In Figure 15 37 are the main features in Symbol Setting area AMESim 4 2 User Manual 475 Figure 15 37 Symbol Settings The normal sequence sequence of steps is as follows 1 If necessary select another results file This is appropriate if you have done batch runs 2 Select a symbol to use The Arrow symbol is good if you what to show a di rection associated with the value e g velocities forc es flow rates etc Gauge and Scrollbar are better for variables with no sense of direction e g pressures volumes etc Select a results file Select a symbol Set symbol characteristics Select a unit Install selected unit Remove selected unit Chapter 15 Facilities Available in Run Mode 476 3 Select characteristics for the symbol using the check boxes If you tick Title you will get the variable title If you tick Min Max you will get the minimum and maximum saturation values for the unit you will select This is only available for Gauge and Scrollbar If you tick Value then for Arrow Gauge and Scrollbar you will get the numerical value in addition to the symbol Normally you need this If you tick Float Format you will get values in the form 1 234e01 otherwise you will get the form 12 34 4 Now select the unit you want in the Available Units list 5 Install the unit by clicking on gt gt 6
178. select objects in any mode 11 1 Selecting objects Shift Left click method This method of selection allows you to select several objects which are not in the same region of the sketch To select two objects 1 Click on the first object 2 Press the shift key 3 Click on the second object Rubber banding method Rubber banding is a quick way of selecting objects by dragging the cursor over the region you want to select 1 Click on left top corner of the region to select Note If you have selected several objects and want to unselect one of these objects press the shift key and click on the object to unselect Chapter 11 Facilities Available in all Modes 300 Figure 11 1 Rubber banding method The cursor becomes a hand 2 Keep pressing the left button of the mouse 3 Drag the cursor to the right bottom corner of the region A rectangle shows the region which is selected 4 Stop pressing the left button of the mouse The selected components are surrounded with dotted rectangles with black squares in the corner Figure 11 2 Selected components 11 2 Facilities accessible from permanent toolbar buttons 11 2 1 Changing mode These four buttons allow you to change between the basic AMESim modes Note If an object is not totally covered with the selection rectangle it is not selected X AMESim 4 2 User Manual 301 Figure 11 3 Mode operations toolbar There are a few restriction
179. sketch Chapter 11 Facilities Available in all Modes 362 Figure 11 84 Submodels incompatible The submodels in AMESim libraries as distributed are constructed so that this does not happen However if you create your own submodels during the process of development this problem can occur If it does the best thing to do is to remove the submodel is to click on Remove You can then attempt to fix the problem manually The only other alternative is only applicable if you have more than one submodel of the same name This is of course extremely bad practice However if you can find another submodel of the same name that you think will be compatible specify the location Either edit the path of use the browse button Figure 11 85 Locating a submodel Figure 11 86 shows a less severe problem in which the specification is found but there is inconsistency AMESim is offering to fix the problem Normally the best response is to click on Update or Update all Update will alter the current submodel within the model so that it is totally consistent with the specification Figure 11 86 Inconsistency can be fixed AMESim 4 2 User Manual 363 If you click on Update all The current submodel is updated If any other inconsistencies are detected and AMESim can fix them an update is done without any further effort from you Check submodels specification of a submodel is not found Figure 11 87 shows an example of a spe
180. submodel for each component Use the Premier Submodel button Remove a component submodel 2 2 3 Parameter Mode In Parameter mode you can 1 Examine and change submodel parameters 2 Copy submodel parameters 3 Set global parameters Note When you open an existing system the sketch is locked To modify the sketch you must unlock the system by clicking on the Lock button AMESim 4 2 User Manual 35 4 Select an area of the sketch and show common parameters in this area 5 Specify a batch run When you enter Parameter mode AMESim compiles the system The compilation creates an executable file This executable file makes the simulation possible Normally before you do this run you adjust the parameters of the model 2 2 4 Run Mode In Run mode you can Initiate standard and batch simulation runs Create plots of results Store and load the configuration of all or some of your plots Initiate linearizations of the current system Perform various analyses on the linearized systems Perform Activity Index analysis In order to help you to execute these tasks AMESim displays special toolbars See The Mode Operations Toolbar page 27 and The Post Processing Tools Toolbar page 30 With the previous modes you prepared your sketch you set the submodels and the parameters Now you are ready to run a simulation 2 3 Tricks and Tips This part gives you
181. the Parameters pulldown menu are sensitive only in the Parameter mode except the last one They initiate more complex processes involving parameters 14 2 Changing submodel and supercomponent parameter values directly To do this click on the component or line run concerned If some parameters can be changed a dialog box is produced The form of the dialog box depends on the type of submodel supercomponent that is associated with the component or line run There are 5 possibilities for a component Generic submodel Customized submodel Generic supercomponents without global parameters Generic supercomponents with global parameters Customized supercomponent For a line run the only possibility is a generic submodel 14 2 1 Changing parameters for a generic submodel and customized supercomponent You can think of customized supercomponents as honorary submodels They Chapter 14 Facilities available in Parameter mode 412 behave just like generic submodels It is not possible to explode or explore them The designer of the customized supercomponent decides the parameters and variables you have access to and these are what you see An example of the dialog box for these cases produced by clicking on the component or line run is shown in Figure 14 1 Figure 14 1 Accessible parameters A list of all the parameters and certain variables that can be changed is displayed There is a Title a Val
182. the average value of the flow rate was not preserved because the dissipative elements were eliminated during the reduction of the model However the difference was acceptable 0 0025 L min or 0 2 compared to the original model On the other hand shapes of curves were similar all frequential components were preserved Comparison and numerical performances Using the run stats submodel the behavior of the integrator during a simulation could be observed Figure 8 26 and Figure 8 27 show the evolution of the integration step and CPU time for both models Chapter 8 Activity index 264 Figure 8 26 Evolution of the integration step Figure 8 27 Evolution of the CPU time Domain of validity All model reduction carried out with the Activity Index Analysis is limited to the coditions under which it was tested and the parameters used Thus the reduced model was validated for a pump speed of 1000 rev min and for the other set parameters such as feeding pressure fluid type diameters etc This model was tested at another pump speeds to check if the domain of validity could be extended Pump speed is now 1500 rpm for the models results are compared in Figure 8 28 AMESim 4 2 User Manual 265 Figure 8 28 Evolution of the pump speed Figure 8 29 Evolution of the pressure in piston chamber As you can see the differences were more significant At 1000 rpm the difference between the flow rates was about 0 2 but for 1500 rpm it was
183. the others at their default values Since Submodel Title Value FX00 expression in terms of the input x x x y x2 and x y 1 AMESim 4 2 User Manual 97 AMESim is attempting to solve which has no real solution If you do a run the following error message is supplied by AMESim Figure 3 67 Error message Changing parameters Returning to the current example change the following parameters in Parameter mode 1 In FX00 set the expression to 2 x 4 which means The system has a unique solution and this is found with no problem 2 Finally set the expression to x 1 2 which means The equation being solved now is y2 y 0 which of course has two solutions AMESim will find one of these A short explanation At this point we must pause to explain what is happening The submodels used are extremely simple The whole model consists of nothing more than a single addition and a single multiplication There are no derivatives and hence no state variables When you changed to Parameter mode if you were very observant you will have noticed that there was one implicit variable What does this mean Figure 3 68 One implicit variable If you have big experience in the field of simulation you will have already worked y y 1 2 or y2 y 1 0 2 x 4 x 1 2 Chapter 3 Getting Started 98 out that this is a classic example of an algebraic loop also known as an implic
184. the state space block are the elements of the A B C and D matrices The parameters of the transfer function block are the coefficients in the numerator and denominator of the transfer function block Any state variables are regarded as internal variables For the import of state space models from ssp or jac files their start values are read from the file or set to zero if the start values are not present in the file For the transfer function blocks the initial values are always set to zero AMESim 4 2 User Manual 243 Special submodels in Run mode Figure 7 16 Run mode In the Simulation phase the titles for the external variables are taken from the text strings entered for the ports when the icon was constructed as in Figure 7 13 However if no titles were entered the titles will be input1 input2 and output1 output2 Chapter 7 The AMESim MATLAB Interface 244 7 3 4 Running AMESim simulations from MATLAB When a simulation model has been created in AMESim there exists an executable program that reads data from files and saves the result in files By using any programs that can modify the input files and analyze the output it is possible to automate for instance a sensitivity analysis Earlier in the chapter some commands in the AMESim MATLAB toolbox for loading result files were presented There are also commands in the AMESim toolbox that can be used for examining and setting parameters and for running simulations
185. the system shown in Figure 3 32 It is built partly from components from the signal category red and partly from the mechanical category green This is a model of car suspension We want to simulate the displacement of the wheel and the body when the car goes over a step Another important point is that a line run is used It is composed of line segments which run parallel to the edges of the screen Note that we could have connected the Road profile icon directly to the mechanical one but maybe it looks better with the line Start a new system and construct the system with the components shown in Figure 3 33 At any time you can save your model you will just be asked for a name the first time you do this operation Chapter 3 Getting Started 74 Figure 3 33 Use the Mechanical and Signal categories to build this system Note this system contains two components of the following families Signal duty cycle Signal to physical unit These components are in reverse video in the figure above because they are not connected yet Connecting the signal submodel to the mechanical one requires a little care Follow the procedure explained in the first section 3 4 1 Constructing a line run Step 1 Construct a line run A line run joins one component the source to another the destination it consists of one or more line segments 1 Put the mouse cursor close to the port but not inside the source icon
186. this To be successful a compatible combination of submodels for the mass spring and line joining them must be possible In some AMESim libraries hydraulic thermal hydraululic pnuematic lines represent pipes and these pipes have friction they have fluid in them which has inertia and is compressible It is necessary to have quite complex submodels for these In the figure the submodel for the hydraulic line run is HL000 Chapter 12 Facilities Available In Sketch Mode 390 At this point it is worth repeating some general advice Do not use unnecessary line runs in your sketch See Figure 3 39 page 80 for an example of good and bad practice AMESim 4 2 User Manual 391 12 3 Removing AMESim objects delete and cut operation 12 3 1 Removing objects Objects may be removed from an AMESim system by deleting them or cutting them Cut operations keep a copy of the objects that are removed in the AMESim auxiliary system Delete operations do not Both operations must be done with the lock button in the unlocked state First select one or more AMESim objects that are to be removed To delete do one of the following Press the Del or the backspace key Right click on one of the component objects to produce the component menu and select Delete Figure 12 8 Right click menu Select Delete from the Edit pulldown menu Figure 12 9 Edit menu Select the Trash can button in the toolbar
187. this system after copying it from the AMERun demo area it is called DriveLine ame 4 5 1 Creating a 1D table data file using the Table editor 1 Start the Table editor e g Tools Table editor You can start the Table editor in any mode and even when no system is dis played 2 Operate the Format pulldown menu to view the different data file formats available Chapter 4 Advanced Examples 140 Appendix A gives a full description of these 3 Select the 1D Table format Figure 4 54 1D Table format 4 Click on Help to get details about the 1D Table format 5 Fill in the values of the table as in Figure 4 55 The left column is time in seconds and the right column is fraction of full clutch grip Hence 0 is no grip and 1 is maximum grip Figure 4 55 Fill in the values Note you have access to a right button menu You will need to use this to add extra rows Figure 4 56 Right button menu AMESim 4 2 User Manual 141 6 Select the options linear splines and data out of range option extrapolation This is the modes we will use in the simulation 7 Save the file as clutch data in your working area using File Save as 8 Close the Table editor using File Quit 4 5 2 Building the system and setting parameters 1 Construct the system as shown in Figure 4 52 2 Click on the Premier submodel button to select the simplest possible submod els Set parameters for the submodels as suggested in the followin
188. three types of supercomponent 1 normal Generic supercomponents 2 generic supercomponent that contain global parameters 3 Customized supercomponents Generic supercomponents These are always created in AMESim You can always explore the constituents of a generic supercomponents The only opportunity to hide things is to introduce global parameters If you do this the behavior when you click on a generic supercomponent in Parameter mode is changed If there are no global parameters the contents of the generic supercomponent are displayed immediately If there are global parameters these are displayed in a Change Parameters dialog box These can be changed in the normal way You can also explore the contents of the generic supercomponent by clicking on an Explore button When you click on one of the constituents you get a new Change Parameters dialog box but any parameters defined in terms of a supercomponent global pa rameter is hidden Customized supercomponents These are created using AMECustom When used in AMESim they behave just like submodel components To explore the constituents of a customized supercomponent you must use AMECustom Even then you may have to supply a password The whole idea of the customized supercomponent is that the designer decides what is visible and what is hidden The designers hide things for two reasons 1 there is commercially confidential information in the detailed structu
189. ticked check box means that the corresponding input parameters is considered as a factor The value contained in the Default values column is used to assign the value of an input if it is not used as a factor if the corresponding check box is not checked Parameter study The principle of Parameter study is described in Parameter study page 578 The input list displayed for the parameter study techniques is shown in Figure 19 12 Figure 19 12 List of inputs The values defined in the Levels column will be used as levels for factors 1 Enter the possible levels here separated with a The first level is considered as the nominal one 2 To change this list click twice on the corresponding cell and type in the new list Chapter 19 AMESim Design exploration module 594 The list must be made of values compatible with the export parameter setting For instance numerical values only for real inputs values from the possible value lists for discrete inputs An example of a design matrix corresponding to a parameter study is given in Figure 19 13 On that figure you can see the two possible displays Figure 19 13 Two possible displays of the design matrix For the design matrix of a parameter study 0 means the nominal level the first one in the possible value list 1 2 3 means the other levels numbered from left to right Full Factorial The principle of Full factorial study is
190. to work out analytically the eigenvalues of this system as which is consistent with these results 2 In the Jacobian file field select SimpleMassSpring_ jac0 1 2 etc in turn The eigenvalues table is then updated in the previous dialog box to show the eigenvalues of the associated A matrix You will find that the eigenvalues are always the same for each jac file You can sort the eigenvalues according to their real part imaginary part fre quency or their damping ratio by clicking on the title of the appropriate column By default they are sorted in ascending order of frequency in Hz 3 To store the current list of eigenvalues in a file select Save You obtain the file browser shown in Figure 5 26 Figure 5 26 File browser The jac files are ASCII text files and can be examined in an editor and printed to j 1000 AMESim 4 2 User Manual 167 see the elements of the A matrix Non linearities As soon as some non linearities are introduced the A matrix and its eigenvalues will not be constant To experiment with this 1 Change the system to that shown in Figure 5 27 You have changed the 2 port mass icon The new mass has the submodel MAS004 and differs from MAS002 in that there is an option to have friction With the default parameter values there is no friction and hence if you do a se ries of linearizations with the defaults you will get exactly the same results as with MAS002 Figure 5 27 New su
191. two forces 1 Plot the two forces on a same graph 2 Click on the Plot manager button or select Tools Plot manager 3 In the right part of the Plot manager dialog box click on the Add item button 4 Enter the title Force difference 5 Enter the formula A2 A1 in the Data source column 6 In the left part of the dialog box select the Curve 2 Chapter 3 Getting Started 94 7 Click on the Remove curve button 8 Expand Curve 1 9 Drag and drop the A3 Force difference on the A1 force at port 1 Figure 3 62 Plot manager 10 Click on OK The new plot is the difference between the two forces Figure 3 63 Difference between the two forces Within the submodel MAS002 is some implementation of an equation like We say that the equation is an ordinary differential equation and the velocity v is a state variable As the mass tends to zero the net force must also tend to zero This is why the difference between the forces acting on the mass is so small for a mass of 0 001 kg Note The forces are about 1000 N and the difference between them with a mass of 0 001 kg is about 0 01 N mass force dt dv AMESim 4 2 User Manual 95 3 5 3 Implicit variable In the limiting case as the mass becomes zero we have net force 0 which is a constraint rather than an ordinary differential equation These are called differential algebraic equations and we can call v an implicit variable We are goi
192. two functionalities relate to the tabs of the window you can add a tab or remove the current tab Note there will always be one set defined You cannot remove the last variable set 15 10 2Creating your own sets of variables If you have already created some sets of parameters in Parameter mode using the Parameters window there may be state implicit and fixed variables in the set When you enter the Run mode these variables will also be in the corresponding sets in the Variables window If you want to create your own sets of variables follow the following instructions Action Process Add a variable Drag and drop the variable from the Change Variables dialog box to the Variables window Delete a variable Select the variable you want to delete and Right click on the Variables window and select the Delete item in the menu or Press the Del key Add a tab Right click on the Variables window and select Add tab in the menu Remove a tab Right click on the Variables window and select Remove tab in the menu The Delete functionality relates to the variables in the set Select one or more variables and put the pointer on one of them before using the right button AMESim 4 2 User Manual 497 Step 1 Create the first set of variables 1 Select View variables The Variables window is opened with an empty set of variables Now you can create a set with the variables you want to study 2 Select in t
193. used to set up parameters for a batch run An example of this type of run is given in Chapter 5 To set a parameter for a batch run do as follows 1 Select the menu Parameters Batch parameters The Batch control parameter setup dialog box appears Figure 14 24 Set parameters for a batch run Chapter 14 Facilities available in Parameter mode 428 2 Click on the component of the model which contains the parameter you are interested in 3 Drag and drop this parameter in the Batch Control Parameter Setup dialog box You have also the possibility to select a global parameter the description of which is given in section 14 3 3 Global parameters You could add other param eters but we will stick to one only Notice the two options varying between 2 limits user defined data sets 4 Assign values to the parameter With the option varying between 2 limits selected you must set a base value a step size and a number of values below and above the base value as shown in Figure 14 25 Figure 14 25 Varying between two limits The resulting minimum and maximum values are given as well as the number of simulations With the option user defined data sets selected you must click on the New set button each time you want to assign a new value to the parameter You can also remove a set by selecting it from the pulldown menu and clicking on the Remove set button AMESim 4 2 User Manual 429 Figure 14 2
194. user defined data sets Chapter 5 Batch Runs and Linear Analysis 150 Figure 5 5 Drag and drop a parameter 3 Close the Change Parameters dialog box 4 In the Setup method radio buttons enable varying between 2 limits to define the values of the damper rating Batch setup method varying between 2 limits This method can be used if the batch parameters are real or integer With this method for each control parameter you must specify a base value a step size the number of runs to be performed below the base value the number of runs to be performed above the base value By default the value field is the same as the value currently set and displayed in the corresponding Change Parameters dialog box To get the sequence of parameter values we want 1 Set the Step size to 200 specify Num below to be 3 and Num above to be 3 Note If you have N control parameters and you specify M1 M2 MN different values for the control parameters there will be M1xM2x xMN runs AMESim 4 2 User Manual 151 Figure 5 6 Batch parameters varying between two limits 2 Click on OK You could equally well have used the Setup method with user defined data sets enabled Batch setup method user defined data sets If you have N data sets there will be N runs In the current example if you use this method you would create 7 data sets with the values shown in the following figure Figure 5 7 User d
195. usually car engines We start by defining the more general term spectral map 17 3 1 Spectral map A spectral map consists in a series of FFT applied to a same variable Each FFT is processed over a restricted time range The time windows are contiguous and can overlap Chapter 17 3D plots and order analysis facilities 546 Figure 17 13 FFT series By this means the FFTs are taken over a range of conditions Note that although we refer to the time range the variable is usually some other quantity it is rev min in the example to be shown There are 2 common methods of generating spectral maps 1 Order tracking 2 Fixed sampling order analysis Order tracking In this case the sampling of data varies with time It usually is proportional to a variable of the system like a rotation speed The data samples are produced at constant angle increments The maximum observable frequency depends on the system reference velocity Therefore in the frequency domain the definition and the number of observable orders are constant This is not used in AMESim Fixed sampling This method manipulates time data with a constant time sampling frequency This means the sampling of data is done at constant time increments The increments correspond to the communication interval in AMESim The communication interval determines the Nyquist critical frequency i e the maximum observable frequency The smaller the communication interval th
196. value is defined as Excepted for TN EndTime where the formula used s differ A is defined for every Ti where A Ti and A Ti k are defined where k is the first integer for which Ti Ti k It is also defined for TN EndTime if A TN k is defined where k is the first integer for which TN TN k integ A Integration Returns the value of the integration of A on the whole domain of definition of A To compute the integral we are using the following approximation trapezoidal method It is defined as soon as A t is defined for at least one t valueAt integ A T is defined if and only if T belongs to the domain of definition of A and is Thus if A is defined on T1 T2 integ re strict A T1 T2 is valueAt integ restrict A T1 T2 T is defined only if T belongs to T1 T2 and is Syntax Brief description Full description Domain of definition i k i i k i i T T T A T A T dt dA k N N k N N N T T T A T A T dt dA 2 t A t A t t dt t A 1 i i N2 1 1 N i 1 i i 2 T 1 T T StartTime dt t A 2 1 T T dt t A T T dt t A 1 Appendix C 624 mean A Mean Value The mean value definition of a signal used here is the classic one and if The do
197. variable against time 3 Click on the wheel mass 4 Select the wheel displacement variable in the Variable List dialog box 5 Drag and drop it in AMEPlot 1 6 Do the same for the step submodel and its output variable AMESim 4 2 User Manual 87 Figure 3 49 Plotting curves Interpreting these curves leads to the conclusion that the model did not start from an equilibrium position What follows is a method of finding an equilibrium position First we must consider the inputs to the system In the system sketch Figure 3 45 we have the component and associated submodel STEP0 This provides a disturbance to the system In common engineering terms this is an input to the system Without this input we would get the free response of the system With it we get a forced response What we are going to do is run a simulation to produce the free response If this settles to an equilibrium position this is the position we want We could do this by going to Parameter mode and removing the step either by setting value after the step to zero or by setting the step time to a very large value However AMESim provides an easier way of doing this 7 In the Run Parameters dialog box select the Standard options tab Figure 3 50 Standard options tab 8 Check the Hold inputs constant box 9 Click on OK and restart a simulation Chapter 3 Getting Started 88 10 Update the curves Figure 3 51 Curves are updated If yo
198. y x x f y x f y x y f y x x f y x f grad Chapter 19 AMESim Design exploration module 600 iteration is made of only one run Most of the problems you may encounter regarding algorithm convergence will be related to the gradient computation accuracy Desired final accuracy This is termination accuracy It should not be much smaller than the accuracy by which gradients are computed Print mode This properties determine the level of output information displayed during execution Three levels are available No print Diagnostic Verbose Note that the messages that are added with Diagnostic and Verbose mode can only be useful if you have some knowledge about Sequential Quadratic programming SQP Genetic algorithm Figure 19 22 shows the area dedicated to genetic algorithm settings Figure 19 22 Genetic algorithm properties Basics of genetic algorithm are described in Genetic algorithm page 580 AMESim 4 2 User Manual 601 The meaning of the properties you can set are explained here Population size This the number of individuals in the population Reproduction ratio This is the percentage of the population which is replaced by new individuals children at each iteration Max number of generations This is the number of reproduction cycle to perform Mutation probability The mutation probability is only used for discrete parameters It repre
199. 0 This is shown in Figure 5 27 LAG1 time constant s 1 0e 8 LAG1 output from the first order lag 0 CONS0 constant value 1 1 real part AMESim 4 2 User Manual 169 Figure 5 30 Step size evolution However if some input s to the system never allows this component of the solution to die out then you have a slow simulation To summarize An eigenvalue with a negative real part which has a very large value corresponds to a very small time constant When the corresponding component of the solution is excited The run will be slow If this component is continually excited the whole simulation will be slow If the imaginary part of an eigenvalue is non zero the corresponding component of the solution will be oscillatory When this component of the solution is excited the integrator step size is unlikely to get any bigger than a tenth of the corresponding period or time for a complete oscillation Perhaps the worst situation is a very high frequency component which is undamped or very lightly damped This can be illustrated with a very simple system comprising a second order lag with a natural frequency of 1000 Hz and a damping ratio of 1 0e 3 The corresponding period is 10 3 seconds and so the step size cannot exceed 10 4 This is seen in Figure 5 31 However if the damping ratio is 1 the component is damped out and hence the step size rises Chapter 5 Batch Runs and Linear Analys
200. 0 1 Step time 1 AMESim 4 2 User Manual 127 Figure 4 34 Body displacement with the different suspensions 4 3 6 Editing the characteristics of existing text We are going to replace the current title Quarter car with the new title An active suspension Figure 4 35 Right button menu 1 Put the pointer on the text and hold down the mouse right button This creates a pulldown menu Note The function of the remaining items is obvious 2 Click on Text Actions Edit 3 Press the Delete Del or Back Space key to delete the current title then you can write the new title Note Copy This option changes the pointer to a copy of the existing text so that you can paste it to the sketch Edit This option makes the text editable Put the pointer inside the box and use the keyboard to modify the text Chapter 4 Advanced Examples 128 Note also you can edit text in a plot in the same way The right button menu in this case is as follows Figure 4 36 Right button menu on a plot The function of the options is obvious from their titles 4 4 Example 4 Cam operated valve Objectives Use a submodel that reads a data file Show how to select simulation parameters Use the Table Editor to preview an existing data file Show how to alter some characteristics of a curve Introduce the plot manager Create an x y plot Alig nme nt This option is only useful for multi
201. 0 6 this was still considered acceptable The extension of the domain of validity is never guaranteed and a comparison with the initial model is always necessary If significantly different results are observed a new Activity Index Analysis must be carried out in order to see if some elements cannot be removed under the new conditions Summary The Activity Index Analysis proved to be an efficient method for the reduction of the complex and slow running model the results were very similar between the two models and the gain in numerical performance was impressive However the removal of less active elements is not an automatic task and requires a lot of thought and judgement The functionality of the elements is fundamental and sometimes it is necessary to merge different elements rather than removing Chapter 8 Activity index 266 one of them This tool also makes it possible for the engineer to evaluate the relative importance of each part of a system and it allows him her to generate proper models containing only necessary information to represent the essential behavior References 1 Rosenberg R C T Zou Power Based Model Insight Proceedings of the 1988 ASME Winter Annual Meeting Symposium on Automated Modeling for Design pp 61 67 Published by ASME 1988 2 Louca L S J L Stein G M Hulbert J Spague Proper Model Generation An Energy Based Methodology Proceedings of ICBGM 1997 3rd Int
202. 1 Quarter car continued 99 4 2 1 State count facility 99 4 2 2 Dynamic runs and Stabilizing runs 102 State variable 104 Uniqueness of an equilibrium position 106 CPU times 106 Solver type Regular Cautious 106 Stabilizing run diagnostics 107 Recommended strategy for obtaining an equilibrium position 107 4 2 3 Save data Load data 108 4 2 4 Adding text to a plot 109 4 3 Example 2 Rotary Inertia 110 4 3 1 Getting AMESim demonstration examples 111 4 3 2 Sign convention for rotary speeds and torques 111 4 3 3 Aliasing with data sampling
203. 1 1 etc Set linear analysis times View the current linear analysis status Initiate eigenvalue and modal shape analysis Initiate Bode Nichols and Nyquist plots Initiate root locus plot Chapter 15 Facilities Available in Run Mode 480 NAME_ jac0 M NAME_ jac1 M etc 15 8 1 Setting Linear Analysis Times 1 Click on the LA Times button to produce the Linearization times dialog box shown in Figure 15 41 Figure 15 41 Enter linearization times 2 You can enter as many times as you like 3 To remove a time highlight the item in the list and click on Remove 4 Click on OK to validate your changes If you click on Cancel they are not ac cepted 15 8 2 Linear Analysis Status Using state variable in its broadest sense to include Explicit states Implicit states Constraint variables All state variables have an LA status which is one of the following Free state Fixed state State observer A fixed state is a state which is excluded from the linearization process If a state is not fixed it is free If there are N states M of which are fixed the order of the Jacobian produced is N M A free state that is also an observer variable is called a state observer No state variable can be made a control variable All variables other than states also have an LA status which is one of the 1 Click here 2 Edit as necessary AMESi
204. 1 6 13 Online help In AMESim 4 1 online help concentrated on submodels and utilities called by submodels AMESim 4 2 provides a search facility for core AMESim features as they appear in the manual To use this select the Search tab type one or more keywords and then click on Search button Under Found Documents will be a list of manual sections that contain the keyword s AMEHelp will try to sort this list so that the most important entries are at the top Click on items in this list to see the corresponding manual entries Chapter 1 Introduction 22 Figure 1 22 External variables entry AMESim 4 2 User Manual 23 Chapter 1 Introduction 24 AMESim 4 2 User Manual 23 Chapter 2 The AMESim Workspace This section describes The AMESim User Interface The AMESim four working modes Some Tricks and Tips 2 1 The AMESim User Interface The AMESim user interface is the basic working area Depending on which mode you are working in you have tools at your disposal The Main Window The Menu Bar The Toolbars The mouse right button menu The libraries 2 1 1 The Main Window Starting AMESim When you start AMESim the main window is empty Chapter 2 The AMESim Workspace 24 Figure 2 23 AMESim main window Minimize restore close buttons Title bar Toolbars Empty screen Menu bar AMESim 4 2 User Manual 25 You can either When you
205. 100 101 etc are annotated and indicated by open circles Between these with a logarithmic scale nine intermediate values are indicated by filled circles e g 2x100 3x100 9x100 Figure 15 61 Nyquist plot 15 8 7 Root locus plots To display a root locus plot you must Perform a batch run normally with one varying parameter Have at least one free state Do a linearization at an equilibrium point AMESim 4 2 User Manual 493 It is not necessary to have any control or observer variables since they play no part in the root locus plot Perform the following steps 1 With a standard run verify that you are producing an equilibrium state 2 Set the linearization time so as to be in the equilibrium state 3 Set up batch run parameters 4 Perform the batch run 5 Click on the Root locus button to produce the Root locus dialog box Figure 15 62 Root locus 6 Normally there is only one linearization done in each batch run There is only one Jacobian file to select 7 Click on OK The plot appears with individual eigenvalues denoted by a symbol The default symbol is but for the first in the sequence an open circle is used and for the last a closed circle Note that often due to the extreme values of some eigenvalues some zooming or resetting of axes is required to clarify what is happening see Figure 15 63 Figure 15 63 Example of extreme valuesin Root Locus plot Chap
206. 1D data sets must always be greater than or equal to 1 If there is only 1 y value z values are assumed to be independent of y If there are more than 1 y values they must form a strictly monotonic sequence Within each 1D data set the number of x values must be greater than or equal to 1 Within each 1D data set if the number of x values is greater than 1 z is assumed to be independent of x for the corresponding y values Graphical representation The data is represented as a 3D plot However the waterfall option is the most useful AMESim 4 2 User Manual 621 Figure A 8 3D plot A 6 XYs table format This format is currently not used by any AMESim submodels but it is used by Export values in AMESim plots It is a natural extension of a 1D plot Mathematical definition Preferred layout in text editor Enter the table as a matrix with M 1 columns and N rows xi y1 i yM i i 1 1 N Appendix A Formats supported by the AMESim Table Editor 622 Example of layout in table editor Figure A 9 Layout for a XYs table Graphical representation The data is presented as a 2D plot Figure A 10 2D plot AMESim 4 2 User Manual 623 Appendix B Special files used by AMESim B 1 Introduction AMESim uses many special files These are stored directly in the root of the AMESim directory or in AMESim nodes We describe below the most imp
207. 2 Click the left button The pointer takes on the appearance of a cross As you move the pointer line segments follow the pointer Segments are either horizontal or vertical 3 To change the direction of the line click the left button 4 To connect the line to the port of the destination component position the point Note If you click directly on the source component the component becomes selected AMESim 4 2 User Manual 75 er close to this port 5 Click the left button If you apply this to the current model the circuit should now look like Figure 3 34 Figure 3 34 Construct a line to connect these two components Having successfully added a line run we may as well see how it can be removed Step 2 Remove a line run 1 Select the line by clicking on it 2 Press the Del key Now put it back again to give the complete system shown in Figure 3 35 Step 3 Move a connected component Sometimes things get connected up wrong or they just look aesthetically wrong Then it is desirable to partially reconstruct the system 1 Select the step icon and move it to the left a small distance as shown in Figure 3 35 Notice how the line keeps connected It just follows the step icon Note A small green square appears at the component port Clicking the mouse right button removes the last line segment Clicking the left button tries to connect to nearby port if possible Chapter 3 Ge
208. 2 User Manual 329 box is created which initially shows the location of supercomponents Figure 11 43 Available supercomponents dialog box You can expand items on the list in two stages Firstly the icons are displayed Figure 11 44 Icons are displayed and secondly the supercomponent names are displayed Figure 11 45 Supercomponent names are displayed This gives you access to what is available In addition if you highlight an individual supercomponent three buttons become sensitive Chapter 11 Facilities Available in all Modes 330 Figure 11 46 Available supercomponents Remove If you click on the Remove button provided you have the necessary write permission to do so you can delete the supercomponent A Remove supercomponent dialog box is created giving two levels of deletion Submodel entry the entry for the supercomponent is deleted from the submodel index file All files this entry is deleted and in addition the files associated with the supercomponent des spe and sub are deleted Figure 11 47 Remove supercomponent If you or one of your colleagues are using this supercomponent in a system The system will continue to work Check submodels will remark on the absence of a spe file if it was deleted You can copy paste it within the system or to another one but You cannot select it in Submodel mode Edit Basics If you create supercomponents sooner o
209. 26 File Operations Toolbar 34 Filling library 40 Find submodel 27 327 Fixed state 482 Fixed variables 413 Flat system 187 Flow ports 395 Formatted string 269 not in input file 569 Formatted string Input Parameters 560 562 Free state 482 Frequency response
210. 2D table format This is the format read by the AMESim utility function rtable2d Normally submodels which read tables using this utility process them by using interpolation with linear or cubic splines in the x direction and linear splines in the y direction Mathematical definition Preferred layout in text editor The integer N should be in the first row and M should be in the second row In the third row should be N x values and in the fourth row M y values After this should be the z values in N columns with M rows Example of layout in the Table editor Begin by adding rows and columns putting the x values in 1st row and the y values xi i 1 1 N xj j 1 1 M zi j i 1 1 N j 1 1 M Appendix A Formats supported by the AMESim Table Editor 616 in the first column but leaving the top left position clear Figure 1 3 Layout for a 2D table Next fill in the corresponding z values Figure A 4 Z values Restrictions The number of x values must always be greater than or equal to 1 If there is only 1 x value z values are assumed to be independent of x If interpolation using cubic splines is to be used in the x direction there must be at least 2 x values The number of y values must be greater than or equal to 1 If there is only 1 y value z values are assumed to be independent of y If any sort of interpolation is to be used in the x directi
211. 4 2 User Manual 551 Figure 17 21 Set up the FFT 7 Click on OK The spectral map corresponding to the variable appears in a waterfall plot Figure 17 22 Waterfall plot Chapter 17 3D plots and order analysis facilities 552 17 4 The Order Amplitude 17 4 1 Definition The order amplitude is the curve displaying the amplitude of the different orders against the reference speed of the system It corresponds to the integration of a vertical slice through the spectral map Such a curve can show some possible resonances in the system 17 4 2 Order tracking technique As the sampling method used in AMESim is fixed time interval the orders in the spectral map do not correspond to spectral lines It is therefore necessary to integrate over a certain bandwidth to obtain a valuable order amplitude The bandwidth and order are selected in the Order Analysis dialog box Figure 17 23 Order analysis dialog box The Figure 17 22 shows that the orders are close to each other at low speed A Note The X axis is a frequency in Hz The Y axis is a rotary speed in rev min The spectral map shows clearly 4 periodic responses of the torque to the periodic forcing function engine speed These are called the orders and they correspond to the frequency of the engine speed and 2 3 and 4 times this frequency The first order engine speed is very strong order 2 is significant and the other two orders 3 and 4 are wea
212. 5 1 Copy Paste parameters 441 Copying parameters 441 Pasting parameters 441 14 5 2 Load Save parameters 442 Saving a submodel set of parameters 442 Loading a submodel set of parameters 443 Chapter 15 Facilities Available in Run Mode 445 15 1 Introduction 445 15 2 Time domain and linear analysis modes 446 15 3 Running a simulation 446 15 3 1 Save status and Save next status of variables 446 Global change of Save next status 447 Submodel change of Save next status 448 Individual variable change of Save next status 448 15 3 2 Locked status of state variables 449
213. 560 Possible values are lists of one or more elements separated by semicolons i e A semicolon after the last member of the list is optional Here is an example of a real list 12 24 5 1 23e 1 An example of Possible values for type String list is a list of file names FluidProps1 data FluidProps2 data FluidProps7 data Real and Integer The parameter can take any value between an Upper bound and Lower bound Real discrete and Integer discrete The value of the parameter can take any of the values that are declared as being Possible values The Default value must be a possible values String list The value of the parameter can only be chosen among the values that are de clared as being Possible values During the execution stage you will not direct ly set its value but assign to it the index of the desired string in the possible string list Formatted string This is a string in which AMEPilot will replace some formatted elements with current values of other parameters Thus at the execution stage you do not set its value directly but AMEPilot does it using other parameter values The Formatted string is more complex than the other types and hence there is a spe cial section devoted to it 18 5 5 Formatted string Input Parameters Checks are preformed when you try to save If an error is detected a suitable message is displayed Figure 18 3 Examples of errors in the Input Parameters Format
214. 6 User defined data sets 5 When it is ready click on OK to validate your setup 14 3 5 Common parameters This facility is used to assign identical parameters to selected components It can also be used to check that a given parameter has the same value in all the selected components and lines In some AMESim library this facility is essential An example is the hydraulic library where most submodels have the title of an integer parameter index of hydraulic fluid By using common parameters all or a subset of these can be changed in one operation Assigning common parameters 1 Select a group of components and lines at least two 2 Select Parameters Common parameters You get a list of parameters Each title in the list occurs in at least two submod els These are the common parameters The values of all the common parame ters are also displayed Note that three question marks appear when different values are set to a given common parameter in different components See the Common parameters dialog box below Chapter 14 Facilities available in Parameter mode 430 Figure 14 27 Values of common parameters Remember that common means it appears in at least two submodels 14 3 6 Export setup This facility is fully described in Chapter 9 Note If you set a new value in the Common parameters dialog box all the selected components which contain the modified parameter will be updated accordingly after clicki
215. 94 12 5 Moving components There are three methods of moving components which are already added to the sketch The component cursor method The drag and drop method and The arrow key method In all cases the lock button must be in the unlocked state Component cursor method This method can only be used to move a single component 1 Double click on the component The component is removed from the sketch and reappears as the cursor Any line runs that were attached to the component will be left as loose lines Drag and drop method This method can be used to move one or more components 1 Select the component s you wish to move 2 Keep pressing the mouse left button 3 Then move the pointer and the component s to the new position 4 Stop pressing the mouse left button This operation is called drag and drop AMESim will attempt to move the components as a unit with the line runs still connected However the AMESim overlap rule will be observed Arrow keys method This method can be used to move one or more components 1 First select the component s you wish to move 2 Use the arrow keys to move the component s The system moves 16 pixels for each key stroke If you use the arrow keys in combination with the Ctrl key the system will move 1 pixel for each key stroke 12 6 AMESim ports There are currently ten standard AMESim port types and each has a special AMESim 4 2 Us
216. AMEPlot Once an AMEPlot is open you can see that it contains A menubar A toolbar A Main Window A status bar 4 Click in the plot area and select Options to produce the Graph Area Format dialog box 5 Check the Batch plot check box If necessary specify a subset of batch runs by clicking on Select batch runs to produce the dialog box shown in Figure 16 3 Chapter 16 The Plotting facilities 506 This is shown in Figure 16 4 Figure 16 4 The regions of AMEPlot Some facilities in the menu bar and the tool bar apply to the whole main window Others apply to a single plot area Tool bars Main window Menu bar Status bar In the main window you can add several plot areas 1 To add other plot areas in the same window right click on the first plot 2 Select Add Row or Add Column If there is more than one plot they are labeled as in Figure 16 5 The labels for plots AMESim 4 2 User Manual 507 Figure 16 5 The labels for plots 16 4 The AMEPlot Toolbars AMEPlot has three toolbars containing buttons which are all equivalent to a menu item of the menu bar Each button is equivalent to Plot 1 2 Plot 1 1 Plot 2 1 Plot 2 2 File Open and Ctrl O File Save configuration and Ctrl S File Print and Ctrl P Chapter 16 The Plotting facilities 508 16 5 The AMEPlot Menu bar The menus contain the main facilities available in the AMEPlot See the d
217. AMESim Version 4 2 September 2004 Copyright IMAGINE S A 1995 2004 AMESim is the registered trademark of IMAGINE S A AMESet is the registered trademark of IMAGINE S A ADAMS is a registered United States trademark of Mechanical Dynamics Incorpo rated MSC ADAMS is a registered trademark of MSC Software Corporation in the United States MATLAB and SIMULINK are registered trademarks of the Math Works Inc Netscape and Netscape Navigator are registered trademarks of Netscape Communi cations Corporation in the United States and other countries Netscape s logos and Netscape product and service names are also trademarks of Netscape Communications Corporation which may be registered in other countries PostScript is a trademark of Adobe Systems Inc UNIX is a registered trademark in the United States and other countries exclusively licensed by X Open Company Ltd Windows Windows NT Windows 2000 Windows XP and Visual C are regis tered trademarks of the Microsoft Corporation The GNU Compiler Collection GCC is a product of the Free Software Foundation See the GNU General Public License terms and conditions for copying distribution and modification in the license file X windows is a trademark of the Massachusetts Institute of Technology All other product names are trademarks or registered trademarks of their respective companies AMESim 4 2 User Manual i Table of contents Chapter 1 Int
218. Analyses of the linearized systems 42 Create plots of results 42 Initiate linearizations 42 Initiate standard and batch simulation runs 42 Store and load the configuration 42 Run Parameters Fixed step options tab 462 General tab 453 Integrator type 454 Run type 454 Standard options tab 456 Run parameters 35 Examine
219. B data2ame m creates an ASCII data file in a format that can be read by an AMESim plot using the Open pulldown menu fx2ame m saves data for one dimensional interpolation in a form suitable for use with AMESim submodel associated with the icon fxy2ame m saves data for two dimensional interpolation in a form suitable for use with AMESim submodel associated with the icon ss2ame m takes matrices A B C D defining a state space system and creates an ASCII file in a format that can be read by AMESim This is described in section 7 3 3 Importing linear systems from MATLAB into AMESim tf2ame m takes a continuous transfer function and creates an ASCII file in a format that can be read by AMESim This is described in section 7 3 3 Importing linear systems from MATLAB into AMESim amegetp m gets parameters from a named AMESim system An example on usage is given in section 7 2 Tutorial examples The syntax is described in section 7 3 4 Running AMESim simulations from MATLAB ameputp m sets parameters for the named AMESim system The syntax is described in section 7 3 4 Running AMESim simulations from MATLAB amegetcuspar m gets a parameter for a customized supercomponent submodel This is described in 7 3 4 Running AMESim simulations from MATLAB ameputcuspar m sets a parameter for a customized supercomponent submodel This is described in 7 3 4 Running AMESim simulations from MATLAB
220. GHT and Optimus 570 iSIGHT 571 Optimus 571 18 9 2 AMESim Visual Basic Applications interface 571 Installation 572 Using the AMEVbaInterface bas VBA module 572 Subroutines available in AMEVbaInterface bas 573 Chapter 19 AMESim Design exploration module 577 19 1 Introduction 577 19 2 Nomenclature 577 19 3 Key features 577 19 3 1 DOE 578 Parameter study 578 Full factorial 578 Central composite
221. Gaussian distribution the amplitude for a uniform distribution If an input parameter is not ticked as used the value specified in the Mean value column will be used for all runs Responses The responses list is shown in Figure 19 25 Figure 19 25 Responses tab The Used column contains check boxes If it is ticked then the value obtained for each run will be stored in the log file and will be available for post treatments Number of runs Use this field to specify the number of runs you want to perform Seed AMESim uses a pseudo random number generator to choose the input parameters values In such a generator the initial seed value determines all the values that will be generated If you do a Monte Carlo execution twice with the same seed value you exactly the same results In order to perform different Monte Carlo execution with the same parameter settings change the seed value Chapter 19 AMESim Design exploration module 604 19 7 The Design Exploration Plots dialog box 19 7 1 Description Figure 19 26 Design Exploration Plots dialog box It can be divided into two parts The first part is static the other one is dynamic and depends on the type of plot you select 19 7 2 Static part Log file Study type This gives you the type of study and the technique that was used to create the log file Static part Dynamic part Select in the dropdown list the log file from which you want to plot da
222. Linear and rotary motion elements are included Control contains all the components necessary to control measure and observe your system The Control category may be used to create block diagram models of systems Chapter 2 The AMESim Workspace 32 egories You can display the category bar on the right on the left or on the top of the AMESim interface at your convenience You will find further details in the user manual of each category Hydraulic contains many general hydraulic components suitable for simulating ideal dynamic behavior based on component performance parameters Hydraulic Component Design contains the basic building blocks of any hydro mechanical system The interpretation of the model layout is very easy and intuitive Hydraulic Resistance creates large hydraulic networks evaluate the pressure drops through the elements and modify the design of the sys tem Pneumatic Contains component level models to model large networks and basic elements to design complex pneumatic components Pneumatic Component Design contains the basic building blocks of any pneumatic mechanical system The interpretation of the model lay out is very easy and intuitive Thermal used to model traditional heat transfer modes between solid materials and to study the thermal evolution in these solids when sub mitted to different kinds of heat sources Thermal Hydraulic used to model thermal phenomena in liquids and to study
223. Manual 599 Once the common part is filled you have the choice between two algorithm in order to solve the problem The specific attributes you have to set for these algorithms is described in the following paragraphs NLPQL When NLPQL algorithm is selected the properties shown in Figure 19 21 are displayed Figure 19 21 NLPQL properties Relative gradient step NLPQL algorithm needs AMESim to compute the gradients of the objective function and constraints in all directions available in the design space Each input involved in the optimization process is a direction These gradients are computed using the finite difference method To explain that let us take an example Imagine that the objective function is where x and y are the two input parameters The gradient is The previous approximation is used to compute the gradients The relative gradient step is the d quantity A run is performed with x x0 and y y0 to determine f x0 y0 Then two other runs are needed to compute f x0 x0 y0 and f x0 y0 y0 This is called an iteration Only the central run is stored in the log file For other points the computation of the gradient are not needed In these cases the y x f z 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 y y y x f y x f x
224. NTRANSF and another for state space systems DYNSTATESPACE AMESim uses these blocks once the MATLAB ssp file is imported You are not allowed to adjust the number of inputs and outputs because this is fixed by the values specified in the file as saved from MATLAB The ports are denoted by gt symbols and each port has a single external variable associated with it having null units There is no restriction on the number of state space and transfer function blocks you can import AMESim 4 2 User Manual 241 2 Click on OK and add the block to the system Figure 7 13 shows an example Figure 7 13 Example of a block with simple input and output An AMESim jac file can be imported into any AMESim model by the menu Interface Import linear model In this case you must select the jac extension when you get the file browser Figure 7 14 Open browser Note You can label each port with text and put a short general title with up to three lines of text The order of the outputs from the block is reversed compared with their MATLAB counterpart this is because AMESim numbers the ports beginning on the left side and continuing counterclockwise Chapter 7 The AMESim MATLAB Interface 242 Special submodels in Parameter mode Figure 7 15 Parameter mode In Parameter mode the parameters of the state space or transfer function blocks can be examined and modified See Figure 7 15 The parameters of
225. S_Optimization and select Edit 2 Change NLPQL to Genetic algorithm This algorithm is normally much slower but is often more robust 3 If you are short of time change the Max number of generations to 10 which will result in about 800 runs but if you can leave it running for a few hours leave the value at 100 requiring about 8000 runs Chapter 10 Getting started with AMESim design exploration features 294 4 The best results are given in the Log tab Figure 10 24 The genetic algorithm results The result is very similar to that obtained with NLPQL with a main damper rate of 820 N m s and a sky hook damper rate of 1319 N m s the minimum acceleration is 8 6 m s s and the tire stays in contact with the road The oscillations are damped out to an amplitude of just over 2 mm after 1 5 seconds In this case the NLPQL algorithm is preferable 10 5 Monte Carlo Now imagine there is an uncertainty in the value of the tire spring rate What is the effect of such an uncertainty on the tire compression In this section we try to answer this question We consider that the uncertainty can be modeled by a Gaussian distribution with a mean value of 100000N m the nominal value and a standard deviation of 1000 1 of the nominal value Step 1 Define the Monte Carlo study 1 Close the Design Exploration dialog box 2 Add the spring rate parameter of the AS_Tire submodel as an input to the export setup and name it AS
226. Sim MATLAB Interface 228 amegetp MSD2 MAS001 1 This last command gives you a list of the parameters for the mass 3 Verify that the mass is set to 100 kg Step 3 Running a standard simulation from MATLAB To run a simulation from MATLAB do the following 1 Use the command R S amerun MSD2 0 1 0 001 This will run a simulation starting at time 0 ending at 1 second with a commu nication interval of 0 001 second After the simulation is complete the result file is automatically loaded and the results are saved in R and S In S you have a list with the variable titles By looking at S you can find out which row in R belongs to what variable 2 Type S MATLAB will answer with S time s HIDDEN MAS001_1 acceleration at port 1 m s s MAS001_1 displacement port 1 m MAS001_1 velocity at port 1 m s SD0000_1 duplicate of force at port 1 N SD0000_1 force at port 1 N SD0000_1 spring compression m SD0000_1 spring force N STEP0_1 step output XVLC01_1 displacement output m XVLC01_1 velocity output m s This is the full set of variables because you have not used any selective save If you had you would have a subset of variables in S If no variables had been saved amerun would have produced an error message You can see that the displacement is on the fourth line It is thus in the fourth row of the R matrix Time is in the first row 3 To plot the displacem
227. Two components can be connected at their ports if The ports are compatible types The ports are within a threshold distance actually 12 pixels At least one compatible combination of submodels exists see next section Why can t I connect two components When you try to connect two components you can get the following error message even if the ports have compatible types Figure 12 1 Example of components that cannot be connected This happens when no compatible combination of submodels exists between these two components Components and line runs are associated with submodels which produce and require quantities that are exchanged with other submodels These quantities are called external variables External variables produced by a submodel are called outputs External variables required by a submodel are called inputs The main function of a submodel is to calculate its outputs from its inputs Two submodels are compatible when each one receives the inputs it requires from the other In order to display the external variables of a submodel associated with a component or line run right click on this object and select the External variables item of the menu If the ports are of compatible types green squares appear when the components are close to each other If you left click provided there are no overlap problems the components will snap together In other words they get con
228. _TireSpringRate Figure 10 25 Extra Input for Monte Carlo Study 3 Close the Export Setup dialog box and open the Design Exploration one Note there is no stopping criterion in the genetic algorithm so you get the full number of runs However if you interrupt the algorithm using the stop button you normally get the best results so far AMESim 4 2 User Manual 295 4 Use Study New to produce the Design Exploration Definition dialog box Figure 10 26 Setup the controls 8 Setup the responses as shown in Figure 10 27 Figure 10 27 Setup the responses 9 Set the number of runs to perform to 200 10 Click on the OK button This setup means that during execution AS_SkyHookDamperRate and AS_MainDamperRate will remain constant at the value obtained by the optimization process AS_TireSpringRate will vary so that it will have a mean value very near to 100000 and a standard deviation very near to 1000 The only output saved as a results will be AS_min_TireCompression 5 Set the Study type to Monte Carlo 6 Name the study AS_MonteCarlo 7 Setup the controls as shown in Figure 10 26 Chapter 10 Getting started with AMESim design exploration features 296 Step 2 Run and analyze the Monte Carlo study Figure 10 28 Histogram of the frequency distribution As you can see for some cases the tire compression is negative The wheel would lose contact with the road 1 Start SH_MonteCar
229. a file 3 Type in a name for this file and click on the Save button If you select this menu item or click on the button a file browser appears You can select three kinds of files When you save configuration you record the complete specification of the plot This option does not save the data points of the curve s The preferred extension is plt When you open the file plt AMESim tries to implement this specification using the current results file Chapter 16 The Plotting facilities 510 Figure 16 7 Saving a Plot Configuration Save data When you save data the file contains the datapoints of the curve s the titles and units of the variables concerned It does not contain information on colors additional text fonts number of rows and or columns 1 Select File Save data A file browser appears similar to Figure 16 7 Saving a Plot Configuration 2 Select the directory where you want to save your data file 3 Type in a name for this file and click on the Save button Your file is saved with no particular extension Export values 1 Select File Export values This is the lowest level save When you export values the file contains only the datapoints of the curve s in an ASCII format This file is useful if you want to use the curve datapoints in another application like a spreadsheet or Matlab or even if you want to produce a table for a submodel such as the one shown Note All the cur
230. a simulation from MATLAB 226 Running a batch simulation from MATLAB 229 7 2 5 Importing linear analysis results from AMESim into MATLAB 230 Case of an explicit system 231 Case of an implicit system 234 7 3 Reference 234 7 3 1 Special m files available 234 7 3 2 Importing temporal time history results from AMESim 236 ame2data 236 ameloadt 236 amegetvar 237 7 3 3 Importing linear systems from MATLAB into AMESim 238 Case of a transfer function 238 Case of a state space 238 Importing ssp and jac files to AMESim 239 Special submodels in Parameter mode
231. able Directory structure Display of the documents Chapter 2 The AMESim Workspace 40 keyboard shortcuts in AMESim If you want to Press Start a new system Ctrl N Open an existing system Ctrl O Save Ctrl S Print Ctrl P Quit Ctrl Q Cut Ctrl X Copy Ctrl C Paste Ctrl V Display the current auxiliary system Ctrl D Select All Ctrl A Mirror Ctrl M Rotate Ctrl R Find a Submodel Ctrl F Copy the current selection to a supercomponent Ctrl W Raise all graphs Ctrl T Lower all graphs Ctrl B Get into Sketch mode F5 Get into Submodel mode F6 Get into Parameter mode F7 Get into Run mode F8 AMESim 4 2 User Manual 41 Chapter 2 The AMESim Workspace 42 AMESim 4 2 User Manual 43 Chapter 2 The AMESim Workspace 44 AMESim 4 2 User Manual 45 Chapter 2 The AMESim Workspace 46 AMESim 4 2 User Manual 47 Chapter 2 The AMESim Workspace 48 AMESim 4 2 User Manual 49 Chapter 2 The AMESim Workspace 50 AMESim 4 2 User Manual 49 Chapter 3 Getting Started In this you will do three exercises constructing engineering systems and analyzing their dynamic performance using the main AMESim utilities The time you will require varies enormously but from 3 to 4 hours is typical However the exercises are open ended in the sense that there are optional suggestions for further studies at the end of each
232. again B 7 Purge tool for system files If you want to send big systems to a colleague you need to reduce the size of your ame files The Purge tool is very easy to use and will help you to purge in a few clicks the files which are not compulsory 1 To purge a ame file use the menu item Tools Purge 2 Click on the Select file button to select the ame file to purge The following operations are obvious but if you want more information about this facility see Purge page 368 B 8 Pack Unpack facility Some systems use external information like images customized objects super components or other objects If you want to send a complete system to a colleague NAME_ ssf used to define which variables are to be saved in the results file NAME BAK LOG information on backups of the system NAME BAK a binary file which is a backup of the system The characters are a coded form of the time and date at which the backup was created NAME_ jacn where n 0 1 2 are the results of linearization If a series of linearizations at various times are requested the results of the linearization at the first time are stored in NAME_ jac0 at the second time in NAME_ jac1 etc NAME_ jacn m the result of linearization n for batch run m File Description Appendix B Special files used by AMESim 630 you may have problems to send seperate files joined to the system AMESim pro vides the Pack Unpack facility to he
233. ain situations can create difficulties Thus very small hydraulic vol umes and very small masses subject to large forces can cause problems The State count facility can be useful in identifying the cause of a slow simulation An eigenval ue analysis can also be useful The author remembers spending many hours trying to understand why a simulation failed Eventually he discovered that he had mistyped a parameter A hydraulic motor size had been entered making the unit about as big as an ocean liner When this pa rameter was corrected the simulation ran fine It follows that you must spend some time investigating why a simulation runs slowly or fails completely However it is possible that you have discovered a bug in an AMESim submodel or utility If this is the case we would like to know about it By reporting problems you can help us make the product better On the next page is a form When you wish to report a bug please photocopy this form and fill the copy You telephone us having the filled form in front of you means you have the information we need Similarly include the information in an email To report the bug you have three options reproduce the same information as an email telephone the details fax the form Use the fax number telephone number or email address of your local distributor AMESim 4 2 User Manual HOTLINE REPORT Creation date Created by Company Contact Keywords at least on
234. ainly get an index greater than 1 Case of an explicit system Load the MSD example into AMESim Perform the following 1 Set a linearization time at t 1 seconds 2 Change the status of the variables as follows SIN0 sine wave output gt control SD0000 velocity at port 2 gt state observer 3 Restart a run This will ensure that at least one file named MSD_ jac0 has been created If there had been more linearization times a series of files MSD_ jac0 MSD_ jac1 etc would have been created MSD_ jac0 contains the results of the linearization i e the A B C and D matrices at the single linearization time These results can be read using the utility ameloadj m Here is part of a typical session reading the state space matrices and performing some simple analysis gt gt help ameloadj AMELOADJ Load AMESim JAC format jacobian files x Ax Bu y Cx Du x Ax p i 0 Bisiu y Cx p i 0 Disiu Chapter 7 The AMESim MATLAB Interface 232 A B C D x u y t xvals AMELOADJ system_ jac0 ex tracts continuous state space matrix A B C D about the current point at time t computed by AMESim using numerical perturbations In X U Y it returns the titles of states input output variables xvals contains the values of the free state variables at the point of linearization available for models created with AMESim 4 2 or later In matrix
235. al 0 eigenvalues due to further redundancy The examples we have used are linear and it does not really matter at what time we linearize With a genuine non linear system unless the system is in equilibrium you will get different state space matrices eigenvalues etc at different times Normally you perform your linearization at some carefully chosen operating point and it is valid only in the neighborhood of this point These simple tutorial examples do not pretend to explore all the possibilities of the interface It only tries to get you started 7 3 Reference 7 3 1 Special m files available This section describes the special m files stored in the AMESim system area and there are examples of the more commonly used m files Some of the files are called from others and you would not normally use them directly The ones you might use directly are as follows amebode m operates on a jac file created by AMESim and produces a AMESim 4 2 User Manual 235 bode plot The system may be explicit or implicit ame2data m can be used for reading data created with the Export values facility from an AMESim plot within MATLAB ameloadj m loads the results of an AMESim linearization into MATLAB For an example of this see section 7 2 5 Importing linear analysis results from AMESim into MATLAB ameloadt m loads a complete AMESim results file into MATLAB For an example see 7 2 3 Importing AMESim results into MATLA
236. allows you to paste the objects you cut or copied in the current system or in another one The Delete button allows you to delete the selected objects Be careful if you use this option you cannot copy the objects back Note The copy operation in AMESim does not copy the selected objects in the Windows clipboard This means that you can copy objects and paste them in the same AMESim but not from one AMESim to another The Blank Plot button displays an empty plot in which you can drag and drop the variables you wish to plot From the plot window you can open the Plot manager The Table Editor button starts the Table editor utility The AMEAnimation button starts the viewer for the Planar Mechanical models Chapter 2 The AMESim Workspace 30 The Post Processing Tools Toolbar Figure 2 33 Post processing tools toolbar The Linear Analysis Toolbar Figure 2 34 Linear Analysis Toolbar The Temporal Analysis button is selected by default The Linear Analysis button opens a new toolbar to set up the linear anal ysis process The Design Exploration button opens a dialog box to initiate design ex ploration The Replay button opens a dialog box to set up the replay The State Count button displays the summary of which state variables controlled the integration step size The LA Times button opens the Linearization Times dialog box which allows you to set times for linearization The LA Status button opens the LA Sta
237. ally well an AME make file can be placed in a special directory to allow a group of users to access it If you develop your own libraries you can specify a library you have created and wish to use AMESim 4 2 User Manual 627 Using Unix the recommended name for a library starts with lib and ends with extension a for instance libMyLib a You must specify the extra library libraries and the pathname to where they are stored An example of a third line is L home cwr mylibs lMyLib Using the Microsoft Compiler the recommended name for a library ends with extension lib for instance MyLib lib The way of specifying the path to the library is C home cwr mylibs MyLib lib A fourth line looks like win32 C home cwr mylibs MyLib lib If a third or fourth line already exists it is probably better to add this text at the beginning of the line B 6 Files created for AMESim When you create a system using AMESim run a simulation and perhaps perform a linearization some files are created Below is a list of the files that might be present if the name of the system was NAME The purpose of each file is also indicated Note that unless otherwise indicated all files are ASCII files File Description NAME ame contains the whole collection of files necessary for the system concatenated into a single file and optionally compressed to save disk space It is not an ASCII file NAME_ cir is a description of the complete system inc
238. almost all values will be saturated and so the symbols will be full size Use this with values displayed to give a value and a direction It is more difficult to understand the sign convention for rotary quantities than linear ones Make life easier for yourself and make extensive use replay with Arrows For quantities with no direction such as hydraulic pressure Numerical or Scrollbar symbols are best Use a saturation level to indicate pressures exceeding an extreme value e g pressure exceeding 200bar If you are interested in air release or cavitation in a hydraulic system use a high saturation level of 1bar and a low saturation level of 1bar 15 7 Why do linear analysis It can be extremely difficult analyzing time domain results even for a very skilled simulation expert Such experts make extensive use of the frequency domain In other words they use linear analysis Important tools are Bode plots Nichols plots Nyquist plots Modal shapes Root locus plots It is extremely important to realize that use of these tools is meaningless unless the linearization is carried out at an equilibrium position In addition it is necessary to switch off stick slip friction also called dry friction How do I ensure my system is in equilibrium Do a Stabilizing run or do a long Dynamic run with Hold inputs constant However simple eigenvalue analysis can be useful with the system not
239. alue Procedure Input box Chapter 11 Facilities Available in all Modes 366 1 To enter a mathematical function in the input box select a function in the Mathematical functions list 2 Double click on the mathematical function The mathematical function is placed in the input box 3 Enter one or several values in the brackets You can select values in the Fundamental constants and Global parameters lists by double clicking on the values 4 If necessary complete the expression by selecting operators and functions in the two lists 5 When your expression is complete click on the equal button The result is displayed in the grey box next to the equal button Expressions The expressions that you can enter in the input box can be made up of global parameters real and integer constants the label PI which is taken to be an approximation to the arithmetic operations and for raising to a power or the boolean operations amp amp gt lt gt lt parentheses and with their usual mathematical significance coma for separating variables the following functions of one variable the following functions of two variables atan2 sign and the following functions of two or more variables min max AMESim will first check your expression If it finds it is acceptable it will enter th
240. alue at time t Returns the value of a variable or expression at a given time If the specified time is not a communication time the nearest communication time is considered The result value is said to be undefined if the specified time is outside the domain of defi nition of the variable or expression A or T are undefined T is lower than Start Time or greater than Final Time re strict A T1 T2 Restriction to a time interval Allows the user to only consider part of a simulation result If used alone the result value is the value at time t T2 The domain of definition is limited to T1 T2 This means that valueAt restrict A T1 T2 t is undefined for t lt T1 and t gt T2 It is also undefined on every point where A is un defined leftTrunc A T Left truncation of a signal Allows the user to ignore the left part of a simula tion result If used alone the result value is the value at time t Final Time The domain of definition is limited to T Final time This means that valueAt leftTrunc A T t is undefined for t lt T It is also undefined on every point where A is undefined right Trunc A T Right truncation of a signal Allows the user to ignore the right part of a simula tion result If used alone the result value is the value at time t T The domain of definition is limited to Start Time T This means that valueAt right Trunc A T t is undefined for t gt T It is also u
241. alues box to display the values that will be used for the four runs With N 2 2N 4 Figure 10 14 The Design Matrix dialog box 3 Click on Close and then OK to return to the Design Exploration dialog box Step 5 Run AS_DOE and display the effect table 3 The button becomes disable gray until the end of the process 4 Wait the end of the process Four runs are done 5 Right click on the AS_DOE item in the list and select Effect Table in the menu Figure 10 15 Effect table The tables shows linear regression coefficients The positive value 2 02757 indicates that body acceleration increases as the main damper rate increases 1 Right click on the AS_DOE item in the list and select Set active in the menu AS_DOE appears in bold 2 Click on the Start button Chapter 10 Getting started with AMESim design exploration features 288 whereas the value of 0 191442 indicates the acceleration reduces as the sky hook damper rate increases We hope to control acceleration with a high sky hook damping rate The value 0 001401 indicates that the sky hook damper rate has very little influence on tire compression whereas 0 0124051 indicates the main damper rate rate is more important for the tire compression We can ignore the sky hook damper rate and seek to set the keep the tire compression positive by a sufficiently large main damper rate With two parameters it is not easy to manually optimize the values but we have an au
242. and the error moved to the lower row Figure 16 32 The final plots Chapter 16 The Plotting facilities 534 Valid expressions for the Plot manager The following are valid References to existing variables such as A0 A1 A2 or a0 a1 a2 etc Real and integer constants such as 12 5 0 1234e 3 24 The label pi which is taken to be an approximation to The arithmetic operations and for raising to a power or Parentheses and with their usual mathematical significance The following functions of one variable The following functions of two variables The following functions of two or more variables The function atan2 a b means atan a b unless b 0 in which case it means atan 2 if and is an error otherwise The function sign a b means the absolute value of a with the sign of b The function differ differentiates the argument with respect to time whereas integ integrates it Note these two functions operate on the data stored in the results file There is no control on error for these two functions and they should be regarded as rough estimates The meaning of the other functions is obvious If A1 A2 and A3 appear in the items to plot the following are valid calculated items A1 A2 a1 a2 12 3 Note There are also Remove curve and Remove item buttons not used in the above example Figure 16 27 To use these buttons fir
243. and this submodel is com patible with its adjoining component or line submodels or there is more than one submodel available for it but only one is com patible with its neighbour submodels In the case of a line run the submodel associated with it will probably be the DIRECT submodel The DIRECT submodel is the simplest possible line sub model the two ports connected by the line behave as if they were directly con nected together No submodel is automatically assigned to a given component or line run if there is more than one submodel available and compatible with its neighbour submodels In this situation the user must select manually a submodel for this component or line run from a list of suitable submodels Components and line runs which do not have submodels associated with them have reverse video appearance the foreground and background colors are in terchanged All components and line runs must be associated with submodels before entering Parameter mode Note There is one special button labeled Premier submodel in Submodel mode The Categories buttons disappear when entering Submodel mode since they cannot be used anymore Chapter 13 Facilities available in Submodel mode 400 13 2 The Premier submodel button The submodels selected are the first that appear at the top of the list of suitable submodels when the process is performed manually see next section For a given component o
244. any stage you can save your setup using the Save button Note that it will not close the dialog box To do this use the Close button If some unsaved changes remain AMESim will ask you whether or not you want to save these changes 18 5 Exporting inputs Here we focus on Input Parameters They are displayed in a list giving all the properties that define the Input Parameters as show on Figure 18 2 Figure 18 2 Empty list of Input Parameters 18 5 1 Adding inputs to the export setup Adding an Input Parameter to the export setup means that you will be able to specify its value using an ASCII file at run time Input Parameters may be of different origins submodel parameters global parameters user defined meaning they have no link at all with the AMESim mod el The way of adding an input depends on its origin In all cases do the following first 1 Ensure you are in Parameter mode 2 Use Parameters Export setup to create the Export Parameters Setup dialog box and ensure the Input Parameters tab is selected Submodel parameters as inputs In order to add submodel parameters to the selection of inputs 1 Click on the component that holds the parameter you are interested in The Change Parameters dialog box appears 2 Select the parameter you are interested in drag it and drop it on the Export Parameters Setup dialog box Chapter 18 AMESim export module 558 A new line appears in the input
245. aphs Add text to a plot 4 1 1 State count facility The state count facility allows you to see which state variables explicit or implicit or constraint are slowing down the simulation The facility is also useful as a quick way of seeing titles of state variables The integration process proceeds in a series of time steps until the final time is reached At each of these steps an iterative process is used to determine the state variable values at the new time This iterative process must converge for the step to be successful In addition after each step an error test is applied based on the tolerance specified in the Run Parameters dialog box At a particular step some variables may easily satisfy the convergence and error tests Others may only just pass the tests AMESim at each step records the variable that had the greatest difficulty in satisfying the tests The State count dialog box is produced in Run mode by clicking on the State count button It summarizes the information which can be very useful in determining the cause of a slow simulation To follow our example reload the QuarterCar ame file you created in Chapter 3 Getting Started Chapter 4 Advanced Examples 100 Figure 4 1 Quarter car system To ensure that the procedures described in this examples make sense for your system make sure in Parameter mode the following values are set Go to Run mode and run a simulation There are 5 state variables To
246. arameter Real Integer or Text 3 Click on the Add new button A new line is created in the table with dummy values for each column 4 Double click on each dummy value and type in the proper value as shown in Figure 14 22 Figure 14 22 Enter new values 5 Click on OK Assigning a global parameter 1 Click on the component or line which requires the global parameter 2 Instead of assigning a value to the concerned parameter type in the name of the global parameter as shown in Figure 14 23 Figure 14 23 Enter the name of the global parameter AMESim 4 2 User Manual 427 During the simulation the global parameter is replaced by its value Modifying Deleting a global parameter 1 Select Parameters Global parameters The Global parameters dialog box appears 2 If you want to modify the value of a parameter double click on the value you want to modify and type in the new value This new value will be taken into account in all the components where the glo bal parameter is used 3 If you want to delete a global parameter select it and click on the Remove button 4 Click on OK for validation Defining a global parameter in terms of other global parameters This is possible provided this global parameter is defined after lower in the list the ones it depends on If this is not the case you can use the two arrows to reorder the global parameters properly 14 3 4 Batch parameters This menu must be
247. arameter mode Chapter 2 The AMESim Workspace 28 The Annotation Tools Toolbar Figure 2 30 Annotation tools toolbar The Edit Operations Toolbar Figure 2 31 Edit operations toolbar Run Parameters displays a dialog box on which you can set the parame ters of the simulation Click on this button starts the simulation run At the end of the simulation a window displays the details on the run This is important to know why a simulation has failed The Stop button stops a running simulation The Insert text facility can be used to add titles or comments on your sketch You can also insert shapes in the sketch like arrows lines rectangles or ellipses Choose the shape you want by clicking on the small arrow next to the shape button Then click on the shape corresponding to your needs Finally you can insert images on the sketch If you click on the Insert image button AMESim opens a browser allowing you to look for the file of the image you want to insert AMESim 4 2 User Manual 29 The Temporal Analysis Toolbar The tools available on the Temporal Analysis toolbar are used for the simulation results analysis Figure 2 32 Temporal analysis toolbar The Cut button allows you to cut the selected objects and to copy them on the current system another one or in an auxiliary system The Copy button allows you to copy the selected objects to paste them in the current system or in another one The Paste button
248. are parameters in the right hand side are created The All in one plot option is selected then only one plot window is created in which all the parameters present in the right hand side are plotted If the design exploration process is still running when you create this plot the automatic update is on in order to follow the evolution of the process Otherwise the automatic update is off Scatter plot A scatter plot is a plot of the values of a parameter versus the corresponding values of another parameter It can be used to visualize the convergence of a genetic algorithm Figure 19 29 Example of a scatter plot It can also be used to determine a correlation between parameters The Figure 19 29 shows a scatter plot involving two parameters which are linked by a linear correlation When Scatter plot is selected the dynamic part of the dialog box looks like in the following figure AMESim 4 2 User Manual 607 Figure 19 30 Scatter plot setup Select the parameter you want to plot using the dropdown lists and click on the OK button If the design exploration process is still running when you create this plot the automatic update is on in order to follow the evolution of the process Otherwise the automatic update is off 19 7 4 Interaction diagram Interaction diagrams only apply on DOE Full factorial and Central composite It is used to determine if two factors factor1 and factor2 interact with each other re
249. are lost No the procedure is canceled Save the dialog box below appears and you have the opportunity to save the current system set of parameters before the state variable initial values are overwritten In this case the original initial values can be re stored AMESim 4 2 User Manual 425 Figure 14 20 Save a set of parameters For more details on saving and loading a system parameter set please refer to section 14 3 1 Load Save of system parameter set 3 If the results file does not exist cannot be read or AMESim thinks the system has been changed so the values in this file are no longer appropriate a suitable warning message is displayed 14 3 3 Global parameters This facility is useful when a given parameter is used many times in a model and must have the same value If you want to observe the effect of this particular parameter on the system you must change it in all the components in which it is used before starting each simulation Alternatively you can declare a global parameter and assign it in all the components where it is needed Then you just have to change the global parameter only one value before each simulation Creating a global parameter 1 Select Parameters Global parameters The Global Parameters Setup dialog box is produced Figure 14 21 Create a global parameter Chapter 14 Facilities available in Parameter mode 426 2 Click on the tab related to the type of your global p
250. ars next to the value which will be set when clicking on the OK button Purple This submodel has been modified with AMESet Most of the time you will be informed of the inconsistencies by the Check submodels facility when you open the system Note When you visualize the results of the comparison and the labels on the sketch you must keep in mind that the information is always based on the Analyzed circuit See Figure 14 38 Chapter 14 Facilities available in Parameter mode 438 Figure 14 38 Labels appear in the sketch Facilities available from the Compare systems dialog box Copy parameters You can modify parameters by copying the Reference parameter to the Analyzed parameter or you can do the opposite The copy facility is only possible when the parameters are presented in blue To copy a parameter do the following 1 Select the parameter you want to copy AMESim 4 2 User Manual 439 Two buttons become active in the Compare systems dialog box Figure 14 39 Arrow buttons 2 Click on the right arrow to copy the Reference parameter to the Analyzed parameter The Analyzed parameter value appears in yellow and an arrow indicates that the Reference parameter will be copied to the Analyzed parameter when you click on the OK button See Figure 14 40 Figure 14 40 Arrow indicating the parameter which will be copied 3 To cancel the copy operation use the two buttons Undo and Redo that appear in a red squa
251. ary axis Figure 5 40 Root locus plot IMAGINARY REAL AMESim 4 2 User Manual 177 5 6 Example 5 Modal shape analysis with a me chanical system Objectives Determine Modal shapes of a simple mechanical system Relate the modal shape analysis to the time domain For more information on this subject see references 2 and 3 This exercise is based on the example shown in Figure 5 41 There are six state variables 3 velocities and 3 displacements Figure 5 41 Three mass model 5 6 1 Modal shapes Step 1 Construct and run the system 1 Construct the system and use Premier submodel 2 Set the amplitude of the sine wave to 0 3 Set the velocity of the left mass to 0 001 m s no longer in equilibrium 4 In the Run parameters dialog box set the final time to 1 second the communi cation interval to 0 01 second and the tolerance to 1 0e 7 since we are dealing with very small velocities we want a little extra accuracy 5 Run a simulation 6 Plot the velocities of the three masses Note With these parameters and initial values the system is in equilibrium Chapter 5 Batch Runs and Linear Analysis 178 Figure 5 42 Velocities of the masses We have small perturbations about an equilibrium position There are 6 eigenvalues and since the perturbations are very small the equations can be considered as linear and each observer variable have the following form We can say each obse
252. ass and the zero velocity source have their colors reversed This is be cause only the 1 port mass has a submodel associated with it The other com ponents must be assigned a submodel Figure 3 10 Components which have no submodel associated With AMESim a single component may have more than one submodel that can be associated with it For the 1 port mass there is only one submodel available so this is set automatically For the others there is a choice of submodels and they can be set manually Alternatively we can let AMESim select the simplest submodel for AMESim 4 2 User Manual 59 each component which requires one This is purpose of the Premier submodel facility which we are going to use in this example Step 2 Use Premier submodel facility 1 Click on the Premier Submodel button from the horizontal toolbar Now all components will have normal appearance indicating they have sub models For each component the first submodel is selected in the list In order to check the submodel names that have been assigned to the components we are going to display them on the sketch Step 3 Display Hide component labels 1 Press the mouse right button on the sketch A Labels menu appears Figure 3 11 Labels menu 2 Select the Show component labels submenu The submodels that have been selected for each component are displayed as la bels 3 Select the Hide component labels submenu The labels disappear Usi
253. ate locked states Objective Obtain a partial equilibrium for a system using locked states 5 3 1 Introduction to locked states The locked states facility applies only to stabilizing runs and can be very useful for the more advanced users but at first reading you may prefer to omit this example During a normal stabilizing run state variables are free to evolve hopefully to some equilibrium position A locked state is not allowed to evolve during a stabilizing run it is held at its initial value AMESim provides a facility to give you control over which states are locked Chapter 5 Batch Runs and Linear Analysis 156 Sometimes it is useful to lock a sub set of state variables and do the stabilizing runs on the rest of the state variables The idea is that you lock the values of certain state variables but you want the rest to evolve to be consistent with the ones you fix Then the system is divided into two parts Often these parts are in different domains Thus we might have a hydraulic power system driving a mechanical load through an actuator It might be useful to start the simulation with the hydraulic sub system in equilibrium but with the mechanical system in some prescribed non equilibrium state We describe the resulting system as being in a partial equilibrium state 5 3 2 Demonstration The system shown in Figure 5 13 represents a catapult loosely based on the type used in medieval warfare tr buchet On the
254. ation tools 301 Adding text to the sketch 301 Changing the annotation object 302 Adding an object to the sketch 302 Adding stored images to the sketch 303 11 2 4 Blank plots 303 11 2 5 Table editor 303 11 3 Facilities available through sketch area menus 305 Copy 305 Set color 305 Reset color 307 Alias 307 Lock States 308 Text actions 309 Labels
255. ay be a problem with the printer or network Alternatively you can create a plot file for inclusion in documents Another way of viewing results is to use the Replay facility 3 3 6 Using the Replay facility The Replay facility allows you to display the variable evolution on the sketch Then you can visualize what happens during the simulation 1 Click on the Replay button The Replay dialog box appears There is a collection of buttons which resem ble those on a tape deck Using Unix The following dialog box is displayed Figure 3 26 Setup printer dialog box Click on OK Chapter 3 Getting Started 70 Figure 3 27 Replay 2 Change the unit from N to m s 3 Click on the the Options button the dialog box is expanded with the extra op tions shown below Figure 3 28 Display of the options 4 Click on the the Symbols button the dialog box is expanded again and you can change the symbol used from Numerical to Arrow as shown below AMESim 4 2 User Manual 71 Figure 3 29 Display of the symbol settings 5 Click on the Options button to reduce the size of the Replay dialog box and click on the Rebuild selection button to take the changes into account 6 Click on the Play button 7 Observe the effects Figure 3 30 Variable evolution is displayed on the sketch 8 Click on the other buttons to see what happens 9 Close the Replay dialog box Note The replay facility is sometimes
256. batch run to generate the jac files for each value of damper rating 5 When the run process is finished select the Root Locus button in the Linear analysis toolbar to access the root locus data You obtain a dialog box shown in Figure 5 38 which allows you to select the first jac file of the set generated by the batch process Figure 5 38 Select the first jac file 6 Select the jac file to obtain the graph shown in Figure 5 39 Figure 5 39 Nichols plot Note there are 3 types of symbols first value for each eigenvalue corresponding to 0 damping here last value for each eigenvalue corresponding to 10000 N m s all other eigenvalues The grid contains 2 types of curve circles display the iso frequency constant frequency line correspond to the iso damping rate constant damping Normally as in this example all eigenvalues have zero or negative real parts It is possible to have eigenvalues with positive real parts but this indicates a serious Chapter 5 Batch Runs and Linear Analysis 176 stability problem To remind you of the interpretation of a root locus plot look at Figure 5 40 Note that on the real axis there are no oscillations The frequency of oscillation increases as the imaginary part increases There is no damping for eigenvalues on the imaginary axis Damping increases as the eigenvalue moves to the left of the imaginary axis The amplitude grows to the right of the imagin
257. be DOE Optimization or Monte Carlo This is described in 19 6 The Design Exploration Definition dialog box Select the menu item Study New or Right click on the DOE or Optimization or Monte Carlo item in the study list and select New study in the menu AMESim 4 2 User Manual 583 Editing an existing study To edit an existing study you can Use this action when you want to change the settings of a study This action makes the Design Exploration Definition dialog box appear You can change everything except the study type If the study you edit is currently running the Design Exploration Definition dialog box is open in read only mode For further information about that window please refer to 19 6 The Design Exploration Definition dialog box Remove studies To remove a study you can Select the study you want to edit and then do Study Edit or Locate the study you want to edit in the study list and right click on it Select New study in the menu Select the study you want to remove from the study list and the do Study Remove or Locate the study you want to remove in the study list and right click on it Select Remove study in the menu Chapter 19 AMESim Design exploration module 584 Setting the active study There are two ways to change the active study You can use Study Set Active Study to change the active study When you select this ite
258. be set The following paragraph details the properties that define a Compound Chapter 18 AMESim export module 566 Output Parameters Export name This is the same as for Input Parameters see Export Name page 559 Expression This property is needed by AMEPilot in order to compute that output To change the expression click twice on corresponding cell you enter then the editing mode You have two possibilities to set the new expression If it is simple you can just type in the new expression and validate it by pressing the Enter key Click on the button on the right side of the edited cell Then an expression editor appears and allows you to build the expression To learn about creating expression please refer to Expression Editor page 366 However note that the expression editor you get have some inhancements for export setup as shown in Figure 18 10 Figure 18 10 Special Expression Editor for Export Setup 18 7 4 Expression evaluation rules At run time the following rules are applied to evaluate the expression For Input Parameters the value used is the one used to perform the simulation e g the one you set or the default one For Simple Output Parameters unless you specify something else using the Global Parameters are replaced by Simple Output Parameters and other Compound Output Parameters Mathematical functions include special Export functions AMES
259. ble in all modes Path List Submodel alias list Preferred units Current drawing settings Color preferences AMESim preferences AMESim 4 2 User Manual 337 Figure 11 56 Select the path list dialog box Available categories In the Available categories list you have the AMESim libraries for which you have a license The full set currently is described in 2 1 5 The libraries Your list may be shorter depending on the licenses you have You can remove a library from the Current path list Normally the only reason to do this is a shortage of library licenses compared to the number of people using AMESim Suppose you have 5 AMESim licenses but only one pneumatic library license You may wish to give up the pneumatic license so that a colleague can have it To do this select the item in the Current path list so that it is highlighted and then click on the Remove button To reinstate an available category you can Double click on it in the Available categories table or Select it in the Available categories table and click on the Add to path list button It will then appear in the current Path list Note It is not normally necessary or desirable to remove the Standard AMESim library Chapter 11 Facilities Available in all Modes 338 Additional directories You can install additional directories to the current path list If you have libraries not provided with but compatibl
260. bmodel MAS004 2 To make life more interesting change the Coulomb dynamic and stiction static friction levels to 50 N 3 Increase the amplitude in the sine wave source to 1000 and 4 Change the frequency to 0 3 Hz The new parameters give a force between 1000 N and 1000 N and the mass will be alternating between being in motion and being stationary held in fric tion At some linearizations you get precisely the same eigenvalues as previous with MAS002 These correspond to the system being in motion However when it is held in stiction the eigenvalues are very different as in Figure 5 28 Figure 5 28 Eigenvalues with a stiction Technically this is a non linear system or more accurately a non linear model We could also describe it as a model with precisely two distinct linear modes The two modes naturally are separated by a discontinuity 5 Try changing the viscous friction and or windage in MAS004 currently both zero to non zero values You will now have the linear constant A matrix and eigenvalues results when Chapter 5 Batch Runs and Linear Analysis 168 in stiction and you will also have varying A matrix and varying eigenvalues when in motion So far we have linearized at times at which the system is not necessarily in equilibrium and looked at the A matrix and its eigenvalues at these times This can be useful in analyzing why a simulation run is fast or slow One obvious factor is the size of the sys
261. bottom of the AMEPlot window For more accuracy this facility can be used after zooming a region In separate axis mode if you want to see the coordinates of a curve you must click on the legend before moving the cursor Use this menu item when you which to adjust the view point of a surface plot or a XYZ plot Applies to a plot Applies to main window Plot manager Add text Update curves FFT XY plot Batch plot plot AMESim 4 2 User Manual 515 Plot manager A complete description of this facility is given in section 16 7 The Plot manager Figure 16 9 The Plot Manager dialog box Add text Update Automatic update If you run a long simulation you may want to plot variable s even if the simulation is not over Then you can manually update the curve along the simulation using the Update curves menu item or you can ask AMESim to do it for you When this is done a small clock appears in the bottom right of the plot From this menu item or tool bar button you get a dialog box showing the current curves and variables items You can then add new curves and or new items built from the existing items Select this menu item or click on the button when you want to add text strings or comments to the plots Click in the plot area where you want to add text A blank field with a cursor inside appears Type in the text you want to add Press Enter to start a new line Click outside the text area to
262. can be cured by adjusting the relative gradient step and the desired final accuracy However even with this error the results obtained are often good enough to be used as they are 3 Alternatively right click on the AS_Optimization item in the list and select Add plot in the menu The Design Exploration Plots dialog box appears Chapter 10 Getting started with AMESim design exploration features 292 Figure 10 21 Evolution of Body Acceleration 8 When the run is complete plot from the sketch the body acceleration and the tire compression Figure 10 22 Optimized body acceleration Note During one run the acceleration was much lower This was not selected as best because of the constraints If you do this plot setup before the end of the process the auto update is on Otherwise it is off AMESim 4 2 User Manual 293 Figure 10 23 Optimized tire compression 9 The best results are given in the Log tab Note that if you run a standard simulation now you will get the initial results again You can apply to the system the parameter values obtained by the opti mization process To do that right click on AS_Optimization item in the study list and select the Apply best results item After that if you run a standard sim ulation you will get the results shown in Figure 10 22 and Figure 10 23 Step 4 If you have time repeat the optimization with the genetic algorithm This run will be much longer 1 Click on A
263. cannot be used for another input or output In the whole export module this name is used to refer to that Input Parameter In the rest of the chapter we will talk about the input name to mean the export name of the input AMESim 4 2 User Manual 559 This name has to start with an alphabetical character and must contain only alphanumerical character and underscores For convenience a default name is automatically set by AMESim It is strongly advised that you set it to a name which is meaningful to you Type of parameters For all types the Export Name field and the Default value must be set In addition for each of the 6 types other fields must be set as follows Input Parameters may be of 6 types For a user defined input when created it will be of type Real but it can be set to any of the 6 types For other input variables only a subset of the types is available For submodel real parameters or global real parameters the type when created is Real but it can be set to Real or Real discrete For submodel integer parameters or global integer parameters the type when created is Integer but it can be set to Integer or Integer discrete For submodel text parameters or global text parameters the type must be Formatted string or String list Possible values Upper bound Lower bound Real No Yes Yes Real discrete Yes No No Integer No Yes Yes Integer discrete Yes No No Chapter 18 AMESim export module
264. ce must be included For a homogeneous transfer include the object files but you can exclude the source and specification files 10 Click on Next to continue You must enter at least a package name and a platform to be able to click on Next Step 3 Select models and files to exchange The next dialog box contains an empty list and invites you to select models and files to exchange 1 To enter the names and directory of the files that you want to exchange use the buttons Add Models and Add Files Figure 11 97 Add Models and Add Files buttons AMESim 4 2 User Manual 373 2 When all necessary files are entered click on Next 3 If you have forgotten to purge a model you select a model and click on Purge To know more about the Purge facility see Purge page 368 Step 4 Adding auxiliary files The AMEPack Wizard will search the model ame files looking for auxiliary files The new dialog box displays the list of files that will be contained in the package Figure 11 98 List of files necessary to run the system The list of files is displayed with a code of colors You can deselect some files if you think they are not useful To deselect a file untick the check box in the Add column If you want to remove all source files you Note You must have at least one file in the list If you want to remove a file you can easily delete the file by pressing the Del key Color Meaning Black The file is in
265. ch components are connected together are called ports This mass has one port whereas the spring has two A green square appears on each port of the components when they are ready to be connected Occasionally components have no ports in which case they cannot be connected to any other component An example is the Hydraulic Properties component Note With AMESim it is not necessary to have ports connected by wires but you can add wires if you like This is done frequently with hydraulic systems where the wires are pipes it is then necessary to use them In most other cases it gives a much better sketch if wires are not used when they are not necessary 4 Select the Labels submenu The Labels menu appears 5 Select the Show component labels submenu The submodels that have been selected for each component are displayed as labels AMESim 4 2 User Manual 39 8 Click on the menu Help 9 Click on Online The online help is displayed and you can select the document you need with the directory structure in the left part of the window Figure 2 38 Help menu Figure 2 39 Online help browser The Online Help contains information about The Categories The Tutorial Examples The Utilities in HTML format You will also find The Manuals The Technical Bulletins in PDF format 2 3 10 Keyboard Shortcuts You may prefer to use the keyboard instead of the mouse Here are the avail
266. changing the communication interval to 0 01s corresponding to 100Hz and to 0 001s 1000Hz An alternative is to select Discontinuity printout in the Run parameters dialog box 4 2 4 Discontinuities and discontinuity printout You can cure aliasing by reducing the communication interval but alternatively you can sometimes cure it by enabling Discontinuity printout 1 Display the Run parameters dialog box 2 Select the Standard options tab 3 Tick the Discontinuities printout box in the Dynamic run options area Figure 4 20 Standard options In very simple language a discontinuity is an event that is physically and or numerically rather violent In the current system the discontinuity occurs many times when the angle reaches 360 and then immediately drops back to 0 The option Discontinuities printout gives extra data in the results file At the expense of a bigger results file you get a sharper graph See Figure 4 21 When your simulation runs a results file is created For the present system this is called RotaryInertia_ results By extra printout we really mean extra data is added to this file just before and just after each discontinuity In some examples this is price well worth paying but for some systems that have large numbers of discontinuities the results file would be too big AMESim 4 2 User Manual 115 Figure 4 21 New output of the modulo block of schema A Use the replay facility with arrows and nu
267. cification not being found In the example shown the file BAP511 spe cannot be found Figure 11 87 A spe file is not found You must either Type in the directory or folder where this file resides or Click on the Browse button to find it Then click on the Update button There are two other options 1 Click on Close to abandon Check submodels If the model is older than 4 2 AMESim will close it and you will not be allowed to work on it with AMESim 4 2 2 Click on Ignore so that Check submodels continues with the current submodel not updated If you use the second option it is important to know the consequences For a generic or customized supercomponent it is not necessary that the spe file and sub files be accessible Provided the constituents are checked successfully all should be well For a customized submodel it is not necessary that the spe file be accessible For a generic submodel AMESim prefers that submodel is accessible It really is better if it is However if you insist you can click on Ignore and AMESim will reluctantly A warning typified by Figure 11 88 is then displayed Chapter 11 Facilities Available in all Modes 364 Figure 11 88 Warning for missing spe file The reason for this is that AMESim is often used for model exchange between companies The models may contain user submodels super components However the sender wishes that as much as possible be
268. cility to interface with AMESim Extra files are then created specific for this software Figure 9 6 Export format The export setup is now complete 9 2 2 Running the simulation Before you run a simulation outside AMESim using AMEPilot run a normal simulation inside AMESim Plot a graph of the output from the integrator Figure 9 7 Output from integrator with normal run 7 Change the name of the added parameter to integralValue Note The files polynomialIntegrator_ in tpl polynomialIntegrator_ out tpl and polynomialIntegrator_ xpt have been created When you save the model the files will be included in the ame file The file with the extension xpt is needed by AMEPilot and for this reason the model will be loaded into AMESim when you use AMEPilot Chapter 9 Getting Started with AMEPilot and the Export module 272 Clearly the function being integrated is x which is the default value in FX00 Keep AMESim and polynomialIntegrator ame open and keep your graph displayed You are ready to run AMEPilot Step 1 Set the parameters you want for the run using an ASCII file 1 In the directory where you saved polynomialIntegrator ame make a copy of the file polynomialIntegrator_ in tpl named polynomialIntegrator_ in 2 Edit polynomialIntegrator_ in using your preferred text editor The file contains the following lines a 1 b 1 c 1 3 Change it to a 3 b 2 c 1 4 Save it This means the p
269. cluded in the pack Grey The file is excluded of the pack because it is part of the AME or AME directory This means that the target user will have the file and it is not necessary to add it to the pck Red The AMEPack Wizard has not found the file You must include these missing files before completing the pack Chapter 11 Facilities Available in all Modes 374 can go back to the first step and tick the Exclude source files box If you think that a critical file is missing click on Back and then on Add File to include it In our example the last file is grey and cannot be deselected You cannot delete it from the list Actually this file is used is specified in a text parameter and must be read by a submodel to allow AMESim to run the system This step requires some knowledge of the files that are necessary to run a system If you want to know more about the files produced by AMESim to run a system see Appendix B Special files used by AMESim page 623 Click on Next Step 5 Create package file The new dialog box informs you on the result of the process and summarizes the basic information on the package file Figure 11 99 Result of the process Note that in this example the advice in Step 1 was not followed Click on Finish Result of the process Summary of the package file properties List of the files contained in the package report on errors and warnings that occurred AMESim 4 2 Us
270. complete the process If your results file has changed since you created a plot you may want to update the curves to take these changes into account This is the purpose of this menu item and toolbar button The facility can be used after starting a new simulation or if the simulation is still in progress Chapter 16 The Plotting facilities 516 Add titles Select this menu item in order to display the titles of the variables assigned to each axis of the curve s FFT Figure 16 10 FFT Spectral map The starting point is normally at XY plot in which the X axis item is a rotary velocity When Spectral map is selected there is a cursor change Select the relevant plot with the pointer See Chapter 15 for a full description Batch plot This facility is used to convert a standard plot to a batch plot When you select this menu item the cursor changes Then you must click on the plot on which you want to convert to a batch plot If you re apply this operation on the same plot you get back the original curve s This facility applies a Fast Fourier Transform to the curve s of the selected plot This is used to analyze the frequency contents of the data When you select this menu item the mouse pointer takes on the appearance of the FFT icon Then you must click on the plot on which you want to apply the FFT If you re apply this operation on the same plot you get back the original curve s AMESim 4 2 User Manual 517 XY
271. created all system parameter set will be removed Saving a system parameter set 1 Select the menu Parameters Save system parameter set the dialog box below is produced Figure 14 17 Save a set of parameters AMESim 4 2 User Manual 423 2 Type in a description for this set of parameters in the New set field 3 Click on the Save button Loading a system parameter set 1 Select the menu Parameters Load system parameter set the dialog box below is produced Figure 14 18 Load a set of parameters 2 Select the system parameter set you want to load in the Configuration title column Alternatively you can type in the name of this set of system parameters in the Set title field 3 Click on the Load button Note The text you type in is a description not a filename AMESim organizes the filenames and these are packed into the ame file when you save the system If a set of parameters already exists its description will appear on the list and you will then have the possibility to select it In this case its content will be overwritten by the new set of parameters Note You can manually delete a set of system parameters by selecting its description in the Save Set of Parameters dialog box and by pressing the Del key Note You can manually delete a set of system parameters by selecting its description in the Load Set of Parameters dialog box and by pressing the Del key Chapter 14 Facilities availab
272. ct the Standard options tab and select the Stabilizing Dynamic radio button in the Run mode area 2 Start a run 3 Plot the body displacement and the body velocity Type Description Example An explicit state The state is defined by a starting or initial value and an explicit expression for the derivative An implicit state The state is defined by a starting or initial value and an implicit expression for the derivative A constraint The state is defined by an algebraic expression not involving find v such that N i yi 1 dyi dt dv dt F1 F2 M dyi dt F Cdx dt Kdx dt dx dt 0 dyi dt F1 F2 0 AMESim 4 2 User Manual 105 Figure 4 6 Body displacement and body velocity The run correctly produces an equilibrium position at the start of the run then gives the dynamics of the motion induced by the step Thus we have two approaches for starting in an equilibrium position Use of Hold inputs constant Use of a stabilizing run Both these techniques are useful The first technique approaches equilibrium using the natural dynamics of the system In other words it uses the free response of the system The stabilizing run uses a much more aggressive method The table below summarizes the relative merits of the techniques Hold inputs constant Stabilizing run Reliability
273. customized object is based on a generic object on which a mask is placed The only parameters to be tested are kept visible You are able to encode the components of a complex system before distributing it 1 5 3 AMESet Advanced AMESim users can use AMESet to create new icons and submodels AMESet provides a comprehensive user interface With AMESet you can Integrate new icons and submodels Customize component categories and submodels Using AMESet you can create your own component or line submodels to extend the capability of AMESim into your own applications AMESim 4 2 User Manual 7 1 5 4 AMERun AMERun is AMESim without Sketch and Submodel modes With AMERun you can Load AMESim systems Change parameters and set up batch runs Perform standard or batch runs Plot result graphs Perform linear analysis You cannot Create new systems Modify the Sketch of an existing system Change the submodel behind a component AMESim systems are created and tested by experienced AMESim users AMERun users can open systems in order to perform studies AMERun can be used by Technicians doing many parameter studies using a system built in by an experienced engineer Clients who receive pre built systems from you Sale staff who use pre built systems to demonstrate system behavior to customers Chapter 1 Introduction 8 1 5
274. cy corresponding to an eigenvalue This will result in very small magnitude velocities and displacements To capture these well a Relative Error type is best 2 Change the Error type to Relative in the Run Parameters dialog box to get even more accuracy for the small velocities 3 Run a simulation 4 Plot the velocities of the three masses as in Figure 5 49 Figure 5 49 Velocities of the three masses 5 Do a similar test on the 8 717275 Hz frequency and verify the time domain re sults are consistent with the modal shapes analysis Figure 5 47 Often in engineering systems there are undesirable vibrations Using simulation with modal shapes it is possible to study and understand these An engineer can then predict how to modify the system to damp the frequency or even eliminate it 5 7 Reference 1 Palm W J Modeling Analysis and Control of Dynamic Systems 2nd Edi tion 1999 John Wiley amp Sons Inc Note This is completely consistent with the modal shape analysis The center mass is barely influenced by a disturbance of this frequency The other two masses are influenced by an equal amount but with opposite phase Chapter 5 Batch Runs and Linear Analysis 184 2 Karnopp D C D L Margolis amp R C Rosenberg Systems Dynamics Mod eling and Simulation of Mechatronics Systems 3rd Edition 2000 John Wiley amp Sons Inc 3 Meirovitch L Elements of Vibration Analysis 1975 McGraw Hill
275. d by the contents of an ASCII file The system sketch for this exercise is shown in Figure 4 53 AMESim 4 2 User Manual 139 Figure 4 53 Sketch of the system It is a very simple model of a complete car driveline and is set to model a hill start Note that A manual clutch is modelled using FR2R00 The submodel WTX02 is a transformer between rotary and linear motion and models the differential drive shafts and wheels The inertia of the engine and gearbox are model using RL01 The system is built such that the arrows in linear components and rotary components all point in the same direction Try always to obey this rule If you break the rule you may have to use negative gear ratios to get things working well There are three duty cycle submodels used CON0 which gives a constant value and is used to define the axle ratio UD00 which allows you to define piecewise a linear profile which is used to define the engine torque UDA1 which takes a profile from an ASCII file and is used to define the oper ation of the clutch The UDA1 submodel could have been replace by another instance of UD00 but with UDA1 you see how to use the Table editor to create a data file It would be easy to develop this model to be more accurate and realistic but it is a good principle in simulation to start with a simple situation and introduce addition complexity only if necessary to obtain realistic results Open
276. d idea to save the sketch To do so see the following procedure Step 1 Save a model 1 Select File Save A Save as dialog box appears You can assign a name and a directory to your model 2 Enter the name of your file MassSpring 3 Click on the Save button Note Mirroring text is not allowed If you do not succeed in rotating text it may be because this would lead to an overlap Note AMESim does not allow any objects to overlap An object is a component a line run or a text string Note The name is a sequence of letters and digits without blank character Chapter 3 Getting Started 58 Figure 3 9 Save as browser 3 3 2 Assigning submodels to components Every component in the system must be associated with a mathematical model This is a collection of mathematical equations and their implementation as a piece of computer code The AMESim nomenclature is to describe the mathematical model of a component of a system as a submodel The term model is reserved for the mathematical model of the complete system AMESim contains a large collection of submodels As far as it is appropriate the process of associating submodels with components is automated Step 1 Enter Submodel mode 1 Click on the Submodel mode button from the horizontal toolbar The display will alter its appearance to that shown in Figure 3 10 Notice that the 1 port mass is of normal appearance but the two springs the 2 port m
277. d in 0 10 An easy way of doing this is to use compound output parameters Step 1 Setting compound parameters 1 Open the Export Parameters Setup dialog box with the menu Parameters Export Setup 2 Add two new inputs with the Add button named startTime and stopTime with default values respectively 0 and 10 Figure 9 9 New inputs Chapter 9 Getting Started with AMEPilot and the Export module 274 3 Go to Run mode 4 Add the output of FX00 to the list of simple output parameters and rename it P 5 Click on the Compound Output Parameters tab to raise it 6 Click on the Add button A new line appears 7 Change the name to restrictedInteg Click twice on the expression cell Enter the following expression integ restrict P startTime stopTime You can use the expression editor as explained in chapter 9 8 Click on the Save button Figure 9 10 Compound Output Parameters Step 2 Set the communication interval and run the simulation 1 As the compound output parameter accuracy depends on the com munication interval set a smaller communication interval for in stance 0 01 see 15 3 3Setting run parameters for details about setting this 2 Change the contents of the file polynomialIntegrator_ in to a 3 b 2 c 1 startTime 0 stopTime 10 3 To do that you can either add the two last lines to the one used previously or remove this file and make a copy of the AMESim 4 2
278. d output parameters 273 Chapter 10 Getting started with AMESim design exploration features 277 10 1 Introduction 277 10 2 Active suspension example 277 10 3 Design Of Experiments 281 10 4 Optimization 288 10 5 Monte Carlo 294 Chapter 11 Facilities Available in all Modes 299 11 1 Selecting objects 299 Shift Left click 299 Rubber banding method 299 Table of contents viii 11 2 Facilities accessible from permanent toolbar buttons 300 11 2 1 Changing mode 300 11 2 2 Copy selected items to the auxiliary system 301 11 2 3 Sketch annot
279. d status for individual state variables 1 Make sure you are in Time domain mode Figure 15 9 Right click menu 2 Right click on a component or line run to produce the pulldown menu 3 Select Lock states to produce the Locked states status dialog box Figure 15 10 Locked states 4 Alter the state of the check buttons in the Locked column to change the Locked status of individual state variables Chapter 15 Facilities Available in Run Mode 452 Global view of locked unlocked status for all the state variables of a complete model 1 Use the Tools pulldown menu 2 Select Lock states status a dialog box appears containing all the state variables of the system These are sorted in two tables locked states or unlocked states Figure 15 11 Locked states summary 15 3 3 Setting run parameters At the top of the dialog box 3 tabs give you access to groups of parameters and options you can change Figure 15 12 Tabs of the Run parameters dialog box When you have made the changes you want click on the OK button to save them If you click on Cancel your changes will be ignored We now look at the parameters and options available under the three tabs If you click on the Run parameters button you get the Run Parameters dialog box This is used to change characteristics of next run You can change numerical values and enable or disable various check and radio buttons AMESim 4 2 User Manual 453 General tab
280. default parameters for UDA01 which is functional equivalent to UDA1 Figure 1 18 Functional equivalent UDA01 in AMESim 4 2 Chapter 1 Introduction 20 This is achieved using an object orientated approach to show only information that is strictly needed The first three parameters displayed in Figure 1 18 are integer parameters of a special type known as enumeration The enumeration parameters can be changed after which new parameters become relevant Figure 1 19Changing enumeration parameters Enumeration makes the parameter lists much clearer and easier to understand 1 6 12 Watch Parameters and Variables Often for a model there are a number of parameters and variables of special significance These are the parameters that you most frequently change and variables you most often plot In Parameter mode you drag and drop your favorite parameters into a special pane and they are known as Watch Parameters The characterisics are saved into the ame file and hence AMESim 4 2 can always remember your favorite parameters Figure 1 20 Watch Parameters You can change parameter values in the Watch Parameters pane On a big model this provides very rapid access to important model parameters AMESim 4 2 User Manual 21 In Run mode a similar technique gives rapid access to important variables An automatic update is applied to the values displayed and you can plot direct from the Watch Variables pane Figure 1 21 Watch Variables
281. difficult to remove because they supply a state variable pressure to the orifices BHO11 instances 1 2 and 3 Figure 8 16 Hydraulic chambers However these orifices also have very low activity index In addition we can see that Chapter 8 Activity index 258 the pressure at each cylinder input is virtually the same as tank pressure and the orifices are big 3mm diameter for the flow that they carry and hence the pressure drop across each orifice is very small Figure 8 17 Activity index of the orifices It is very simple to remove these chambers and orifices in one step connecting the tank directly to the pump inlet At this point it is worth introducing three very important points The activity index facility suggests components or phenomena within com ponents that perhaps could be removed but it does not tell you how to do it It is usually not possible to simply start at the lowest activity and work up wards As we will see there are sometimes very low activity elements which we cannot remove This is usually because the adjacent components can not be connected Often a threshhold such as 0 1 or even 1 can be used We try to re move components from the bottom of the list upwards until the sum is just below the threshold In the current example the sum of the activity index of all the components removed was below the 0 1 Sometimes it is possible to remove groups of components simultan
282. discontinuities These are points at which there is a switch from a set of one or more governing equation s to another completely different set One extreme example occurs in the modeling of an mass where there are physical limitations on movement These are often referred to as endstops AMESimRun uses two techniques to model endstops 1 they are modeled as elastic with a spring force and a damping force or 2 they are modeled as inelastic so that the mass collides with the endstop coming instantaneously to rest The second alternative is often described as an ideal endstop With an ideal endstop the mass reaches an extreme position and it is modeled as coming instantaneously to rest a true discontinuity The mass is then fixed in the extreme position until there is a force of the correct sign and of sufficient magnitude to overcome static friction moves it away from the extreme position A more detailed description of problems arising from discontinuities is given in the AMESet manual to which the interested reader is referred Gear s method is very intolerant of discontinuities unless special code is inserted to deal with them Unfortunately the equations defining the model of many engineering systems are stiff and contain discontinuities If discontinuity handling There is nothing to stop you trying to run all your models with fixed step fixed order integrators For general simulation this is not recommended Remember these are explici
283. drag and drop a variable in any plot already containing other curves in this case you do not need to open a new blank plot Note that if there is more than one relevant results file you can select the one you want from a menu accessible from the Variable List dialog box Figure 16 2 Selecting a results file 16 2 Batch plots A batch plot is possible only if a batch run has been done Assuming this is the case use the following steps Step 1 Work with a standard plot 1 Create a standard plot 2 Do any manipulation on the standard plot that you want performed on the batch plot interchange axes plot manager etc Step 2 Convert the standard plot to a batch plot This can be done from the Tools menu of the toolbar or using the right click menu in an individual plot area Either 1 Use Tools Batch plot Note the cursor change 2 Click on the plot relevant plot area to produce the Batch Run Selection dialog box Figure 16 3 3 Make any adjustments to the batch runs you want by de fault it is all of them and click on OK AMESim 4 2 User Manual 505 Figure 16 3 Selecting batch plots or 6 Click on OK and the standard plot is converted to a batch plot Note that all the operations you applied to the curves of the standard plot are applied separately to curves of the batch plot Note also you can return the batch plot to a standard plot Do this by repeating either of the methods 16 3 Structure of
284. dually AMESim 4 2 User Manual 415 Figure 14 4 Values are set individually If it is not checked then all the components of the vector are set to the same value at once Figure 14 5 Same value for all the components Figure 14 6 Values are not common Real parameters Real parameters get into the simulation run as real constants but they are actually stored as text strings This gives added flexibility because you can type an expression like 1 60 which can be more convenient than typing 0 01666666666667 You can also use expressions involving global real parameters global integer parameters pi p and certain mathematical functions In the Value input box you have access to an Expression Editor as shown in Figure 14 7 Note If all the components have the same value for a given vector then the common value is displayed otherwise the Value field is set to Chapter 14 Facilities available in Parameter mode 416 Figure 14 7 Expression editor The Expression Editor enables you to enter an expression check its validity and its value click on the button When you are happy with the expression click on the OK button Note that for real parameters the minimum and maximum values are advisory only Integer parameters There are two types of integer parameters Standard these are similar to real parameters but the minimum and maximum values are rigorously enforced Figure 14 8 Standard Enume
285. e Problem type Bug Improvement Other Summary Description Involved operating system s Involved software version s All Unix all PC all HP Windows 2000 IBM Windows NT SGI Windows XP SUN Linux Other Other All AMESim all AMERun all AMESet all AMECustom all AMESim 4 0 AMERun 4 0 AMESet 4 0 AMECustom 4 0 AMESim 4 0 1 AMERun 4 0 1 AMESet 4 0 1 AMECustom 4 0 1 AMESim 4 0 2 AMERun 4 0 2 AMESet 4 0 2 AMECustom 4 0 2 AMESim 4 0 3 AMERun 4 0 3 AMESet 4 0 3 AMECustom 4 0 3 AMESim 4 1 AMERun 4 1 AMESet 4 1 AMECustom 4 1 AMESim 4 1 1 AMERun 4 1 1 AMESet 4 1 1 AMECustom 4 1 1 AMESim 4 1 2 AMERun 4 1 2 AMESet 4 1 2 AMECustom 4 1 2 AMESim 4 1 3 AMERun 4 1 3 AMESet 4 1 3 AMECustom 4 1 3 AMESim 4 2 AMERun 4 2 AMESet 4 2 AMECustom 4 2 AMESim 4 2 User Manual 4 1 Support and contact information Support The support webpage is at http www amesim com support aspx This area is securized and provides upgrades frequently asked questions user contribution and a bug reporting form All requests can be sent through this form or directly to hotline amesim com For problems with specific systems please provide a test case and test procedure if possible and please purge using the AMESim Purge tool the affected system if result data is not needed then compress the files Contact information Below we present the contac
286. e AMESim Table editor facility This can be started in two ways In the main menu bar Tools Table editor Click on the Table editor button in the main toolbar You can do this in any mode 3 Start the Table editor using one of the ways described above Submodel Title Value CAM00 file of cam position of angular position Using Unix AME tutorial data cam data Using Windows AME tutorial data cam data 1 for linear splines 2 for cubic splines 2 SPR000A spring force with both displacements zero N 500 CONS0 constant value 1000 MAS005 mass kg 0 01 lower displacement limit m 0 upper displacement limit m 0 02 LSTP00A gap or clearance with both displacements zero mm 1 contact stiffness N m 1 0e9 contact damping N m s 1000 AMESim 4 2 User Manual 131 Figure 4 38 Table editor 4 Click on the Open button in the Table editor toolbar or use File Open or Ctrl O 5 Select the data file in the file browser The new display in the Table Editor is shown below Figure 4 39 cam data file Chapter 4 Advanced Examples 132 6 Set the follow options and look at the corresponding plot linear splines out of range mode cyclic 7 Click on the Close button We now make a few general comments on the data The cam shaft is rotating at a constant speed of 1000 rev min The initial value of the angular displacement of the cam is 0 degree d
287. e Mixed error test it is always worth trying the Relative error test When there is one or more state variable that is badly scaled in that it is always extremely small the Relative option may be better If we call the tolerance tol for each state variable yi for the convergence and the error test some measure i is computed Thus the three tests are The Absolute error test is there for completeness but is rarely used There are three radio buttons Mixed Relative Absolute Type Test Mixed i lt tol 1 yi Relative i lt tol 1 0e 10 yi Absolute i lt tol AMESim 4 2 User Manual 461 Solver type Miscellaneous If you enable the button AMESim will ignore all but the most violent discontinuities If you find runs are very slow and are prepared to take a risk in order to get faster results try enabling this button Sometimes runs are spectacularly faster but they may be slower and the simulation may fail completely Fixed step options tab Figure 15 23 Run parameters Fixed step options dialog box Figure 15 23 shows the Run Parameters dialog box with the Fixed step options tab selected The values and options that can be set are now described Integration method There are three options Euler Adams Bashforth and Runge Kutta All these methods are explicit and implemented with fixed step Euler s method is too well known to require further description Adams Ba
288. e New dialog box or Save an existing system as a starter by using the Save as starter item of the File menu In these cases the starters contain the circuit with the submodels and their parameters but also the global parameters if some exist and the run parameters The list shown above is built from The path list for the standard starters and A Starter directory for the user starter systems This Starter directory is set in the AMESim preferences Chapter 11 Facilities Available in all Modes 316 Figure 11 29 Starter directory in AMESim preferences After selecting the starter you need a preview is available to help you just click on OK so that a new model based on this starter is created Opening an existing system There are three ways to open an existing system Use File Open in the menu bar Click on the Open button in the tool bar Use Ctrl O In all of these cases a file browser appears This enables you to change direc tories and select a ame file in the directory Note An Empty system starter can be chosen This is equivalent to click on the New button in the tool bar Several starters can be selected In this case they are concatenated to create the resulting new system AMESim 4 2 User Manual 317 Figure 11 30 Browser Saving a system You can use the Save facility or Save as A new system does not have a name and before you enter Paramete
289. e Bode plot first and click on OK Sometimes the calculation process can be long depending on the number of state variables You obtain the Bode plot directly as a semi logarithmic strip plot as shown in Figure 5 34 AMESim 4 2 User Manual 173 Figure 5 34 Bode plot 11 Select Nichols to get a plot as shown in Figure 5 35 Figure 5 35 Nichols plot 12 Select Nyquist to get a plot as shown in Figure 5 36 Chapter 5 Batch Runs and Linear Analysis 174 Figure 5 36 Nyquist plot 5 5 2 Root locus analysis For this we consider the same example as shown in Figure 5 32 For a root locus the roots are those of the characteristic equation in other words the eigenvalues of the A matrix The B C and D matrices are of no interest in this analysis It follows that it is not necessary to have any control or observer variables If you have any defined it will not cause any problems they will simply be ignored The analysis is based on a batch run with only one varying parameter For each batch run a linearization is done To be meaningful this must be done at an equilibrium point 1 Leave the parameters at their default values except the damper rating 2 Set up a batch run with the damper rating varying from 0 with a step size of 250 N m s with 40 points above as in Figure 5 37 3 Ensure the system is in equilibrium as before Figure 5 37 Set up the batch run parameters AMESim 4 2 User Manual 175 4 Start the
290. e File menu displays the last opened files list You can use the AMESim preferences to indicate the number of last opened files you want to display Close To close the current active system use File Close To close all the systems open in your current AMESim use AMESim 4 2 User Manual 325 Windows Close all If a system has been modified AMESim will ask if you want to save it If a simulation is running a dialog box asks you if you want to stop the simulation Figure 11 38 Warning message before quitting AMESim If you answer No AMESim closes the system but the simulation keeps running You can open the system later in the normal way A dialog box asks you if you want to use unsaved files Answer Yes to find the simulation results Figure 11 39 AMESim asks you if you want to use unsaved files Quit To exit AMESim use either File Quit Ctrl Q If any system has been modified AMESim will ask if you want to save it If a simulation is running a dialog box asks you if you want to stop the simulation If this is the case refer to the previous section on Close Chapter 11 Facilities Available in all Modes 326 11 4 2 Edit menu Copy Edit Copy or Ctrl C puts a copy of components into the auxiliary system or annotation elements into a clipboard Display auxiliary Edit Display auxiliary or Ctrl D displays a dialog box containing the auxiliary system From the Auxiliary syst
291. e batch parameters as follows AMESim 4 2 User Manual 541 Figure 17 7 Set the batch parameters Step 2 Run the system 1 Go to Run mode 2 Set the run parameters in the Run parameters dialog box 3 Select Batch run 4 Start the run Step 3 Plot the f x y output This will produce a simple 2D plot Figure 17 8 2D plot Step 4 Convert to a batch plot Quantity Value Start time 5 s Final time 5 s Communication interval 0 25 s Chapter 17 3D plots and order analysis facilities 542 Click on the Convert standard plot to batch button in the plot toolbar Note the cursor change or 1 Use Tools Batch plot Note the cursor change 2 In either case click on the plot area 3 Click on OK in the Batch Run Selection dialog box Figure 17 9 Batch plot Step 5 Convert to a surface plot 1 Right click on the plot 2 Select the Surface plot menu item 3 Try the different types of surface plots to display them like in 17 1 1 Types of surface plots Step 6 View the surface plot from different angles 1 Click on the 3D rotation button in the plot toolbar Note the cursor changes to 2 Put the cursor on the surface plot hold the left button and move the cursor The surface will redraw when you release the left button 17 1 3 Surface plot options To learn about the options you can apply to surface plots the best approach is to experiment with the different combinati
292. e display again 2 Click on the linear spring 3 Rotate the spring by typing Ctrl R 4 Position it so that its end is close to the mass 5 Click the mouse left button The spring should connect to the mass If this does not happen then the spring was badly positioned relative to the mass To resolve this 1 Select the spring 2 Move it so that it is well positioned 3 Click the mouse left button again If you selected by mistake a wrong component you can press one of the following keys Del Back space or Escape The component is removed and the category is displayed again The points at which components are connected together are called ports The mass has one port whereas the spring has two ports A green square appears on the two ports ready to be connected Figure 3 6 Ports to be connected At the moment the 1 port mass is in its normal colors whereas the spring is in reverse colors Figure 3 7 Appearance of the components The reason is that 1 port of the spring is unconnected AMESim is emphasizing this to remind you that the sketch is incomplete 6 Add a 2 port mass another spring and a zero velocity source to complete your sketch see Figure 3 5 Chapter 3 Getting Started 56 Your sketch is complete Now you are going to add some text to the display Step 4 Add rotate and remove text To add text 1 Click on the Text button from the horizontal toolbar
293. e engine We shall refer to this as our engine The submodel RAMP0 is set up to make our engine ramp from 1000 rev min to 7000 rev min This is often described as engine run up Construct the system leaving all parameters at their default value except the following values in the submodel RAMP0 Often it is desirable to restrict the computations to a limited range of the rotary speed These are called zoom constraints This can be done by two methods 0 overlap 100 overlap Chapter 17 3D plots and order analysis facilities 550 and set the initial rotary speed of the of RL02 to 1000 rev min to agree with the rotary input Next do the following 1 Set the communication interval to 0 001 seconds and do a run This ensures there are 10000 data points for each variable Normally you need a lot of a data points for a good spectral map This means in a complex system you may have to use the selective save facility Do not use extra discontinuity output This is not helpful 2 Plot the rotary speed output of the OMEGCO 3 Add on the same plot the torque port 1 of CRANK0 4 Convert the plot in a 2D standard plot using either the button or the menu Tools XY plots Figure 17 20 2D plot 5 Now go to Tools Spectral Map and click on the graph The Spectral Map Creation dialog box appears 6 Increase the number of FFTs to 50 and select the maximum detrend Quadratic value before ramp 1000 slope 600 AMESim
294. e export inputs Use a formatted string parameter Define simple and compound outputs Pilot simulation runs with AMEPilot 9 2 Polynomial integrator Objectives Use the export facility for a very simple AMESim model Use formatted strings Chapter 9 Getting Started with AMEPilot and the Export module 268 Change export parameters from outside AMESim Launch the AMESim model from outside AMESim The system you will use is shown in Figure 9 1 Figure 9 1 Example for Export The submodel FX00 has a text parameter which defines a function of the input This input is time and is provided by the submodel CLOC The output is integrated by the submodel INT0 9 2 1 Setting up the export Step 1 Create the system shown in Figure 9 1 Name it polynomialIntegrator ame Step 2 Go to Parameter mode and use Parameter Export setup Figure 9 2 Export setup menu This will create a Export Parameters Setup dialog box AMESim 4 2 User Manual 269 Figure 9 3 The Export Parameters Setup dialog box Note the three tabs Input Parameters is currently selected Step 3 Set the parameters needed for the export Click on Add three time to create three new export parameters Figure 9 4 Three new export parameters Next click on FX00 and drag and drop the text parameter onto the Export setup dialog box Note that because it is a text parameter it is classified as Formatted s
295. e expression as a value of a parameter if you started the Expression Editor from a Change Parameters dialog box sin cos tan acos asin atan log log10 sinh cosh tanh acosh asinh atanh exp abs sqrt integ differ lsqrta fabs Note The maximum size for an expression is 255 characters AMESim 4 2 User Manual 367 Purge This facility must be used when you want to remove some files which are not compulsory for a ame file associated with an AMESim system They are files that can easily be recreated This is very useful for example when you want to send a big system to an other user by email In addition it can be useful if you are about to package the files using Tools Pack Procedure We recommend you do the purge on a system that is closed because AMESim will generate again all the files if you save the system 1 To purge a ame file select the menu item Tools Purge A dialog box as in Figure 11 93 appears Figure 11 93 Selective purge dialog box 2 Click on the Select file button A file browser as shown below appears Chapter 11 Facilities Available in all Modes 368 Figure 11 94 Browser 3 Select the ame file you want to purge and click on Open The list of all the files currently associated with your model is displayed as in Figure 11 95 Figure 11 95 List of the files associated to your model The column To be removed provides check boxes to select the files you want to re
296. e global parameters is made and these have a scope which is restricted to the generic component being created 2 Click on Keep to save the supercomponents complete with global parameters Step 5 Use your new supercomponent in the system shown and see how it behaves in Parameter and Run mode Chapter 6 The Supercomponent Facility 218 Figure 6 58 Use the new supercomponent in the system 1 In Parameter mode click on the supercomponent You get a Change Parameters dialog box which contains the global parameters with scope limited to the supercomponent Figure 6 59 Change parameters dialog box 2 Now click on Explore You can see the constituents of the supercomponent AMESim 4 2 User Manual 219 Figure 6 60 Constituents of the supercomponent 3 Click on one of these constituents You get a Change Parameters dialog box for that constituent but with any pa rameter defined in terms of a supercomponent global parameter hidden Thus in this example the mass is hidden Figure 6 61 The mass is hidden In Run mode the constituents are shown immediately and if you click on one of the constituents you will get its associated variables Chapter 6 The Supercomponent Facility 220 Figure 6 62 Constituents of the supercomponent AMESim 4 2 User Manual 221 Chapter 6 The Supercomponent Facility 222 AMESim 4 2 User Manual 221 Chapter 7 The AMESim MATLAB Interface 7 1 Introduction This chapt
297. e larger will be the observable frequency This means that with a variable speed the number of data samples per revolution is not constant it goes down when the system speed increases At high speeds only a few orders can be viewed The definition at low speed is much better AMESim uses the fixed sampling order analysis method because the results returned by the generated executable have constant time increments normally extra discontinuity printouts are not used in the process The starting point of a spectral map is normally some variable plotted against rotary velocity as shown below AMESim 4 2 User Manual 547 Figure 17 14 First plot The final plot is a spectral map based on this data with a series of FFT curves displayed as a waterfall plot Figure 17 15 Spectral map The complete set of FFTs shows the evolution over the speed range In order to produce this it is necessary to define any restrictions on rotary speed range called zoom constraints the characteristics of the time windows and their overlap the normal FFT options whether the plot produced is in the same window as the original plot or in a new window The basic step in converting an XY plot to a set of FFTs is to select the Tools Chapter 17 3D plots and order analysis facilities 548 Spectral map menu item This produces the Spectral Map Creation dialog box in which you define these settings Figure 17 16 Settin
298. e maximum value of the body acceleration increases too So we have to decrease the damper rates To get the maximum acceleration below 9 81 m s s we need a damper rate less than about 1050 N m s On the other hand Figure 10 13 shows that when the damper rate increase the minimum value of the tire compression increases too With the lowest damper rate value the acceleration is significantly low but the spring compression is negative and the wheel has left the ground To ensure the wheel does not leave the road we require a damper rate of at least 770 N m s In conclusion we can say that we can achieve our objectives with the passive suspension with a damper rate between 770 and 1100 N m s Since there is only one control parameter it would be very easy to experiment with values between these extremes We will now try with the active suspension Step 3 Define a Full Factorial DOE for the active suspension Use Study New and in the same way as in the previous steps create a DOE named AS_DOE There are two factors involved AS_MainDamperRate low level 500 high level 1500 AS_SkyHookDamperRate low level 500 high level 1500 The other factor is not involved The responses involved are AS_max_BodyAcceleration AS_min_TireCompression Step 4 Examine the design matrix AMESim 4 2 User Manual 287 1 Select the Controls tab again and click on Show design matrix 2 Check the Show v
299. e s associated with the selected axis are displayed AMESim 4 2 User Manual 521 Figure 16 15 Set titles 16 6 2 The plot menu Format If you select this menu item the Graph area format dialog box shown in Figure 16 16 appears with the Format tab selected Figure 16 16 The Format tab Chapter 16 The Plotting facilities 522 You can modify the characteristics of the grid color style thickness and the color of the background Options This gives you access to the Graph Area Format dialog box with the Options tab selected Figure 16 17 Options tab In the second tab shown in Figure 16 17 you can deal with the following options Batch setup Tick the Batch plot check box and click on OK You can also click on the Select batch runs button to get access to the list of the runs Then select the runs you want to include in the plot FFT setup The same operation can be done with the FFT button in the tool bar If the check box is ticked you can select different window and detrend types for the FFT The Batch setup option allows you to convert a standard plot to a batch plot if there are batch run results files The FFT plot check box can be used to apply an FFT to plot area ticked or to cancel an FFT in the plot area not ticked AMESim 4 2 User Manual 523 by clicking on the FFT options button Note that Figure 16 18 FFT options Special grids In addition to the standard grid spec
300. e supercomponent dialog box shows a list of all the existing supercomponents to which you have access The supercomponents are stored in their categories The PID controller you created should be in the list Using this dialog box you can Remove a supercomponent Remove a category Edit a supercomponent 6 4 4 Removing a supercomponent or a category To remove a category it must be empty If you want to empty a category use the Available supercomponents Available customized and Available user submodels dialog boxes in the Edit menu From the Available supercomponents dialog box 1 Select the supercomponent you want to remove 2 Click on the Remove button The same procedure can be used for a supercomponent category provided it is empty From the Icons menu 1 In the main menubar use Icons Remove category The Remove Category dialog box appears AMESim 4 2 User Manual 201 Figure 6 21 Remove a category 2 Select the category you want to remove Figure 6 22 Select a category 3 Check the box Remove icons files if you want to remove also the files of the icon ico xbm 6 4 5 Modifying a supercomponent From the Available supercomponents dialog box the Edit basics button can be used to modify the external features of a supercomponent such as its name descriptions icon and ports Figure 6 23 Modify a supercomponent Alternatively the Edit constituents button can be used to edi
301. e the range of interest A frequency of 1 6e8 Hz is at the high end of radio waves As expected the Activity indexes also show a great variation The highest activity is due to the load and the pipe system supplying the load Three hydraulic chambers next to the pistons are also identified as being critical Figure 8 13 Great variation between the activity indexes Of equal significance are the low activity items AMESim 4 2 User Manual 257 Figure 8 14 Low activity items The methodology was to make a copy of the system Edit Save as and progressively simplify it At each stage strategic graphs were plotted and compared with the originals The first candidates for removal were the three SPR000A springs Remember you can double click on items in the Activity index list to identify a component in the sketch Between them they account for about 9e 6 Why was their activity index so low Plotting a few graphs revealed that the mass i e the ball in the valve moves very little and it is only permitted a maximum movement of 1mm This means the spring force is almost constant at the preload value The simplest solution is to replace the springs by a constant force This created a marginal improvement Note that there are no states in the springs so that we do not expect a great gain Figure 8 15 Replace the spring by a constant force The next candidates for removal are the hydraulic chambers BHC11 instances 4 5 and 6 These are
302. e with AMESim you can also install the directories of the corresponding submodels index and possible AMEIcons file s In addition more advanced users may wish to modify the way in which the AMESim executable is created by putting a special AME make file in a directory This file will be accessed if this directory is added to the path list The key feature is to add a directory in which at least one of the following files is situated submodels index AMEIcons AME make To add a directory 1 Enter the directory full name the data field 2 Click on the Add button or select the Browse button The latter creates a directory browser similar to Figure 11 57 3 Search for the directory you want 4 Click on OK The directory will be added to the Current path list Figure 11 57 Browser Note You can select an item in the Current path list and move it up or down using the arrow buttons The changes you make are finally installed when you click on the OK button If you select the Cancel button the changes will be ignored AMESim 4 2 User Manual 339 Submodel alias list This item is sensitive only if the active system has at least one submodel or supercomponent with an alias installed In this case when you click on it you will get an Alias list dialog box This is for information only All you can do is read it and click on Close Figure 11 58 Alias list If you click on a s
303. eating a new sketch 3 2 1 Opening an empty system To create a new sketch do one of the following Click on the Open an empty system icon The window shown in Figure 3 2 appears Press Ctrl N or Select File New in the pulldown menu The window shown below appears Figure 3 3 You can select the type of the new system You then have to click on the OK button to get the window shown in Figure 3 2 The first stage in performing a simulation is to build the system you wish to study The system will be built by selecting and positioning individual components Before going further we are going to describe some of the buttons of the AMESim toolbars To know more about the AMESim toolbars please refer to the section The Toolbars page 26 Chapter 3 Getting Started 52 3 2 2 Lock button The lock button is in the Mode Operations toolbar It is locked or unlocked When the button is locked you are not able to modify the sketch 3 2 3 Libraries Categories Categories belong to libraries They are represented by a collection of buttons down the left side of the display which is the vertical toolbar If you move the mouse over these buttons a label will be displayed and give you the title of each category A category is a collection of special icons of components and mathematical models of these components referred to as component submodels Each library consists of one or more categories
304. ect a component several components or the whole system Ctrl A 2 Operate the Tools pulldown menu produced in Run mode 3 Select Save all variables to ensure ALL variables of the selected items are saved or 4 Select Save no variables to ensure NO variables of the selected items are saved To change the save status of all variables of a particular submodel 1 Click on the appropriate component or line run to produce the Variable list di alog box 2 Click on Save all to save all the variables of that submodel or 3 Click on Save none to save none of the variables of that submodel To change the save status of a particular variable 1 Click on the component or line which contains this variable to display the Variable list dialog box 2 Tick off the Save next box of the variable you want to save and or 3 Remove the tick mark in the Save next box of the variable you do not want to save In the current example 1 In Run mode use Ctrl A 2 From the Tools pulldown menu select Save no variables and do a dynamic run 3 Next try to plot some graphs You will find it impossible This is an extreme situation and the only point of doing a simulation with no variables saved is for linearizing the system This is the subject of another section in this chapter 4 Select the Body mass component and note all the Saved check boxes are dis abled 5 Click on Save all and do a run 6 Verify that you can no
305. efault value and at the same time the relative displacement gap or clearance in LSTP00A is 1 mm This means the valve will be initially fully closed with a preload on the spring of 500 N 8 Set run parameters as follows at 1000 rev min we have 1000 60 or about 17 revs s Hence 0 2 seconds seems right with a communication interval of 0 001 seconds Set these simulation parameters and do a run The objective is to plot the cam lift profile at various angle 9 Plot displacement of the cam follower and angular displacement of the cam modulo 360 on a single plot Note The data is displayed on the left as a collection of X Y pairs These data values can be modified removed and new points can be added but for the purposes of this exercise do not alter any of the data This format is referred to in AMESim nomenclature as a 1D table The 1D table can be represented as a 2D plot which is shown in the central part of the dialog box The layout of this central part is similar to a normal plot and there is a toolbar for initiating zooms etc If you do not see this do View Plot Graph In the right of the display are a number of check boxes for altering the characteristics of the plot The X values go from 0 to 360 degree You will go outside of this range in your simulation and you want the profile to repeat every 360 degrees which is the cyclic option AMESim 4 2 User Manual 133 Figure 4 40 Cam lift profile 360 We
306. efined data sets Initiating a batch run In Run mode perform the following steps 1 Click on the Run parameters button to produce the Run parameters dialog box 2 Enable the Batch radio button in the Run type area 3 Start the run in the normal way This method can be used if the batch parameters are real integer or text You must specify how many data sets you require Do this by clicking on New set and Remove set as required For each control parameter you must specify the value Note Each run creates its own results file and if there is any linear analysis its own jac files Chapter 5 Batch Runs and Linear Analysis 152 Figure 5 8 Results files Note the message in the Simulation run dialog box in Figure 5 8 For the current example when your batch run is complete you need to plot some curves Plotting curves for batch runs is slightly different from plotting curves for standard runs Plotting curves for a batch run For a given system there are two possible types of results files created by AMESim Figure 5 9 Results files results created by a standard run results 1 results 2 created by a batch run When you create a Variable list dialog box the default result file is normally the results one However you can change this default by selecting from a pulldown menu in the Variable list dialog box Whatever file you select this becomes the AMESim 4 2 User Manual 153 defa
307. eft LSPT00A the gap which was originally 2000 mm is now 1970 mm which is due to the movement of the lever In the right LSPT00A the gap is about 1 962e 3 mm which is the defor mation due to the weight of the projectile This example turns out to be extremely easy for the solver However this is not always the case On some occasions it is necessary to tune parameters in order to get a successful run AMESim integrators are designed to give a good compromise between speed and reliability Normally the default settings lead to a successful run Figure 5 19 shows the results on the current example with an earlier version AMESim 4 2 User Manual 161 of AMESim when the run failed Figure 5 19 Warning message There are 3 options you can try to assist the numerical algorithm in these circumstances In the Run Parameters dialog box you should try the following options 4 Specify a tighter smaller integrator tolerance 5 Adjust the error type often Relative can make a lot of difference 6 Select the Cautious option Figure 5 20 Simulation options 5 3 4 Error type After each computation step the AMESim integrator does checks for convergence and checks to estimate error In both cases for each state variable xi there is a quantity di estimated and this quantity must be sufficiently small for the step to be accepted Given a tolerance tol the three error tests are The relative error type takes into account t
308. em dialog box you can create a supercomponent See Chapter 6 The Supercomponent Facility Select all Edit Select all or Ctrl A selects all the objects in the system Edit menu Items available in all modes Select all Find submodel Update categories Available supercomponents Available customized Available user submodels If any objects are selected Copy Copy to supercomponent External variables If any object has been copied Paste from clipboard Display auxiliary AMESim 4 2 User Manual 327 External variables If there is one component selected and it is associated with a submodel you will get an External Variables dialog box Figure 11 40 External variables dialog box If no submodel is associated to the component a list of submodels is opened Find submodel With this facility you can search for one or more submodels in your sketch Edit Find submodel or Ctrl F displays the Find submodel dialog box Figure 11 41 Find submodel dialog box 1 Type the name of the submodel in Submoldel Name 2 If you know more details you can Type the submodel alias in the Submodel Alias field or Check the Search instance number box and key the instance number Chapter 11 Facilities Available in all Modes 328 The Search instance number box is only available in Parameter mode and in Run mode 3 If you kno
309. em in the study list and click on the menu item Data Log file or Right click on the DOE Full factorial study item in the study list and select Log file in the menu The Log File Viewer appears Select the study item in the study list and click on the menu item Data Apply best results or Right click on the Optimization study item in the study list and select Apply best results in the menu AMESim 4 2 User Manual 589 Figure 19 6 Log file viewer The contents of that file depend on the technique used But it keeps the same structure The file header gives the list of inputs and outputs used in the corresponding study It also reminds you of the type of study and gives the starting date of the study The run sequences each line contains inputs used for runs and the corresponding outputs At the beginning of lines a character indicates the status of the run The characters are 0 if the run fails 1 if the run succeeds b if the run succeeds and is the best of all the runs used only with ge netic algorithm The file footer gives general information concerning study execution Some error messages can appear here if the study cannot be completed If the study is an optimization one and has been processed successfully the file footer also contains the best results obtained as shown in Figure 19 7 File header Run sequences File footer Chapter 19
310. en a change to the system which makes the executable out of date The Touch facility enables you to over rule AMESim and force the creation of a new executable next time you enter Parameter mode with this system The majority of AMESim users never need use Touch However more advanced users who create their own submodels will find it extremely useful HTML report You can produce an HTML documentation of your system very easily and rapidly The HTML report will contain the circuit schematics a description of the components and line submodels the contents of supercomponents graphs and eigenvalues AMESim provides a standard report but you can create custom templates if you know HTML and if you want to complete your reports Create an HTML report Chapter 11 Facilities Available in all Modes 320 To create an HTML report do the following 1 Select File HTML report The HTML Report dialog box appears Figure 11 34 HTML Report dialog box 2 In the Save HTML report as area use the Browse button to indicate the path where you want to save the report 3 Select the options following your needs 4 Click on OK The HTML report is saved in the folder you indicated in the Save HTML report as area AMESim 4 2 User Manual 321 Create a custom template If you know HTML and if you want to customize your HTML reports you can create your own templates To create a template 1 Modify the HTML template copy as you
311. ensively at some stage sooner or later you may find a problem Bugs may occur in the pre and post processing facilities of AMESim AMERun AMESet AMECustom or in one of the interfaces with other software Usually it is quite clear when you have encountered a bug of this type Bugs can also occur when running a simulation of a model Unfortunately it is not pos sible to say that for any model it is always possible to run a simulation The integra tors used in AMESim are robust but no integrator can claim to be perfectly reliable From the view point of an integrator models vary enormously in their difficulty Usu ally when there is a problem it is because the equations being solved are badly condi tioned This means that the solution is ill defined It is possible to write down sets of equations that have no solution In such circumstances it is not surprising that the in tegrator is unsuccessful Other sets of equations have very clearly defined solutions Between these extremes there is a whole spectrum of problems Some of these will be the marginal problems for the integrator If computers were able to do exact arithmetic with real numbers these marginal prob lems would not create any difficulties Unfortunately computers do real arithmetic to a limited accuracy and hence there will be times when the integrator will be forced to give up Simulation is a skill which has to be learnt slowly An experienced person will be aware that cert
312. ent against time type plot R 1 R 4 The resulting plot should look like that in Figure 7 6 AMESim 4 2 User Manual 229 Figure 7 6 Plot in MATLAB Running a batch simulation from MATLAB Now you are going to do a series of simulations varying the mass between 1 and 200 kg in steps of 20 and produce a plot of these 1 Create a file named sweepmass m using your favorite text editor in the same directory as the AMESim model The content of this file is shown below You don t need to input the signs or the text following these since they are comments Set up a vector with the masses we want to test sweeppars 1 20 201 We ll save the time and velocity in these two variables so we start by deleting any old results clear time displacement Loop through all elements in sweeppars for i 1 length sweeppars Set the mass ameputp MSD2 MAS001 1 mass kg sweeppars i Chapter 7 The AMESim MATLAB Interface 230 R S amerun MSD2 0 1 0 01 run a simulation time i R 1 save the time displacement i R 4 save the displacement end plot time displacement Plot all 2 Save the file in the directory where the MSD2 ame file lives 3 Add this directory to the MATLAB path list 4 Run this MATLAB program by typing sweepmass at the MATLAB prompt This will start a batch of 11 simulations In the end it will plot a graph with all 11 step responses T
313. enu is produced giving 4 options However the Edit option is available only if the pointer was over a text object You cannot edit several text strings simultaneously Figure 11 18 Sketch area menu for text actions Chapter 11 Facilities Available in all Modes 310 Edit Font This produces a Select Font dialog box Changes you make will be applied to all the selected text objects Figure 11 19 Select font dialog box Color This produces a Set Color dialog box exactly the same as in Figure 11 11 Any changes you make will be applied to all the selected text objects Alignment This gives you access to the following submenu Figure 11 20 Alignment submenu Any changes you make will be applied to all the selected text objects The operation is only useful if you have at least two lines of text Examples of the 3 options are shown below If you click on the Edit item the text changes into a form where it can be edited AMESim 4 2 User Manual 311 Figure 11 21 Text alignment Labels Figure 11 22 Submenu for labels This applies only to components or line runs A submenu is produced The operation applies to the selected objects but if no objects are selected the operation applies to all objects of this type Edit properties This applies only when annotation objects other than text are selected If the transparency check box is not selected a filled rectangle or ellipse can be created Figure 11 23 Prop
314. eously The methodology was applied again respecting the points above We do not give instance number because these change as components are removed The main steps are 1 BAI22 submodels in the outlet valve we replace the elastic end stops by inelastic endstops by using BAI21 2 The three BHO11 orifice submodels between the outlet valves and the pump pistons are low on the lists We can easily remove them provided we combine the BHC11 chambers We must correct the dead volume in the single chamber to be the sum of the dead volume in the two chambers Figure 8 18 Remove the BHO11 orifices This removes three more state variables and the simulation now runs significantly faster At this point we consider the new activity index values AMESim 4 2 User Manual 259 Figure 8 19 New activity index values Clearly there are components or elements within components that we would like to remove but it is not always easy The easiest low activity elements to remove were three BHO11 submodels However to do this it was necessary to do something about the gaps created Each of these orifices received a pressure at one port from the single HL000 line submodel and at the other ports from three hydraulic chamber BHC11 submodels Plotting the pressures which were state variables in these chambers they were virtually identical Indeed the pressure in HL000 was also virtually the same Plotting the volume in each hydraulic chamber it varied fr
315. er Manual 171 5 5 1 Bode Nichols and Nyquist plots Bode Nichols and Nyquist plots are the most commonly used tools for frequency response You need at least one control variable and at least one observer variable You must of course do a linearization and it should be at an equilibrium point We will use the system shown in Figure 5 32 Figure 5 32 Build this system 1 Build the system shown 2 To ensure an equilibrium position set the value of the two duty cycle submod els so that they are constant and zero Leave all values at their defaults 3 Do a trial run to ensure the system is in equilibrium 4 Plot strategic quantities like velocity and displacement against time 5 If a steady state is not achieved either check parameters or do a stabilizing run 6 Set the two output signals from the duty cycle submodels to control variables and the velocity and displacement in the mass to state observers 7 Then set a single linearization time at the end of the run 8 Start a new run 9 Select the button labeled Frequency response The dialog box shown in Figure 5 33 appears This allows you to select which control variable and which observer variable will be used and the type of plot The value of the start and final frequency are also displayed Chapter 5 Batch Runs and Linear Analysis 172 Figure 5 33 Frequency response dialog box Note you can choose the unit of frequency in Hz or rad s 10 Try th
316. er Manual 375 The process of packing files is now finished You can send the pck file to an other user who will then unpack the file to be able to use the system Unpacking a pck file If you receive a package file pck containing system s and auxiliary files you will have to unpack the file to be able to use the models it contains In addition to models the pck file may contain auxiliary files such as user submodels and supercomponents see Pack Unpack facility page 370 To unpack a pck file follow these steps 1 Save the pck file in your local area 2 You must store the models contained in the pck in a specific directory We rec ommend you create a new directory The directory will then be empty We will refer to it as the extract directory 3 Start AMESim and then you can either 7 Examine your path list Ensure that it contains all the user AMESim nodes that are on your disk system 8 Click on Open A potential problem is that you have already got some of these auxiliary files If you regularly receive models from the same source this is very likely to happen You do not want multiple copies of these files AMEUnpack will try to avoid this happening but needs some help from you The best thing to do when you use AMEUnpack is as follows Ideally you should adjust your path list so that it contains all the user AMESim nodes that are on your disk system At least it should contain all the important ones
317. er Manual 395 appearance AMESim uses this special classification of ports in order to prevent you from joining ports of different types Thus you cannot connect a spring to the hydraulic pump outlet All ports except signal ports are normally transmitting power We now review the ten port types and display the port appearance for each Linear ports correspond to shafts which exhibit one dimensional linear motion and are typified by the ends of a spring Typical external variables with their units on linear ports are shown below Rotary ports represent rotating shafts such as pump and motor shafts Typical rotary ports with their external variables are as follows Rope ports are similar to linear ports and the external variables have similar units However the quantity in m is a uncoiling displacement which is quite different from the displacement on a linear port Signal ports do not transmit power They simply convey a quantity the signal to the next component Often the signal is modified in some way by the component They are very common in control systems A signal is received by a component at a signal input port and transmitted to another component at a signal output port The input and output signal ports are shown differently to emphasize the direction of the signal Chapter 12 Facilities Available In Sketch Mode 396 For the remaining ports we describe the appearance of the ports Refer to library manuals to see typica
318. er a category description As soon as the description is validated the Icon Designer appears You can now create an icon for the new category Remove category To remove a category it must not contain any component icons If you want to empty a category see Remove component page 354 When the category is empty you can remove it directly from the Icons menu Follow the following instructions 1 Select Icons Remove category The Remove Category dialog box appears Chapter 11 Facilities Available in all Modes 352 Figure 11 76 Remove category dialog box 2 Select the category you want to remove 3 Check the box Remove icons files if you want to remove also the files of the icon ico xbm Add component To add a component 1 Select Icons Add component The Design Component Icon dialog box appears Figure 11 77 Design component icon 2 Assign an icon to the new component You can create a new icon load an icon you already created for an other system or select an icon from a category used in the current system To create a new icon 1 Click on the Draw icon button The Icon Designer appears 2 See section 6 5 2 Creating a supercomponent icon step 1 to step 6 to learn how to create an icon and add ports to it To load an icon from another system AMESim 4 2 User Manual 353 1 Click on the Load icon button A browser appears 2 Select the Bitmap file yo
319. er is relevant only if you have access to the MATLAB package and have some experience of using it Some simple exercises are presented to get you started Finally there is a reference section 7 2 Tutorial examples Figure 7 1 Mass spring damper system In order to demonstrate the interface the mass spring damper system shown in Figure 7 1 will be used 1 Construct this system and save it as MSD ame 2 Run a simulation of 8 seconds leaving all the parameters at their default values 3 Plot the mass displacement against time as shown in Figure 7 2 Figure 7 2 Mass displacement against time In the first part of this exercise you will load the AMESim results and display them using the graph plotting facilities of MATLAB The files MSD_ results and MSD_ var are needed for this These files will be read and processed by a collection of utilities in the form of MATLAB m files stored in a subdirectory of the AMESim system area Chapter 7 The AMESim MATLAB Interface 222 7 2 1 Setting the MATLAB path list Using Unix The easiest way to ensure MATLAB has access to these is to check that the environment variable MATLABPATH contains a reference to AME matlab amesim where AME is the AMESim installation directory The MATLABPATH environment variable might have been set up by your system administrator Try the command echo MATLABPATH If this prints something containing the string matlab amesim it is likely that
320. ercomponent category Figure 6 28 Select a directory in the browser 4 Click on OK If the selected directory is not in the AMESim path list the following dialog box is produced Figure 6 29 You can add the directory in the path list AMESim 4 2 User Manual 205 You can then update your path list and you will be asked for the category name and description Figure 6 30 Enter a name category for the category Figure 6 31 Enter a description for the category As soon as the description is validated the Icon Designer utility starts This is shown in Figure 6 32 Step 2 Create an icon 1 Use the Add text button to create a simple icon as shown in Figure 6 32 Figure 6 32 Icon designer 2 Type and add SUPER then click on again and type and add COMP Finally add ONE Chapter 6 The Supercomponent Facility 206 Figure 6 33 You can select a font and a style Size 8 is about right 3 When the category icon is ready click on the Save icon in AMESim files button The original icon list is updated as shown in the following figure Note If you make a mess select the eraser and use it to clear the text If you do not like the font click on Font in the Text Input dialog box to produce the Select Font dialog box Use this to select the font you want AMESim 4 2 User Manual 207 Figure 6 34 The icon list is updated 4 Do not close the Icon Selection dialog box 6 5 2 Creating a s
321. erna tional Conference on Bond Graph Modeling and Simulation Phoenix 1997 3 Louca L S J L Stein G M Hulbert A Physical Based Model Reduction Metric with an Application to Vehicle Dynamics Proceeding of the 4th IFAC Non Linear Control SystemsSymposium 1998 AMESim 4 2 User Manual 267 Chapter 9 Getting Started with AMEPilot and the Export module 9 1 Introduction We recommend you read this chapter and do the tutorial exercise if you intend to use the AMESim design exploration optimization facilities use the interface between AMESim and other commercial design ex ploration optimization software use VBA Visual Basic for Applications to pilot AMESim simulations e g using Excel design an interface between AMESim and your in house code AMEPilot provides AMESim users with an easy way to initiate AMESim model runs from outside AMESim Using this tool it is easy to change parameters of the model and get post treated results of the simulation The Export facility sets up parameters in a format suitable for AMEPilot Using the AMESim and other commercial design exploration optimization software the Export facility is used first Then AMEPilot is used by the design exploration optimization facility to trigger simulations More advanced users can also use Export and AMEPilot to interface AMESim with other software In this chapter you will Setup an export Define th
322. erties of annotation objects Order A submenu is produced This can be used when filled objects overlap Chapter 11 Facilities Available in all Modes 312 Figure 11 24 Order submenu Figure 11 25 Square sent backward Set attributes as default This applies when an annotation object is selected Any new object added subsequently to the sketch will have the attributes set as default Bird s eye view This produces a reduced size sketch which enables you to view the whole of an extremely large system If you click on an object in the reduced sketch AMESim tries to centralize the main sketch on this object The rectangle shown in the reduced sketch represents the visible part in the main sketch You can move this rectangle and the main sketch will respond to this Figure 11 26 Bird s eye view window You can also start the facility using View Bird s eye view If you right click on the Bird s eye view window the popup menu below will appear AMESim 4 2 User Manual 313 Figure 11 27 Right click menu for Bird s eye view You can now Modify the view scale Refresh the view Close the Bird s eye view window You can also resize the window to modify the view scale You must select the Refresh menu item to refresh the picture of the sketch Help You must have the pointer over a component or line to get this item in the menu This initiates the process of displaying HTML documentati
323. es available in AMEVbaInterface bas The AMEVbaGetPar subroutine Definition It reads parameter titles parameter values and variable titles from an AMESim system and stores them into three tables To use this subroutine it is necessary that study parameters and variables have already been exported using the Export setup functionality of AMESim Syntax Call AMEVbaGetPar system inTitles inValues outTitles subErr Or AMEVbaGetPar system inTitles inValues outTitles subErr Arguments system String expression whose value is the complete path and name of an AMESim system without extension If the system argument is a wrong system Chapter 18 AMESim export module 574 name or path an error message is displayed inTitles Array of type String It stores parameter titles imported from the AMESim system specified by the system argument It has to be declared in the main VBA code before calling AMEVbaGetPar inValues Array of type Double It stores parameter values imported from the AMESim system specified by the system argument It has to be declared in the main VBA code before calling AMEVbaGetPar outTitles Array of type String It stores variable titles imported from the AMESim system specified by the system argument It has to be declared in the main VBA code before calling AMEVbaGetPar subErr optional 0 by default Integer It stores a flag corresponding to the fi
324. es not covered fully in the tutorial chapters Chapter 9 covers facilities available in all AMESim modes Chapter 10 covers facilities available in Sketch mode Chapter 11 covers facilities available in Submodel mode Chapter 12 covers facilities available in Parameter mode Chapter 13 covers facilities available in Run mode Chapter 14 deals with plotting facilities and with Chapter 15 you will learn how to deal with 3D plots and order tracking Chapter 18 and 19 cover the Export and Design Explorations facilities respectively Using Unix Description for Unix Linux environments Using Windows Description for Windows environments Chapter 1 Introduction 6 1 5 The AMESim 4 software suite 1 5 1 AMESim AMESim is the main product of the AMESim software suite AMESim is an Advanced Modeling Environment for performing Simulations of engineering systems With AMESim you can Create new systems Modify the Sketch of an existing system Change the submodel behind a component Load AMESim systems Change parameters and set up batch runs Perform standard or batch runs Plot result graphs Perform linear analysis Perform activity index analysis Export models for running outside of AMESim Perform Design Exploration studies 1 5 2 AMECustom AMECustom is delivered with AMESim With AMECustom you can customize submodels and supercomponents A
325. etails in the following paragraphs 16 5 1 The File pulldown menu View Zoom View Zoom View Zoom Previous View AutoScale View Coordinates View 3D rotation Tools Plot manager Tools Add text Tools Update curves Tools FFT Tools Batch plot Tools XY Plot Some of the facilities are also accessible in the Standard toolbar They apply to the complete main window Open Print Save configuration AMESim 4 2 User Manual 509 Open A configuration file plt This is a file created previously by selecting Save configuration It contains information on the variables selected and the settings of a plot s such as the colors text fonts number of rows and or columns if there are several curves Note that the data points of the curve s are not loaded from that file they come from the current simulation A data file created previously by selecting Save data It contains data points of curve s previously displayed These data may have nothing to do with the current simulation This facility is extremely useful for comparing different results A result file results A List of variables dialog box is displayed Use this dialog box to select the variables to plot Figure 16 6 Selecting a file to plot Save configuration 1 Select File Save configuration A file browser appears as in Figure 16 7 Saving a Plot Configuration 2 Select the directory where you want to save your dat
326. ext status of variables If the Save next status of a variable is true during the next run its value will be added to the results file The Save next status of variables does not in any way influence linear analysis results When you click on a component or line run AMESim behaves differently if Time domain mode or Linear analysis mode is currently selected see Figure 15 1 If Linear analysis mode is selected a group of special icons are displayed AMESim 4 2 User Manual 447 The Save next status of variables can be changed Globally for the currently selected sub system For all variables in a submodel For individual variables In the results file a variable is saved or not according to its saved status when the run was initiated This may be different from its current status If you want to change the status of a variable tick the corresponding box within the Save next column before the run The saved variables are in the results file and you can plot them The column Saved shows if a variable has been saved or not and consequently if it is plottable Figure 15 2 Save next column is editable Global change of Save next status 1 Select the part of the system of interest or select the whole system using Ctrl A or Edit Select all Figure 15 3 Tools menu 2 Create the right button menu or use the Tools pulldown menu In either case select Save all variables or Sa
327. f a real industrial system It consisted of a 3 piston radial pump The starting point was a very complex model which showed very fine details but ran very slowly The methodology was applied in order to produce a simpler model which ran much faster but which still included essential properties and dynamic behavior Results and numerical performances of the original and simplified models were compared Functional description of the pump This section is not essential for the description of the methodology For non hydraulic readers it is safe to skip to the next section The radial pump consisted of housing camshaft and three pistons elements with suction plate and high pressure check valves associated with each piston Pistons were arranged radially around the camshaft and held upon it by preloaded springs When the piston extended volume in its chamber increases The resulting negative pressure permited the suction plate to open and the filling to begin While the piston traveled to the top of the cam lobe the pressure increases in the chamber closing the inlet valve Then the high pressure check is opened and the fluid was pushed to the system outside the pump Each piston provided a flow in the same way The pump was filled by the fluid delivered by a feeding pump 2 bar which also insures the lubrication of the system Initial modeling The complex model of pump produced is presented in the following figure An expert engineer
328. f plot 512 Print selection 26 322 Progress bar 468 Purge For AMERun 369 Purge tool 32 367 R Raise all graphs 30 349 Real discrete Input Parameters 560 Real Input Parameters 560 Real parameters 414 485 Relay Using Float Format 477 Reload saved version 26 Remove a component
329. f the mass You will find that the velocity and acceleration have negligible values and the body is in its equilibrium position The car body has dropped a distance of m Note that it is not possible to produce a meaningful plot because there is not enough data Note that there are a confusing collection of terms which mean almost the same thing stabilizing run steady state run free response run equilibrium position run Stabilizing run is the AMESim preferred term It is useful at this stage to define more precisely what we mean by a state variable 400 9 81 15000 450 9 81 200000 0 283672 Chapter 4 Advanced Examples 104 State variable Uniqueness of an equilibrium position CPU times Solver type Regular Cautious Stabilizing run diagnostics Recommended strategy for obtaining an equilibrium position State variable AMESim uses a very broad definition of a state variable so that if the states are then a state may be In a dynamic run the integrator attempts to estimate the evolution of these state variables with time A successful stabilizing run leads to a equilibrium position In an equilibrium position if all inputs are held constant the state variables will also be constant with time or their derivatives will be constant We now continue with the current example 1 Open the Run Parameters dialog box sele
330. file will be read and state variable values will be used as starting values for next run In this run the Start time will be the final time in the results file and the Final time will be the value defined in Simulation values If the Use old final values button is enabled AMESim tries to extract the final values from the current results file and use them as starting values for next run This is not the same as a continuation run This is a collection of four check boxes that determine the characteristics of the run These check buttons can be enabled or disabled in any combination With the Statistics button enabled when the run is complete a brief summary of what happened in the run is displayed in the Simulation run dialog box Chapter 15 Facilities Available in Run Mode 456 Standard options tab Figure 15 17 Run Parameters dialog box Standard options tab The Standard options tab can only be selected if the Integrator type radio button Standard integrator is enabled Figure 15 13 Run Parameters dialog box General tab There are two values and a number of groups of radio buttons and check buttons that can be set These are now described Tolerance The AMESim standard integrator performs integration in a series of discrete steps At each step an iterative process is employed and this process must converge Thus after each integration step a convergence test is employed When the iterations do converge an error test is empl
331. for a plot the titles are used to create labels R S ameloadt testsystem R_HJ000 S_HJ000 amegetvar R S HJ000_1 pressures presslabel amegetvar R_HJ000 S_HJ000 bar plot amegetvar R S time s pressures xlabel time ylabel presslabel 7 3 3 Importing linear systems from MATLAB into Chapter 7 The AMESim MATLAB Interface 238 AMESim By using linear models in the form of either transfer functions or state space it is possible to export models from MATLAB to be used within AMESim Here is an example of a procedure that is quite common Create a non linear model of a physical system in AMESim Linearize the non linear model at some operating point Import the linearized model into MATLAB Design a linear controller in MATLAB using the linearized AMESim model Export the linear controller Import the linear controller into AMESim and test it on the full non linear model The functions in MATLAB you will use to export the controller are ss2ame and tf2ame These two functions can be used to export any linear system from MATLAB to AMESim This might be a single input single output state space or transfer function controller multiple input multiple output state space controller special filter any linear model of a Simulink system In all cases an ASCII file is created Case of a transfer function If you
332. for the selected plot by selecting All graph s This contains only the Margin format item which allows you to select a new color for the margin This facility is also available from the Axis format item see section 16 6 1 The axis menu AMESim 4 2 User Manual 527 Figure 16 22 Setting the margin format 16 6 4 The curve menu Curve format If you select this menu item the Curve format dialog box appears Figure 16 23 Changing the format style of a curve Use this to modify the characteristics of the curve color style thickness You can also add a symbol to the curve specifying the characteristics of the symbols color style density Chapter 16 The Plotting facilities 528 Bar chart options Y values displays bar chart values in This useful for Activity Index plots Phases this option is only available for Modal Shapes analysis This option allows you to display the phase angle of the studied linearization time Remove Use this to remove the selected curve FFT This menu item is active only if you have applied a FFT to the plot area In this case you can select various window and detrend types for the FFT You can also adjust the time constraints In Figure 16 24 the FFT was constructed from a run with start time 0 s and end time 10 seconds Sometimes you might want to adjust this Starting with the time plot you could restrict the time axis to 2 seconds to 7 seconds Then do the FFT U
333. g of the spectral map Below are brief notes on setting of the Spectral map and Zoom constraints quantities Spectral map Number of FFTs Figure 17 17 Warning message Overlap The overlap is a percentage of the time range of each FFT time window that is common with a neighbor FFT time windows see Figure 17 13 Remember the time range is identical for all FFTs This is the number of time intervals and will also be the number of slices in the waterfall plot If the number you set is large in relation to the number of data points in the results file you may get a warning dialog box like the one below If this is so either reduce the number of FFTs or rerun with a reduced communication interval in order to get a greater number of data points AMESim 4 2 User Manual 549 Figure 17 18 Overlap FFT range The time range of each FFT is determined by the zoom constraints number of FFTs and overlap However remember that the variable is normally not time and the actual unit on the X axis of the original plot will be displayed rev min Zoom constraints 1 zoom the original curve before the selection of the order tracking 2 zoom in the Spectral Map Creation dialog box using the zoom constraints slid ers 17 3 2 Creating a spectral map A realistic example to use would be a complex model of an engine However the very simple example below illustrates all the main features Figure 17 19 A very simpl
334. g table Submodel Number on sketch if any Comment Title Value RL01 3 Defines inertia of engine and computes response of engine to applied torques shaft speed port 2 rev min 2500 moment of inertia kgm 2 0 2 Coefficient of viscous friction Nm rev min 0 RL01 4 Ditto gearbox moment of inertia kgm 2 0 001 Coefficient of viscous friction NM rev min 0 RN001 Defines ratio of gearbox and adjusts speed and torque accordingly gear ratio 3 0 Chapter 4 Advanced Examples 142 UD00 1 Defines engine torque in Nm output at start of stage 1 0 output at end of stage 1 0 duration of stage 1 s 0 1 output at start of stage 2 0 output at end of stage 2 200 duration of stage 2 s 2 output at start of stage 3 200 output at end of stage 3 200 UDA1 2 Defines the operation of the clutch 1 fully engaged 0 fully disengaged name of data file defining function Use the browser button and locate your clutch data file FR2R00 The clutch maximum Coulomb dynamic friction torque for option 1 Nm 400 RSD00 Compliance of driveline stiffness Nm degree 200 damper rating Nm rev min 1 CONS0 Define the overall transformer ratio between the drive shaft and the body Constant value 0 1 Submodel Number on sketch if any Comment Title Value AMESim 4 2 User Manual 143 These parameters imply t
335. g why submodels can or cannot be connected together Also useful is the information displayed by the message in italics For variables which have a direction associated with them a positive sign is in the direction of the arrow This information describes the sign convention used by AMESim for external variables The Close button can be selected to remove the External Variables dialog box Help The Help button displays a description of the highlighted submodel This description is in HTML format and it appears in a separate window as shown below Component Icon Output Inputs Ports Submodel Name AMESim 4 2 User Manual 403 Figure 13 3 Displaying information on a submodel Remove Figure 13 4 Removing a submodel If the component is already associated with a submodel when it is selected the dialog box produced is slightly different as shown in Figure 13 4 The header indicates the name of the submodel currently assigned to the component and the Remove button becomes available If you click on the Remove button the current submodel is removed from the component You will very rarely use this button Normally you simply select another submodel and the removal of the current one is automatic If you do this AMESim will attempt to copy the parameters of the old submodel to the new Chapter 13 Facilities available in Submodel mode 404 provided the check box labeled Copy parameters when submodel changes is t
336. garding a response response1 It is made of two lines The first line is the mean variation of response1 when factor1 varies from low level to high level and factor2 is at low level The second line is the mean variation of response1 when factor1 varies from low level to high level if factor2 is at high level If factor2 has no interaction with factor1 then the mean variation when factor1 varies from high to low level does not depend on the value of factor2 Then the two lines are parallel as shown in the following figure Figure 19 31 No interaction between the two factors If factor2 has interaction with factor1 then the mean variation when factor1 varies from high to low level depends on the value of factor2 Then the two lines are not parallel as shown in the following figure Chapter 19 AMESim Design exploration module 608 Figure 19 32 Interaction between the two factors When Interaction diagram is selected the dynamic part of the dialog box is as shown in the following figure Figure 19 33 Setup of an interaction diagram Select the factors and the response you want to consider using the dropdown lists and click on the OK button You must wait the end of the design exploration process to create such a plot This type of plot cannot be updated Main effect diagram Main effect diagrams only apply on DOE Full factorial and Central composite It is used to visualize the main effect of a factor on a re
337. gies Plotting Magnitudes This is the simplest form of modal shapes analysis 1 Adjust some scale factor if necessary so that all observers have consistent val ues This is useful if different units are used in this case a conversion factor must be applied 2 Click on the Plot Magnitudes button to produce the plot typified by Figure 15 50 AMESim 4 2 User Manual 487 Figure 15 50 Plot of magnitudes AMESim produces animation to see how each observer responds To start the animation 1 Click on the Start Stop animation button or select the item in the ModalShapes pulldown menu Figure 15 51 ModalShapes menu A small flag cursor appears 2 Click on the graph area where you want the animation to occur Note that the response of the observer will normally be oscillatory if the eigenvalue is complex will normally be a simple decay in magnitude for a real negative eigenvalue will be nothing at all if that observer is not influenced by that frequency Start Stop animation Reset animation Chapter 15 Facilities Available in Run Mode 488 To adjust the animation 1 Select Animation parameters in the ModalShapes pulldown menu This produces the Animation parameters dialog box Figure 15 52 Animation parameters By increasing the Total number of increments the animation will last longer By increasing the Number of increments per cycle the animation will appear to
338. gory button to open it Normally components in this category are green 2 Click on the component described as a 1 port mass 3 Try clicking the mouse middle button and the mouse right button The middle button rotates the icon and the right button mirrors or flips it about a vertical axis This gives eight distinct orientations of the component You can also type Ctrl R to rotate the component Ctrl M to mirror the component 4 Put the mass to the orientation shown in 2 5 Put the pointer in the middle of the central display and click the mouse left but ton The mass will appear in the display with reversed colors Now you are going to learn how to remove a component from the sketch Step 2 Remove a component from the sketch 1 Select the mass again by clicking on it The mass is selected 2 Press the Del key to delete the selected component Note When you move the pointer across the display the pointer takes the appearance of the mass you selected You can move a selected component in different orientations Note AMESim also permits the use of the drag and drop principle for adding components to the sketch However this technique is not as convenient and makes mirror and rotate operations more difficult We recommend you use the click method rather than the drag and drop AMESim 4 2 User Manual 55 3 Click on the Yes button Step 3 Build the sketch 1 Add the mass to th
339. hapter 18 AMESim export module 556 18 3 Main principles Use of the export module involves two stages 1 Parameterization in AMESim 2 Execution of the model from outside AMESim The parameterization step basically consists in defining the inputs and outputs that will be exported In other words in this step you will select the parameters and variables you want to make visible outside of AMESim You also have to define the post treatment you want to perform in order to get post treated results This step is done fully in AMESim using a dedicated graphical user interface The execution step may be done from any software During this step you or the software you use will have to create an ASCII file to set parameters start the executable AMEPilot and read the result from an ASCII file The processes involved in this two main steps are now described 18 4 The Export Parameters Setup dialog box The Export Parameters Setup dialog box can be started in Parameter and Run modes through the menu path Parameters Export Setup Figure 18 1 shows this dialog box Figure 18 1 Export Setup dialog box As you can see Input Parameters Simple Output Parameters and Compound Output Parameters are organized each with its own tab The Export to an external tool check box and Export format pulldown list are useful only if you intend to interface AMESim with iSIGHT or Optimus this is AMESim 4 2 User Manual 557 described later At
340. hat The car is initial at rest but on a 10 degree slope The engine speed is initially 2500 rev min and there is a constant torque of 200 Nm The clutch is disengaged for 0 1s and then is ramped to fully engaged in a further 0 25s 4 5 3 Running the simulation 1 Run the simulation with a final time of 4 seconds 2 Plot the linear velocity of the car Figure 4 57 Linear velocity of the car Note that initially the car runs backwards down the hill before the clutch begins to grip and it moves forwards Perhaps you have failed your driving test 3 Change the angle in MAS002 to 20degrees 4 Rerun the simulation 5 Plot a graph of the linear velocity of the car and the rotary velocity of the en gine What is happening MAS002 Defines the linear inertia characteristics of the complete car mass kg 1000 inclination 90 port 1 lowest 90 port 1 highest degree 10 Submodel Number on sketch if any Comment Title Value Chapter 4 Advanced Examples 144 Figure 4 58 New curve of the velocity 6 See if the situation can be cured by letting the clutch pedal up more slowly or by using more throttle increase the engine torque AMESim 4 2 User Manual 145 Chapter 4 Advanced Examples 146 AMESim 4 2 User Manual 145 Chapter 5 Batch Runs and Linear Analysis 5 1 Introduction In this chapter you will be introduced to some features of AMESim which were n
341. have a transfer function of the form within MATLAB you first define num and den num 0 0 3947 84 den 1 125 664 3947 84 then type tf2ame num den filename1 ssp Case of a state space Similarly if you have a state space system of the form num s den s x Ax Bu y Cx Du AMESim 4 2 User Manual 239 in which A B C and D are defined within MATLAB type ss2ame A B C D filename2 ssp In both cases ssp is the preferred AMESim extension of the file created Importing ssp and jac files to AMESim Figure 7 9 Interface menu in AMESim To import these files into AMESim 1 In Sketch mode with the lock in the open position operate the Interface pull down menu shown in Figure 7 9 and select Import linear model This produces a dialog box similar to that shown in Figure 7 10 Figure 7 10 Open browser When you select the appropriate file a new dialog box is created with the appropriate number of input and output ports Figure 7 11 shows a single input single output transfer function block obtained from the two vectors num and den which were previously defined Chapter 7 The AMESim MATLAB Interface 240 Figure 7 11 Linear model import dialog box Figure 7 12 Multiple inputs and outputs Figure 7 12 shows a multiple input multiple output state space system block Note There is a special dynamic block for transfer functions DY
342. havior of an engine Electro Mechanical contains elements such as air gaps metal ele ments magnets and coils to construct a magnetic circuit such as a sole noid Contains dynamic effects such as histeresys and electric properties Two Phase Flow used for modelling thermohydraulic systems where there is a change of phase liquid vapor Air Conditioning used to model steady state and dynamic behavior of air conditioning systems Electric Motors and Drive used to model electric parts of the car which replace mechanical and hydraulic actuation IFP Drive used to compute fuel consumption and raw emissions of en gines Planar Mechanical used to model dynamics of bodies in two dimen sions Chapter 2 The AMESim Workspace 34 2 2 1 Sketch Mode When you start AMESim you are in Sketch mode In Sketch mode you can Build a new system Modify or complete an existing system With the components of the available categories It is the only mode in which the category buttons and the Lock button are available The Sketch mode is the first step to the simulation 2 2 2 Submodel Mode When your system is complete you can go through the Submodel mode to select submodels for the components of the system If the circuit is not complete you cannot go through the Submodel mode In this case the following dialog box is displayed Figure 2 36 Error message In the Submodel mode you can Select a
343. he External Variables facility page 86 The Load and Save buttons are used to store and retrieve the parameters of a submodel For the current submodel there are only four parameters to set For some other submodels there are thirty or more parameters In such cases it is useful to store a standard set of parameters for recall on later occasions 3 4 5 Aliases for a parameter title a submodel and a variable title Aliasing submodel titles To alias the masses 1 Select the mass at the top of the model 2 Right click on it Chapter 3 Getting Started 82 3 Select the Alias submenu A dialog box as shown in Figure 3 43 appears 4 Enter Body Mass in the input box of the dialog box 5 Click on OK Figure 3 43 Submodel alias dialog box 6 Alias the other mass as Wheel Mass The List button is now available 7 Click on it to get the list of the existing aliases Figure 3 44 Alias list To unalias any of the two masses Click on the Reset button from the Submodel Alias dialog box Aliasing parameter titles To alias a parameter title 1 Select the mass at the top of the model 2 Double click on displacement port 1 3 Type body displacement 4 Click on OK Note You can also use the menu Options Submodel alias list AMESim 4 2 User Manual 83 5 Select the other mass 6 Double click on displacement port 1 7 Type wheel displacement 8 C
344. he Premier submodel button The combination of submodels is the simplest one DIRECT submodel DIRECT submodel is short for direct connection This is a very general submodel which actually does nothing at all It is only used for design convenience it has no parameters and no variables It is as if the two entities it joins where connected directly together The DIRECT submodel is always used when a line connects two components of the Mechanical and Signal Control and Observers libraries Chapter 3 Getting Started 78 Figure 3 37 DIRECT submodel With other categories such as Hydraulic or Pneumatic some other line submodels different from DIRECT can be used These pipe submodels are more complex since they have parameters and variables Their goal is to calculate flow rate from pressure and or pressure from flow rate depending on which components they are connected to See the following example Figure 3 38 Example of a line submodel 1 Select the menus Hide component labels and Hide line labels to hide the la bels Finally look at Figure 3 39 The top and bottom sub systems are functionally identical but the upper one has far fewer lines Generally speaking only use lines when they are really necessary This leads to a much neater sketch and there is less scope for bad connections There are two situations were lines are necessary A line submodel is neeeded as in Figure 3 38 It is physically impossible to c
345. he drawing area A port menu appears In this case there is only one port type which is signal so select it Step 6 Naming the icon 1 Fill in the box defining the icon name This is a compulsory field 2 Fill in a brief description This is optional Figure 6 44 Name and brief description of the icon 3 Click on the Save icon in AMESim files button Figure 6 45 Save the icon Step 7 Saving the icon 1 Find and select the new icon and then click on the OK button The new icon will appear in the right of the Auxiliary system dialog box Figure 6 46 The new icon is set 2 Click on the Save button to produce a directory browser Chapter 6 The Supercomponent Facility 212 3 Select the node directory to store the new supercomponent 4 Click on OK The AMESim categories are now updated Your supercomponent is now ready to use Figure 6 47 The supercomponent appears in the new category 5 Return to sketch mode if necessary and click on the SUPER COMP ONE category 6 Pick up the new icon adding to the old system 7 Run a simulation with this supercomponent Figure 6 48 Run a simulation Comparing the different versions each model gives of course the same results AMESim 4 2 User Manual 213 Figure 6 49 Results of the simulation 6 6 Creating a generic supercomponent con taining global parameters A global parameter is useful when a given parameter is used many times
346. he integrator is going too fast and needs to be restricted Follow the advice by setting a much lower maximum step size enabling the Cautious option or reducing the tolerance There is some bad parameter data in a submodel The model is physically impossible and must be totally revised Below is a very simple example which was used to create the message shown in Figure 15 27 The component on the left is removing 1 L of fluid every minute from the pipe The other end of the pipe is blocked The simulation runs until all fluid is removed from the pipe and then it has to fail Double click here to find the submodel in the sketch AMESim 4 2 User Manual 467 Figure 15 28 Physically impossible example The report indicates the submodel where the problem occurs If you have persistent problems 1 Investigate the parameters of the submodel indicated 2 Plot graphs of variables in this submodel 3 Do a continuation run specifying a much smaller communication run and a fi nal time just before the time the report indicates the problem occurred and then repeat 2 above Progress bar The progress bar shows how far the simulation has gone but it only works if you enable the Monitor time check button in the Run Parameters dialog box Simulation options tab Figure 15 29 Progress bar 15 4 Load save plot configuration Load plot configuration 1 Use Graphs Load plot configuration to reload a configuration file previ
347. he plot menu If you right click on a number associated with a curve you will get the curve menu If you right click on a text string you will get the text menu If you right click anywhere else outside the plot areas to the right of or above it you will get the margin menu Figure 16 13 AMEPlot 16 6 1 The axis menu Axis Format If you select the Axis Format item you get access to a dialog box from which you can modify either the format or the scale of the selected axis Curve menu Plot menu Margin menu X axis menu Y axis Text menu menu Chapter 16 The Plotting facilities 520 See Figure 16 14 Format and scale tabs the Format and Scale tabs Figure 16 14 Format and scale tabs The Format tab You can choose a new color for the selected axis as well as different style and thickness From the same tab you can also choose a new color for the margins The Scale tab Here you can modify the minimum and maximum values of the selected axis this is done by checking the Custom check box and by setting the new value in place of the current one The Logarithmic check box switches between a logarithmic scale and a linear scale The Separate axis check box switches between the mode of a single vertical axis for all plotted variables and a separate Y axis for each plotted variables Title If you select the Title menu item the title as well as the unit of the variabl
348. he run log Remember you can use scroll bars to examine the complete log Remember also you can double click on a line to identify the submodel in the sketch Figure 15 25 Run log Stabilizing run diagnostics See Stabilizing run options page 459 Warnings Errors report This report contains description of incidents in the run where there may have been a problem Submodel warning and error messages Submodels in AMESim libraries check the parameters they are given If they find some questionable data they will stop the simulation run or issue a warning message according to the level of severity Note With modern computers and small systems CPU times are very small and very inaccurate They can be considered meaningless For larger systems CPU times are more meaningful Chapter 15 Facilities Available in Run Mode 466 Figure 15 26 Warning message Panic step reductions error messages Figure 15 27 Click on the message to find the submodel in the sketch In some AMESim submodels a check is made to ensure that certain physical quantities do not achieve unrealistic values Common examples are absolute pressures and absolute temperatures that become negative Usually the integrator can fix the problem itself without you knowing any problem occurred However it some cases it cannot and the problem persists repeated requested for step reductions to the extent that the run has to be stopped The cause may be T
349. he size of the state variable whereas the absolute error type does not The mixed error type is the default and is equivalent to the absolute error when xi is small and equivalent to an relative error type when xi is large Normally the relative error type is the most demanding and this can be very useful Simulation values Simulation options Solver options Mixed di lt tol 1 xi Relative di lt tol 1 0E 20 xi Absolute di lt tol Chapter 5 Batch Runs and Linear Analysis 162 for a difficult stabilizing run 5 4 Example 3 Linear analysis with a simple mass spring system Figure 5 21 Mass spring system Objectives Performing Linear analysis Introducing Eigenvalue Analysis Getting an Equilibrium position To demonstrate linearization we will start with the mass spring system shown in Figure 5 21 This example has the advantage of being simple enough to check many of the results analytically 1 Construct the system 2 Name it SimpleMassSpring 3 Leave the parameters at default values 4 Run a simulation Next you will use AMESim to linearize the system about some operating point producing the standard A B C and D matrices for the state space equations with where x u and y are the state control and observer variables respectively Strictly speaking this is true only for classical ordinary differential equations O D E s AMESim can also solve differential algebraic equati
350. he sketch one of the components from which you want to study a variable The Variable list dialog box displays the variables of the selected component 3 Select the variable you want to add to the Variables set 4 Drag and drop the variable to the Variables window as in Figure 15 67 Figure 15 67 Drag and drop of the variables 5 If you want to delete a variable from the Variables window right click on the variable and select Delete in the menu Step 2 Adding a new set of variables If you want to organize your variables in different sets you can add new sets of variables as follows 1 Right click on the Variables window and select Add tab in the menu A new tab is created Chapter 15 Facilities Available in Run Mode 498 2 Add the variables that you want to put in the new set You can create up to 15 tabs Figure 15 68 Several sets of variables 15 10 3The facilities available in the Variables window Automatic update of the variables The variables are automatically updated during the run If you modify a submodel and run a new simulation the list of variables is updated If a variable of the list is no longer part of the submodel this variable is removed from the list Plots You can plot the variables directly from the Variables window by a drag and drop of the variable to the sketch Search facility The Variables window provides a search facility if you click on a var
351. he source is compiled On some platforms these are stored in a special sub directory of submodels and in others directly in submodels Files in the doc folder This folder has a complex structure which is as follows Figure B 2 The structure of a doc folder The important point is that the html folder contains html files for the submodels and supercomponents associated with the AMESim node B 3 The AMEIcons file The AMEIcons file contains a specification of the categories that you can use xbm file the specific components in each category ico file and a description of each category The directories on the AMESim path list are searched in the specified order looking for AMEIcons files The final result is a merge of the contents of the files successfully read An example of AMEIcons file is given below Icons ac xbm Icons ac ico Air Conditioning B 4 The submodels index file The file submodels index is used by AMESim to know which submodel is Appendix B Special files used by AMESim 626 associated with which icon When a submodel must be set for an icon of a sketch AMESim goes through the directories of the path list looking for submodels index files which are opened and read At the end of the process the suitable submodels are listed for the selected icon An example of a piece of submodels index file is given below submodels ac_vd_compressor amp ACVDCOMP00 amp ACVDCOMP01 amp ACVDCOMP02
352. he supercomponent modification AMESim 4 2 User Manual 203 6 5 Constructing a supercomponent of a P I D controller using your own icon Objectives Creating and using a new category icon description of the AMESim icon designer Removing a supercomponent from a category removing a category editing a supercomponent Using Edit Available supercomponents create the Available supercomponent dialog box Find and select your PID controller and click on Edit basics Figure 6 26 You can modify the icon of the supercomponent The supercomponent currently has an icon Figure 6 26 and this is shown in the Auxiliary System dialog box You are going to replace this with your own icon 6 5 1 Creating a supercomponent category The categories you see in the Icon selection dialog box are likely to be all supplied with the AMESim package The categories are normally strongly write protected so AMESim does not allow you to add or remove an icon there For this reason you must create your own new category First you are going to create a new category to store the new supercomponent icon Step 1 Create a new category 1 In the Auxiliary System dialog box Figure 6 26 click on the Select an icon button This will produce the following dialog box Chapter 6 The Supercomponent Facility 204 Figure 6 27 Select a new icon 2 Click on the New category button to display a browser 3 Select a directory for your sup
353. hen the body was suddenly released giving a transient period before the step is encountered 2 The step is reached and the car attempts to find a new equilibrium position In Chapter 3 Getting Started you saw how to remove this transient behavior by doing two dynamic runs In the first run the input s are held constant at their initial values to obtain the free response In the second run the end results of the first run are used as starting values This is by far the safest and most reliable way of getting an equilibrium position However for a big system the initial run may be very long An alternative is available which is less reliable but often much faster This involves using a stabilizing run 4 1 2 Dynamic runs and Stabilizing runs Sometimes we have a very big system and a dynamic run takes a long time Ideally we would like to start the simulation with the system in an equilibrium state but do not want to wait for a long dynamic run to finish 1 In Parameter mode set the Value after step to 1 2 In Run mode click on the Run parameters button The Run parameters dialog box appears 3 Click on the Standard options tab AMESim 4 2 User Manual 103 4 Look at the Run mode area By default the Dynamic mode is selected and Stabilizing mode is not You can select one or both of these modes 5 Click on the Stabilizing radio button 6 Do a run and examine the results for the Body_Mass Figure 4 5 Variables o
354. hich software AMESim AMESet AMERun who is using which library who is running a simulation at the current time The token number as well as the total number of tokens per feature is also given Chapter 11 Facilities Available in all Modes 378 11 4 9 Windows menu The Windows menu contains the display facilities You can choose one of the following Cascade display Tile display Display one of the opened files Close all the files 11 4 10Help menu Online This menu item gives you access to an HTML file browser from which you can get documentation on the topic of your choice At the left side of the screen you can find the three following tabs Contents which shows the list of the documentation topics Index from which you can type in a keyword and get the related entries Search from which you can get the list of all the documents containing at least one occurrence of a given keyword Help menu Items available in all modes Online AMESim demo help Get AMESim demo About AMESim 4 2 User Manual 379 Figure 11 103 Help browser AMESim demo help If you select this menu item a HTML file browser is produced From there you can get a description on each AMESim model supplied in the demo area Get AMESim demo From the dialog box shown in Figure 11 104 you can expand the tree structure and select and copy any model from the demo area t
355. hidden from the recipient The absolute minimum that must be sent to the recipient is the object code of the user generic submodels Terminating Check Submodels Check Submodels is terminated by clicking on Close If the check was stopped before it was complete you get the following message Figure 11 89 Check not completed If the check was completed but a generic submodel spe file was not located a further warning about the missing spe file s is given Figure 11 90 Last warning about missing spe file If there were no problems at all you may get the following dialog box This allows you to create a backup of the system before the update that can be read by an old version of AMESim If there are no changes to the sender s user generic submodel spe files everything should be OK However if there are changes there could be a lot of trouble AMESim 4 2 User Manual 365 Figure 11 91 System changed dialog box If you do not like this facility check the box No never Expression Editor Starting the Expression Editor Normally the Expression Editor is used for entering values in the form of expressions in a Change Parameters dialog box However in any mode it can be started using Tools Expression Editor Figure 11 92 Expression Editor Use of the Expression Editor You can use the Expression Editor for general calculations entering mathematical functions and expressions as a parameter v
356. hina Tel 86 21 34 12 34 58 E mail qing amesim com United Right Technology Tel 86 10 67082450 52 53 54 Fax 86 10 67082449 E Mail urt urtgroup com SOUTH KOREA SHINHO Systems Co Lt Tel 82 31 608 0434 Fax 82 31 608 0439 E Mail iclee shinho systems co kr ISRAEL Tel 972 3534 4432 Fax 972 3535 5514 E mail fempp netvision net il AMESim 4 2 User Manual
357. his should look like Figure 7 7 Figure 7 7 Batch of 11 simulations This was a simple example of what is possible to do with the commands for controlling an AMESim simulation from within MATLAB A simple extension to the present example would be to set up a linearization at some time using AMESim or amela and import the linear model into MATLAB at each iteration Other possible usage includes more advanced sensitivity analysis optimization of parameters in the simulation model etc Only the users imagination and ability to write MATLAB programs limits the use 7 2 5 Importing linear analysis results from AMESim AMESim 4 2 User Manual 231 into MATLAB Next you will use AMESim to linearize the system at some operating point producing the standard A B C and D matrices for the state space equations where x u and y are the state variables control and observer variables The process of linearizing a system in AMESim is described in Chapter 5 Batch Runs and Linear Analysis We must mention again that if there are any differential algebraic equations in the system not so in this case the equations become where p is the index of nil potency This number roughly speaking is a measure of how implicit the system is If the index is 0 it is ordinary differential equation and it is explicit If you construct a system containing a zero mass submodel MAS000 an infinitely stiff spring SPR1 or a differentiator DIF00 you will cert
358. hould be selected The selected components and lines are returned to their default color Alias A dialog box as shown in Figure 11 14 appears and you can assign an alias to the selected component Chapter 11 Facilities Available in all Modes 308 Figure 11 14 Submodel alias dialog box If some aliases already exist the List button is available You can get the list of all the existing aliases as shown below Figure 11 15 Alias list You can click on the Reset button from the Submodel Alias popup if you want to remove an alias from a selected component Figure 11 16 Reset button Lock States The following variables explicit states implicit states but not constraint variables have a Locked status which is true or false This locked Note You can also use the menu Options Submodel alias list for the same purpose AMESim 4 2 User Manual 309 status only influences the results if there is any sort of stabilizing run If one of these variables is locked its value is not allowed to vary during a stabilizing run Selecting this menu item will produce a dialog box similar to the one shown in Figure 11 17 From there you can lock or unlock the state variables of the selected component The locked states facility is useful for advanced users who wish to obtain a partial equilibrium for their system Figure 11 17 Lock states status Text actions At least one text object should be selected A subm
359. iable in the window the label is displayed in the sketch so that you can see the corresponding component see Figure 15 67 if you double click on a variable inside a supercomponent the Explore Supercomponent dialog box appears and displays the label of the corresponding submodel Save of the Variables window position The position of the Variables window in the interface of AMESim is saved when you change the mode and when you close AMESim AMESim 4 2 User Manual 503 Chapter 16 The Plotting facilities This chapter is a reference guide to graph plotting facilities in the time domain For plotting facilities in the frequency domain such as Bode plots please refer to Chapter 15 Facilities Available in Run Mode 16 1 Simple plots You can plot a curve in Run mode using three methods 1 Select a variable in the Variable List dialog box and click on the Plot button Figure 16 1 Variable List dialog box Note that more than one variable can be plotted at the same time using the Shift and Ctrl keys for standard multi selection in the list 2 Select a variable in the Variable List dialog box or in the Variables window and drag and drop it on the sketch Chapter 16 The Plotting facilities 504 3 Open a blank plot by clicking on the Blank Plot button of the Temporal analysis toolbar then select a variable in the Variable List dialog box or the Variables window and drag and drop it on the blank plot You can also
360. ial grids are used for Nichols and Root Locus plots For these plots special grids are present by default But you can remove them by ensuring the appropriate check box is not ticked Surface plots This item gives you access to the Graph Area Format dialog box with the Surface plots tab selected This is covered in Chapter 17 3D plots and order analysis facilities Note The Boxcar option is suitable for the majority of data However if the horizontal axis range does not contain an integer number of periods the other window options may be used The Detrend type can be used to remove an aperiodic part of the signal Chapter 16 The Plotting facilities 524 Figure 16 19 Surface plot tab Add From this menu item you get an additional menu which allows you to add a row or a column to your plot s or add some text Row If you select Row an empty area appears at the bottom of the AMEPlot main window Then you can drag and drop any curve from an existing plot by selecting its associated number A new plot containing the selected curve is created If you do this operation with Ctrl key pressed it is a copy giving two identical versions of the same curve If you do it without the Ctrl key pressed it is a move Alternatively you can drag and drop from a Variable List dialog box AMESim 4 2 User Manual 525 Figure 16 20 Adding a row Column If you select Column an empty area appears at the right of
361. iam 12 ameputcuspar circuit1 SUBSYSTEM 1 pipe diameter for all pipes 12 ameputcuspar circuit1 SUBSYSTEM 1 pipe diame ter for all pipes 12 ameputcuspar circuit1 1 pipediam 12 ameputgpar ameputgpar SYS NAME VAL sets the value VAL of the global parameter NAME in the system SYS The NAME is either the global parameter name or its Chapter 7 The AMESim MATLAB Interface 246 title The function returns the number of parameters set ameputgpar circuit1 pipediam 12 ameputgpar circuit1 pipe diameter for all pipes 12 ameputp The ameputp command sets parameters for a system The syntax for this command is similar to that of amegetp with the difference that it is not possible to change more than one parameter at once Some examples which all set the mass in MAS001 1 to 10 kg ameputp MSD MAS001 instance 1 total mass kg 10 ameputp MSD MAS001 1 mass kg 10 ameputp MSD MAS001 1 mass 10 amela The amela command sets linearization times for the linear analysis tool amela MSD2 displays the linearization times for the system MSD2 amela MSD2 0 1 sets a linearization time to 0 1 amela MSD2 0 1 0 5 sets the linearization times to 0 1 and 0 5 amela MSD2 removes the linearization times amerun The amerun command runs an AMESim model amerun MSD2 runs the simulation of
362. ic for Design Exploration The plots available depends on the type of study and are described in 19 7 5 Array of possible plots according the study type To add a plot you can The Design Exploration Plots appears See 19 7 The Design Exploration Plots dialog box for more information Best results The aim of optimization studies is to determine best parameters which make a model reach a given goal As mentioned in 19 4 Main principles the parameter setting used in the study are not automatically applied to the AMESim model If you return to Parameter mode you will find the parameters are unchanged Select the study item in the study list and click on the menu item Data Add plot or Right click on the study item in the study list and select Add plot in the menu Chapter 19 AMESim Design exploration module 588 However in the case of an Optimization study you may want to apply the best parameters found in that study to your model There is the two ways you can do this Remember this is only available with Optimization studies A study must have been completed successfully before using this action Log file viewer During the execution of a study AMESim does a sequence of runs changing for each run the model parameters and reading and post processing the results For each run the values of model inputs and outputs are stored in a log file To display this file you can either Select the study it
363. icked There is one circumstance in which you do need to explicitly remove a component submodel This is described in the next section Cancel The Cancel button can be used to close the Submodel List dialog box without setting any submodel 13 4 Removing a component submodel Sometimes you need to select a particular submodel for a given component But this submodel does not appear in the list of suitable submodels for this component The reason for this may be that the submodel you need is not compatible with the submodels currently associated with adjoining components In these circumstances you must select the adjoining components and click on the Remove button in order to remove their associated submodels Then it may be possible to select the submodel you need for your component since there is no more compatibility constraints with adjoining components 13 5 Assigning a supercomponent to a compo nent If the icon you click on has been used to create a supercomponent the submodel list will contain the name of this supercomponent see Figure 13 5 A supercomponent can be assigned to a component exactly the same way as a standard submodel AMESim 4 2 User Manual 405 Figure 13 5 Submodel List dialog box for a supercomponet Note that if you select the supercomponent in the list the Explore button becomes available and you can get a view of its content by clicking on this button as shown in Figure 13 6
364. ign matrix button a dialog box appears to show you the sequence of runs which is planned according to the current setting The Figure 19 10 shows this dialog box which displays the runs planned for a Full factorial study Figure 19 10 Design matrix You can either display the actual values that will be assigned to inputs for each run or display instead of the values a code that represent the level This code depends on the chosen technique and is explained in paragraphs dedicated to each technique To switch between the two displays tick or un tick the Show values check box The Responses tab displays a list of all the outputs available from the export setup Figure 19 11 It could be Simple or Compound Output Parameters AMESim 4 2 User Manual 593 Figure 19 11 Responses tab The list consists of two columns The first one contains the name you gave to the parameter in the export setup read only The second one contains a check box Only parameters for which the check box is ticked are considered as responses they will be saved in the log file and will be available for post treatments Click on a check box to tick or un tick it Even if the tab contents depend on the technique some elements are common to all techniques For all techniques this tab is made of a list in which The first column contains the name you gave to the parameter in the export setup The second one contains check boxes A
365. ilities 554 Figure 17 26 Set up the order analysis 4 Specify that you want a new plot The unit of the bandwidth Hz or indicates whether the bandwidth is con stant or proportional to the reference velocity Note that order 1 corresponds to engine speed The order is normally a positive integer but you can type any positive real number This is useful when you have vibrations with frequencies that are simple rational multiples of engine fre quency such as 1 2 0 5 and 3 2 1 5 These do not occur in the current example but are very possible with complex multi cylinder engines 5 Click on OK 6 Repeat for orders 2 3 and 4 and transfer the curves onto a single plot Figure 17 27 Single plot The plot shows the strong order 1 moderate order 2 and weak orders 3 and 4 The magnitudes are relatively constant with none of the engine speeds used creating any resonances A more realistic model of an engine would probably have exhibited more interesting resonances AMESim 4 2 User Manual 555 Chapter 18 AMESim export module 18 1 Introduction The export module provides AMESim users with an easy way to initiate AMESim model runs from outside AMESim Using this tool it is easy to set parameters of the model and get post treated results of the simulation This module is useful if you want to trigger simulations either manually from command line or from any in house or commercial piece of software In other words this modu
366. ill stop you The third rule is your entire responsibility The procedure is as follows 1 Set the LA status of variables as required Chapter 15 Facilities Available in Run Mode 490 2 Set the LA times as required 3 Perform the simulation run 4 Click on the Frequency response button to produce the Frequency response di alog box Figure 15 54 Frequency response 5 If necessary select the required Jacobian file using the pulldown menu Figure 15 55 Jacobian file pulldown menu 6 Select one control variable and one observer variable 7 Adjust parameters as necessary The Value field is editable Default values are very reasonable Figure 15 56 Set parameters 8 Ensure that the Frequency radio button you want is enabled AMESim 4 2 User Manual 491 Figure 15 57 Select a frequency 9 Select the type of plot and then click on OK Figure 15 58 Select a type of plot It is not possible to select more than one observer variable and combine the plots directly However you can produce separate plots and drag and drop them together but please be reasonable by ensuring they are of the same type Figure 15 59 shows two Bode plots combined Figure 15 59 Combination of the two Bode plots Chapter 15 Facilities Available in Run Mode 492 Figure 15 60 Nichols plot For Nichols and Nyquist plots the curve is annotated with a frequency in Hz or rad s which ever you selected Powers of 10 e g
367. im 4 2 User Manual 567 valueAt function for instance the value used is the value of the corresponding variable at the end of the simulation For Compound Output Parameters the value used is the result of evaluating the corresponding expression Some specific functions consider all the values taken by a variable during the simulation period If such function is applied to a Compound Output Parameter this Compound Output Parameter will have to be evaluated for each simulation communication time Under some circumstances it is impossible to compute a Compound Output Parameter In this case the result is said to be undefined and then all Compound Output Parameters which use it are also undefined Finally note that even an integer Input Parameter is considered as real when used in an expression 18 8 Piloting simulations from outside Once you have exported inputs and outputs to the external world you will be able to pilot the simulation from outside In this section it is assumed you are running AMEPilot manually If you are using the AMESim design exploration facility or one of the interfaces that uses AMEPilot similar processes occur but they are automatic If you really want to do things manually or you are designing an interface and need to know how AMEPilot works read this section Otherwise go to 18 9 Direct interfaces To pilot the simulation do that in three steps detailed below 1 Setting Input Parameter
368. imple plots against time or simple XY plots You can introduce new variables which are functions of one or more existing variables containing common mathematical functions such as sin cos exp etc You can then use these new variables on plots It can be accessed either by selecting the menu Tools Plot manager or by clicking on the Plot manager button AMESim 4 2 User Manual 531 Figure 16 27 Use of the Plot manager 16 7 1 Plotting functions of existing items The output from the sine source is and the analytical solution to the derivative is The objective is to plot the output from the derivative block compare it with the analytical derivative and also plot the error 1 Produce a plot with all variables you need for the task In this case the output from the derivative block and time are all that is necessary so plot the derivative against time Figure 16 28 Figure 16 28 A simple plot Note that there is a clearly a large error in the derivative at the start This is due to simple submodel used which relies on history 2 Start the plot manager by click on the toolbar button to produce the Plot manager dialog box Figure 16 27 Click on this button Suppose we use the very simple system shown with submodels defined by Premier submodels and default parameters 2 t sin 2 2 t cos Chapter 16 The Plotting facilities 532 3 Concentrate your attention on the right hand window This sho
369. in equilibrium 1 Some simulation people at a very early stage in development of a model per form a series of eigenvalue analysis just to get an idea of the system frequen AMESim 4 2 User Manual 479 cies If they have some extremely high frequencies they may try to remove them by altering the model 2 If the simulation is very slow it is often possible to determine the reason by studying the eigenvalues The worst situation is a very high frequency eigen value which has very small damping This guaranties a slow simulation Again it may be possible to eliminate this high frequency by altering the model with out loosing the essential characteristics of the system 15 8 Performing linear analysis When you click on the Linear analysis button The dialog box you get when you click on a component or line run is different A new group of icons shown in Figure 15 40 appears Figure 15 40 Linear analysis icons In order to perform any sort of linear analysis you must do the following Set at least one linear analysis time in the interval defined by the Start time and Final time defined in the Run Parameters dialog box Initiate a run Under the following conditions Standard run System called NAME N LA times in the interval then the files NAME_ jac0 NAME_ jac1 etc will be created If it is a batch run comprising M runs NM files are created NAME_ jac0 1 NAME_ jac
370. in giving a general understanding of the dynamic behavior of models Activity index is especially useful for large multi domain systems Activity index calculations have been added to the following categories libraries Mechanical Powertrain Hydraulic Hydraulic component design Hydraulic resistance Two examples are presented in this chapter The first is very simple and we recommend you follow this example with AMESim The second is a case study involving a complex multi domain system 8 3 Using the AMESim Activity index facility 8 3 1 Example 1 the vehicle driveline In order to illustrate how to use the activity index facility in AMESim follow the procedure below 1 Open the model named VehicleDriveline ame which you already used in Chapter 5 Batch Runs and Linear Analysis or retrieve it from the demo area in the ManualTutorials directory Figure 8 1 Vehicle driveline demo 2 Run a simulation and click on the mass The dialog box below appears Chapter 8 Activity index 250 Figure 8 2 Variable list of the mass During this simulation the activity computation in submodels was turned off We must now enable these calculations 3 Open the Run Parameters dialog box and select the Standard options tab In the Dynamic run options area put a tick mark in the Activity index calculations check box Figure 8 3 Dynamic run options 4 Click on OK and restart the simulation 5 C
371. indow With the Parameters window you can create from one to fifteen sets of parameters Each set has its own tab and you can create or remove a tab create or delete a parameter in each tab The following table shows the possible actions in the Parameters window Action Process Add a parameter Drag and drop the parameter from the Change Parameters dialog box to the Parameters window Delete a parameter Select the Parameter you want to delete and Right click on the Parameters window and select the Delete item in the menu or Press the Del key Chapter 14 Facilities available in Parameter mode 432 The right button menu You can get a quick access to the main functions of the Parameters window with the right button menu Figure 14 29 Right button menu The first two functionalities are related to the tabs of the window you can add or remove tabs The Delete item applies to the parameters Create your own sets of parameters A very simple drag and drop will help you to create a set of parameters See the following instructions Step 1 Create the first set of parameters 1 Select View Parameters The Parameters window appears at the bottom of the AMESim interface with an empty parameters set Figure 14 30 Parameters window Now you can create a set of parameters 2 In the sketch select a component from which you want to study a parameter The Change Parameters dialog box
372. ing an object to the sketch Figure 11 7 Insert object button 1 Click on the Insert button In the sketch area the pointer changes its appearance 2 Proceed according to the type of object Adding arrows and lines 1 Click on the sketch at the start point and for any intermediate point 2 Double click for the end point Adding rectangles and ellipses 1 Click on the sketch holding the left button down This position will define one corner of a box containing the rectangle or ellipse 2 Move the pointer and release the button to define the opposite corner of the box AMESim 4 2 User Manual 303 Adding stored images to the sketch 1 Click on the Insert image button A Select an Image browser appears Figure 11 8 Browser 2 Browse for the image you require and click on OK 11 2 4 Blank plots 11 2 5 Table editor To start the Table editor you can either Click on the Table editor button or Use Tools Table editor The Table editor allows you to create modify and preview data stored in the following formats 1D table 2D table 3D table Table of 1D tables Normally you use this button in Run mode but it is active in both modes Refer to Chapter 14 Facilities available in Parameter mode for further details Chapter 11 Facilities Available in all Modes 304 XYs table These are described in detail in Appendix A Formats supported by the AMESim
373. initial values AMESim 4 2 User Manual 459 Diagnostics can be enabled to give advice when a stabilizing run fails The problem with stabilizing runs is that it is very easy to set up problems that do not have solutions This is particularly easy if you are manually locking states To illustrate this consider the quarter car example Figure 15 20 Quarter car example Suppose we decide to do a stabilizing run with the velocity in the body mass locked Recall that we do this by right clicking on this component and enabling the appropriate state in the Locked states dialog box Figure 15 21 Lock the body mass velocity If on the other hand we do something with this state variable by introducing some feedback the state variable is no longer non propagating and in the second system shown it is not necessary to enable the check box Chapter 15 Facilities Available in Run Mode 460 If the Stabilizing run diagnostics check box is disabled AMESim reports in the Simulation run dialog box that the run was not successful However if the check box is enabled AMESim does a little analysis and offers suggestions as shown in Figure 15 22 Figure 15 22 Suggestions of AMESim after the run Error type One of these must always be enabled Most of the time the default Mixed button is the most suitable There are two circumstances when Relative performs better When there is a stabilizing run and it fails to produce an answer with th
374. ion 83 3 5 7 Using the External Variables facility 85 Plotting curves 86 3 5 8 Using old final values 88 3 5 9 Zoom a plot 89 3 5 10 Continuation run 90 3 6 Example 3 A system using an implicit variable 91 3 6 2 Signal ports 92 3 6 3 Implicit variable 95 3 7 Example 4 System having an algebraic loop 96 Changing parameters 97 A short explanation 97 Chapter 4 Advanced Examples 99 Table of contents iv 4 1 Introduction 99 4 2 Example
375. is 170 Figure 5 31 Step size 5 4 3 Equilibrium position It is not possible in this manual to give a course on frequency analysis There are many textbooks giving a good introduction to these interesting and valuable techniques See for example reference 1 in section 5 7 Reference If you have little background in this subject we suggest you get a suitable textbook and do these examples after or as you read it Frequency analysis standard techniques are based on the assumption that the linearization is done at an equilibrium position Sometimes it is possible to set starting values manually which you know give an equilibrium position and this is true in the simple example we have looked at so far In general however this will not be possible To ensure it is an equilibrium point 1 Do a very long dynamic run with the Hold inputs constant option Do the lin earization at the end and check carefully by plotting graphs that equilibrium has been achieved 2 Do a Stabilizing run with a linearization at the start time 3 Do a Stabilizing run and Dynamic run with a linearization at the end 5 5 Example 4 Frequency response analysis with a mass spring damper system Objectives Produce Bode Nichols and Nyquist plots Introduce Root locus analysis Note If you are doing analysis of this type and there is any Coulomb and static friction in the model it is essential to set the values to 0 AMESim 4 2 Us
376. is also used when AMESim results are read into Matlab NAME_ results a binary file containing the results of a simulation run NAME_ results n binary file containing the results of a batch simulation run n NAME_ state a list of the state and implicit variables The latter include both implicit variables declared in submodels and those generated by AMESim to resolve implicit loops NAME_ err a count of how many times each state and implicit variable limited the integration step size The information in this file and in NAME_ state is used to create the State count popup NAME_ la the details of any linear analysis requested NAME_ lock details of the locked unlocked status of state variables This file is only used in a stabilizing run NAME_ sad used to define characteristics of a batch run NAME_ sai used to define characteristics of a batch run File Description AMESim 4 2 User Manual 629 When you create a new system a collection of files is created for your system When you save the system copies of the files in their current state are collected into one single ame file and optionally compressed When you clear the system or quit from AMESim all the files of the form NAME_ are removed This leaves a NAME ame file and possibly files NAME BAK LOG and NAME BAK When you load an old system the files stored in NAME ame are recovered as NAME_ files but NAME ame remains unchanged until the system is saved
377. ise yourself The system is shown below Figure 10 1 An active suspension Step 1 Get the system from the AMESim demos AMESim 4 2 User Manual 279 1 Help Get AMESim demo to produce the Choose Demo dialog box 2 Open the ManualTutorials folder and select ActiveSuspension ame 3 Click on Copy and open Note that it is made of two models of a car suspension A passive suspension An active suspension A similar example has already been used in Chapter 4 Advanced Examples We will use the notation PS to stand for Passive Suspension and AS to stand for Active Suspension Remember the car drives over a step in the road of height 10 cm Consider two output quantities of each suspension model The vertical acceleration of the car body The compression of the spring which models the tire A high vertical acceleration of the car body is very uncomfortable for the vehicle passengers It is desirable to have the acceleration less than 1 g 9 81 m s s The second quantity models the compression of the tire A negative compression means that the tire is no longer in contact with the road This motivates two criteria 1 make the tire compression positive if possible and 2 minimize the acceleration of the body We also consider that all the parameters are fixed excepted the damper rates which we are allowed to vary Step 2 Plot the original curves The original settings give the followi
378. it loop If you are relatively new to simulation a brief description is needed Algebraic loops The model you construct consists of a collection of submodels These submodels ultimately are pieces of computer code Each submodel has a function or subroutine which is called when the model runs In practice the integrator calls all the constituent submodels in a particular order to determine the state of the model at a particular time In simple terms The submodel function takes its inputs and from them computes its out puts Naturally it is a good idea to know the inputs before attempting to compute the outputs A consequence of this is that AMESim and other similar software must sort the submodels into an order such that when a particular submodel is called all its inputs are known Usually this can be done AMESim libraries are constructed so as to make this happy state as likely as possible However occasionally it is not possible What happens normally is that a subset of the submodels can be sorted successfully but others remain that cannot No matter which one is called at least one of its input is not known The resulting submodels are said to form an algebraic loop or alternatively an implicit loop Often the components corresponding to the unsorted submodels are seen to form a loop in the sketch This is true in the current example The solution is that AMESim introduces extra constraint equation s For each of these
379. ithin a super component from a submodel within a supercomponent to a normal submodel from a normal submodel to another within a supercomponent You are allowed to copy parameters from a submodel to another instance of the same submodel from a submodel to a different submodel In the latter case if the submodels have parameters in common i e the same titles and same units a copy will be made You can also copy from a supercomponent to another supercomponent provided they have the same name Finally note that all the above conditions also apply to any customized object since it is seen as a submodel 14 5 2 Load Save parameters This facility is used to save the current set of parameters of a selected submodel to a file and to load it back when necessary This is useful when you need to keep a record of the parameters used for a submodel before changing them It is then easy to recover the original values Alternatively this can be used when you have a series of systems which use some common components Rather than setting the submodel parameters in every system the values are saved from one system and loaded to the others If the source submodel and the destination submodels are not the same an attempt is made to match parameter title and units and copy for each match that is found Saving a submodel set of parameters 1 Right click on the submodel the parameters of which you want to save 2 Se
380. ition accessible from the starting position Do not think it is always easier to find directly a steady state solution than do a dynamic solution Often the opposite is true CPU times It is interesting to compare the two techniques on the current example Remember that an estimate for the CPU time is displayed in the Simulation Run dialog box when the run is complete When this manual example was prepared the following times were recorded On this example the stabilizing run was much more efficient but on other examples the opposite would be true Solver type Regular Cautious These options are available in the Run Parameters dialog box in the Standard options tab dynamic run with Hold inputs constant Stabilizing run without dynamic run CPU times 0 141 0 015 AMESim 4 2 User Manual 107 With numerical algorithms there is often a compromise to be made between speed and reliability When the Regular solver type is selected the AMESim solver is fairly aggressive trying to get a fast solution With Cautious selected slower more reliable strategies are used which often lead to higher CPU times The options apply to both stabilizing runs and dynamic runs but the effect is greater for stabilizing runs Perversely with some systems the Regular option is more reliable than Cautious Stabilizing run diagnostics As the stabilizing run starts an analysis made of the structure of the Jacobian corresponding to the equations bei
381. k You can alter the scale of any of the axes You can rotate the view point Try viewing the plot from above AMESim 4 2 User Manual 553 constant integration bandwidth can integrate more than 1 order amplitude at very low speed Therefore it is possible to specify a variable bandwidth proportional to the reference velocity by selecting its unit in instead of Hz 17 4 3 Reference velocity In order to process the order tracking the spectral map must be linked to the reference velocity of the system during a run up or run down This is done by setting this velocity as X item of the source curve of the spectral map This is what you have done in the current example In this case the reference velocity appears on the Y axis of the waterfall spectral map The reference velocity must be a rotary velocity so that its unit is compatible with Hz Note that the velocity does not need to be monotonic In case of run up followed by a run down the velocity of the system on the spectral map Y axis will simply be replaced by the time and a warning is displayed Figure 17 24 Warning message 17 4 4 Creating an order amplitude plot 1 Use the spectral map you created in Figure 17 22 2 Click on the spectral map with the mouse right button and select the Order tracking item in the pulldown menu Figure 17 25 Right click menu 3 Set the order and bandwidth values as follows Chapter 17 3D plots and order analysis fac
382. k DYNSUMJUN0 dynamic block icon with variable number of ports on left and one port on right DYNSUBJUN0 dynamic block icon with variable number of ports on left and one port on right DYNSTATESPACE dynamic block icon with variable number of ports on right and variable number of ports on left DYNTRANSF dynamic block icon with one port on left and one port on right LMECHN0 dynamic linear mechanical node transferring velocity LMECHN1 dynamic linear mechanical node with velocity and displacement transfer RMECHN0 dynamic rotary node Chapter 4 Advanced Examples 126 Figure 4 33 Dynamic block In the current example 1 Add a dynamic duplicator block to the system specifying 3 ports on the right 2 Then complete the system as in Figure 4 23 3 Construct the lines to connect the components 4 Edit some parts of the system 4 3 5 Comparing the body displacement with different suspensions 1 Set the following parameters for the completed system 2 Enable both Stabilizing mode and Dynamic mode 3 Run a simulation 4 Compare the car body displacement with the passive ideal and active suspen sion 5 See Figure 4 34 Submodel name Description Title Value DAM000 Sky hook damper damper rating 2500 N m s GA00 Gain representing the main damper value of gain 1000 GA00 Gain representing the skyhook damper value of gain 2500 STEP0 Step function Value after step
383. l external variables In early versions of AMESim a port could only be connected to another port of precisely the same type This rule was rigidly enforced and prevented impossible connections The rule was relaxed slightly so that signal ports could be attached to any other port but it is still impossible to connect a hydraulic pump outlet to a mechanical spring However any signal port can be connected to a mechanical spring or to a hydraulic pump outlet If a signal source were connected to a hydraulic pump outlet it would be regarded as a pressure source If it were connected to a mass it would be regarded as a force source This gives enormous flexibility but must be used sparingly and with care The must common signal port connection is between a signal input port and a signal output port 12 7 Removing submodels 12 7 1 Why remove a submodel To answer this question see the following example Flow ports may be hydraulic thermal hydraulic pneumatic or thermal pneumatic They represent flow inlets or outlets such as in the inlet and outlet ports of a hydraulic pump The plain appearance of the port is due conventions in the fluid power industries Electrical ports transmit electrical power with associated quantities voltages and currents Thermal ports are used when there is heat flow between solids or between a solid and a fluid Magnetic ports are used to transmit magnetic power Meca2D ports are used to transmit tw
384. layed Chapter 18 AMESim export module 562 It is important to note you cannot have a single element of the vector only It is all or nothing Other important points to note for vectors are that regardless of the Expand vectors state Change the Export Name field in the normal way but do not add any sort of bracket this will be done automatically when you validate All element names will be updated Remove the vector in the normal way press the Remove button or press the Delete key All vector elements will be removed For other fields the behavior is consistent with the Change Parameters dialog box 18 5 5 Formatted string Input Parameters The Input Parameter type Formatted string is more complex that the other types and deserve a special section A simple example is given first after which there is a general description if the Expand vectors option is disabled the vector is displayed as a single quantity With Expand vectors enabled you can change individual elements If the individual elements are set to different values a will be displayed when Expand vectors is disabled If you set a value with Expand vectors displayed the value will be set for every value of the array AMESim 4 2 User Manual 563 Figure 18 7 Simple use of a Formatted string The Formatted string is used to define a submodel text parameter In this case it is actually the name of a data file The part of the string
385. le saved with the command Export values in an AMEPlot window It can be used in three different ways ame2data filename produces the plot of the loaded data in filename reproducing more or less the same plot as in AMESim It does not create any variables in MATLAB XY ame2data filename returns the matrix XY which is of size the number of points by the number of quantities The first columns of XY contain the x axis values and the following contain the y axes quantities X Y ame2data filename returns a vector of x axis values X and a matrix of y axis values Y X and Y has the same length decided by the number of points saved Y has as many columns as variables plotted When invoked with no filename argument ame2data ask for filename ameloadt The ameloadt command loads a complete AMESim result file into MATLAB It is used as R S ameloadt name which extracts temporal results and variables name for the system name and sorts it in alphabetic order The data in the name results file is placed in matrix R This matrix is of size AMESim 4 2 User Manual 237 Nvar x Npoints where Nvar is the number of variables stored normally the same as in the var file plus 1 for the time and Npoints is the number of points logged R 1 is the time vector A list of variables obtained from the name var file is stored in the text matrix S Due to the way AMESim stores variables there might be s
386. le in Parameter mode 424 14 3 2 Set final values Introduction One of the common problems of simulation is finding suitable values for the initial values of state variables If the values set are unsuitable there will be fast transient behavior at the start of the simulation This will mean a slow start to the simulation In addition the transient behavior may show up on plots which would be undesirable There are a number of solutions to this problem It may be appropriate to select the option of a stabilizing run followed by a dynamic run This may also result in a slow start to the run and would have to be repeated for every run Use the run parameters option Use old final values Use the Set final values utility AMESim will read the corresponding results file extract the final values of the state variables and use them to overwrite their initial values The Set final values utility is similar to the run option Use old final values However it is permanent since the old initial values are overwritten But you have always the possibility to save the original parameter set of the system Procedure 1 Select Parameters Set final values the dialog box below appears Figure 14 19 Set final values 2 If you click on Yes the state variable initial values are overwritten by the final values of the previous simulation which are extracted from the results file In this case the original initial values
387. le is an easy interface to many software If you are a user of the optimization tools iSIGHT or Optimus this module provides you also with a direct interface to these tools This chapter is a reference guide for the concepts used in the export module the way parameters and variables are exported and the way an AMESim simulation is piloted from outside AMESim If you have not done so already we recommend you read Chapter 9 Getting Started with AMEPilot and the Export module first and do the tutorial exercise 18 2 Terminology In AMESim we talk about submodel parameters global parameters and submodel variables For the export module we talk about input and output parameters Input Parameters are values associated with a name that are directly or indirectly needed by the simulation to run Every submodel parameter visible in Parameter mode and every global parameter of a model could be used as an export input parameter Output parameters are values associated with a name that are produced by the simulation or that are computed from other output parameters Every submodel variable could be used as an export output parameter Such outputs are called Simple Output Parameters Compound Output Parameters are post treated outputs they are computed from user defined expressions which involve any export Input Parameters Simple Output Parameters or other Compound Output Parameters Certain functions may also be used C
388. lect the Save parameters submenu The Save parameters dialog box is produced AMESim 4 2 User Manual 443 Figure 14 43 Save the submodel set of parameters 3 Type in the name of a file 4 Click on the Save button Loading a submodel set of parameters 1 Right click on the submodel the parameters of which you want to set 2 Select the Load parameters submenu A file browser appears 3 Select the file containing the parameters previously saved Figure 14 44 Load a submodel set of parameters When this is validated the Change parameters dialog box associated with the submodel is displayed so that you can check the new values Chapter 14 Facilities available in Parameter mode 444 Figure 14 45 Check the new values AMESim 4 2 User Manual 445 Chapter 15 Facilities Available in Run Mode 15 1 Introduction In run mode you can Specify the characteristics of simulation runs Initiate these simulation runs Plot graphs of the results Specify linear analysis to be performed at various times Post process the linear analysis results Post process activity index results Start the design exploration control panel and perform design export studies Start the export parameters control panel and create export files There are a large number of special icons in run mode as shown in Figure 15 1 Figure 15 1 Icons available in Run mode Since the const
389. left hand side we have a large mass 2 m above a lever On the right hand side is a much smaller mass When the large mass falls onto the lever the small mass is projected into the air Figure 5 13 Catapult model 1 Build the system shown in Figure 5 13 2 In Submodel mode use Premier Submodel 3 Set non default parameters as follows Submodel Number on sketch if any Title Value MAS002 1 mass kg 1000 inclination 90 port 1 lowest 90 port 1 highest degree 90 LML001 distance port 1 to pivot m 5 AMESim 4 2 User Manual 157 4 Set final time to 0 5 s and communication interval to 0 001 s 5 Do a dynamic run 6 Plot the displacement of the projectile It falls down a distance of just over 0 15m The 0 15m is due to the limit in the movement imposed by MAS005 and there is an extra 2 0e 6m due to deforma tion of contact between the projectile and the lever The large mass also falls down but does not hit the lever in the 0 5s LSTP00A 2 relative displacement gap or clearance mm 2000 contact damping N m s 1 0e6 MAS005 mass kg 2 lower displacement limit m 0 15 higher displacement limit m 0 15 inclination 90 port 1 lowest 90 port 1 highest degree 90 LSTP00A contact damping N m s 1 0e6 MAS002 4 mass kg 20 inclination 90 port 1 lowest 90 port 1 highest degree 90 Submodel Number on sketch if any Title Value Note
390. lex models This is done by eliminating where possible the most energy passive components The study of the activity indexes in each submodel of a system can sometimes permits you to reduce the model complexity down to a level which remains MAS001 mechanical inertia SPR000A mechanical capacitance DAM000 mechanical dissipation For a given domain one submodel can have more than one physical type SD0000A mechanical capacitance and mechanical dissipation Chapter 8 Activity index 248 accurate enough to simulate the phenomena being studied The following definition found in reference 2 expresses this perfectly Proper model A proper model is one that has physically meaningful parameters has physically meaningful state variables has the minimum complexity required to address the modeling objec tive Frequency Range of Interest 8 2 Mathematical definitions The activity of an element i in a submodel is defined as a temporal integration of the power absolute value where P is the power in the element The units are J The activity represents a quantity of energy that crosses the studied element This is a different definition from energy because it takes into account the absolute value of power The activity index of an element i in a submodel is the ratio between the activity of the considered element and the total activity of the system The procedure of simplification consists in re
391. lick on Edit constituents Figure 11 49 Edit constituents Figure 11 49 shows an example of a supercomponent in process of being edited In many ways AMESim behaves as if a full AMESim model was loaded but there are important differences Only Sketch mode and Submodel mode are available It is possible to change parameters in Submodel mode If the supercomponent has any ports they appear on the sketch as grey numbered components These port blocks cannot be deleted they can only be moved by the drag and drop method and they must be connected before saving It is strictly forbidden to add a supercomponent to its own constituents Supercomponents can be multi level but they are not recursive in any way Consequently when you edit the constituents of a given supercomponent it is strictly forbidden to add a multi level supercomponent in which this given supercomponent is included If one of these two rules is broken you will get an error message as follows Figure 11 50 Recursive supercomponents are not allowed To change the parameters of a submodel constituent of a supercomponent AMESim 4 2 User Manual 333 1 Go to Submodel mode 2 Right click on the component to produce a pulldown menu 3 Select Change parameters Figure 11 51 Right click menu 4 Make the changes you require in the normal way 5 When you have the changes you want you must save and close the supercom ponent
392. lick on OK Aliasing variable titles To alias a variable title 1 Go to Run mode 2 Select the mass at the top of the model 3 Double click on velocity at port 1 4 Type body velocity 5 Click on OK 6 Select the other mass 7 Double click on velocity at port 1 8 Type wheel velocity 9 Click on OK Before studying the external variables facility you have to set parameters and run a simulation 3 4 6 Setting parameters and running a simulation You are in Parameter mode 1 Set the following parameters according to the component numbers on Figure 3 45 Submodel Number on sketch if any Title Value MAS002 1 mass kg 400 inclination degree 90 SPR000A 2 spring rate N m 15000 MAS002 3 mass kg 50 inclination degree 90 SPR000A 4 spring rate N m 200000 Chapter 3 Getting Started 84 The other components keep their default values Figure 3 45 Numbers of components 2 Click on the Run mode button 3 In the Run Parameters dialog box set the Final time to 5 s and the Communication interval to 0 002s Figure 3 46 Set the Final time and Communication interval STEP0 value after step null 0 1 step time s 1 Submodel Number on sketch if any Title Value AMESim 4 2 User Manual 85 4 Click on the Start run button 5 Click on the mass component to produce the dialog box shown in Figure 3 47 Fig
393. lick on the mass again the dialog box below appears AMESim 4 2 User Manual 251 Figure 8 4 New values with activity index calculations As you can see a new variable is displayed at the end of the list You will find similar activity variables if you click on most other mechanical submodels Some submodels have no energy exchange and hence do not have activity variables Examples of these are the ideal sensors You can plot these variables but you can also get a list of them in a single dialog box as explained below 6 Use Tools Activity index This produces the following dialog box Figure 8 5 Activity Index List dialog box You will see the list of all the activity variables defined in the model Each one Chapter 8 Activity index 252 is associated with a given submodel and is either a dissipation an inertia or a capacitance In this dialog box note the following Time indicating the simulation time for the values displayed Update and Automatic update for a long simulation you can use these to refresh the current time and the values of the activity variables either manually or automatically Sum if you select one or several lines in the list the sum of the selected Activity indexes will be displayed as in the example below Figure 8 6 Sum of the activity indexes Format the value of the activity variables can be displayed either in fixed or in floating format The sum of the indexes
394. like lt p gt lt AME sketch gt lt p gt lt p gt lt AME components gt lt p gt Save HTML report as Indicate the name of the HTML report and use the browser to indicate the place where to save it Select the type of report If you want to use your own template tick the HTML report with template button Select a HTML template to use If you have selected the HTML report with template you can now use the browser to select which template you want to use How much parameter details Non default option indicates that the non default parameters only will be detailed in the HTML report What is included in report Indicate here what element you want to include in the report Using Unix Copy AME misc custom_report_template html file to your working directory assuming that AME is the AMESim installation directory Using Windows Copy AME misc custom_report_template html file to your working directory assuming that AME is the AMESim installation directory You must not modify or delete the following paragraph entries which are used by AMESim to generate HTML reports Chapter 11 Facilities Available in all Modes 322 lt p gt lt AME lines gt lt p gt lt p gt lt AME graphs gt lt p gt lt p gt lt AME supercomponents gt lt p gt lt p gt lt AME eigenvalues gt lt p gt lt p gt lt AME globalparams gt lt
395. line text The options are Left Center and Right justified AMESim 4 2 User Manual 129 4 4 1 Description Figure 4 37 Valve and valve spring operated by cam This system represents an automobile engine valve and valve spring assembly operated by an overhead cam The overhead cam rotates at constant speed defined by the signal source CONS0 The signal is converted to an angular speed in rev min by OMEGC0 and supplied to the cam submodel CAM00 This submodel relies on a data file to convert the rotary angular position in degree to a linear cam displacement in m In other words the data file defines the cam profile The cam linear displacement and velocity are passed into a submodel LSPT00A This submodel represents the clearance between the cam follower and the top of the valve When this clearance becomes zero there is a strong spring force and damping force modeling the contact LCON12 is an example of a mechanical node and is used to exchange velocities displacements and forces between the spring submodel SPR000A and the mass submodel MAS005 Note that this mass has limitations on its movement We say it has end stops Chapter 4 Advanced Examples 130 4 4 2 Simulating the system 1 Create the system and use Premier submodel to get the simplest compatible submodels 2 Change to Parameter mode and set the following non default values It is possible to preview the data in the file defining the cam profile by using th
396. list 3 Modify export names and parameter properties as explained in 18 5 3 Input Parameter properties Global parameters as inputs In order to add global parameters to the selection of inputs 1 Open the Global Parameters Setup dialog box Parameters Global parameters 2 Select the global parameter you are interested in drag it and drop it to the Export Parameters Setup dialog box A new line appears in the input list 3 Modify export names and parameter properties as explained in 18 5 3 Input Parameter properties User defined inputs In order to add your own parameters to the selection of inputs 1 Click on the Add button A new line appears in the input list 2 Modify export names and parameter properties as explained in 18 5 3 Input Parameter properties This user defined input is mainly used for formatted string The concept of formatted string is explained in 18 5 5 Formatted string Input Parameters 18 5 2 Removing inputs from the export setup To remove a parameter from the Input Parameters tab select it in the list and click on the Remove button or press the Del key 18 5 3 Input Parameter properties Once the Input Parameters have been added their properties have to be set The following paragraphs details the properties that define an Input Parameter Export Name The export name is the identifier of the parameter Thus it has to be unique in the export setup an export name used for an input
397. list is disabled when you edit an existing study because it is not possible to change the type of an existing study Figure 19 8 Definition of the Design Exploration Only the very top part of the dialog box is common to all study type It is made of the Study type pulldown list and the Study name field Figure 19 9 Common part to all studies 19 6 2 DOE If you select the DOE Study type you get the dialog box shown in Figure 19 9 Whatever techniques you choose the part which is study type dependent consists of This part is common to all studies This part is different according to the type of study Chapter 19 AMESim Design exploration module 592 A pulldown list to set the technique A Show design matrix button to display the planned sequence of runs according to the current setting Two tabbed pages One named Controls lists inputs that can be declared as controls One named Responses lists outputs that can be declared as responses Only the list of the Controls page depends on the technique you set In this paragraph we explain the common and specific parts of DOE setting area Common part The Technique pulldown list allows you to set the technique of design exploration You can choose from Parameter study Full factorial Central composite When you change the technique the list of controls is adapted to your choice When you click the Show des
398. lo and wait for the 200 runs to complete 2 Right click on the AS_Optimization item in the list and select Add plot in the menu The Design Exploration Plots appears 3 Select Histogram in the plot type drop down list 4 Select AS_min_TireCompression in the item to plot drop down list 5 Click on the OK button You get the plot shown on Figure 10 28 AMESim 4 2 User Manual 297 If you then re do the same Monte Carlo simulation using the parameters found by the last optimization process the histogram you obtain is the one shown in Figure 10 29 Figure 10 29 New histogram the tire in contact with the road In this case even with the uncertainty the tire remains in contact with the road To correct this you can re do an optimization process almost the same as done previously but putting a constraint on AS_min_TireCompression with a lower bound of 0 005 m 5 mm in order to have a safety factor The results are as shown Chapter 10 Getting started with AMESim design exploration features 298 AMESim 4 2 User Manual 299 Chapter 11 Facilities Available in all Modes The facilities available in all modes are accessible through Buttons which are permanently displayed in the tool bar Items on the menu bar pulldown menus Right button menus that can be created in the sketch area or on selected objects Some AMESim facilities apply only if one or more objects are selected You can
399. log box you can either click on the Design Exploration button or use the menu Tools Design Exploration The Design Exploration dialog box is shown in Figure 19 1 Figure 19 1 Design Exploration dialog box 19 5 2 The list of studies The left hand side of the dialog box shows the list of all the studies you have defined They are gathered by study type You can expand or collapse the items corresponding to study types in order to show or hide the list of items of that type If you expand a study item clicking on Menu bar List of studies Execution panel Chapter 19 AMESim Design exploration module 582 the cross near the study names a list of inputs and outputs involved in that study is displayed This list is hidden if you collapse the study item 19 5 3 The execution panel From the execution panel you can start studies stop studies and examine study executions using the Log and Warning tabs Log The Log tab displays general information regarding the study execution Warning The Warning tab displays The number of the runs that have been done Warnings concerning model simulation or study processing Errors concerning model simulation or study processing 19 5 4 Actions that Control your DOE Study management Creating a study To create a new study you can The Design Exploration Definition dialog box appears Depending on the item you selected the default study type will
400. lp you gathering all necessary information so that your colleagues can efficiently run the system AMESim creates a pck file containing all the elements of the system Then it is very easy to send one file instead of a large quantity of objects When your colleague receives the pck file he just has to unpack the file to be able to use the system To pack a ame file and all connected objects use the menu item Tools Pack AMESim provides a wizard to help you during the process However if you want more information about the Pack Unpack facility see Pack Unpack facility page 370 To unpack use the same menu Tools Unpack To know more about the unpack facility see Pack Unpack facility page 370 AMESim 4 2 User Manual 619 Appendix C Description of EXPORT functions In this appendix we define the functions which are specific to the export module and we give a description of each Each function can be combined to any other In this whole appendix we consider AMESim variables as functions of time The value assigned to a simple output parameter is the value held by the corre sponding variable at the end of the simulation In the following array A and B can be input parameters output parameters or ex pressions T T1 and T2 can be numerical values input parameters output parameters or ex pressions Appendix C 620 Syntax Brief description Full description Domain of definition valueAt A T V
401. luding the form and position of each component the posi tion of each line a description of each submodel and values currently set the description and position of any text annotating the system details of any linear analysis requested NAME_ c the source code generated by AMESim for the system NAME_ obj or NAME o a binary file containing the compiled form of the source code for the system NAME_ exe or NAME_ a binary file containing the executable created for the system Appendix B Special files used by AMESim 628 NAME_ make the instructions required to compile the source code and produce the executable NAME_ data the parameters set for the system which will be read when the executable runs NAME_ data n the parameters set for the system which will be read when the executable runs for batch run n NAME_ sim the parameters specifying the run as set in the Run parameters popup NAME_ param the file created when you select the List parameters item in the Tools pulldown menu in Parameters mode It contains a list of all the submodels used and the parameters set at the time the file was created NAME_ var a list of all the external and internal variables used for the current system Each item in the list consists of the submodel name and instance number variable title and units The information in this file is useful in interpreting the Full output option for a simulation run It
402. lue 62 Statistics Kurtosis 586 Mean value 586 Standard deviation 586 Statistics for design exploration 586 Statistics of simulation run 455 Statistics table 586 Status Bar 43 Stiff problem 464 Stop button 35 String list Input Parameters 560 Study Creating
403. lues of submodels parameters variables global parameters units icons categories In AMESim there is a limit size for titles and expressions See the following table 14 3 Parameters menu The items of the Parameters menu are only accessible in Parameter mode except the last one Export setup which is also available in Run mode Object Limit size in number of characters Submodel name 23 Submodel description 127 Submodel alias 23 Submodel password 31 Variable parameter values 255 Text parameter values Text parameter values are machine dependant Win32 512 Variable parameter title 127 Activity variable title suffix 127 Variable parameter name 32 One line macro multi lines macro expressions 255 File Path File paths are machine dependant Win32 512 Chapter 14 Facilities available in Parameter mode 422 Figure 14 16 Parameters menu 14 3 1 Load Save of system parameter set This facility is used when you want to keep a particular set of parameters of a given model It applies to the parameters of all the components and lines of the model If you modify these parameters for different simulations it is then very easy to recover the original parameters by loading the set previously saved As you can save several sets it is also easy and fast to compare results of simulations using different sets of parameters However if you make any modification to the system so that the executable is re
404. m a submenu appears in which there is one item per study The current active study is marked up with a tick mark as shown in Fig ure 19 2 Figure 19 2 Right click menu on the active study If you select another study name it becomes the new active one Alternatively Note that it is not possible to change the active study if a study is running Post processing Effect table The Effect table applies to DOE Full factorial and Central composite It is available only when the study execution is completed The active study is the one in bold font You can also right click on the study you want and select Set as active study from the menu DOE studies Optimization studies Monte Carlo studies AMESim 4 2 User Manual 585 To display the effect table you can The following dialog box appears Figure 19 3 Interaction table It displays the mean effect of the variation of each input or couple of input on each output Using the Save to file button you can save the contents of this window to an ASCII file In the case diplayed in Figure 19 3 the contents of the file is Select the DOE Full factorial or Central composite study item in the study list and then use Data Effect table or Right click on the DOE Full factorial or Central composite study item in the study list and select Effect table in the menu Effects Responses out1 out2 in1 2 61695548255900e 002 1 29917017839812e 001
405. m 4 2 User Manual 481 following Clear Control Observer To get current status of variables click on the LA Status button to produce the Summary of LA Status fields dialog box Figure 15 42 LA Status Fields dialog box 15 8 3 Changing the LA status of a variable Global changes of LA status One of the most common changes is between free state and state observer For this reason there is a quick way of doing a group of them Note The information is stored in 4 lists under the headings Free states Fixed states Control variables and Observer variables If a state variable is also an observer variable it will appear in both the Free states and the Observer variables lists This is the only occasion when a variable can appear on more than one list Under each item is an output variable If a corresponding input variable exists this is also added prefixed by a You cannot change anything in the dialog box After reading and admiring it all you can do is click on Close Chapter 15 Facilities Available in Run Mode 482 1 Select the part of the system of interest or select the whole system using Ctrl A or Edit Select all 2 In the menubar use Tools No state observer or Tools All state observer Changing the status of an individual variable 1 In LA mode click on the component or line run in question to produce the Variable List dialog box Figure
406. m in order to build a sketch Open an existing system in order to modify or to complete it Save your system AMESim 4 2 User Manual 27 The Mode Operations Toolbar Figure 2 26 Sketch mode Figure 2 27 Submodel mode Figure 2 28 Parameter mode Figure 2 29 Run mode The Mode Operations Toolbar changes depending on the mode you are working on The available features of each mode are different see Figure 2 26 to Figure 2 29 In Sketch mode you can build your sketch using the components that are available in the categories The categories are displayed in a vertical tool bar on the left of the main window of AMESim In Submodel mode you can choose the submodels you want to attach to each component In Parameter mode you can set the parameters of the submodels You can save the parameters from one submodel to use them for another sub model In this case AMESim will load only the common parameters The Run mode enables you to run a simulation and to analyze the results of the simulation The Lock button locks or unlocks the sketch When you open an existing system it is locked If you need to add or remove components or line runs click on the lock button to unlock it Premier submodel automatically sets the simplest submodel to each com ponent or line run having no submodel associated with it It is necessary to associate a submodel to all components and line runs on the sketch in order to have access to the P
407. main of definition is the same as for the integ function dist A B Distance be tween two curves The definition of the distance between two signals is the classic one dist A B is then computed as integ fabs A B It is defined as soon as A and B are defined at a given time T Syntax Brief description Full description Domain of definition T dt t A T A mean 1 0 A mean 0 T FinalTime StartTime dt t B t A B A dist AMESim 4 2 User Manual 637 Index Numerics 1D table 139 1D table format 614 2D table format 615 3D plots facility 537 3D rotation of plot 515 3D table format 617 A About
408. mbers of variables on each port etc It is very convenient to have a small collection of components which allow these quantities to be vary These are called dynamic blocks AMESim arranges that when a dynamic block is selected from a category dialog box the quantities must be defined When the component is added to the sketch it behaves just like any other AMESim component The quantities to be defined might be number of ports number of variables number of inputs number of outputs number of parameters number of real parameters Chapter 4 Advanced Examples 124 number of integer parameters number of states degree of numerator for a transfer function degree of denominator for a transfer function Figure 4 32 Define the quantities The AMESim dynamic blocks in the mechanical and control library are given below Icon Submodel Label DYNGAIN0 dynamic gain DYNMUX0 dynamic multiplexer block DYNDMUX0 dynamic demultiplexer block DYNDUP0 dynamic duplicator block DYNINT0 dynamic integrator block DYNDIF1 dynamic differentiator block DYNFUNC0 dynamic function AMESim 4 2 User Manual 125 When one of these blocks is added to the sketch one or more quantity has to be defined This is done by means of a dialog box typified in Figure 4 33 DYNEXE0 dynamic block icon for interface with internal executable DYNSWITCH dynamic switch bloc
409. merical values for the rotary quantities Figure 4 22 shows the torques Figure 4 22 Replay facility Finally do a run with Stabilizing mode and a Dynamic mode enabled Note how the initial transient is successfully removed 4 3 Example 3 Car suspension Objectives Display two AMESim systems Select a region of the sketch Use the copy cut paste Use of dynamic blocks Use a simple control system Chapter 4 Advanced Examples 116 Figure 4 23 Car suspension The system you will use is shown in Figure 4 23 and is made up of three sub systems On the left the system used on the quarter car example In the center the theoretical modification known as the sky hook suspension On the right the active damper system that approximates to the sky hook The idea of the sky hook is to have an additional damper fixed to the body of the car and to a point in the sky vertically above the car Naturally this arrangement is difficult to arrange Note that the main damper experiences the velocity of the wheel and the velocity of the car body In contrast the sky hook damper only experiences the velocity of the car body AMESim 4 2 User Manual 117 In the active suspension approximation an important feature is the inclusion of two velocity sensors to provide the velocity of the wheel and the velocity of the car body To replicate the main damper these signals are differenced and passed th
410. meters to change extreme eigenvalues without significantly altering the overall system behavior For running a system in a real time environment this is often necessary 15 10 Variables window When you study a system you usually want to launch several runs in order to compare the results As you do this you create a series of plots to compare the results However you plot only a small subset of the variables available These are the variables of special interest to you To speed up access to these variables you can create and display sets of variables using a special area known as the Variables window Figure 15 65 Variables window 15 10 1Use of the Variables window The main functions of the Variables window With the Variables window you can create from one to fifteen sets of variables Each set is represented by a tab So you can create or remove a tab and create or delete a variable in each tab To display the Variables window you must be in Run mode Then 1 Use View Variables The Variables window will then appear To remove the Variables window 2 Use View Variables Chapter 15 Facilities Available in Run Mode 496 The following table gives the possible actions in the Variables window The right button menu You can rapidly access the main functions of the Variables window by a right click menu on the Variables window Figure 15 66 Right button menu of the Variables window The first
411. models 397 12 8 Interface menu 398 Chapter 13 Facilities available in Submodel mode 399 13 1 Submodel mode selecting submodels 399 13 2 The Premier submodel button 400 13 3 Selecting a submodel for a component 400 Description of the Submodel List dialog box 401 13 4 Removing a component submodel 404 13 5 Assigning a supercomponent to a component 404 13 6 Removing a supercomponent from a component 406 13 7 Shadow subsystem 406 Definition 406 Example 407 Chapter 14 Facilities available in Parameter mode 411 14 1 Introduction 411 14 2 Changing submodel and supercompone
412. models Introduction When you open an existing AMESim system there are two situations in which it is necessary to verify that the submodels and supercomponents in the system are valid and up to date There is a major new release of AMESim involving changes to submodels and or supercomponents Your existing AMESim systems have submodels and or supercomponents which are now out of date Tool menu Items are available in all modes Check submodels Expression Editor Purge Pack Unpack facility Table editor Start AMECustom AMESet AMEAnimation Matlab License viewer AMESim 4 2 User Manual 359 You create your own submodels and or supercomponents and sometimes have to change them The AMESim system you open contains submodels and or supercomponents which are now out of date Procedure The check submodels facility is designed to detect such problems and attempt to correct them The facility is available in all mode However regardless of the mode you start the facility you will find that you will be moved to Sketch mode 1 Select Tools Check submodels The Check submodels dialog box is shown in Figure 11 81 Figure 11 81 Check submodels dialog box You can click on Start with the dialog box in this state or expand it by clicking on Details If it was started automatically and a problem was detected you will not need to click on Start or Details
413. module can be included in any application that can deal with VBA Then you can use this set of subroutines to pilot AMESim simulations from such an application The name of this module is AMEVbaInterface bas It is stored in the AME misc directory where AME is the AMESim installation directory The principle is fairly simple the AMEVbaInterface bas module includes several VBA subroutines that can be used to Get parameters from an AMESim systems AMEVbaGetPar subroutine Modify parameters AMEVbaPutPar subroutine Run a simulation within a VB application AMEVbaRun subroutine Get final results after the simulation AMEVbaGetFinalRes subroutine Chapter 18 AMESim export module 572 Get simulation results AMEVbaGetRes subroutine A typical use of these subroutines is from the code of an Excel application in order to display parameters and results in an Excel worksheet and also to use the data for any post treatment Installation Requirements At least AMESim 4 2 A license file including the AMEPilot runtime feature An application that is able to deal with VBA modules Excel Word Visual Basic An opened and compiled AMESim system Step 1 Include the AMEVbaInterface bas VBA module into a VB application linked to an AMESim system 1 Create a new VB application 2 Import the AMEVbaInterface bas module into the application project The AMEVbaInterface ba
414. move 4 Select the files you want to remove or not by clicking on the check boxes and or the two buttons Check all and Check none 5 A special check box labeled Default for AMERun prevents you from removing files that are compulsory for AMERun although they could be removed for AMESim Put a tickmark on it if necessary 6 Click on the Purge button if you want to remove the selected files or click on AMESim 4 2 User Manual 369 Close if you want to abort this operation Pack Unpack facility The aim of the Pack Unpack facility is to provide an easy mechanism to exchange models ame files between users Another use is to provide a convenient archive mechanism for models It is necessary to have some special nomenclature for Pack and Unpack Five terms are now introduced 1 Auxiliary files It is possible to directly send for instance by email the ame files However this often lead to failure because certain files are missing We will refer to these files as auxiliary files Here are some examples of auxiliary files tables i e data files read by submodels images stored in files user as distinct from AMESim submodels and associated spe c f html obj or o user supercomponents and associated spe sub and html files user customized objects and associated spe sub and html files submodels index AME make files files defining user categories and icon
415. moving the least active elements which are the elements having the lowest activity index Sometimes submodels can be replaced by more simple versions or they can be totally removed this leads to the simplification of the whole model However the simplifications made by this method apply to the system under a particular duty cycle The simplification is not necessary valid for another duty cycle The definition of activity suggests that it should be a state variable However the values of activity vary over a huge range and great accuracy is completely unnecessary For this reason a simple trapezoidal integrator is employed for activity variables This updates activities only at print points This enables activity calculations to be done with very small overheads Naturally with this approach activities do not appear in linear analysis The first step is to calculate the activity index of all elements in each submodel of the system Next activity indexes are sorted to identify the elements with high and A P t 0 dt system i i i A A AI AMESim 4 2 User Manual 249 low activity most and least active With the activity indexes sorted we can specify a threshold of the total activity that we want to include in the model This threshold defines a target limit between retained and eliminated elements of the system The activity index is used as a tool for simplification but it can also help
416. mple by altering the characteristics of the curve 4 4 5 Altering the characteristics of a plotted curve 1 Select the curve caption or legend on the right of the plot with the mouse right button AMESim 4 2 User Manual 137 A pulldown menu appears The Remove function is obvious Figure 4 49 Right button menu 2 Select Curve format You get a Curve format dialog box Figure 4 50 You can modify the format of the curve 3 Try the various options and see how the plot changes Below the curve format is modified so there is no line but blue triangular symbols with 100 density Figure 4 51 New format of the curve 4 At this point display the File pulldown menu Chapter 4 Advanced Examples 138 Figure 4 52 File menu Save will save the circuit file in its current state Save as will produce a dialog box inviting you to give a new name to your system The last 4 systems opened are displayed and can be reselected Close will clear the present system and Quit will start a procedure for quitting AMESim Most of other items on the menu are used far less frequently and are described in Chapter 9 It is rarely necessary to select Save because AMESim tries to save the system at strategic points including when you quit AMESim 4 5 Example 5 Vehicle Driveline Objectives Construct a system comprising both linear and rotary mechanical components Use a duty cycle define
417. n starters These are models which can be loaded when you create a new model Here is a list of things that you might want to put in a starter Components associated with submodels or supercomponents that you use very frequently The image of your company logo Text relevant to a particular project Your preferred simulation parameters Your favorite global parameters AMESim 4 2 User Manual 319 When the model is in the state you want do File Save as starter You will get a dialog box in which you must enter the name Figure 11 33 Defining a starter name Starters are stored in a special folder or directory To see which folder is used for starters or to change this folder see AMESim preferences page 343 Reload saved version If you make changes to a system and then wish you had not File Reload saved version enables you to recover the system in the state when it was last saved Touch The term is probably familiar to Unix users but it is less well known to Windows users When you change from Sketch or Submodel mode into Parameter mode AMESim sometimes compiles and links code to create a new executable and sometimes it does not The decision is made on the basis of two criteria 1 If no executable exists the compilation and link must take place 2 If an executable does exist the compilation and link is done only if it is strictly necessary It is strictly necessary if there has be
418. n of the system Figure 1 1 Symbols used in AMESim Figure 1 1 shows an engineering system using standard hydraulic mechanical and Chapter 1 Introduction 2 control symbols Figure 1 2 shows an automobile braking system in which some pictorial symbols are used Figure 1 2 Symbols of an automobile braking system 1 2 How is AMESim used Using AMESim you build sketches of engineering systems by adding symbols or icons to a drawing area When the sketch is complete a simulation of the system proceeds in the following stages Mathematical descriptions of components are associated with the icons The features of the components are set A simulation run is initiated Graphs are plotted to interpret the system behavior Figure 1 3 shows a detailed model of a three cylinder piston pump built from HCD symbols The arrows are used to give animation for the hydraulic flow rates AMESim 4 2 User Manual 3 Figure 1 3 A three cylinder piston pump built from HCD symbols As much automation as possible has been carried out on these steps and at every stage you will see the sketch of the system Interfaces Current practice is to provide interfaces between software to enable them to work together so that you can obtain the best features of each The standard AMESim package provides an interface with MATLAB This gives you access to controller design features optimization facilities power spectral anal
419. n the browser button A Save as browser appears 4 Select the directory in which you want to save your pck file 5 Enter a file name 6 Click on the Save button 7 In the Target Platforms area select the platform s on which you expect the re cipient to run the models you send By default the platform you are using is selected When you use the Pack facility you may be informed that there is a major problem with the model One example is a that a submodel is completely missing If this happens it probably means you did not complete Step 1 properly Pack will allow you to continue despite problems However if you do this the recipient may have a lot of problems Chapter 11 Facilities Available in all Modes 372 8 In the Target Software area select the software AMESim or AMERun on which your system will be used If you want both AMESim and AMERun se lect AMESim By default the selected platform is the one you are using When you select a target software the AMEPack Wizard helps you to select the necessary auxiliary files For example if the system will be run only with AMERun you do not have to add libraries or customized objects 9 In the Exclude Files area select the files you do not want to add to the package file This facility is very useful for confidentiality because it allows you to re strict access to vital information For a heterogeneous transfer you can exclude object files but the sour
420. nal status of the call to AMEVbaGetPar If subErr 0 AMEVbaGetPar has succeeded If subErr 1 AMEVbaGetPar has failed The AMEVbaPutPar subroutine Definition It reads parameter titles and values in two corresponding tables and writes them into the AMESim system Syntax Call AMEVbaPutPar system inTitles inValues subErr Or AMEVbaPutPar system inTitles inValues subErr Arguments system String expression whose value is the complete path and name of an AMESim system without extension If the system argument is a wrong system name or path an error message is displayed inTitles Array of type String It writes parameter titles into the AMESim system specified by the system argument It has to be declared in the main VBA code before calling AMEVbaPutPar inValues Array of type Double It writes parameter values into the AMESim system specified by the system argument It has to be declared in the main VBA code before calling AMEVbaPutPar subErr optional 0 by default Integer It stores a flag corresponding to the final status of the call to AMEVbaPutPar If subErr 0 AMEVbaPutPar has succeeded If subErr 1 AMEVbaPutPar has failed The AMEVbaRun subroutine Definition It reads parameters stored in the AMESim system it runs the simulation and it generates simulation results AMESim 4 2 User Manual 575 Syntax Call AMEVbaRun system subErr Or
421. nd select the Bird s eye view item in the popup menu or Select View Bird s eye view Interface menu Items available in all modes Display interface status Chapter 11 Facilities Available in all Modes 348 If the active system uses an interface its name appears as the last item in the menu If you do not work with an interface the item is replaced with a grey No interface blocks in system item Display interface status This facility displays the characteristics of the interface block currently used in the model The number of input and output is displayed as well as the interface type and port titles In Sketch and Submodel modes if the sketch is unlocked it is also possible to change the type of interface using the Type of interface pulldown list This allows for simple switching between for instance a Simulink interface and the Simulink cosimulation interface In Sketch mode unlock the sketch before displaying the Interface status dialog box to enable the type of interface pulldown menu Figure 11 71 Interface status dialog box AMESim 4 2 User Manual 349 11 4 6 Graphs menu Raise all graphs Select this menu item when you want to display all the AMEPlot windows in the foreground Lower all graphs Select this menu item when you want to display all the AMEPlot windows in the background Iconify all graphs Select this menu item when you want to iconify all the AMEPlot windows Deico
422. ndefined on every point where A is undefined AMESim 4 2 User Manual 621 globMax A Global Maxi mum Computes the maximum value reached by a variable or expression on the domain of definition of A The domain of definition is Start Time Final time This means that valueAt globMax A T t is undefined for t gt Final time and t lt Start Time but is defined and constant anywhere else using valueAt with globMax is not useful at all It is also defined even on point where A is unde fined But it is always undefined if A is never de fined on Start Time Final time globMin A Global Minimum This function is defined as globMin A glob Max A cf globMax A locMax A Local Maximum Computes all the local maxima points where the slope changes from positive to negative of a vari able or expression on the domain of definition of A and keep the highest one If at least one local maximum is found the do main of definition is Start Time Final time Otherwise the domain of definition is empty This means that valueAt locMax A T t is ei ther never defined or defined and constant only for t in Start time Final Time using valueAt with locMax is not useful at all It may also be defined even on point where A is undefined But it is always undefined if A is never defined for 3 consecutive communication times on Start Time Final time locMin A Local Minimum defined as locMin A locMax A cf locMa
423. nected Green squares Chapter 12 Facilities Available In Sketch Mode 386 Figure 12 2 Use of right button click to get External variables If a submodel is already attached to the object you will directly get the External Variables dialog box Figure 12 3 External Variables dialog box If no submodel is attached to the object you will get a Submodel List dialog box You can then select the submodel for which you want to check the external variables AMESim 4 2 User Manual 387 Figure 12 4 Submodel List dialog box When the submodel is selected click on the External variables button Figure 12 5 The External Variables dialog box appears Having a look at the external variables of two components is very useful to understand why you cannot connect them together You will always find that at least one input of at least one component is not supplied by the other Chapter 12 Facilities Available In Sketch Mode 388 Figure 12 6 Mass will connect to spring but not to other mass 12 2 3 Adding a new line run to the sketch Definition Drawing a line run Why can t I connect two components with a line run Definition AMESim line runs go from one component port to another The ports must be compatible Line runs consist of one or more line segments Line segments are horizontal or vertical but never oblique Drawing a line run 1 left click near one of the unconnected component ports to start a line r
424. ng on the OK button You can reset the title of a common parameter and if you do the title will be copied to all the original submodels which have the old title Min Value and Max value are constructed with the most restrictive range Hence if one submodel has an integer parameter with minimum 0 and maximum 10 and another with minimum 1 and maximum 20 the Common parameters dialog box will show a minimum of 1 and a maximum of 10 AMESim 4 2 User Manual 431 14 4 Facilities provided by the other menus in the menu bar 14 4 1 Parameters item of the View menu Figure 14 28 View menu When you study the behavior of a system you are particularly interested in the value of certain parameters You apply different values to the same parameters and start several runs to compare the results The Parameters window gives a permanent and direct access to the most commonly used parameters This facility is very easy to use and very helpful for repetitive tasks If you want to test different values for the same parameters you just have to create a set of these parameters and save it with your system Consequently when you test different values for the same parameters you do not have to look for these parameters in the model and click on various components or lines to change their value You just use the Parameters window to get a direct access to all of them Using the Parameters window The main Functions of the Parameters w
425. ng results Figure 10 2 PS Body acceleration Max acceleration Chapter 10 Getting started with AMESim design exploration features 280 Figure 10 3 PS Spring compression The active suspension has initial values which make it identical to the passive suspension Step 3 Do the export setup Use the export setup as described in Chapter 9 Getting Started with AMEPilot and the Export module in order to get the export setup shown in Figure 10 4 Inputs Figure 10 5 Simple Outputs Figure 10 6 Compound Outputs Figure 10 4 Inputs Here the rate of the three dampers are declared as being inputs available for design exploration This constitutes the design space Figure 10 5 Simple Outputs The four simple outputs declared will not be use directly Remember we are not interested in the final values of these variables but rather in the maximum values of some of them and the minimum values of others To do this we must define some Compound Output Parameters Min compression AMESim 4 2 User Manual 281 Figure 10 6 Compound Outputs For both suspension model we define A compound output as being the maximum value of the acceleration A compound output as being the lowest local minimum of the compression These compound outputs correspond to the values marked in Figure 10 2 to Figure 10 6 Our purpose in this chapter is to find a way to decrease the maximum of body accelerations and to control the minim
426. ng solved The Jacobian is a matrix of size corresponding to number of state variables N in the system The rank of this Jacobian is calculated and if it is less than N messages are displayed The following are displayed using a modified version of the current system Figure 4 9 Rank of Jacobian less than N Note that there are references to locked variables These are described in the next chapter Recommended strategy for obtaining an equilibrium position Normally experienced AMESim users try using a stabilizing run If this fails they use the Hold inputs constant technique If this fails the system possibly does not have an equilibrium position see Uniqueness of an equilibrium position page 107 In the current example the stabilizing run works very well However sometimes it fails In this case AMESim can be persuaded to display some diagnostics To enable these select the Standard options tab in the Run Parameters dialog box and tick the Diagnostics check box in the Stabilizing run options area Chapter 4 Advanced Examples 108 4 1 3 Save data Load data We are going to compare the curves of the body displacement using a simple dynamic run with the results using a stabilizing run followed by a dynamic run 1 In the Run parameters dialog box select the Standard options tab and click on the Dynamic radio button 2 Run a simulation 3 Plot the body displacement and save this curve using the File pulldown me
427. ng this facility in the current example leads to what is shown in Figure 3 12 Submodels have short names such as MAS001 which is the submodel associated with the 1 port mass At this stage the names will mean very little to you but as you become more experienced the information can be important Figure 3 12 Labels of the components There are three stages remaining AMESim must generate an executable code for your system Chapter 3 Getting Started 60 Various parameters must be set A run must be performed 3 3 3 Setting parameters Step 1 Enter Parameter mode 1 Click on the Parameter mode button in the horizontal toolbar AMESim performs various checks and creates an executable code for your system The System compilation window appears giving you some technical in formation about the equations it must solve to perform a simulation See Figure 3 13 In this case there are four variables defined by differential equations which are referred to as state variables and there are no variables defined by implicit algebraic equations Figure 3 13 System compilation window 2 Click on the Close button The window disappears and the display is as shown in Figure 3 14 The labels are modified the numbers appended after the submodel names are called the instance numbers This simply serves to distinguish different occurrences of the same submodel AMESim 4 2 User Manual 61 Fig
428. ng to adjust the velocity of the mass in an attempt to make the net force zero This idea is implemented in the submodel MAS000 Note that there are three types of implicit variables Implicit state variable Declared constraint variable Constraint variable introduced by an algebraic loop 1 In Submodel mode change the 2 port mass submodel to MAS000 The System compilation window records that there is an implicit variable as shown in Figure 3 64 This is the velocity of the mass Figure 3 64 Implicit variable 2 Rerun the simulation 3 The run is very quick See the typical results table below Submodel Mass kg CPU time MAS002 100 0 131 MAS002 1 0 391 MAS002 0 001 4 87 MAS000 0 0 141 Chapter 3 Getting Started 96 If everything worked correctly the difference between the forces acting on the mass would be zero Figure 3 65 shows what actually happened Figure 3 65 Force difference In this example which is actually linear it has worked very well It works well in many domains but it is far less reliable in the hydraulic domain 3 6 Example 4 System having an algebraic loop Objectives Constructing a model having an Algebraic loop also called an implicit loop 3 6 1 Algebraic loop What follows is an example of an algebraic loop 1 Create the system shown below Figure 3 66 System having an algebraic loop 2 Set the following parameters and leave
429. nify all graphs Select this menu item when you want to deiconify all the AMEPlot windows Tile all graphs If there are at least two AMEPlot windows this facility will tile them Cascade all graphs If there are at least two AMEPlot windows this facility will display them in cascade Close all graphs This facility will close all the AMEPlot windows Graphs menu Items available in all modes Raise all graphs Lower all graphs Iconify all graphs Deiconify all graphs Title all graphs Cascade all graphs Close all graphs Chapter 11 Facilities Available in all Modes 350 11 4 7 Icons menu In this section you will learn about General use of Icon designer Selecting or creating an icon for a supercomponent Add category To add a category 1 Select Icons Add category A browser appears 2 Select a directory for your category Figure 11 72 Browser 3 Click on OK If the selected directory is not in the AMESim path list the following message is produced Icons menu Items available in all modes Add category Remove category Add component Remove component Icon designer AMESim 4 2 User Manual 351 Figure 11 73 Information message You can then update your path list and you will be asked for the category name and description Figure 11 74 Enter a category name Figure 11 75 Ent
430. now necessary to specify an icon for the supercomponent Click on Select an icon to produce the Icon Selection dialog box Chapter 6 The Supercomponent Facility 216 Figure 6 55 Select an icon You will find that there are just a few existing icons that are compatible i e having a single rotary shaft port 2 Either select one of the existing icons or do the following to produce a more interesting icon Select your supercomponent category SUPER COMP ONE Click on the New Comp Icon button Load the file named flattwin xbm from the Icons subdirectory of the AMESim tutorial directory Add a rotary shaft port at position 47 49 Click on the the Save icon in AMESim file button Select this new icon from the Icon Selection dialog box and click on the OK button AMESim 4 2 User Manual 217 Figure 6 56 Twin cylinder icon Step 4 Save the supercomponent 1 Click on Save and select the directory where you want your supercomponent to be stored The following dialog box appears Figure 6 57 Global parameters AMESim has spotted that there are global parameters and if you want to con tinue with the save you have two choices If you click on Replace the global parameters in the auxiliary system will be replaced by their current value defined in Figure 6 51 Thus re ferring to Figure 6 52 ANG is replaced by 0 0 R by 30 and L by 20 If you click on Keep a copy of th
431. nt of mass and spring displacement Analytically one of these state variables can be eliminated to form a minimal system with only two state variables Numerically this redundancy shows up as the zero eigenvalue The rank Note The data used in the above simulation comprised a mass of 100 kg a spring rate of 100000 N m and a damping rate of 1000 N m s Working analytically using this data the equations can be reduced to a second order system with the two eigenvalues 5 5 39 i Chapter 7 The AMESim MATLAB Interface 234 of the 3x3 Jacobian A is 2 Case of an implicit system amebode m is a special utility that operates directly on AMESim files In this case it produces the same result as bode m but it is capable of working with implicit systems To illustrate this Figure 7 8 shows the 100 kg mass divided into two 50 kg masses with an infinitely stiff spring interposed between This is a trick to force the system to be implicit with index of nil potency 2 but essentially identical Figure 7 8 Implicit system 1 Modify your system as above and save it as MSD3 ame 2 Change the masses of both MAS002 and MAS001 to 50 kg and ensure the in clinations are 0 degrees 3 Do a linearization at suitable time and type in the following command from MATLAB amebode MSD3 4 Verify you get the same bode plot as with MSD If you also compute the eigenvalues notice that they are the same as before ex cept for addition
432. nt parameter values directly 411 14 2 1 Changing parameters for a generic submodel and customized supercomponent 411 State variables 412 AMESim 4 2 User Manual xi Constraint variables 413 Fixed variables 413 Vector variables 414 Real parameters 415 Integer parameters 416 Text parameters 417 Changing the title of a parameter 417 14 2 2 Changing parameters for a generic supercomponent without global parameters 418 14 2 3 Changing parameters for a generic supercomponent with global parame ters 418 14 2 4 Changing parameters f
433. nu of the plot selecting Save data Figure 4 10 Save data to save the curve A dialog box is produced which asks for the name of the file 4 Enter a suitable name e g disp 5 Go back to the Run parameters dialog box and enable the Stabilizing Dynamic run mode 6 Restart the simulation and update the curve of the body displacement The old curve is replaced by the new one 7 To reload the old curve select Open in the File pulldown menu Figure 4 11 Select Open to reload the old curve 8 Select the file named disp with the browser You can now see the old and the new curve on the same plot 9 To add titles select Tools Add titles and you will get the Figure 4 12 AMESim 4 2 User Manual 109 Figure 4 12 Add titles on the plot 4 1 4 Adding text to a plot 1 To add text to a plot use the Tools pulldown menu Figure 4 13 Tools menu in the plot window 2 Select Add text 3 Click where you want to add the text Then you see a square in which you can type your text 4 Add two text strings to the plot in order to explain the difference between the two curves as shown in Figure 4 14 Note You are allowed to type your text on several lines by pressing Enter each time you want a new line Chapter 4 Advanced Examples 110 Figure 4 14 You can add text to the plot 4 2 Example 2 Rotary Inertia Objectives Getting AMESim demos Introducing the sign convention for rotary q
434. o a directory of your choice Figure 11 104 Choose demo dialog box If you use this menu item the dialog box above appears and you can click on a Chapter 11 Facilities Available in all Modes 380 cross associated with a demo directory you are interested in Each directory contains a list of AMESim models If you select one of these and you click on the Copy or Copy and open button a directory browser as shown in Figure 11 105 is produced From there you can choose the place where the demo model you selected will be copied Figure 11 105 Browser About This utility provides various information on your version of AMESim the libraries you are allowed to use how to reach us When you select this menu item the dialog box below appears AMESim 4 2 User Manual 381 Figure 11 106 About AMESim information This information is important if you need to use the hotline facility Chapter 11 Facilities Available in all Modes 382 AMESim 4 2 User Manual 383 Chapter 11 Facilities Available in all Modes 384 AMESim 4 2 User Manual 385 Chapter 11 Facilities Available in all Modes 386 AMESim 4 2 User Manual 387 Chapter 11 Facilities Available in all Modes 388 AMESim 4 2 User Manual 389 Chapter 11 Facilities Available in all Modes 390 AMESim 4 2 User Manual 383 Chapter 12 Facilities Available In Sketch Mode 12 1 Introduction This chapter describes
435. o consider using the dropdown list and click on the OK button If you do not want to display meaningless factors set a threshold which is not 0 the factors or group of factors with a contribution smaller than the threshold value will not be displayed You must wait the end of the design exploration process to create such a plot This type of plot cannot be updated Histogram Histograms are bar charts which represent the statistical distribution of a parameters AMESim 4 2 User Manual 611 Figure 19 38 Example of a histogram Each bar represents the number of runs for which the value of the parameter is in a given interval You can adjust the size of the intervals by choosing the number of bars you want at plot creation When such a plot is created a piece of text is added to the graph area which gives statistics about the considered response When Histogram is selected the dynamic part of the dialog box is as shown in the following figure Figure 19 39 Setup of a histogram Select the parameter you want to consider using the dropdown list and click on the OK button You can setup the number of bars you want in your histogram This type of plot cannot be updated 19 7 5 Array of possible plots according the study type DOE Optimization Monte Carlo Parameter Study Full Factorial Central composite NLPQL Genetic Algorithm History X X X X X X Chapter 19 AMESim Design exploration module 612
436. o dimension displacements velocities and accelerations as well as torque and force Geocom ports are used to transmit geometric data of evaporators and condensors AMESim 4 2 User Manual 397 Figure 12 12 Rotary load Suppose you want to modify this to the form in Figure 12 13 Figure 12 13 Displacement of the rotary load If you try to do this without removing any submodels Figure 12 14 is the nearest you will get Figure 12 14 Some submodels are removed The problem is that neither the torque conversion block nor the rotary inertia are connected to angle sensor The reason is the submodels attached to these components TORQC RL01 and ADT00 are not compatible This is clear from Figure 12 15 Chapter 12 Facilities Available In Sketch Mode 398 Figure 12 15 External variables of the original submodels When you remove the submodel ADT00 from the angle sensor and go to Sketch mode a different submodel is selected for this component which is compatible with TORQC and RL01 This is shown in Figure 12 16 Figure 12 16 External variables of the new submodel of the sensor 12 7 2 Procedure to remove one or more submodels In Sketch mode components may or may not have submodels In some libraries line runs may have submodels If they have then the submodel can be removed To remove a submodel do the following 1 Select the components and or line runs the submodels of which you wish to re move 2 Right click
437. olynomial being integrated with respect to time is Applying simple integration the result we should get is Step 2 Run the simulation 1 Open a command line window of your operating system 2 Go into the directory where polynomialIntegrator ame is stored 3 Ensure that a environment variable AME is set and points to the di rectory where AMESim is installed 4 Ensure that your PATH environment variable is setup so that AMEPilot is visible 5 Launch the following command AMEPilot polynomialIntegrator Step 3 Read the results When the command is completed the results are available in the file named polynomialIntegrator_ out 1 2 3 2 t t t P integralValue 3t2 2t 1 td 0 10 1110 AMESim 4 2 User Manual 273 1 Open the file with your preferred editor 2 The contents of the file is integralValue 1 11000000000004e 003 3 Update your plot in AMESimRun and compare it with Figure 9 7 Figure 9 8 Output from integrator using AMEPilot Clearly the parameters defined in the Export facility are being used You can try other sets of coefficients for the polynomial by chang ing the values associated with a b and c 9 2 3 Using compound output parameters Let us imagine we are not only interested in computing the integration on the whole interval 0 10 We also want to be able to compute this integration on any interval startTime stopTime include
438. om 0 3986 to 0 4 cc Since HL000 has no friction or inertia calculations it is effectively also a hydraulic chamber Hence it seemed reasonable to remove orifices but also hydraulic chambers Taking their total volume to be 1 2 cc we increase the volume in HL000 to compensate Chapter 8 Activity index 260 Figure 8 20 Remove hydraulic chambers AMESim 4 2 User Manual 261 Figure 8 21 Reduced model Chapter 8 Activity index 262 The model then contained 26 state variables instead of 35 The simulation time for one revolution of the pump for the reduced model was 49 seconds compared with 13 minutes for the complex model The gain in performance was dramatic the removal of less active elements lead to the removal of the highest dynamics of the system which previously slowed down the simulation As the system was reduced it was validated against the original model which had been itself validated by experimental measurements Validation of the final reduced model Models were compared with the observation of displacements of moving parts the shape of flow rate delivered at the outlet of the pump and pressure in one piston chamber Figure 8 22 Results of the complex model Figure 8 23 Results of the reduced model AMESim 4 2 User Manual 263 Figure 8 24 Comparison of the pressure in piston chamber Figure 8 25 Comparison of the output flow rate An excellent agreement of the results was observed Actually only
439. ome duplicate names This typically occurs when using submodels that use the variable type duplicate variables It should be noted that the corresponding data could be sign reversed If no system name is given MATLAB displays a file selection dialog box for selecting the results file amegetvar The amegetvar command is a utility function for extracting variables from the AMESim time results arrays It requires that the result file is loaded using ameloadt The amegetvar command then gives easy access to the variables using their titles This is convenient since the order the variables are stored in the R and S arrays may change if the system is rebuilt The titles can contain simple wild card expressions such as bar to select several variables The return value is a another pair of string and values vectors Example of usage R S ameloadt testsystem time amegetvar R S time s xp amegetvar R S HJ000_1 rod displacement m plot time xp It is not necessary to create the intermediate variables for a simple plot The example below will create a plot with all variables having the unit bar R S ameloadt testsystem plot amegetvar R S time s amegetvar R S bar One can also do the selection in several steps to create more complex selections The command below will first select all variables from the HJ000_1 submodel and then select the pressures The pressure values are used
440. omponent To continue treat the contents as a system and click on components and line runs to examine and modify their parameters 14 2 3 Changing parameters for a generic supercompo nent with global parameters This is intermediate between a generic supercomponent without global parameters and a customized supercomponent The global parameters in question have a scope limited to the supercomponent When you click on it you will get a Change Parameters dialog box This will display the global parameters However unlike a customized supercomponent there is an Explore button When you click on this you will see the constituents of AMESim 4 2 User Manual 419 the supercomponent Note that parameters in the constituents that depend on the global parameters are hidden See Creating a generic supercomponent containing global parameters page 213 for an example 14 2 4 Changing parameters for customized submodels If you click on a component which is associated either with a customized submodel or a generic submodel for which customized versions are available the Change Parameters dialog box will have an extra pulldown menu and an extra check box as shown in Figure 14 13 The pulldown menu enables you to change between the generic parent and the available customized versions of it The check box is labeled Copy common parameters when submodel changes and it must normally be ticked so that the value of the
441. on the x values must be strictly monotonic If any sort of interpolation is to be used in the y direction the y values must be strictly monotonic y values x values z values AMESim 4 2 User Manual 617 Graphical representation The data is represented as a 3D plot Figure A 5 3D plot A 4 3D table format This is the format read by the AMESim utility function rtable3d Normally submodels that use rtable3d use linear interpolation in the x y and z directions Mathematical definition Preferred layout in text editor The integer N should be in the first row M should be in the second row and P in the third row In the forth row should be N x values in the fifth row M y values and in the sixth P z values After this should be P blocks of the u values in N columns with M rows xi i 1 1 N xj j 1 1 M zk k 1 1 P ui j k i 1 1 N j 1 1 M k 1 1 P Appendix A Formats supported by the AMESim Table Editor 618 Example of layout in the Table editor Figure A 6 Layout for a 3D table Restrictions The number of x values must always be greater than or equal to 1 If there is only 1 x value u values are assumed to be independent of x The number of y values must be greater than or equal to 1 If there is only 1 y value u values are assumed to be independent of y The number of z values must be grea
442. on appropriate for the object you clicked on Chapter 11 Facilities Available in all Modes 314 11 4 Facilities available through the menu bar 11 4 1 File menu Opening a new system There are three ways to open a new system Click on the New button in the tool bar Use File New in the menu bar Use Ctrl N In the first case a blank sketch area appears In the two last cases a New dialog box appears This dialog box shows a list of available starters File menu Items available in all modes Opening a new system Opening an existing system Saving a system Save as starter Reload saved version Touch HTML report Print Print selection and Print display Last opened files list Close Quit AMESim 4 2 User Manual 315 Figure 11 28 List of the available starters A starter is a piece of model containing icons and submodels that are commonly used for building models using a particular library Instead of starting from zero each time a new model of the same type must be built you can use the corresponding starter Basic starters are supplied with all the AMESim categories requiring property icons Use these starters to be sure that the compulsory icons are included in your systems if they require components of these categories It is also possible to Create your own starters by clicking on the Starter radio button in th
443. on one of them ADT00 RL01 TORQC ADT01 AMESim 4 2 User Manual 399 Figure 12 17 Right click menu 3 Select Remove component submodels All the selected component and or line run submodels are removed 12 8 Interface menu This menu contains three items that are only vailable in Sketch mode Figure 12 18 Interface menu These items are used to import models to AMESim or to export AMESim models For more information on Create export icon please refer to the MATLAB Simulink interface manual or the Adams interface manual For more information on Import linear model please refer to the section Importing ssp and jac files to AMESim in Chapter 7 The AMESim MATLAB Interface For more information on Import Adams model please refer to the Adams interface manual Chapter 12 Facilities Available In Sketch Mode 400 AMESim 4 2 User Manual 399 Chapter 13 Facilities available in Submodel mode 13 1 Submodel mode selecting submodels Before Submodel mode can be entered from Sketch mode all components and lines must be completely connected It is not possible to enter Submodel mode if this condition is not met When a new system is built and Submodel mode is entered for the first time some submodels are set automatically for some components and line runs A submodel is automatically assigned to a given component or line if there is only one submodel available for it
444. on the mouse right button In order to disable this facility select the menu item again your cursor recovers its original appearance Use also the mouse wheel Select this menu item or tool bar button when you want to undo the last zoom Your cursor takes on the appearance of the Zoom Previous icon Click on the curve to undo the last zoom This facility can be used several times on a same plot if several zoom have been applied to it When you select this menu item your cursor gets a different appearance and you can then select the plot you want to unzoom AMEPlot memorizes five zoom levels Chapter 16 The Plotting facilities 514 AutoScale AutoScale All This utility is identical to the previous one AutoScale but it applies to all the plots displayed in the main window See Figure 16 5 Coordinates 3D Rotation 16 5 4 The Tools pulldown menu This menu contains ten items The more common facilities also appear in the toolbar Select this menu item or click on this button when you want to fix the axis range to have the original curve point number in the curve area Your cursor takes on the appearance of the Autoscale icon Then select the plot you want to recover Use this menu item or tool bar button when you want to know the coordinates of a given point on a curve A cross cursor is produced that you can move to the interesting position As you move the mouse cursor you will see its current coordinates at the
445. on the step size that can be used by the AMESim integrator The default value is 1 0e30 which is very large and means that this step size is unlimited This value is good on the vast majority of runs but occasionally AMESim takes too big steps producing strange results In such circumstances it is useful to reduce the maximum step size If you enable the Cautious option as the Solver type the integrator step will never exceed the Communication interval An extremely useful submodel is SIMP1 which is associated with the icon shown The icon contains a and this means use with caution This caution is necessary because parameters set in SIMP1 take precedence over the values in the Run Parameters dialog box The parameter of interest is highlighted below Chapter 15 Facilities Available in Run Mode 458 Run mode Dynamic run options By default the Activity index calculation check box is disabled and no activity index calculations are done and no activities will be displayed in the Variable List dialog box When it is enabled the calculations will be done and CPU times will be slightly higher Activity index calculations are the subject of Chapter 8 Activity index If the Hold inputs constant check box is enabled the integrator always calls the model with the time at its starting value This means the inputs to the model are held constant You can use this option to obtain an equilibrium position Stabilizing run options This val
446. onnect all the ports you want to connect without leaving a gap You bridge this gap with a line and then use DI RECT AMESim 4 2 User Manual 79 Figure 3 39 Avoid unnecessary use of lines 3 4 3 Setting parameters 1 Click on the Parameter mode button 2 Save the system as QuarterCar 3 See Figure 3 41 there are five explicit state variables and no implicit variables Figure 3 40 Information about your system 4 Close the window when the label Terminated appears 5 Click on each component to examine their current parameters is better than Chapter 3 Getting Started 80 Figure 3 41 Display of the current parameters 6 Then focus your attention on the upper mass Figure 3 41 3 4 4 Changing the values Step 1 Minimum maximum and default values 1 Click on one of the parameters 2 Try using the Min value Default value and Max value buttons The value assigned to this parameter changes accordingly Step 2 The Options button in Parameter mode AMESim 4 2 User Manual 81 Figure 3 42 Options button The Options button gives more details on each parameter 1 Click on this button in the Change Parameters dialog box New columns are displayed minimum maximum and default values appear as well as the parameter type 2 Click again on the Options button The dialog box recovers its original shape The purpose of the button labeled External variables is explained in Using t
447. ons D A E s The following indented paragraph is intended for the more mathematically inclined and can be skipped if you prefer For D A E s AMESim will linearize the system to produce where E is in general a singular matrix AMESim then processes these equa tions to give x Ax Bu y Cx Du Ex Ax Bu y Cx Fx Du AMESim 4 2 User Manual 163 where s d dt and p is called the index of nil potency of the D A E s We stress that you do not have to do the processing of the equations This index is a mea sure of how difficult the system is to solve If p 0 the system of equations is actually an ODE Normally p 1 and p 2 systems can be solved without trou ble but p 3 is very difficult and p 4 is almost guaranteed to fail The problem is that the equations become progressively more badly conditioned as the index increases 5 4 1 Linear analysis On entry to Run mode the button labeled Temporal analysis is selected whereas the Linear analysis button is not 1 Click on the Linear analysis button to enter the Linear analysis mode The Linear Analysis toolbar appears Figure 5 22 Linear analysis toolbar 2 Select components in the system x A x Bisiu i 0 p y C x Disiu i 0 p The Variable list dialog box appears with a new field appended in the third column which name is Status For a state variable this field indicates free state If
448. ons of options available in the Graph Area Format dialog box when the Surface plot tab is selected AMESim 4 2 User Manual 543 17 2 XYZ plots Recall that for an XY plot you first produce at least 2 curves plotted against time When this is converted to an XY plot the first quantity becomes X horizontal axis and the other quantities become the Y values The rules for XYZ plots are an extension to this You need at least 3 curves plotted against time When these are converted to an XYZ plot the first quantity becomes X the second quantity becomes Y the other quantities become Z If you convert a 2D plot to an XYZ plot you cannot return to a 2D plot We will illustrate the creation of an XYZ plot from a mathematical example which creates a spiral The mathematical formula we will use is Type The different types of surface plots are described in 17 1 1 Types of surface plots View orientation Sets the azimuth and elevation view angles The elevation is restricted in the range of 90 to 90 Light orientation For a surface with light plots you can specify the position of the light Set the azimuth and elevation angles of the light Colormap You can modify the colors of the surface using the pulldown menu If the Interpolate colors option is not set the colormap uses a restricted number of colors Misc Show cube box you can show or hide the cube which materialize the borders of the
449. or customized submodels 419 14 2 5 Load Save of parameter values 420 14 2 6 Editing names and values 421 14 3 Facilities provided by the Parameters menu in the menu bar 421 14 3 1 Load Save of system parameter set 422 Saving a system parameter set 422 Loading a system parameter set 423 14 3 2 Set final values 424 Introduction 424 Procedure 424 14 3 3 Global parameters 425 Creating a global parameter 425 Assigning a global parameter 426 Modifying Deleting a global parameter 427 Defining a global parameter in terms of other global parameters 427 14 3 4 Batch parameters
450. ortant scripts that are stored in the installation di rectory These scripts must be called from a terminal window with the name of an AMESim model as argument All the constituent files that are stored in a ame file are described in section Files created for AMESim In the next sections we describe AMESim nodes the Files created for AMESim the Purge tool for system files B 2 AMESim nodes An AMESim node is any folder or directory which is used as the root of a storage area by AMESet for generic submodels AMESim for generic supercomponents AMECustom for customized submodels and supercomponents File Description AMEload sh Open a ame file into its constituents AMEsave sh Save the constituent files into their ame file AMEclean sh Delete constituent files so that only the ame file remains AMEcompile sh Create an executable for the model using its source code Appendix B Special files used by AMESim 624 Below is shown a typical structure of an AMESim node Figure B 1 AMESim node The last field of the pathname of an AMESim node is label of the AMESim node In the above example libcs is the label of the AMESim node Ideally all AMESim node labels should be unique The folders are used as follows The files in the AMESim node are as follows Files in the Icons folder The xbm files define the icons for categories The ico files define the icons for the
451. ot covered in Chapters 3 and 4 These are Selective Save Locked Unlocked States Batch Runs Linear Analysis facilities including Bode Plots Nichols Plots Nyquist Plots Root Locus Modal Shapes These will be introduced using very simple mechanical systems 5 2 Example 1 The quarter car model Objectives Introduce the Selective save Perform Batch runs Load your quarter car model shown in Figure 5 1 You will use this model with the selective save facility Chapter 5 Batch Runs and Linear Analysis 146 Figure 5 1 Quater car model 5 2 1 Selective save Figure 5 2 Tools menu Many simulations produce result files which are relatively small even though you have stored all the results As the systems you study get bigger you will reach a stage when the size of the result files you create becomes embarrassingly large At this stage you need to save a subset of the results We call this facility selective save By default all variables are saved in the result file You can specify precisely which variables you want to be saved This can be done 1 Globally for a collection of selected components and line runs or for the whole system 2 For a particular submodel 3 For an individual variable AMESim 4 2 User Manual 147 All changes to the save status of variables are made in Run mode To change the save status globally 1 Sel
452. output you want it to be not to exceed 0 0 10 In a similar way make the Upper bound for AS_max_FinalDisplacement 0 02 This means that during the last half second we constrain the body displacement to be within 2 mm of the equilibrium position Figure 10 19 Outputs for the optimization process 11 Click on the OK button Step 3 Run and observe the optimization process 1 Start AS_Optimization The run is fast and the algorithm gives the following solution after 51 runs AMESim 4 2 User Manual 291 Figure 10 20 The Active Suspension with NLPQL With a main damper setting of about 820 and a skyhook damper setting of about 1349 N m s the maximum acceleration is very reasonable at 8 6 m s s The constraints are respected the tire stays in contact with the road and the car body is within 2 mm of the equilibrium position for the last 0 5 seconds of the run 2 When the run is complete or even while it is running it is instructive to plot some quantities You can do normal plots and set an automatic update 4 Keep History plot in the plot type drop down list 5 Select AS_max_BodyAcceleration on the left hand side list and click on the gt gt button 6 AS_max_BodyAcceleration appears on the right hand side list 7 Click on OK Note The most common error that you may experience using NLPQL is the error number 4 The line search could not be terminated successfully This is often a problem of accuracy which
453. oving them by Selecting Copy in the Edit pulldown menu or Right clicking on the component to produce a popup menu or Typing the short cut Ctrl C or Clicking on the Copy button in the toolbar Copy operations can be done in any mode The objects in the auxiliary system can be pasted into the current active system or another that is made active They can also be converted to a supercomponent A line run connected to an unselected component is not copied Pasting the contents of the AMESim auxiliary system First check the following Change the active window if you want to copy from one system to another Ensure the system is in the Sketch mode Ensure the lock button is in the unlocked state Next you can Select Paste from the Edit pulldown menu or Use the equivalent short cut Ctrl V or Click on the Paste button in toolbar The cursor takes on the appearance of the contents of the auxiliary system You can rotate and or mirror it as necessary Then you can add it to the system by left clicking Using Windows The copy process described above also puts a copy of the objects into the system clipboard You can then paste them into your favorite word processor You can also copy objects from another software into AMESim using the system clipboard To do this in the AMESim menubar use Edit Paste from clipboard Chapter 12 Facilities Available In Sketch Mode 3
454. ows the following possibilities For 1 you initiate simulations from the AMESim environment For 2 you initiate simulations from the MSC ADAMS environment 1 Integration of the multibody system using the AMESim integrator 2 Integration of the AMESim system using the ADAMS integrator 3 A cosimulation using both integrators AMESim 4 2 User Manual 15 For 3 simulations can be initiated from either software 1 6 7 Submodel call modifications With the provision of the optional Real time facility it becomes critical to avoid unnecessary computational effort In AMESim 4 1 calls to the calculation function were always made even if nothing useful was done Modifications to AMESet 4 2 mean there is an option of not calling the calculation function In AMESim 4 2 this means good speedups for CPU critical applications 1 6 8 Model simplification and Real time AMESim provides a collection of tools for model simplification In AMESim 4 1 you could use the following state count activity index eigenvalue analysis modal shapes The Optimization facility in AMESim 4 2 provides further capability You can replace a complex valve by a simple one and use optimization to set the simple valve model parameters Figure 1 12 Using fixed step integrators When you have removed extreme eigenvalues you can use the AMESim 4 2 fixed step integrator option to check that it runs and produce
455. oyed to determine if the results are accurate enough If either of these tests fails the step must be repeated with a smaller step size These two tests use the tolerance value defined in Simulation values list A number of important statements must be made There is no precise connection between the tolerance and actual maximum error in the results The most general thing we can say is that the smaller the tolerance is the more accurate are the results Normally you should not use values less than 1 0e 10 but occasional tolerances down to 1 0e 14 work Normally you should not use values greater than 1 0e 3 If you are going to trust the results it is very good practice to perform a series of runs with a sequence of tolerances Look for consistency between the results The default value for the tolerance is 1 0e 5 Normally if you AMESim 4 2 User Manual 457 perform further runs with 1 0e 6 1 0e 7 1 0e 8 1 0e 9 you will not notice any significant difference If you do believe the results produced with the smaller tolerance Figure 15 18 Parameters of STMP1 If your sketch contains this icon you drag and drop this parameter into a Batch Control Parameters Setup dialog box you can organize a batch run with the tolerance varying The parameters below give a batch run with tolerances 1 0e 5 1 0e 6 1 0e 7 1 0e 8 and 1 0e 9 Figure 15 19 Batch run Maximum time step This value specifies a limit
456. parameters that are common to the old and the new submodel are kept If you don t want the parameters to keep their previous value you just have to untick this check box In this case the parameters of the new submodel will be assigned their default value Figure 14 13 Available customized submodels pulldown menu Chapter 14 Facilities available in Parameter mode 420 14 2 5 Loading Saving parameter values See Load and Save buttons in Figure 14 13 These buttons are used to store special submodel or supercomponent parameters from the source so that they can be read back and applied to another submodel or supercomponent the destination The source and destination do not need to be the same If the source is a supercomponent the destination must be an instance of the same supercomponent Figure 14 14 You can save parameters To save the parameters 1 Click on the component or line run to produce the Change Parameters dialog box 2 Click on the Save button 3 Select an existing file or enter a new filename Figure 14 14 The preferred extension is par To load back the parameter set 1 Select the appropriate component or line run to produce the Change Parameters dialog box 2 Click on the Load button 3 Select the file containing the parameters required Figure 14 15 Figure 14 15 Load parameters AMESim 4 2 User Manual 421 14 2 6 Editing names and values You can edit the names titles and va
457. percomponent specification is stored If the specification is not there or the directory does not exist AMESim then uses the current path list to search for it If all is well you get a display like Figure 11 83 indicating that no inconsisten AMESim 4 2 User Manual 361 cies were found Figure 11 83 No inconsistencies have been found Inconsistencies However inconsistencies may be found There are two possible situations The characteristics of the submodel supercomponent in the model is different from that in the specification The number of parameters is different the number of internal or external variables is different or the type of a variable is different etc The submodel supercomponent specification cannot be found in the place recorded in the model nor can it be found in any of the places specified in the path list This may be because it has been moved to another place or it has been deleted If either of these problems occurs the checking process stops with an indication of the problem Check submodels characteristics of a submodel have changed Whenever possible the check submodels facility tries to fix this problem but this is not always possible Figure 11 84 shows a situation where no fix is possible In the absolute worst possible situation is that AMESim decides to close the system Note that if you click an entry in the submodel list a label will occur in the corresponding component in the
458. play button If any components are selected replay will apply to the selection otherwise it applies to the complete system Chapter 15 Facilities Available in Run Mode 470 Figure 15 32 Replay Setup AMESim will analyze the system and determine which units are used for external variables in the current sys tem You can then select the unit you are interested in Obviously some sort of results file must be available This may be created with a single run or a batch run Normally it will have created with a Dynamic run but a very limit replay can be done after a Stabilizing run Normally each variable is calculated in a particular submodel where it is an output and is used in another submodel where it is an input The sketch will show the numerical values of all external output variables with the unit selected Duplicate variables and hidden variables are excluded The value is displayed using a label and these labels can be selected and moved in order that they can be read more easily By selecting and using a right button click the label can be deleted Note you can also enable or disable other options Line This is that grey line joining the label to the component Title If enabled this will display the external variable title This is useful only if there are a small number of labels Float format When this is enabled numbers are displayed like 4 25708e 001 as opposed to 0 42571 when it is disabled
459. process with the Change Parameters dialog box If the iterative process is slow to converge a better starting value may speed things up As with real parameters you have access to an Expression Editor Figure 14 7 Fixed variables This is something of a contradiction They are fixed in the sense that during a simulation they do not change their value They are variables in the sense that they are exchanged at ports like any other variables An example is the hydraulic tank or reservoir submodel TK000 which has a fixed variable representing the pressure in the tank As with real parameters you have access to an Expression Editor see Figure 14 7 dv dt net force mass F1 F2 Note You can have information on the nature of the items in the list by clicking on the Options button Figure 14 2 Chapter 14 Facilities available in Parameter mode 414 Figure 14 2 Extended options Vector variables The common feature of state fixed and constraint variables is that they all can be vectors which means they can all have a dimension greater than one In this case each component of the vector can have either the same initial values or different initial values These vectors can be displayed two ways according to the state of the Expand vectors item of the Options menu Figure 14 3 Options menu If it is checked then each component of the vector can be set indivi
460. produces a exe file to run the system Two compilers may be used with AMESim Microsoft Visual C and the GCC compiler GCC is under the GNU general public license Naturally your choice depends on which of these is installed You must at least have one these installed You should ask your administrator which compilers are installed for AMESim Then you can set in the AMESim preferences your current compiler If you want to use the GCC compiler instead of Visual C you must check if any of your previous systems used home made submodels or libraries If this is the case you must recompile submodels by using AMESet with GCC and libraries with batch command files Chapter 11 Facilities Available in all Modes 346 Automatic windows close on successful compilation The status of this check box determines the behavior of the System Compilation dialog bock which appears when the executable for the model is being created If the box is enabled ticked the dialog box disappears when the executable is successfully created If it is disabled you must click on the Close button Debug by default For most people this check box should stay disabled unticked For some people who know how to use a source code debugger they need to check this bock to ensure the executable is created in debug mode Copy parameters option This option allows you to select the condition for which parameters are copied either when set titles or original tile
461. purpose of this is to try to identify the reason for a slow run A secondary use of the State count facility is to give ready access to a list of the state variables in the correct order Convergence tests and error tests are made on each state variable at every step For Note If your system is NAME ame it is useful to give the plt file a name starting with NAME_ Thus if you name the file NAME_ 1 plt it will be saved in the NAME ame file when closing your system AMESim 4 2 User Manual 469 a particular step one variable will be the slowest to converge or will hold the biggest error The state count facility is initiated by clicking on the State count button producing the State count dialog box This is shown in Figure 15 31 Figure 15 31 State count dialog box In unsorted form the list is ideal for viewing the complete list of states in order Sort the list by double clicking on the Controlled tab In sorted form you can see which state variable is slowing the simulation down Remember you can double click on an item in the list to identify the submodel in the sketch 15 6 Replay facilities This facility is an important aid to understanding and is great for adding diagrams to reports Before you use this facility explode any supercomponents you will need An example of the Replay dialog box shown in Figure 15 32 This gives you access to the most basic features of replay The facility is initiated by selecting the Re
462. py to supercomponent or type the shortcut Ctrl W Submodel Number on sketch if any Title Value GA00 1 value of gain null 30 INT0 value of gain null 10 GA00 2 value of gain null 0 AMESim 4 2 User Manual 191 Figure 6 6 Auxiliary system dialog box In both cases the Auxiliary System dialog box is produced Check that the aux iliary system displayed is correct If it is not click on Close immediately and repeat the process Step 2 Creating a supercomponent from the auxilliary system Using the icons of the Auxilary system dialog box shown in Figure 6 6 A suitable icon can be selected The supercomponent ports can be set The supercomponent name can be set The brief and full description can be set 1 Click on the button Select an icon in order to get the Icon selection dialog box AMESim looks through all the categories it has access to and compiles a list of icons which all have two signal ports and are compatible with the supercom ponent we are trying to make Notice that the Signal Control and Observers category can be opened to display suitable icons Figure 6 7 Icon selection dialog box Note the New Comp icon and New Category buttons These are used when you Chapter 6 The Supercomponent Facility 192 build your own icon as in section 6 5 Constructing a supercomponent of a P I D controller using your own icon 2 Find and select the PID icon used in
463. r later you will get one of them wrong and you will have to correct it If you click on Edit Basics you return to the final stages of supercomponent creation You can then do many modifications except that you cannot edit the constituent objects Use Edit constituents for this AMESim 4 2 User Manual 331 Figure 11 48 Auxiliary system dialog box Recovering the auxiliary system of a supercomponent Normally you will want to paste this system into the active window Perform the following steps 1 Adjust the pathlist if necessary to ensure you have access to the supercompo nent 2 Put the active system in Sketch mode and ensure it is unlocked 3 Edit Available supercomponents Edit basics 4 In the Auxiliary system dialog box Figure 11 48 click on the Paste button 5 Close the Auxiliary system dialog box Edit constituents If you get the constituents of a supercomponent wrong you can modify them using the following steps 1 If necessary adjust the pathlist 2 Edit Available supercomponents 3 Select the supercomponent of interest Note If you have a model which uses the supercomponent in its old form it will continue to work However it is a good idea to run the model through Check Submodels in the Tools menu to update to the new supercomponent If you want to keep the original you can save the modified version under a new name Chapter 11 Facilities Available in all Modes 332 4 C
464. r line run standard AMESim submodels are actually arranged in an order so that the simplest one appears at the top and the most complex at the bottom Hence it is the first submodel of the list that is automatically selected and assigned when the Premier submodel button is clicked This process is applied to all components and line runs which do not have submodels yet This facility is very useful in the early stages of development of a model when it is appropriate to use the simplest possible submodels As the model is developed more complex submodels can be selected manually if you feel this is necessary 13 3 Selecting a submodel for a component 1 Click on the component you are interested in A dialog box is produced as shown in Figure 13 1 comprising a list of suitable submodels a check box labeled Copy common parameters when submodel changes four buttons labeled OK Cancel External variables and Help The Premier submodel button is used to assign in one click the simplest possible submodels to all the components and line runs which are not currently associated with a submodel AMESim 4 2 User Manual 401 Figure 13 1 The Submodel List dialog box Initially the first submodel in the list is highlighted You can select any other submodel in the list The highlighted submodel will be the active one when the OK External variables or Help button is selected Compatibility checks are made with
465. r mode AMESim will initiate a Save as If you try to Save a new system with no name before this AMESim will divert the request to Save as Save as is useful for saving the current system under a new name It may be convenient to do Save before doing the Save as so that you have a copy of the original system with its original name in its latest form There are three ways to initiate Save Use File Save in the menu bar Click on the Save button in the menu bar Use Crtl S There is only one way to initiate Save as If the system you want to open is in the list of last opened files click directly on it Note See in AMESim preferences page 343 how to remove the preview of the system in the Open dialog box You can also change the number of recently opened files Chapter 11 Facilities Available in all Modes 318 Use File Save as Save as produces a file browser in which you can change directory Figure 11 31 Browser You can create a new folder or directory Finally you must enter a file name You should enter a name with no spaces You can enter the full name including the ame extension but if you omit this AMESim will add the extension for you If the name you enter is the same as an existing system in the same folder a warning dialog box is produced Figure 11 32 Warning dialog box Save as starter In addition to special starters supplied with AMESim you can create your ow
466. ral systems are opened in AMESim If more than two systems are opened you will have to select the reference system and the system to analyze 1 Check that both systems you want to analyze are in Parameter mode 2 Open the Compare systems dialog box by selecting Tools Compare systems Chapter 14 Facilities available in Parameter mode 436 Figure 14 36 Compare systems dialog box By default the Reference system is the first system you have opened with AMESim You can reverse the Reference and Analyzed systems by using the pulldown lists 3 Click on to start the comparison The data which are compared appear in the window Figure 14 37 Compared data To analyze the differences you need know the code of colours used in the Compare systems facility Pulldown lists AMESim 4 2 User Manual 437 Description of the colours used in the Compare systems facility The code of colours used by AMESim for the comparison between two systems will help you to quickly identify the results of the comparison This colour Means that Blue This is the same submodel but the parameters or the titles are different Orange This is the same component but the submodels are different or one of them is customized Green This component only appears in the Analyzed circuit Red This component does not appear in the Analyzed circuit Yellow This parameter value has been copied from one circuit to the other An arrow appe
467. rameters pulldown menu The batch run is specified in Run mode by producing a Run parameters dialog box with the Batch radio button selected Plots of batch runs are done by creating a standard plot and converting it to a batch plot In the current example do a batch run varying the damper rating in N m s as follows AMESim 4 2 User Manual 149 The first step is to define the batch parameter Defining batch parameters Step 1 Set control parameters 1 Go to Parameter mode 2 Select Batch parameters in the Parameters pulldown menu This produces the Batch control parameter setup dialog box 3 Select the damper submodel The Change Parameters dialog box appears 4 Drag and drop the damper rating onto the Batch control parameters setup dia log box Step 2 Set values for control parameters There are two methods of setting the values for each control parameter If you want a text parameter to be a batch control parameter you must use the option user defined data sets In the current example 1 Create the Batch control parameters setup dialog box 2 Drag and drop damper rating as shown in Figure 5 5 Run 1 Run 2 Run 3 Run 4 Run 5 Run 6 Run 7 400 600 800 1000 1200 1400 1600 Note You can also create the Global Parameter Setup dialog box and drag and drop a global parameter from there to the Batch control parameters setup dialog box varying between 2 limits
468. ration these are associated with a list of text strings If the first string in the list is selected the parameter is assigned a value of one if click on the button Enter an expression then AMESim 4 2 User Manual 417 the second string is selected the parameter is assigned a value of two and so on Figure 14 9 Enumeration Text parameters These are text strings There are two common uses for text parameters To specify the name of files that are to be read by the submodel In this case you get access to a file browser as in Figure 14 10 Figure 14 10 Specify the name of the file with the browser To give an expression that is to be evaluated by the submodel In this case you get acces to the Expression Editor as in Figure 14 7 Changing the title of a parameter Each item in the list has a title and this field is editable Select the field and make the changes you want Figure 14 11 Chapter 14 Facilities available in Parameter mode 418 Figure 14 11 Titles are editable To restore the original title select the item in the list and click on the Reset title button 14 2 2 Changing parameters for a generic supercompo nent without global parameters If you click on a component associated with a generic supercomponent without any global parameter you get an Explore Supercomponent dialog box An example is shown in Figure 14 12 Figure 14 12 You can modify the parameters of a superc
469. re On the perimeter of the icon but Not in a corner AMESim ports come in different types and each has its own special style To add a port to the icon see the following steps Figure 11 80 Tools for adding a port Step 1 Select a port type using the pulldown menu Step 2 Click on the port style icon and move the pointer over the drawing area The port style appears at the edge of the drawing area When you are in the position you want left click Note the port style has been added to the icon but no port has You may have unrestricted choice or a very limited choice The Add a port style button will take on the appearance of the port type you select Select a port type Set a port position Add a port style and type AMESim 4 2 User Manual 357 yet been set Step 3 Click on the Set port position button and note the change in the cursor Selecting or creating an icon for a supercomponent These procedures are described in sections 6 2 2 Creating a supercomponent and 6 5 2 Creating a supercomponent icon This option is only available if you are creating an icon for a supercomponent Use the center of this cursor to select the port position You will find that it is easier to set a port by using the grid and the zoom facility Note that a list of current port positions is updated under the Icon preview Chapter 11 Facilities Available in all Modes 358 11 4 8 Tools menu Check sub
470. re and in the values of some parameters 2 detail is hidden to make the supercomponent much easier to use You may have already used customized supercomponents without knowing it There are customized supercomponents in some AMESim libraries See the AMECustom manual to find out more about customized supercomponents AMESim 4 2 User Manual 199 6 4 2 Multi level supercomponents As explained in this chapter supercomponents can be built from various standard components connected together It is also possible to build a supercomponent from other supercomponents In this case it is called a multi level supercomponent and it can contain both standard submodels and other supercomponents of any type connected together An example of a multi level supercomponent is shown in the figure below Figure 6 19 Explore supercomponent dialog box This multi level supercomponent is named SCPOS5 and it contains the supercomponent SCPID5 which we have built in the previous section The procedure for creating a multi level supercomponent is exactly the same as with standard components However note that a supercomponent cannot contain itself Multi level supercomponents are allowed but recursive supercomponents are not 6 4 3 Displaying the available supercomponents and their categories 1 Select Edit Available supercomponents Chapter 6 The Supercomponent Facility 200 Figure 6 20 Available supercomponents dialog box The Availabl
471. re in Figure 14 40 Chapter 14 Facilities available in Parameter mode 440 4 To validate your modifications click on OK When you click on OK this closes the Compare systems dialog box If you re open it the parameters you have copied before will not appear in the list be cause they are not different anymore If you want to go back to the previous situation the only possibility is to close the system without saving it Center a component in the sketch When you compare big systems it is not easy to visualize one of the components in the sketch You can use the Center element button to center the component in the sketch Tricks and tips Parameter mode To compare two systems they must be both in Parameter mode Blue color You can copy parameters only if they appear in blue Check submodels facility To correct an inconsistence in a supercomponent use the Check submodels fa cility Cancel the last modifications If you wish you had not applied the last modifications the only possibility to go back to the original configuration is to close the current system without sav ing and reopen it 14 4 3 Write auxiliary files Use this facility when you need to create or update the files that are used when a simulation of the model is started This is extremely useful when you have an interface with another application such as Matlab or Simulink which uses your model files In this case selec
472. re of any changes to input files for the simulation model If we change them from MATLAB and then do something in AMESim the changes we made from MATLAB may be over written When AMESim closes a system it normally packs all files into the ame file We need to unpack the ame file before we can access the simulation model from MATLAB AMESim 4 2 User Manual 227 2 It is now necessary to change to the working directory for running the AMELoad program which unpacks the ame file After changing to the directo ry where MSD2 is stored type or 3 After the command has completed do an or This command allows you to make sure you have a number of files in the cur rent directory all beginning with MSD2_ The file called MSD2_ using Unix or MSD2_ exe using Windows is the actual simulation model If this file is missing you need to start AMESim again and make sure that you do a simulation before saving and quitting from AMESim Step 2 Listing parameters from MATLAB Now you will try something very simple like listing all the parameters in the model 1 If necessary start MATLAB and use its browser to move to the directory where you saved your MSD2 model 2 Type amegetp MSD2 or for a more selective parameter listing type Using Unix AMELoad MSD2 from a terminal window Using Windows AMELoad MSD2 from a DOS window Using Unix ls Using Windows dir Chapter 7 The AME
473. road The quantity restrict AS_BodyDisplacement 1 5 2 0 is the body displacement over the range seconds The body displacement equilibrium po sition after the step is 0 1 m Hence AS_max_FinalDisplacement is the maxi mum amount by which the body differs from the equilibrium position over the last half second Step 2 Define an optimization process 1 Study New to produce the Design Exploration Definition dialog box 2 Change the study name to AS_Optimization 3 Select Optimization for the Study type and keep NLPQL selected 4 Click on the check boxes near AS_SkyHookDamperRate and AS_max_BodyAcceleration to declare them as inputs the algorithm will use The check boxes should be ticked 5 Set the values of upper and lower bound as well as the default value as shown in Figure 10 18 Note that the default for AS_SkyHookDamperRate has been changed from 0 to 1500 The NLPQL algorithm is sensitive to starting values 1 5 t 2 Chapter 10 Getting started with AMESim design exploration features 290 Figure 10 18 The inputs for the optimization process are now complete 6 Click on the Outputs tab 7 Click on the check box near AS_max_BodyAcceleration to declare it as an objective This means that we want to make the absolute value of this output as small as possible 8 Click twice on the Upper bound cell of max_TireJump line to edit it 9 Enter the value 0 0 This way you add a constraints on this
474. roduction 1 1 1 What is AMESim 1 1 2 How is AMESim used 2 Interfaces 3 Equations 3 The standard library 4 1 3 How to use the documentation set 4 1 4 Organization of this manual 5 1 5 The AMESim 4 software suite 6 1 5 1 AMESim 6 1 5 2 AMECustom 6 1 5 3 AMESet 6 1 5 4 AMERun 7 1 5 5 The whole family of AMESim products
475. rogress bar 468 15 4 Load save plot configuration 468 Load plot configuration 468 Save plot configuration 469 15 5 State count facility 469 15 6 Replay facilities 470 15 6 1 Basic controls of Replay 472 AMESim 4 2 User Manual xiii 15 6 2 Advanced options for Replay 472 15 6 3 Symbol Options for Replay 474 15 6 4 Using saturation values 478 15 6 5 Some ideas 479 15 7 Why do linear analysis 479 15 8 Performing linear analysis 480 15 8 1 Setting Linear Analysis Times
476. rop method 503 Plot button method 503 Plotting graphs 65 Save data Load data 108 Simple 503 Plot image Exporting to word processor 511 Plot manager 134 515 531 Valid expressions for 535 Plots Special for design exploration 587 Plotting curves 86 Pneumatic library 39 Ports
477. rough a gain with a value corresponding to the main damper rating For the sky hook damper only the velocity of the car body is used and this is attached to a gain corresponding to the sky hook damper rating The two signals are combined and transmitted as forces to the mass of the car and of the wheel The road profile is defined in a single duty cycle submodel The output is then duplicated and sent to the three sub systems This makes it 100 certain that the three subsystems are receiving the same signal To build the system you will copy the quarter car system into a new system To do this we need to display two systems simultaneously 4 3 1 Displaying two or more AMESim systems simulta neously When you select an existing AMESim system it is loaded and appears in the sketch area You can load other existing systems or request new systems As you do this they appear in sketch area You can think of them as being in a stack with the last one selected being at the top of the stack You can control how they are stacked using the Windows pulldown menu Figure 4 24 Windows menu You can select one of the systems and bring it to the top of the stack You can display them all using the Cascade and Tile options For the current tutorial example 1 Start by loading the quarter car system 2 Next open a new system The quarter car system will go behind the new system 3 Select the Tile option so that they are both displayed
478. rs window that is available in Parameter mode Figure 14 34 Parameters to check tab This tab gives a list of the parameters you have to check Find utility The Parameters window provides a find utility if you click on a parameter in the window the label of the component or line using this parameter is displayed in the sketch Note The last tab may be created by the Check submodels utility if the process has failed for some submodels See Facilities available in the Parameters window page 434 AMESim 4 2 User Manual 435 Parameters window is editable You can edit the values of the parameters directly in the Parameters window This is very useful because you do not have to open the Change Parameters dialog box each time you want to compare the behavior of your system with different values of some parameters Save of the Parameters window The place of the Parameters window in the interface of AMESim is saved when you change the mode and when you close AMESim 14 4 2 Compare systems item of the Tools menu Figure 14 35 Tools menu You can compare two systems in order to highlight the differences between them It is possible to compare systems which are completely different but in most cases it is more interesting to compare two similar systems which have different submodels and parameters or even a few different components Using the Compare systems facility You can compare only two systems even if seve
479. rt Figure 5 48 Animation parameters 5 Run animations for your two bar charts 5 6 2 Relate the modal shape analysis to the time do main 1 Next set the following sine wave parameters With You can Start Stop animation Animate the modal shape through time Click the special cursor on the graph region you are interested in If the eigenvalue is complex you see oscillations and damping For real eigenvalues you see damping For a zero eigenvalue the shape is constant and does not evolve with time For an eigenvalue with a positive real part the shape grows exponentially with time and so a warning message is displayed and no animation is shown Start Stop all animations Animate all the modal shapes if you have several on the same plots Reset animation Stop the animation and reinitialize the display Click the special cursor on the graph region you are interested in Animation options Specify the number of increments per cycle and the total number of animation increments used for the animation For this option a dialog box appears as shown in Figure 5 48 Add observer titles Display the titles of the observer variables the frequency and the damping values of the selected mode Temporal view Create a temporal curve of the magnitude for each observer sine wave frequency 5 032921 Hz sine wave amplitude 0 001 AMESim 4 2 User Manual 183 This gives a very small 0 001N disturbance at a frequen
480. ruction of plots is such a major activity the description of time domain plots is described in the following chapter Set run Start run Stop run Linear analysis Time domain Replay State count Blank plot Table editor Set LA times LA status Root locus Frequency response Eigenvalues 1 parameters mode mode Design exploration Chapter 15 Facilities Available in Run Mode 446 15 2 Time domain and linear analysis modes In Time domain mode you can plot graphs This activity involves AMESim reading the results files from either a standard run or a batch run In Linear analysis mode you can Set the characteristics for linear analyses to be done during next run Look at eigenvalues Do Bode Nyquist and Nichols plots Examine modal shapes Do a root locus plot This involves AMESim reading jac Jacobian files In both modes run parameters can be set and runs initiated 15 3 Running a simulation To run a simulation 1 If necessary change the Save status and Locked status of variables 2 If necessary change the linear analysis status of variables 3 Set the run parameters to define the characteristics of the run To do this click on the Run parameters button to produce the Run Parameters dialog box 4 Initiate the run by clicking on the Start run button When the run starts a Simulation run dialog box appears 15 3 1 Save status and Save n
481. rver variable is a weighted sum of the modes of the system Each mode corresponds to an eigenvalue Step 2 Linearize at an equilibrium point 1 Set the velocity of the left mass back to zero so that it is in equilibrium For modal shapes there must be free state variables and observer variables 2 Set the three velocity state variables as state observers so that the linear analy sis status is the same as in Figure 5 43 yi ki j e jt j 1 6 AMESim 4 2 User Manual 179 Figure 5 43 Linear analysis status 3 Click on to set the linearization time at 0 5 second 4 Do a run In this case the system should be in an equilibrium state with the starting val ues 5 Select Eigenvalue Modal Shapes in the Linear analysis toolbar 6 Select the jac file created to get the eigenvalues dialog box Figure 5 44 Figure 5 44 Eigenvalues Chapter 5 Batch Runs and Linear Analysis 180 There are two 0 eigenvalues a pair with frequency about 5 Hz and another pair with a frequency about 8 7 Hz Normally 0 eigenvalues are little interest Step 3 Create animated plots 1 Select either of the two eigenvalues associated with the 5 Hz mode 2 Click on the Modal Shapes button so that the dialog box in Figure 5 45 appears Figure 5 45 Modal shapes analysis What we have now is a single mode of the system corresponding to a complex conjugate pair of eigenvalues There is a list containing the 3 ob
482. s You cannot enter Submodel mode from Sketch mode until the sketch is complete with all ports connected You cannot enter Parameter mode or Run mode from Submodel mode until all components and line runs have submodels In addition you may be blocked from leaving a mode because a dialog box is displayed which must be closed first 11 2 2 Copy selected items to the auxiliary system Figure 11 4 Copy button This button is sensitive only if one or more objects in the sketch are selected When you click on this button a copy is taken and stored and is known as the auxiliary system The current auxiliary system can be seen by doing Edit Display auxiliary 11 2 3 Sketch annotation tools Figure 11 5 Annotation tools toolbar Adding text to the sketch When you click on the Text button as you move your pointer across the sketch area the pointer has the following appearance Sketch Mode Submodel Mode Parameter Mode Run Mode select an object type add text add an object of the selected type add an image Chapter 11 Facilities Available in all Modes 302 Click in sketch area and enter text in the input box Changing the annotation object This is done from the pulldown menu Figure 11 6 Object pulldown menu Arrows lines rectangles and ellipses are available The default object is a line When you change the object the appearance of the currently selected object button changes Add
483. s Normally the start time and end time are defined in the results file AMESim 4 2 User Manual 473 Animation settings Scale settings With a particular unit selected AMESim will read the results file and hence it will know the maximum and minimum values Figure 15 35 Maximum and minimum values for a unit Numerical labels or symbols are very useful but other symbols are available To access these click on the Symbols gt gt button 15 6 3 Symbol Options for Replay The fully expanded is shown in Figure 15 36 Use Play Mode to specify the characteristics of the animation The meaning of the three options is obvious Use the Animation Speed slider to adjust the speed of the animation The Max and Min fields are editable Normally using the default symbols numerical values the labels are yellow If you edit the Max and Min values to give a smaller range values outside this new range will be displayed in red The values are then described as saturated These max and min values apply to this unit Chapter 15 Facilities Available in Run Mode 474 Figure 15 36 Fully expanded Replay dialog box Using the controls in the Symbol Settings are you can Select one or more units you want AMESim will analyze the system and determine which units are used for variables in the current system They will all appear in the Available Units list Select result files created from standard or batch
484. s and a displacement in m for SPR000A In contrast VELC shown below only provides a velocity in m s and hence SPR000A cannot be used in the Implicit variable example Figure 3 59 External variables for VELC and SPR000A Fortunately a spring submodel exists SPR000 that does not require a velocity The Premier Submodel facility selects this submodel This is an example of an icon being associated with more than one submodel 3 5 2 Signal ports A component that has a signal port can be connected to any port of another component The AMESim convention is that all signals have null units and that null units are compatible with any other units Thus the system Figure 3 60 is totally equivalent to the one below since the units XVLC01 SPR000 AMESim 4 2 User Manual 93 of the output of the SIN0 submodels is automatically converted from null to m s Figure 3 60 Signal ports Step 1 Construct the model 1 Go back to Sketch mode and remove the VELC submodels as in Figure 3 60 2 Go to Parameter mode Step 2 Use various values for the mass The default mass is 100 kg 1 Do a run 2 Record the CPU time given in the Simulation Run dialog box Figure 3 61 CPU tim 3 Repeat with the mass changed to 1 kg and then to 0 001 kg You will probably notice how much longer the run takes as the mass gets small er Another point of interest is the two forces that act on the mass Step 3 Plot the difference between the
485. s confirmation messages and general useful information AMESim 4 2 User Manual 37 2 3 4 Removing a component To delete an icon in the sketch you can Type Ctrl X Select Edit Cut Press Del and Enter keys Select the object and click on the trash icon 2 3 5 Drag and Drop AMESim offers a drag and drop option This is much easier and quicker for many actions You can drag and drop A component from a category to the sketch A text from a text editor to the sketch The text will have the AMESim text format A parameter from the Change Parameters dialog box to the Batch Control Parameter Setup dialog box 2 3 6 Adding some Text You can easily add some text on your sketch To add some text do the following 1 Click on The pointer becomes an A 2 Click where you want to add the text Then you see a square in which you can type your text Note You are allowed to type your text on several lines by pressing the Enter key each time you want a new line Chapter 2 The AMESim Workspace 38 2 3 7 The Ports 2 3 8 Displaying Hiding component labels 3 Press the mouse right button on the sketch A contextual menu appears 6 Select the Hide component labels submenu The labels disappear 7 You can do the same for the lines 2 3 9 Online help If you need some help on the components you can refer to the online help The points at whi
486. s as in Figure 4 44 AMESim 4 2 User Manual 135 Figure 4 44 Plot manager In the current example there is a single plotting area in which 2 curves appear as shown on the left of the dialog box Underneath are buttons labeled Add curve it will be added at the end and Remove curve it applies to the curve currently selected On the right we see the items which make up the plot They are A0 Time A1CAM00 1 displacement of cam follower A2CAM00 1 angular displacement of the cam modulo 360 Note that underneath this are two buttons labeled Add item it will be added at the end of the list and Remove item it operates on the item currently selected Note also we can expand each curve to see it constituents 2 In the left part of the dialog box select Curve 1 to produce the display shown in Figure 4 45 Figure 4 45 Display the axes of the Curve 1 In Curve 1 the x axis is Time and the y axis is CAM00 1 displacement of the cam follower Chapter 4 Advanced Examples 136 We want the x axis to be CAM00 1 angular displacement of the cam modulo 360 3 Drag and drop A2 from the right hand list onto X in the left hand list Figure 4 46 Drag and drop an item from the list to the curve 4 All we must do is select Curve 2 and then click on Remove Curve Figure 4 47 Remove curve 2 5 Finally we click on OK and we have our cam profile Figure 4 48 Plot of the cam profile We will finish the exa
487. s can be evaluated with sufficiently high precision The problem is smooth and well scaled As NLPQL uses gradients discrete parameters are excluded from such a method A characteristic of the method is that it stops as soon as it finds a local minimum Thus the result you obtain may be highly dependent on the starting point you give Chapter 19 AMESim Design exploration module 580 to the algorithm Genetic algorithm A genetic algorithm GA is a computer based metaphor of Darwin s theory of natural selection In such algorithms an individual represents a set of parameter values Description of AMESim GA The first step of the GA is to randomly generate a population of individuals Then the best individuals are kept whereas the other ones are removed from the population and replace by children of the others Children are obtained by randomly choosing two parents among the best individuals and choosing parameters close to the parent ones In addition to this individuals mutate their characteristics parameter values are changed by adding perturbations to their values After several generations individuals converge to one or several best solutions 19 3 3 Monte Carlo In Monte Carlo techniques you assign a statistical distribution associated with a standard deviation or amplitude to each parameter AMESim will randomly choose a set of parameter values for each run AMESim makes thi
488. s choice respecting the statistical settings of parameters AMESim provides tools to do the statistical analysis of the responses statistic moments and histograms 19 4 Main principles In AMESim design exploration tool we introduce the concept of a study Here a study is a set of inputs and outputs associated with a name and a design exploration technique and its properties A study name has to be unique inside a family It is possible to define and store several studies at the same time You can run whichever you want but two studies cannot run simultaneously All the studies can involve a subset or the whole set of input and output parameters that has been selected with the export setup During the execution stage AMESim does a sequence of runs changing for each run the model parameters and reading and post processing the results For each run or just for a subset the values of model inputs and outputs are stored in a log file The format of this file is described in Log file viewer page 589 AMESim 4 2 User Manual 581 During this sequence of runs AMESim changes only temporarily the values of the model parameters Hence you do not loose the parameter setting of your model that you have done in parameter mode after this execution if you do a standard run the parameters you have set in parameter mode are used 19 5 The Design Exploration dialog box 19 5 1 Description To create the Design Exploration dia
489. s contained in those categories libraries lib or a and associated source and makefiles 2 AMESim nodes These are the parent folders or directories where submodels and supercomponents are stored If a submodel is stored in the folder home user simulation valves submodels then home user simulation valves is an AMESim node All AMESim nodes must contain a submodels index file See Appendix B Special files used by AMESim page 623 for further details 3 AMESim node labels If submodels supercomponents are stored in the AMESim node H simulation injection Note If the ame file you selected contains only compulsory files then you get the dialog box below Chapter 11 Facilities Available in all Modes 370 then the AMESim node label is injection Ideally all AMESim node labels should be unique 4 Homogeneous transfer This is a transfer of a pck file where the sender plat form and the recipient platform are the same 5 Heterogeneous transfer This is a transfer of a pck file where the sender plat form and the recipient platform are different With the Pack facility you can quickly assemble all the models with the auxiliary files With the Unpack facility the recipient user can open the pck file and install the models and auxiliary files How to pack a system The Pack facility is guided by the AMEPack Wizard so that it is very easy to use During the process you can go back to previous step with
490. s in order to optimize some criterion 3 You want to find out how variation on a parameter due to production tolerances different operating conditions or wear affect performance The design exploration facility allows you to do all of these under the headings Design Of Experiments DOE Optimization Robustness analysis using Monte Carlo runs respectively The first step toward Design Exploration consists in selecting the inputs the AMESim model parameters and the outputs the AMESim model variables that you want to investigate This is done in AMESim using the Export module In this chapter we assume you have some knowledge about the AMESim Export module If this is not true read the Chapter 9 Getting Started with AMEPilot and the Export module first and do the tutorial example 10 2 Active suspension example Objectives In this example you will Chapter 10 Getting started with AMESim design exploration features 278 Define DOE Optimization and Monte Carlo studies Run these studies Plot graph dedicated to design exploration Do post treatments specific to design exploration The example deals with a very much simplified car suspension It is not intended to be a serious design exercise on suspension design However it does illustrate the principles involved is easy to understand and can be completed fairly quickly We recommend you do this exerc
491. s low star level 1 means low level Chapter 19 AMESim Design exploration module 596 0 means central level 1 means high level 2 means high star level An example of such a design matrix with two inputs is given in Figure 19 17 Figure 19 17 Design matrix 19 6 3 Optimization Figure 19 18 shows the Design Exploration Definition dialog box when Optimization is selected as study type AMESim 4 2 User Manual 597 Figure 19 18 DesignExploration Definition for Optimization As shown in Figure 19 18 the definition of the optimization is divided into two parts The first part is common to all optimization studies and concerns the definition of the optimization problem The second part concerns the technique to use in order to solve the optimization problem These parts are described in the following paragraphs Common part problem defi nition To definite the optimization problem you must Specify the input parameters Set an acceptable range for these parameters Specify the objective to reach Specify the constraints to be respected Chapter 19 AMESim Design exploration module 598 This is done using the common part of the optimization setup area It is made of two tabs containing a list of inputs and a list of outputs Figure 19 19 List of inputs Figure 19 20 List of outputs For both lists the first column contains the name you gave to each
492. s module is now imported in the current VB applica tion and it can be used with an AMESim system to perform simulations Step 2 Create the main code of the VB application using the AMEVbaInterface bas module Using the AMEVbaInterface bas VBA module The AMEVbaInterface bas VBA module includes 5 subroutines that can be called in the main code of a VB application Many combinations of calls to these subroutines can be performed by skilled VBA developers However the most common use of the AMEVbaInterface bas VBA module is divided into 10 steps Please refer to the ExcelInterface ame system from the demo area in order to get a complete illustration of this procedure 1 Call the AMEVbaGetPar subroutine It reads parameter titles parameter values and variable titles from an AMESim system and puts them into 3 tables Parameters and variables are imported from AMESim to the VBA code 2 Add in the main code a process that reads parameter and variable tables and displays these elements in the project interface worksheet cells for example This is the responsibility of the VBA developer Parameters and variables are imported from the VBA code to the project interface Excel for example 3 Let the final user modify parameter values by hand in the project interface where these parameters have been written in step 2 AMESim 4 2 User Manual 573 4 Read parameters that may have been modified by the final user and put them into 2
493. s or both match Simulation Post processing Figure 11 70 Options for simulation post processing This tab gives access to two items Delay for slow network Increase this value when your model is stored on a remote machine and you get an error message related to the model data file Delay for automatic update in ms This controls how often a plot or a Variable List dialog box is updated when the Automatic update option is selected The default option of 2000 ms is about the smallest value that is acceptable Plot windows stay on top this option determines if plots tend to stay on top of the AMESim or tend to go behind Using Unix Figure 11 69 Unix Compilation and Parameters Options AMESim 4 2 User Manual 347 11 4 4 View menu Bird s eye view is available in all modes Parameters and Variables are available in their respective modes Parameter mode and Run mode See Chapter 14 Facilities available in Parameter mode page 411 and Chapter 15 Facilities Available in Run Mode page 445 Bird s eye view To start the Bird s eye view you can either Please refer to the end of section 11 3 Facilities available through sketch area menus for more details 11 4 5 Interface menu Generate files for Real Time is available in Run mode The other items are available in Sketch mode View menu Items available in all modes Bird s eye view Right click on the sketch a
494. s recommended to save the shadow system 4 The submodels are all removed as shown in Figure 13 10 Figure 13 10 Submodels are removed 5 Go back to Sketch mode and modify the system as in Figure 13 11 Figure 13 11 Put the rotary load next to the rotary spring The modification would not have been possible with the submodel ADT00 still assigned to the sensor component because of compatibility constraints with ad joining components 6 Switch to Submodel mode and click on the Premier submodel button You get a different submodel for the sensor ADT01 but all the parameters of the previous system shown in Figure 13 8 have been preserved Note If you immediately select Edit Copy from shadow the submodels are recovered in their previous state This is like an Undo facility AMESim 4 2 User Manual 409 Figure 13 12 Submodels are changed if necessary but parameters are pre served Chapter 13 Facilities available in Submodel mode 410 AMESim 4 2 User Manual 411 Chapter 14 Facilities available in Parameter mode 14 1 Introduction The main purpose of Parameter mode is to allow you to change the parameters of submodels and supercomponents There are three basic possibilities Accessing the parameters directly by clicking on the component or line run Saving and loading parameter sets from files Copying parameter sets and pasting them to another component or line run The items in
495. s results compatible with the original high fidelity model Chapter 1 Introduction 16 1 6 9 Compare Systems It is common to develop a complex model and then to evolve it into several different versions The problem then is to determine the differences between the versions Doing this manually is definitely not easy The AMESim Simulink interface has been updated to be compatible with Real Time Workshop Together with additional features that have been added in AMESim an option exists to export an AMESim model to a real time target such as dSPACE or xPC Target With the right amount of model simplification the simulation model of your physical system can then run in real time which opens the way for many interesting applications such as hardware in the loop simulation In AMESim 4 2 you load the models and in Parameter mode use Tools Compare systems This initiates a process which analyzes the two systems and reports on the differences AMESim 4 2 User Manual 17 Figure 1 13 Compare Systems Labels are added to the sketch and the changes are summarized in a tree structure The expanded tree structure can be printed 1 6 10 Pack and Unpack Our users are increasingly employing AMESim as a model exchange environment When these models contain special data files and user created submodels or supercomponents this process was not easy using AMESim 4 1 Normally several iterations were needed To make this exchange proce
496. s value using an ASCII file 2 Running the simulation using AMEPilot 3 Getting the results in an ASCII file 18 8 1 Setting Input Parameters You are able to set the Input Parameters parameter that will be used to perform the simulation using an ASCII file This file name and format must obey basic rules which are exposed in that paragraph File naming rules The name of the file you must use to set the Input Parameter values is based on the name of the target model If your model is named myModel then the input file name has to be myModel_ in You can create this entirely yourself but there is an easier way of doing it A file named myModel_ in tpl is created This contains the Chapter 18 AMESim export module 568 Input Parameters with their default values Make a copy of this as myModel_ in and edit this Common format rules Not all the Input Parameters have to be in the file in other words you may omit some parameters The default value will be used for the missing Input Parameters There are no constraints regarding the order the Input Parameters appear in the file Real Input Parameters In the input file there must be one line per real Input Parameter for which you want to set a value Each line must start with the Export Name of the Input Parameter followed by one or more spaces and the value you want to set to your value You can use the format you want for the value Thus if one of the Input Parameter you
497. search facility AMESim 4 2 User Manual 5 1 4 Organization of this manual This manual describes AMESim used on Unix workstations and on PCs with a Windows NT or 2000 or a Linux operating system Most of the time the description is exactly the same for both environments However when it is necessary to have separate text for each environment the Unix Linux description is given first and the Windows description follows as shown below Chapter 2 is a presentation of the AMESim workspace Chapters 3 to 10 are tutorial chapters with lots of exercises to try Chapter 3 is a get you started guide in the use of AMESim with standard components and submodels It is absolutely essential that new users read this chapter and do the exercises The time necessary is from 1 to 2 hours After this you should be able to do basic simulation work using AMESim Soon after this read Chapter 4 and do the extra examples Chapter 5 covers some more advanced features Ideally read this after using AMESim for about 3 weeks Chapter 6 introduces you to the supercomponent and Chapter 7 describes the facilities available using the interface with Matlab With Chapter 8 you will see how to use the activity index facility which is a powerful analysis tool based on energy transfer in the submodels of a system Chapters 9 and 10 introduce the Export and Design Explorations facilities respectively Chapters 11 to 19 are arranged for reference They cover featur
498. sents the probability for each element of the population to have its discrete parameters mutated Mutation amplitude This is a real number which must be between 0 an 1 Mutation consists in adding a noise to parameters of some individual The mean value of this noise is 0 This real value is used to compute the standard deviation of this noise If is this value the noise standard deviation for a parameter is In practice if you set a value near 0 the speed of convergence has a chance to increase On the other hand if you set a value near 1 there is more design exploration and thus there are less chances that the algorithm converge toward a local optimum Seed Genetic algorithms are based on the use of random number generation AMESim implementation of this algorithm use a pseudo random number generator This means that if you execute twice the algorithm without changing the settings you will get exactly the same results If you change only the seed values then the starting points will be completely different as well as the randomly generated numbers Here are some rules to keep in mind when setting up a genetic algorithms The number of runs that will be perform regarding your setting can be computed by applying the following formula where N is the population size r is the reproduction ratio and G is the number of generations bound lower bound upper dev std number of runs N Nr G 1
499. server variables The sum of the absolute values in the magnitude column adds up to 100 What this table means is that although this mode is important for the system the central mass is not being influenced by these eigenvalues at all The left mass velocity and the right mass velocity are influenced by these eigenvalues but they are completely out of phase It is very convenient to have observer variables ordered so that the left mass velocity is first and the right mass velocity last This is not necessarily what you get Hence you can select individual observer variables and move them using Move up and Move down to get your preferred order 3 Click on the Plot Magnitudes button to get a graphical representation of these values Note You can scale the magnitudes but the use of this is deferred until Chapter 12 AMESim 4 2 User Manual 181 Figure 5 46 Modal shapes at 5 Hz 4 Repeat the sequence of operations with one of the eigenvalues associated with the 8 7 Hz mode You have two bar charts as in Figure 5 46 and Figure 5 47 Figure 5 47 Modal shape at 8 7 Hz The middle mass is influenced by this mode On each chart there is a bar graph representing the response of each observer to the mode selected On each graph a ModalShapes pulldown menu and a ModalShapes toolbar are available Chapter 5 Batch Runs and Linear Analysis 182 In the ModalShapes menu we have the following items to operate on the cha
500. shforth methods of orders 2 to 4 are provided These are linear multistep methods They have the advantage that only one call to the model is required per step Their disadvantages is that they are less stable for higher orders Runge Kutta methods of orders 2 to 1 are provided Their stability improves as This is either Regular by default or Cautious Normally the Standard option results in a faster run but there are exceptions If you find that a run fails with Standard try Cautious By default Minimal discontinuity handling is disabled and most of the time you should leave it in this state Chapter 15 Facilities Available in Run Mode 462 the order increases but the number of calls to the model per step also increases with order Step to use This is the fixed step that will be used Order 15 3 4 Integration methods used This section is appropriate reading for those who are interested in the numerical algorithms employed by AMESim Some simulation software gives you a menu of integration algorithms from which you are invited to make a choice Even for a specialist numerical analyst given a newly constructed system it is difficult to make an informed selection The problem is made much more difficult because the characteristics of the equations governing the system may change in the course of the simulation This often happens at discontinuity points Just before the discontinuity algorithm A might be very suitable After
501. sign Of Experiments These are structured methods which allow you to determine the relationship between factors input of a process e g AMESim model parameter and responses outputs of a process e g AMESim model variable post treated or not In this section the following notation is used The number of parameters is N The levels of a parameter are the set of the values that are used for the parameter The levels are defined by the user at the beginning of the process Three DOE methods are provided with AMESim Parameter study This is the simplest method of DOE You set as many levels as you want for each parameter The first run performed by AMESim will use the first level for each parameter this is the nominal parameter set Then AMESim will perform runs in which only one parameter value is different from the nominal parameter set As many runs as necessary will be performed in order to test each parameter level No specific post treatments are associated with this technique Full factorial The full factorial DOE provided with AMESim is limited to 2 levels for each parameters The idea here is to perform a run for each combination of parameters This means that 2N runs are necessary Full factorial technique allows AMESim to compute the main effect of each factor or group of factors Some specific plots are associated with this technique Pareto plots main effect diagram
502. sign library and at some stage you have to do a major reconstruction involving switching from one causality to another and consequently using other submodels You are using one of the libraries Hydraulic Resistance Thermal Hydraulic or Filling You then want to switch to another of these librar ies without loosing any parameter Example We now illustrate the principle using a very simple example constructed from the standard AMESim library rather than from an optional library Figure 13 8 shows a mechanical system with the submodels displayed Figure 13 8 Rotary load Suppose you have carefully set parameters for the submodels and you do not want to loose them Now suppose you wish to change the position of the sensor ADT00 so as to put it between the torque source TORQC and the load RL02 This operation is not possible since the external variables of ADT00 are not compatible with those of TORQC and RL02 the units are convenient but the directions are not A solution to this problem is to remove the submodels assigned to these components and to replace them by compatible ones after the system reconstruction To proceed without loosing the parameters do the following 1 Select all the components of the system 2 Select Edit Copy to shadow from the menu bar The dialog box shown in Figure 13 9 appears 3 Click on Yes to save the model Chapter 13 Facilities available in Submodel mode 408 Figure 13 9 It i
503. sing the Time constraints facility you can adjust the start time and end time directly Figure 16 24 The FFT options If the curve is a bar chart e g modal shapes there is a special tab called Options In this tab you can set two options which are AMESim 4 2 User Manual 529 16 6 5 The text menu Edit Delete Select this menu item when you want to delete the selected text Font Select this menu item when you want to change the font of the selected text The dialog box shown below appears and you can select the font characteristics you want Figure 16 25 Changing the font of text on a plot The text menu options apply to the selected text The text can be either the title of an axis or text added manually Select this menu item when you want to modify the selected text The text appears in an editing area Use the arrow keys to adjust the text cursor position and then modify the text Chapter 16 The Plotting facilities 530 Color Select this menu item when you want to change the color of the selected text The Select color dialog box shown below appears You can select the color you want Figure 16 26 Selecting a color for text You can select one of the basic colors or move the cross cursor on the color palette to create your customized colors Rotate Select this menu item to rotate the selected text 16 7 The Plot manager This tool is important when you need to do complex plots that are not s
504. so this is hardly surprising Non stiff integrators do not work well with differential algebraic equations LSODA uses a collection of non stiff integration Adams Moulton multistep methods and the same collection of stiff integration backward differentiation formulae multistep methods as are employed in Gear s method LSODA monitors the characteristics of the governing equations and switches between the non stiff and stiff integrators as is necessary By this means LSODA is generally a very efficient solver irrespective of the characteristics of the model ordinary differential equations DASSL and LSODA as implemented in AMESim are substantially different from the original algorithms 15 3 5 The Simulation run dialog box When you initiate a run the Simulation run dialog box is created The name of the system is also displayed in the title There are two buttons available Stop run and Close In addition there are the progress bar and two run reports The two run reports are accessed by selecting one of the following tabs Figure 15 24 Tabs of the run report Use the scroll bar to view the whole report AMESim 4 2 User Manual 465 Log report Routine messages are put in this report The final CPU time is always displayed and the end of the run Record of discontinuities If Discontinuity output is enabled extra data are put into the results file and in addition a record of the discontinuity is put into t
505. sp displabel amegetvar R S MAS001_1 displace ment plot t disp xlabel tlabel ylabel displabel 7 2 4 Running AMESim simulations from MATLAB It is also possible to use MATLAB for the control of simulation experiments of an AMESim model The commands available are listed in section 7 3 4 Running AMESim simulations from MATLAB This makes it possible to use the scripting possibilities in MATLAB for doing batches of simulation runs As a simple Chapter 7 The AMESim MATLAB Interface 226 example we can start with the system in Figure 7 1 but slightly modified to let us input a step in displacement This can be done with the system in Figure 7 4 Figure 7 4 Stet as input in displacement Running a simulation from AMESim 1 Set up this system using the Premier submodel facility and call it MSD2 2 Set up the value after step at 0 1 and the step time at 0 2 seconds A simulation should produce the AMESim plot in Figure 7 5 if the mass is 100 kg the inclination 0 degree the spring rate 100000 N m and the damping 1000 N m s 3 Do not use any selective save feature 4 Set the final time to 1 second and the communication interval to 0 01 second Figure 7 5 Plot of the displacement Running a simulation from MATLAB Now you will do the same simulation from within MATLAB Step 1 Save the model close AMESim and unpack the ame file 1 Quit from AMESim The main reason for this is that AMESim is unawa
506. specified by FluidIndex is an instruction to AMEPilot to insert into the string the current value of the Input Parameter named FluidIndex If FluidIndex has the value 8 you will get the string fluid8 data Since FluidIndex can take any values between 0 and 12 inclusive there are 13 distinct strings that can be defined See 9 2 1 Setting up the export for another simple example Now for the general description The Formatted string is a way for you to make a text parameter evolve according to the value of other parameters It uses formatted elements which will be replaced at run time These formatted elements are made of the export name of an integer or real Input Parameter associated with characters They look like parameter_name At run time every occurrence of parameter_name will be replaced by the current value of the parameter named parameter_name 18 6 Exporting simple outputs Here we focus on Simple Output Parameters They are displayed in a list giving all the properties that define the simple output parameters as shown on Figure 18 8 Figure 18 8 Empty list of Export Simple Output Parameters 18 6 1 Adding simple outputs to the export setup Simple Output Parameters are parameters that correspond to submodel variables Adding a simple output to the export setup means that you will get the final value value at the end of the simulation of the corresponding variable Chapter 18 AMESim export module 564 E
507. sponse It represents the mean variation of a response when a factor varies from low level to high level The slope of the line gives the main effect AMESim 4 2 User Manual 609 Figure 19 34 Example of a Main effect diagram When Main effect diagram is selected the dynamic part of the dialog box is as shown in the following figure Figure 19 35 Setup of an Main effect diagram Select the factor and the response you want to consider using the dropdown lists and click on the OK button You must wait the end of the design exploration process to create such a plot This type of plot cannot be updated Pareto diagram Pareto diagrams only apply on DOE Full factorial and Central composite It is used to determine which factor or group of factors are the most influential regarding a response It is a bar chart Each bar represent the contribution in percentage of a factor or group of factors on the variation of a given response A blue bar means that the contribution is positive while a red bar means that the contribution is negative A factor has a positive contribution if the value of the response increase when the factor goes from low to high level Chapter 19 AMESim Design exploration module 610 Figure 19 36 Example of a Pareto diagram When Pareto diagram is selected the dynamic part of the dialog box is as shown in the following figure Figure 19 37 Setup of a Pareto diagram Select the response you want t
508. ss easier a special Pack utility has been developed for AMESim 4 2 This uses a GUI Wizard to assist the user in creating a single package containing all the components to make the models run Features are The models you package are analyzed searching for data files and user icons submodels and supercomponents Any important submodels index files are analyzed You have the option of purging the models AME make files are analyzed looking for special libraries You specify the target system the models will run on which can be dif ferent to the one you are using You have the option of not sending source spe and sub files Chapter 1 Introduction 18 Figure 1 14 The AMEPack Wizard Figure 1 15 The auxiliary files have been identified When the package is received the corresponding Unpack facility is started This allows the models and auxiliary files to be positioned within the destination file system If appropriate AMEUnpack will attempt to compile submodel and library source AMESim 4 2 User Manual 19 Figure 1 16 Unpacking the models and auxiliary files 1 6 11 Enumeration In a submodel with different options defined by an integer parameter particularly multiple options the Change Parameters dialog box was rather ugly Here is the submodel UDA1 from AMESim 4 1 Figure 1 17 Change Parameters dialog box for 4 1 UDA1 With AMESim 4 2 a different approach is used Here are the
509. st highlight the curve or variable you want to remove It is better not to remove variables until you are absolutely sure they will not be needed You do not have to get it right first time Remember you can always have another go sin cos tan asin acos atan log log10 sinh cosh tanh asinh acosh atanh exp abs sqrt integ differ atan2 sign min max a 0 AMESim 4 2 User Manual 535 A1 A2 A3 sin A1 a1 pi a1 2 a2 2 max a1 a2 a3 abs a1 16 8 Useful shortcuts for AMEPlot Facility Shortcut Open a file Ctrl O Save configuration Ctrl S Print Ctrl P Quit Ctrl Q Copy Ctrl C Rotate labels Ctrl R Select all text Ctrl A Raise all graphs Ctrl T Lower all graphs Ctrl B Help F1 Chapter 16 The Plotting facilities 536 AMESim 4 2 User Manual 537 Chapter 17 3D plots and order analysis facili ties AMESim distinguishes two types of 3D plots 1 Surface plots These are created from 2D plots where a large number of related curves are displayed The 2D curves are displayed as slices stacked one be hind the other This 3D representation gives an additional method of comparing the plots To further aid comparisons We can view the surface from different angles We have different shading options 2 XYZ plots This is a natural extension of the XY plot The result can be de scribed as a twisted wire in 3D space
510. system 2 Copy the selected objects e g Ctrl C 3 Click in the new system to make it active The mouse pointer takes on the appearance of the objects copied in the active window system Mirror and Rotate actions can be performed if necessary by clicking the mouse left button 4 Paste the objects in the new system e g Ctrl V Figure 4 28 Paste on the new system 5 Left click to add the objects to the sketch Note The usual no overlap rule applies for the copy cut paste operations Chapter 4 Advanced Examples 122 6 Close the quarter car model in order to work only on the new model 7 Save the new system as skyhook for example Step 2 Complete the sketch as in Figure 4 29 1 Remove the line from the road profile 2 Select all the mechanical components 3 Paste them twice as in Figure 4 29 Fortunately the submodel parameters are preserved in the pasting process Figure 4 29 Paste twice the system Recall we are using a single duty cycle component to define the road profile Three copies of this signal must be produced to be fed into the three sub systems There are two ways of doing this Using simple signal duplication blocks AMESim 4 2 User Manual 123 Figure 4 30 Signal duplication blocks Using a general dynamic duplicator block Figure 4 31 dynamic duplicator block 4 3 4 Dynamic blocks The majority of AMESim components have fixed numbers of ports fixed nu
511. t File Write aux files so that your model files are available and up to date Note If you copy the value of a parameter and valid this operation by clicking on OK the parameter will not appear any more in the list of differences if you reopen the Compare systems dialog box AMESim 4 2 User Manual 441 14 5 Right button operations Some parameter facilities are available through the mouse right button menu which appears by right clicking on a component or a line Figure 14 41 Right button menu 14 5 1 Copy Paste parameters On occasions there will be several instances of the same submodel and the parameters of each instance will be the same Typing in exactly the same values for a second or third time is very tedious To cover this situation a copy submodel parameters facility is provided You can also copy component parameters to paste them on a line and vice versa Copying parameters 1 First decide which is the source submodel 2 Next right click on it 3 Select the Copy parameters submenu as shown in Figure 14 41 Pasting parameters 1 Right click on the destination submodel 2 Select the Paste parameters submenu Chapter 14 Facilities available in Parameter mode 442 A dialog box appears indicating how many parameters have been copied Figure 14 42 Information message for pasted parameters You can copy from a submodel to another from a submodel within a supercomponent to another w
512. t a supercomponent in a new AMESim sketch Chapter 6 The Supercomponent Facility 202 Figure 6 24 Available supercomponents You can then modify the contents of this supercomponent or even rebuild it totally In this situation AMESim must be used exactly as with a standard model except that Only Sketch mode and Submodel mode are available It is possible to change parameters in Submodel mode right click on the component which parameters you want to change If the supercomponent has any ports they appear on the sketch as grey numbered components These port blocks cannot be deleted they can only be moved by the drag and drop method and they must be connected before saving It is strictly forbidden to add a supercomponent to its own constituents Supercomponents can be multi level in that they can contain other supercomponents but they are not recursive in any way Consequently when you edit the constituents of a given supercomponent it is strictly forbidden to add a multi level supercomponent in which this given supercomponent is included If one of these two rules is broken you will get an error message as shown below Figure 6 25 A supercomponent cannot be added to its own constituents When the modifications are done the supercomponent must be saved using the File Save menu Then you must close the sketch in which the supercomponent is edited You are back to the stage you were just before t
513. t information for all our offices World zone Telephone numbers E mails Below you will find contact information on our worldwide offices For more information mail addresses for example please refer to our contact webpage Web Site http www amesim com Headquarter amp Development Center S A Roanne Tel 33 4 77 23 60 30 Fax 33 4 77 23 60 31 E mail hotline amesim com FRANCE SWITZERLAND SPAIN PORTUGAL BENELUX S A Paris Tel 33 1 39 43 08 12 Fax 33 1 39 43 52 19 E mail hotline amesim com ITALY SWITZERLAND S A Lyon Tel 33 4 37 69 72 30 Fax 33 4 78 54 39 61 E mail hotline amesim com UK U K Tel 44 0 1869 351 994 Fax 44 0 1869 351 302 E mail support uk amesim com GERMANY AUSTRIA FINLAND DENMARK NETHERLANDS NORWAY SWEDEN SWITZERLAND EASTERN EUROPE Software GmbH Tel 49 0 89 548495 35 Fax 49 0 89 548495 11 E Mail hotline germany amesim com HUNGARY Budapest University of Technology amp Economics Tel 36 1 463 4072 463 2464 Fax 36 1 463 3464 E Mail vad simba ara bme hu NORTH AMERICA Software Inc Tel 1 734 207 5557 Fax 1 734 207 0117 E Mail support us amesim com SOUTH AMERICA KEOHPS Ltd Tel 55 48 239 2281 Fax 55 48 239 2282 E Mail info keohps com JAPAN Japan K K Tel 81 0 3 3351 9691 Fax 81 0 3 3351 9692 E mail imagine japan amesim com CHINA C
514. t match With no output arguments it displays the parameters that match AMESim 4 2 User Manual 245 num titles values names amegetgpar circuit1 pipediam amegetgpar circuit1 amegetp The amegetp command examines parameters for a system It can be used in several ways par val amegetp SYS gets all parameters and puts their titles in the par vector and their values in the val vector Used without an assignment it displays the parameter titles and values par val amegetp SYS parameter title gets one or several parameters depending on the parameter title written amegetp MSD2 MAS001 instance 1 mass kg gets the mass of MAS001 1 amegetp MSD2 MAS001 1 mass kg same as above amegetp MSD2 MAS all MAS submodels amegetp MSD2 1 all instance 1 amegetp MSD2 spring parameters containing the word spring amegetp MSD2 m parameters with unit m ameputcuspar The ameputcuspar command sets the parameters on the mask for customized objects submodels or supercomponents ameputcuspar SYS SUBMODEL INSTANCE NAME VAL sets the value VAL of the parameter NAME in submodel SUBMODEL for the system SYS The NAME is either the name or its title An INSTANCE value of 1 means all instances The function returns the number of parameters set ameputcuspar circuit1 SUBSYSTEM 1 piped
515. t methods with very limited stability and there is no error control Chapter 15 Facilities Available in Run Mode 464 code is not provided or is provided but not used Gear s method may fail on these problems Simple Runge Kutta algorithms are relatively tolerant of discontinuities and can perform well on some problems but they are very unsuitable for stiff problems However many simulations are performed on stiff problems rich in discontinuities using these methods Often a solution can be obtained but the run times can be hours or days The answer here is to use a Gear integrator with good discontinuity handling The saving in computing times can be spectacular The standard AMESim integrator does not give the user a choice of integration algorithm Instead the characteristics of the equations governing the model are used to select automatically the most appropriate algorithm If the model contains any implicit variables the differential algebraic equation integration algorithm DASSL is used otherwise the ordinary differential equation integration algorithm LSODA is used DASSL is probably the best differential algebraic equation integration algorithm currently available and is certainly the only one that is widely used It uses a collection of integrators of the same type as those employed in Gear s method Differential algebraic equations often behave like ordinary differential equations with a time constant that tends to zero
516. ta The first part of the name corresponds to the model the second part to the study name and the last part to the study type AMESim 4 2 User Manual 605 Plot type Use this dropdown list to select the type of plot you want The types of plots available in this list depend on the study type of the selected log file See 19 7 5 Array of possible plots according the study type for the possible plots for each study type Selecting a plot type makes the dynamic part change as described in the following paragraphs 19 7 3 Dynamic part History plot A history plot is used to follow the evolution of one or more parameters during the design exploration process It plots the parameter s on y axis against the run or iteration number on x axis Figure 19 27 Example of a history plot When History plot is selected the dynamic part of the dialog box is as shown in the following figure Figure 19 28 History plot setup To plot a parameter select it in the left hand side list and click on the gt gt button Chapter 19 AMESim Design exploration module 606 It then appears on the right hand side list You can add as many parameters as you want If you change your mind and want to remove a parameter from the right hand side list select it and click on the lt lt button When you click on the OK button there are two possibilities The One in one plot option is selected then as many plot windows as there
517. ted string No No No String list Yes No No Possible values Upper bound Lower bound AMESim 4 2 User Manual 561 Read only fields When an Input Parameter is a submodel parameter or a global parameter certain information is inherited which becomes read only fields of the Input Parameter If the source is a submodel parameter the Submodel field is constructed from the submodel name and instance number The parameter title is used for the AMESim Title field If it is a real parameter the unit is copied to the Units field Figure 18 4 Input Parameter for a submodel parameter For global parameters the treatment is similar Figure 18 5 Input for a global parameter For user defined Input Parameters the Submodel AMESim Title and Units fields are empty Figure 18 6 Input for a user defined parameter 18 5 4 Vectors as Input Parameters Some submodel parameters are vectors In this case some of the behavior depends on the expand option you have selected See Vector variables page 414 With the Input Parameters tab selected if you drag and drop a vector quantity Note Discrete parameters are only useful if you intend to use direct interfaces provided in AMESim or AMESim design exploration build in features In other cases it is not used by the export module and may be filled in by the user just for information purposes if the Expand vectors option is enabled the individual elements of the vector are disp
518. tem Big systems tend to have a large number of state variables which can make the system very slow However there are other factors involved and the eigenvalues give information on these In general eigenvalues are complex numbers Roughly speaking the solution is made of components one component corresponding to each eigenvalue The real part gives an indication of the damping of the component of the solution The imaginary part if it is non zero indicates oscillations and gives an estimate of the frequency Both the real and imaginary parts have units 1 s Normally the real part is negative or zero If it is negative then is a time constant in seconds Very small time constants correspond to very large negative eigenvalues and very rapid transient behavior This in turn leads to very small integration steps If this rapidly dies out there are no problems and the integration step increases We can illustrate this with the first order lag system shown below Figure 5 29 First order lag system Note that this system contains a run stats component and its submodel RSTAT This component is in the Signal Control and Observers category and enables you to monitor information about the integration processed such as steps size method used number of discontinuities processed etc Set the following parameters The run will be accomplished very rapidly so that the step size starts at about 10 2 5 about 0 003 and rises to 10 2 5 about 30
519. temporary tables these tables can be the same as defined in step 1 This is the responsibility of the VBA developer Parameters are exported from the project interface to the VBA code 5 Call the AMEVbaPutPar subroutine It reads contents of the 2 temporary tables new parameter titles and values filled in step 4 and puts them into an AMESim data file linked to the current AMESim system Parameters are exported from the VBA code to AMESim 6 Call the AMEVbaRun subroutine It reads parameters defined by the final user it then runs the simulation finally it writes simulation results in an AMESim result file 7 Call the AMEVbaGetFinalRes subroutine It reads simulation final results titles and values and puts them into 2 final re sult tables Final results are imported from AMESim to the VBA code 8 Add in the main code a process that reads final result tables and displays final results in the project interface This is the responsibility of the VBA developer Final results are imported from the VBA code to the project interface 9 Call the AMEVbaGetRes subroutine It reads simulation results titles and values and puts them into 2 result tables Results are imported from AMESim to the VBA code 10 Add in the main code a process that reads result tables and displays results in the project interface This is the responsibility of the VBA developer Results are imported from the VBA code to the project interface Subroutin
520. ter 15 Facilities Available in Run Mode 494 Figure 15 64 Zoom on Root Locus plot 15 9 Speeding up a slow simulation The three main tools to do this are State count This identifies a state variable that as far as the integrator is concerned is the most difficult The problem may be in the corresponding submodel but may also be in an adjoining one Log report Activity index This is described in Chapter 8 This facility focuses on submodels and elements within submodels You can try to simplify the model by eliminating the least active elements Other possibilities are Live with the existing situation Be reasonable If you have very big systems and you want to keep very high frequency eigenvalues you will probably have a slow simulation Cheat on the data Decrease the stiffness of a strong spring Increase the volume of a small hydraulic chamber Increase the mass moment of inertia of Check this for an excessive number of discontinuities If this is happening look at parameters that might be causing this An example is a mass with limited movement and elastic end stops If the stiffness and damping are badly set there may a lot of bounces Improving the parameters may solve the problem Alternatively if you are using MAS21 you could change to a ideal numerical end stop AMESim 4 2 User Manual 495 a very small inertia This is not as bad as might appear Often you can adjust para
521. ter in the sketch area 2 Hold the mouse left button down and move the pointer This defines a rectangle which you see in the sketch area 3 Release the mouse button Objects inside this rectangle become selected To select a whole AMESim system You can either Select Edit Select all in the Edit pulldown menu Chapter 4 Advanced Examples 120 Type Ctrl A in the sketch area For the current tutorial example select the whole system The next stage is to paste the system into the other window 4 3 3 Copy Delete Cut and Paste Actions Before doing any of these operations it is necessary to select the objects you wish to operate on Normally you do these actions in Sketch mode but selecting and copying can be done in any mode Note that Cut creates a copy of the items removed whereas Delete does not You can always recover an item removed by Cut by using Paste but Delete is irreversible To Cut Copy Paste and Delete you have three alternatives Select the appropriate item in the Edit pulldown menu Figure 4 27 Edit menu Use the following buttons to cut to delete to copy and to paste AMESim 4 2 User Manual 121 Use the following shortcuts Ctrl X to cut Ctrl C to copy Ctrl V to paste Delete to delete For the tutorial example Step 1 Paste the system to a different window system 1 Select the complete quarter car
522. ter than or equal to 1 If there is only 1 z value u values are assumed to be independent of z If any sort of interpolation is to be used in the x direction the x values must be strictly monotonic If any sort of interpolation is to be used in the y direction the y values must be strictly monotonic If any sort of interpolation is to be used in the z direction the z values must be strictly monotonic Graphical representation There is no graphical representation for 3D tables AMESim 4 2 User Manual 619 A 5 Table of 1D tables format This is similar to a 2D table but in the X Y plane the grid is not necessarily rectangular It is read by the function rtablemd Mathematical definition Preferred layout in text editor The value of and the integer should be in the first row In the next rows should be a 1D table of data pairs After this on the next row should be the value of and the integer This is followed by a 1D table of data pairs The pattern is then repeated until the table is complete y1 N1 x1 i z1 i i 1 1 N1 y2 N2 x2 i z2 i i 1 1 N2 yM NM x1 M z1 M i 1 1 NM y1 N1 N1 y2 N2 N2 Appendix A Formats supported by the AMESim Table Editor 620 Example of layout in the Table editor Figure A 7 Table of 1D tables Restrictions The number of y values and number of
523. the AMEPlot main window Then you can drag and drop any curve from an existing plot by selecting its associated number A new plot containing the selected curve is created Alternatively you can drag and drop from a Variable List dialog box Figure 16 21 Adding a column Text Select Add Text and click in the plot area where you want to add text A blank field with a cursor inside appears Type in the text you want to add Press Enter to start a new line Click in another part of the plot to terminate Chapter 16 The Plotting facilities 526 Remove Interchange axis This may be used to interchange the axis of the selected plot Be careful texts and titles already displayed are not interchanged Font This option allows you to change the size the style the script and the font of the numbers which annotate a curve or a special grid If you select this item in the plot menu a Select Font dialog box appears so that you can make the changes you want The font menu item is only available if there is annotation on the curve or chart in linear analysis plots Order tracking This menu item is available only if a spectral map is displayed It is described in Chapter 15 16 6 3 The margin menu From this menu item you get an additional menu which allows you to Remove the last row from the main window by selecting Row Remove the last column from the main window by selecting Column Remove all the curves
524. the Back button To pack a system follow these instructions Step 1 Preparation If appropriate purge the models Determine which softaware s the recipient will use Will the recipient use AMESim or AMERun or both Decide the level of security you wish to impose Do you want to exclude source files Do you want to exclude spe and sub files Note The Pack Unpack facility is very useful when you send a system by email because many firewalls do not accept to transfer the exe files This is the most important step If you try to economize here you may waste a lot of time in the future Decide on the models ame files you are going to pack Check that they are in good working order To maximize chances of success do the following Do a Check Submodels Correct any problems detected Use File Touch to force a recompilation Can it find the all the files properly for a good compilation If not correct the problem Run the model and examine the results Do any operations you think are critical for the recipient AMESim 4 2 User Manual 371 Step 2 Define package properties 1 The models you want to pack should be closed 2 Select the menu item Tools Pack to open the AMEPack Wizard Figure 11 96 AMEPack Wizard The Package Name field must be specified It allows you to select the directory in which you want to save the new pck file as explained below 3 To select a directory click o
525. the discontinuity it is very unsuitable and algorithm B is much better It is unreasonable to expect the user to recognize this fact stop the simulation at this point and restart with a different integration algorithm In practice what often happens is that an integration algorithm is used which is unsuitable for at least part of the simulation This may lead to very long run times The AMESim integrators provided can be divided into two types variable step variable order methods with control of errors fixed step fixed order methods with no error control The standard AMESim integrator uses a collection of 17 variable step variable order methods These are very robust and flexible They are capable of adapting to a wide variety of problems Most of the time you will be using these methods Fixed step integrators Fixed step fixed order methods are much less robust and flexible that the variable step variable order methods However they are extensively used in real time simulation Note that facilities are available to export an AMESim model to a real time environment However there are limitation on the models that will run in this environment The equations governing the model normally must be explicit In other words there must be no constraints or implicit state variables There will be some limit on the size of the model This limit will depends on This item is only visible if Adams Bashforth or Runge Kutta is selected
526. the facilities that can only be used in Sketch mode it is organized for easy reference using the main index The main activity in Sketch mode is adding objects to the sketch 12 2 Adding objects to the sketch Text and annotation objects can be added in any mode See Chapter 11 Facilities Available in all Modes Line run and component objects can only be added to a system in Sketch mode The overlap rule is rigorously applied to certain AMESim objects 12 2 1 AMESim overlap rule The following AMESim objects components line runs text strings are basically rectangular in shape piecewise rectangular in the case of line runs There must be no overlap between these objects with the single exception that line runs can cross text objects Annotation objects other than text do not have to obey the overlap rule 12 2 2 Adding components to the sketch There are two ways of adding components to the sketch The component Cursor method and The Drag and drop method In either case The category dialog box of the component must be displayed Chapter 12 Facilities Available In Sketch Mode 384 The lock button must be in the unlocked state Cursor method 1 Click on the category button to open the dialog box 2 Click on the component you require 3 The category dialog box will disappear and the cursor will take on the appear ance of the component but with reversed colors
527. the first example of this chapter Figure 6 1 Figure 6 8 PID icon The icon will be added to the dialog box with ports numbered 3 Complete the supercomponent as follows 1 Fill in the supercomponent name The name SCPID5 is suggested Figure 6 9 Supercomponent name Rules for supercomponent names The number of characters must be between 4 and 24 All characters must be letters or digits The first character must be a letter AMESim will change all lowercase letter to uppercase The name must be unique If you set a name containing at least one digit and the first digit is 5 or above there will never be any name clashes with submodels supplied with AMESim Step 3 Assigning the supercomponent to a standard component 1 Define the supercomponent ports There must be a correspondence between the auxiliary system and icon ports of the icon with which the supercomponent is to be associated Figure 6 10 Define the ports Ports are shown in grey and they display a if they are undefined AMESim 4 2 User Manual 193 2 Click on each undefined port and select a number from the pulldown menu pro duced 3 Fill in the supercomponent brief description Figure 6 11 Brief description of the supercomponent This operation is optional but recommended if you are creating a supercompo nent which may be used in several systems 4 Click on Full Description and fill in
528. the model MSD2 R S amerun MSD2 runs a simulation and loads the results into R and the variable titles into S R S SYSNAME RETVAL TEXT_OUT amerun MSD2 runs a simulation and loads the results into R variable titles into S systemname into SYSNAME RETVAL is set to zero for a successful run and not zero for a failed run TEXT_OUT is filled with any text output from the model This is probably the preferred way to use this script in automated runs since it is possible to inspect the value of RETVAL and stop the run if the value is different from zero AMESim 4 2 User Manual 247 Chapter 7 The AMESim MATLAB Interface 248 AMESim 4 2 User Manual 249 Chapter 7 The AMESim MATLAB Interface 250 AMESim 4 2 User Manual 247 Chapter 8 Activity index 8 1 Introduction The activity index facility is a powerful analysis tool based on energy transfer in the submodels of a system The energy is split up into physical types R dissipation C capacitance I inertia and into the following physical domains hydraulic mechanical electrical thermal magnetic electric Taking the mechanical domain as an example the different physical types can be found in the following submodels Activity index can identify the most energy active components of a system and the most energy passive components It can also be used to simplify comp
529. the supercomponent full description tem plate This is optional but recommended Figure 6 12 Full description of the supercomponent 5 Click on the Save button A file browser is displayed 6 Indicate a node directory where a submodels index file resides This will produce a file browser from which you can indicate the directory where the supercomponent will be stored Note After having created a supercomponent it is very easy to modify the icon brief description or full description using the Edit basics facility Chapter 6 The Supercomponent Facility 194 Figure 6 13 File browser 7 Select this directory and click on the OK button Your supercomponent is created and ready to use What follows is an explanation of how this supercomponent can be used 6 3 Supercomponent facility 6 3 1 Replacing a submodel with a supercomponent When a supercomponent is associated with an icon you can use it by clicking on this icon in Submodel mode you will find that the supercomponent name is now part of the submodel list This is what is shown in Figure 6 14 where a click on the PID icon of the original system produces a new list of submodels that contains the supercomponent we have just created AMESim 4 2 User Manual 195 Figure 6 14 Submodel list You can select your new supercomponent so that it replaces the original PID submodel Figure 6 15 Replace the PID submodel by your new supercomponent 6 3 2 E
530. the thermal evolution in these liquids when submitted to differ ent kinds of heat sources and power sources Thermal Pneumatic used to model thermal phenomena in gases and to study the thermal evolution in these gases when submitted to different kinds of heat sources Thermal Hydraulic Component Design used to study the pressure levels the flow rates distribution the temperatures and the flow rates evolution in the system Powertrain used to model systems such as driveline or complete man ual automatic or specialized gearboxes including vibration and loss ef fects Filling specialized for determination of the time taken to fill the lubri cation circuits of an engine with oil during startup AMESim 4 2 User Manual 33 2 2 The AMESim four working modes With AMESim you can build a sketch affect submodels to the components set up the parameters of the submodels and then launch a simulation Each step fits in with a working mode of AMESim Sketch Mode Submodel Mode Parameter Mode Run Mode This chapter introduces the very basic features available in the four working modes of AMESim for the new users If you are already experienced with AMESim see the chapters 11 to 15 Features Available in each Working Mode to discover the advanced features of AMESim Cooling System allows you to combine models for the cooling system lubrication system and exhaust system to study the complete thermal be
531. tomatic way of doing it 10 4 Optimization We are now going to try to set the damper rates so that the performance is in some sense optimal To do this we have to Define one or more quantities which the optimization process will try to minimize These are objectives Set restriction on quantities which we want to impose These are called constraints If you have experience with optimization you will know that setting objectives is not easy and several attempts are often necessary before reasonable objectives are defined When this exercise was developed the first objectives resulted in very soft damper settings These gave impressively low acceleration and the wheel stayed on the road The problem was the car was still bouncing with a signification amplitude at the end of the run 2 seconds It is necessary to prevent this Step 1 Redefine the Export setup It is necessary to review the outputs 1 Set the Simple Output Parameters as in Figure 10 16 Figure 10 16 Simple Output Parameters for AS Optimization We have added the body displacement in order to control the amplitude of any oscillations at the end to the two second period 2 Set the Compound Output Parameters as in Figure 10 17 AMESim 4 2 User Manual 289 Figure 10 17 Compound Output Parameters for AS Optimization The quantity AS_max_TireJump will be either zero or a positive quantity In the latter case it indicates the tire has left the
532. tricks and tips to go faster and save time while using AMESim 2 3 1 The Lock Button The Lock button can be found in the Mode Operation toolbar It can be locked or unlocked The lock button is a safety device that can be used to prevent you from accidentally altering the system If you find yourself blocked from modifying the sketch it may be because the system is locked When you create a new system the button is unlocked Then you can start building your sketch If you open an existing system unlock the button by clicking on it to be able to modify the system When the button is locked you are not able to add or remove any component to the system Chapter 2 The AMESim Workspace 36 2 3 2 Rotating and mirroring an icon When you select a component you may need to rotate or mirror it before adding it to the sketch To rotate a component you can either Type Ctrl R or Click on the middle button of your mouse To mirror a component you can either Type Ctrl M or Click on the right button of your mouse 2 3 3 The Status Bar The status bar is in the lower part of the interface Figure 2 37 The status bar If your actions do not have the results you expect look at the status bar which may present information on what is going wrong In this case you should hear a beep and have a message In addition to warnings and description of errors the status bar also displays without beep
533. tring not Real Set the Export Name field to polynomial and the Default value field to a x 2 b x c By default these are Real and this is what we want These export parameters will be accessible outside of AMESim Edit the Export Name and Default value fields as shown Chapter 9 Getting Started with AMEPilot and the Export module 270 respectively The Input parameters are now complete Step 4 Define the output 1 Keep the Export Parameters Setup dialog box open Figure 9 5 Simple Output Parameters tab 2 Click on the INT0 icon 3 The Variable List dialog box appears 4 Select the output from integrator 5 Drag and drop it to the Export Parameters Setup dialog box Note a means the value of a The formatted string is really where x is the input from CLOC i e time The parameters polynomial a b and c are accessible from outside AMESim using the Export facility If you run a normal simulation within AMESim the text parameter of FX00 is still x Using the Export facility the text parameter is defined by polynomial ax2 bx c AMESim 4 2 User Manual 271 6 A new line appear in the list of simple output parameters 8 Save the export setup by clicking on the Save button This is a minimum save If the check box Export to external tool is checked a Export format menu becomes active which allows you to select a commercial software which uses the Export fa
534. ts the slice number The color varies with the Z value Figure 17 2 Waterfall Mesh With this option a mesh is drawn by adding lines to the waterfall plot curves on the AMESim 4 2 User Manual 539 surface If the X values are identical for each slice these are parallel to the Y axis and the mesh viewed from above is rectanglar otherwise it can be polygonal Figure 17 3 Mesh Surface This is like the mesh plot but with the surface polygons colored The mesh is optionally drawn in black Figure 17 4 Surface Surface with light This is a variation of the surface plot in which the color is not a function of Z value but a function of the orientation of each polygon with a specified light vector Chapter 17 3D plots and order analysis facilities 540 Figure 17 5 Surface with light 17 1 2 How to create a surface plot We will illustrate the creation of a 3D plot from a batch run If you do not remember how to create batch plots please refer to chapter 5 We will use a mathematical example which creates the effect of a drop falling down on water Build the following system Figure 17 6 Build this system and carry out the following steps Step 1 set parameters 1 Enter the value for the signal function of inputs x and y cos sqrt x x y y max 1 sqrt x x y y 2 Then go to Parameters Batch parameters 3 Drag and drop the CONS0 1 parameter to the Batch Control Parameter Setup dialog box and set th
535. tting Started 76 Figure 3 35 If you move the components the line keeps connected You are now ready to proceed to the next stage 3 4 2 Displaying labels on the sketch You can display the submodel labels in any mode In Sketch mode and Submodel mode labels will display the submodel title In Parameter mode and Run mode instance numbers are also displayed Step 1 Set submodels 1 Click on the Submodel mode button from the horizontal toolbar The display will alter the model appearance to that shown in Figure 3 36 Notice that the null force and the step icons are of normal appearance This in dicates they are associated with submodels However the other components are not of normal appearance because they do not have submodels associated with them AMESim 4 2 User Manual 77 Figure 3 36 Submodels are not set 2 Click on the Premier submodel button Submodels are set for the remaining components and also for the line Step 2 Show Hide component submodel labels and line submodel labels 1 Press the mouse right button A menu Labels appears 2 Select Show component labels and Show line labels 3 To have a better display you can rotate labels with the right click menu 4 See the results shown in Figure 3 37 At this stage the submodel names will mean very little to you But as you become more experienced the information can be important In our example the submodels were selected using t
536. tton to produce the dialog box shown in Figure 5 24 Figure 5 24 Linearization times dialog box 2 Click on the Add button and set a value in the input box to indicate the time at which the linearization should be done 3 Enter linearization times of 0 1 2 3 4 5 6 7 8 and 9 seconds You can enter as many linearization times as you like using the input box To remove a linearization time select it in the list of linearization times and click on the Remove button 4 Run the simulation During the run files named SimpleMassSpring_ jac0 SimpleMassSpring_ jac1 etc will be created Each will contain the results of the linearization i e the A B C and D matrices at a single linearization time However in this case B C and D matrices are null 5 4 2 Eigenvalue Analysis Much information about the intrinsic behavior of the system is available by computing the eigenvalues of the Jacobian matrix matrix A Note that for this you need not have any control or observer variables but you must have some free states 1 Click on the Eigenvalue analysis button to see the result after the run is complete Note To make full use of these matrices AMESim provides tools which are described in the rest of this chapter Eigenvalue analysis Bode Nichols and Nyquist plots Modal Shape analysis and root locus Chapter 5 Batch Runs and Linear Analysis 166 Figure 5 25 Eigenvalues analysis dialog box It is not difficult
537. tudy 8 Click on the Responses tab 9 Click on the check boxes near PS_max_BodyAcceleration and PS_min_TireCompression to declare them as used as responses 10 Click on the OK button Chapter 10 Getting started with AMESim design exploration features 284 Step 2 Run PS_DOE and display the main effects Figure 10 11 The Design Exploration Plots dialog box 1 Click on the Start button The button becomes disable gray and the stop button is enabled until the end of the process 2 Wait until the end of the process 2 runs are done corresponding to the two extreme values of the control parameter 3 Right click on the PS_DOE item in the list and then select Add Plot in the menu The Design Exploration Plots dialog box appears AMESim 4 2 User Manual 285 Figure 10 12 Main effect plot of the PS body acceleration 4 Select Main Effect Diagram in the Plot type drop down list 5 Select PS_DamperRate in the Factor drop down list In this case there is only one item in the list 6 Select PS_max_BodyAcceleration in the Response drop down list 7 Click on the OK button A plot window appears with the selected main effect plot See Figure 10 12 8 Do the same for PS_min_TireCompression Figure 10 13 Chapter 10 Getting started with AMESim design exploration features 286 Figure 10 13 Main effect plot of the PS tire compression Figure 10 12 shows that when the damper rate increases th
538. tus Fields dialog box which displays the current status of variables The Eigenvalues Modal shapes button opens the Linear Analysis Eigenvalues dialog box which displays the eigenvalues for the jacobian files The Frequency Response button displays the Frequency Response dialog box which allows you to create Bode Nichols and Nyquist plots AMESim 4 2 User Manual 31 2 1 4 The mouse right button menu You can access many commands with the mouse right button which displays a contextual menu The contextual menu is different depending on the current working mode and what you click on We advise you to use the contextual menu because it is a very quick way to access the commands Figure 2 35 Mouse right button menu 2 1 5 The libraries The standard library AMESim 4 2 is delivered with a standard library consisting of two categories The extra libraries You can complete the basic application with the following categories The catego ries are available in the menu Options Path List When the Path list dialog box opens you can select the categories you want to add to the path list from the avail able category list Then the category bar is updated and displays the available cat The Root Locus button produces the Root Locus dialog box which allows you to create Root Locus plots Mechanical complements other AMESim libraries The Mechanical category is often used in isolation to simulate complete mechanical sys tems
539. u compare Figure 3 51 with Figure 3 49 you can see that in Figure 3 51 the second phase of the transient motion is absent The values are very close to an equilibrium position for the before the step phase If we had specified a final time of 10 seconds the values would have been even more accurate 11 Save the system 3 4 8 Using old final values After 5 seconds the system has almost reached an equilibrium state since its variables remain constant Then you will try the Use old final values facility This facility extracts the values which were obtained at the end of the last previous run and uses them as starting values for the next run In this case the state variable initial values especially the spring damper and the elastic contact will receive the values for which the system is in equilibrium Use old final values facility 1 Open the Run Parameters dialog box 2 Tick the Use old final values check box Note Before continuing the exercise save the system as QuarterCar_FinalValues using File Save as In Chapter 4 Advanced Examples you will need to use the original Quarter Car system as saved in 3 4 7 Using the External Variables facility AMESim 4 2 User Manual 89 Figure 3 52 Set the simulation options 3 Switch to the Standard options tab and untick the Hold inputs constant check box to restore the input This leads to the final results Figure 3 53 Update the curves
540. u see how it decreases steadily 4 Look at the output from the modulo block of schema A 5 You will see an angle in degrees always in the range 0 to 360 as it should be However the graph is not very satisfactory as in Figure 4 18 Figure 4 18 Output of the modulo block of schema A Many readers will immediately recognize this phenomenon as aliasing 4 2 3 Aliasing with data sampling This is very familiar to control engineers Put in very simple language we have a particular communication interval and this means we are sampling the results of the system at a particular frequency If there is a phenomenon occurring in the results with another frequency in order to see this phenomenon we must have a sampling frequency which is significantly higher In our example the results are sampled every 0 1s or at 10 Hz 1 Plot the rotary speed of schema B Figure 4 19 Rotary speed of schema B You see that the shaft is turning at 600 rev min at the end of the simulation This corresponds to 600 60 10 Hz The data has been rather artificially created so that the communication interval frequency coincides with the frequency of rotation Chapter 4 Advanced Examples 114 2 Try altering the constant torque to 610 Nm and to 590 Nm We cannot properly see the phenomenon we are looking for To get a meaningful graph we should sample at a significantly higher frequen cy than is contained in the data you are plotting 3 Try
541. u want to assign to the new component 3 Click on Open To select an icon from current system categories 1 Click on the Select icon button The Icon Selection dialog box appears 2 Select the icon you want 3 Click on OK 3 Complete the new component Enter the name of the component in the Name field Enter a description for the new component Select the parent category you want to assign to the new component in the Parent category pulldown menu The component you have created is only an icon You must now assign to this icon either a submodel please refer to the AMESet manual or a supercomponent please refer to section 6 2 2 Creating a supercomponent Remove component There are two types of component icon 1 Standard AMESim component icons 2 User component icons These are the ones you create yourself You can only remove user component icons The following condition must also be satisfied It must have no submodels or supercomponents associated with it When the component has no submodel or supercomponent associated with it you If you want to remove a user component submodel you must use the Edit Available user submodels see Available user submodels page 335 For supercomponents use Edit Available user supercomponents see Available supercomponents page 329 However if the submodel or supercomponent is customized use Edit Available
542. uantities Introducing aliasing problems Using Discontinuity printout For this example you will use the system shown in Figure 4 15 Note that it consists of two very nearly identical systems Figure 4 15 Get this system from the AMESim demos This model is called RotaryInertia ame and can be copied from the AMESim demo area as explained in the previous chapter You can build this system yourself but to save a little time you can copy a similar AMESim 4 2 User Manual 111 system from the AMESim demo area This is a collection of pre built AMESim systems which are useful to illustrate certain AMESim features 4 2 1 Getting AMESim demonstration examples 1 Use Help Get AMESim demo to produce the Choose demo dialog box Figure 4 16 Help menu The demonstration examples are arranged in folders or directories according to the domain that they cover You require the ManualTutorials domain 2 Open the ManualTutorials folder 3 Highlight RotaryInertia ame 4 Click on Copy and open 5 AMESim allows you to get as many demo systems as you want so you must get rid of Choose demo by clicking on Close 4 2 2 Sign convention for rotary speeds and torques An arrow appears on the rotary load icon As with linear loads when you have a chain of these the arrows should all point in the same direction If you break this rule AMESim will compensate and the results will still be correct but much more difficult to
543. ubmodel in the Alias list the alias label is displayed in the sketch If you click on an alias name in the Alias list you can modify the name Preferred units AMESim allows you to modify the units of parameters and variables Thus it is possible to display a pressure in psi instead of bar or a mass in g instead of kg If you select this menu item a dialog box similar to the one below appears Figure 11 59 Preferred Units In the first column you can see a list of domains In the second column a check box indicates if a translation is installed for one of the units associated with this domain This list of units can be seen by clicking on the cross to the left of the Chapter 11 Facilities Available in all Modes 340 selected domain A Find button associated with a field is there to help you to access directly to a given unit if you don t know in which domain it lives Figure 11 59 shows what happens if we wish to have frequencies currently given in Hz to be displayed in kHz Parameters and variables that were in Hz are now displayed in kHz as in Figure 11 60 Figure 11 60 Change Parameters dialog box The units configuration is saved in the current directory folder in a file named AME units so all the systems that will be opened in this area will use this translation file Current drawing settings This produces the Current Drawing Settings dialog box shown below AMESim 4 2 User Manual 341 Figure 11 61 C
544. ue and a Unit column The first two of these are editable To be precise the list may contain the following The initial values of State variables preceded by The starting values to be used for Constraint variables preceded by The values of Fixed variables preceded by Vector variables Real parameters Integer parameters Text parameters A short note on each of these is appropriate You will learn also about Changing the title of a parameter AMESim 4 2 User Manual 413 State variables Most but not all AMESim models contain some state variables These are variables defined by an ordinary differential equation Thus we might have a velocity defined as in In order to follow the evolution of v with time it is necessary to have the starting value or initial value of v This value is set in the Change Parameters dialog box As with real parameters you have access to an Expression Editor Figure 14 7 Constraint variables Constraint variables contain an expression called a residual We must adjust the constraint variable to make the residual as near as possible zero An example is a zero mass in which we have to adjust the velocity v such that when two forces F1 and F2 are applied the following residual is zero At the start of the simulation run the value of the variable is determined by an iterative process You can set the starting value to be used in this iterative
545. ue does not influence any other state variable and for this reason is described as non propagating A very simple example where this facility is useful is shown The angular position of this rotary system is computed as a state variable and is an output at the signal port However nothing is done with this signal and it is a non propagating state In addition there is nothing to restrict the value During a stabilizing run the angle will run away and reach a very large values If Lock non propagating states is enabled this will not happen The angle state variable will stay at its initial value There are three radio buttons and precisely one is enabled When Dynamic is enabled the run will advance the solution through time When Stabilizing is enabled the run will attempt to find an equilibrium state for the model When Stabilizing Dynamic is enabled there will be a Stabilizing run which will be followed immediately by a Dynamic run There are three check buttons They are sensitive only if either Dynamic or Stabilizing Dynamic is enabled If you enable Discontinuity printout extra values are added to results file at discontinuity points There are two check buttons They are sensitive only if either the Stabilizing or Stabilizing Dynamic is enabled Lock non propagating states by default is disabled If it is enabled during a stabilizing run any state variable tend to run away reaching very large values are held at their
546. ult one until a new file is selected There are two ways of creating a plot results from all or some of the batch runs Do it manually by changing the results file This is fine if you want the result for a single batch run Specify what you want in a standard plot and convert it to a batch plot as follows Step 1 Create a plot 1 Create a normal plot from a single run using whatever facilities you want X Y plot plot manager etc Step 2 Convert the standard plot to a batch plot There are two ways of doing this 1 Use the right button menu in the central plot area and select Options This produces a Graph area format dialog box Figure 5 10 Figure 5 10 Graph area format 2 In the Options tab enable Batch plot As a further refinement before clicking on OK you can click on Select batch runs to produce the Batch run selection dialog box Figure 5 11 3 To specify which runs you want tick the corresponding boxes Chapter 5 Batch Runs and Linear Analysis 154 Figure 5 11 You can select some runs or 4 Use Tools Batch plot in the AMEPlot menubar Note the cursor changes 5 Select the plot area by left clicking The Batch Run Selection dialog box ap pears 6 Make any adjustments you want and click on OK Whichever method you choose your normal plot is now converted to a batch plot AMESim 4 2 User Manual 155 Figure 5 12 Batch plot 5 3 Example 2 A catapult to demonstr
547. um tire compression 10 3 Design Of Experiments The first step is to have a look at inputs that are under our control For this the tool is DOE We consider first the passive suspension We want to estimate the effect of the damper rate on both outputs Step 1 Define a Full Factorial DOE for the passive suspension 1 Click on the Design Exploration button to produce the Design Exploration dialog box Chapter 10 Getting started with AMESim design exploration features 282 Figure 10 7 Design Exploration dialog box 2 Study New to produce the Design Exploration Definition dialog box Figure 10 8 Design Exploration Definition dialog box 3 Change the study name to PS_DOE 4 Note the Study type is by default DOE Keep it as this and select Full factorial for the technique With this technique if there are N controls each with a high and low value every combination of parameters is run This gives 2N runs Here N 1 giving two runs AMESim 4 2 User Manual 283 6 Click twice on the Low level cell to edit it and change the value to 500 7 Click twice on the High level cell to edit it and change the value to 1500 Figure 10 9 Definition a Full Factorial DOE Figure 10 10 The Full Factorial appears in the DOE studies 5 Click on the check box near PS_DamperRate so that the box is ticked This declares it as used as a control in the study The other two parameters will not be used as a control in this s
548. un 2 left click elsewhere to draw an angle and start a new line segment if necessary submodels Incompatible submodels Compatible Make sure the lock button is in the unlocked state Next perform the following steps 3 left click near a compatible port to end a line run If the ports are compatible a green square will appear AMESim 4 2 User Manual 389 Press the Control key and left click to stop drawing a line run or to pick up a line run end Why can t I connect two components with a line run Some times when you left click to left click to end the line run you get a warning dialog box Figure 12 7 Warning about an invalid line connection This is a similar situation to that shown in Figure 12 1 but with an added complexity In AMESim all components will have submodels if you get beyond Submodel mode The same is true for line runs In many other libraries in is not necessary to have submodels for line runs The mechanical green library is an example For these there is a general pseudo submodel DIRECT which is short for direct connection It is as if the line run was not there are the components were connected port to port Note You can right click to remove the last line segment but if there is only one line segment the line run will be removed completely Referring to Figure 12 7 the two masses will have to have submodels and also the line run if we replace one of the masses by a spring we can see
549. understand Basically the well known right hand corkscrew rule is used Chapter 4 Advanced Examples 112 Figure 4 17 External variables of the rotary load If you look at the system in Figure 4 15 and also Figure 4 17 you can see the external variables of the rotary load submodel RL01 Only the port 2 velocity is displayed in the variable list 1 Look at port 2 in the External Variables dialog box imagine looking in the di rection of f rev min and operating a right hand corkscrew This gives the direction of rotation 2 Now look at the port 2 torque denoted by Nm The right hand corkscrew rule indicates this torque opposes the velocity Ini tially the rotary speed is zero In the A part of the system the 600Nm torque opposes the velocity and will make the velocity negative In the B part of the system the 600Nm is applied at port 1 and assists the velocity and will make the velocity positive Note Sign conventions for rotary quantities are much more difficult to understand than for linear quantities For this reason we strongly recommend you use the replay facility with arrows and numerical values as an aid to understanding AMESim 4 2 User Manual 113 In our example see Figure 4 15 the modulo blocks between the angle sensor and the general stopper will convert the angle produced by the sensor to the range 0 to 360 degrees 3 Run a simulation and plot the output from the sensor of schema A Yo
550. unning standard or batch creating more jac files you can get access to the latest ones by clicking on Update Note You can switch between Fixed 1234 56 and Floating 1 23456e 03 format using radio buttons You can switch between a frequency in Hz and Rad s using radio buttons By clicking on a column header tab Frequency Damping ratio etc you can sort the list so that the values in the column are in ascending or descending order You can plot the position of the eigenvalues by clicking on the Plot button You can save the eigenvalue details to a file by clicking on the Save button AMESim 4 2 User Manual 485 Figure 15 48 Plot of the position of the eigenvalues 15 8 5 Modal shapes To plot Modal shapes you must Have at least one observer variable Have at least one free state state observers count as free states so that you have at least one eigenvalue Do the linearization in an equilibium position If you break the first two rules AMESim will stop you The third rule is your entire responsibility You proceed by selecting a particular eigenvalue Note that This implies a particular frequency that is a characteristic frequency of the system The plot will show how each observer variable responds to a small disturbances of this frequency How do I select the observer variables to use If there is more than one observer variable in order to
551. upercomponent icon After creating a supercomponent category you are ready to create the supercomponent icon 1 From the Icon selection dialog box shown in Figure 6 34 select the SUPER COMP ONE category Figure 6 35 Select the category 2 Click on the New Comp Icon button 3 The AMESim icon designer is automatically started to construct the super component icon Chapter 6 The Supercomponent Facility 208 Figure 6 36 Icon designer Figure 6 36 shows the final stage of creation First a few general points We suggest you create the icon in the following steps Step 1 Adding ports to the icon The 2 port styles shown in Figure 6 36 must be added to the icon There are two signal ports one is an input and the other an output Figure 6 37 Select a port You can modify the size of the icon using the Width and Height boxes but the default size is about right If you create a mess you can use the eraser or even clear the drawing area by clicking on the New icon button Be careful This does completely clear the existing icon AMESim 4 2 User Manual 209 1 To select a port use the pulldown menu 2 Click on the Add port icons button showing the port style you have just chosen 3 Move the pointer over the drawing area The cursor takes on the appearance of this port style 4 Click on the drawing area to add in a central position 5 Select the other port style and put it on the
552. ure 3 14 Instance numbers appear in the model Most AMESim submodels have a set of parameters associated with them Thus the 1 port mass submodel must have the mass in kg defined the springs must have their stiffness rates defined When AMESim associates a submodel with a component these parameters are set to reasonable default values You must now set these to the true values Now you will examine the current parameter settings and change some of them Step 2 Change the parameters 1 Select the 1 port mass The Change Parameters dialog box is produced as shown in Figure 3 15 The submodel for the 1 port mass is called MAS001 and is a simple one It contains two state variables which are velocity at port 1 and displacement at port 1 The main part of the display is a list of titles describing the parameters their units and current values If you want to change the value of a parameter 1 Double click on this value 2 Enter a new value 3 Press the Enter key 4 Close the dialog box by clicking on OK Chapter 3 Getting Started 62 Figure 3 15 Change parameters dialog box Step 3 Define the state variables State variables are defined by differential equations Within the submodel the derivatives of these state variables will be defined The code will implement equations of the form Each state variable must be given initial value or starting value In our case we must have the value of the velocity v and
553. ure 3 47 Variable list dialog box This gives a list of variables that are associated with the mass submodel and may be plotted Next to each variable name is the latest value for that variable Near the bottom the run time is given You can select items to plot but you can also select items to alias their titles 3 4 7 Using the External Variables facility 1 Click on the External variables button from the Variable List dialog box The dialog box shown in Figure 3 48 appears This component has 2 ports and is associated with a submodel named MAS002 The submodel MAS002 and other AMESim submodels compute certain quan tities which AMESim refers to as external variables In order to do this MAS002 needs the values of other external variables which will be computed by other submodels The external variables computed by MAS002 are its Port numbers Chapter 3 Getting Started 86 outputs External variables that MAS002 requires from other submodels are its inputs Thus for the port 1 there are three outputs with units m m s and m s s and one input with unit N Figure 3 48 External variable window 2 Move the cursor over each arrow and see how corresponding title is displayed 3 Close the External Variables dialog box Plotting curves 1 From the body mass Variable List click on the body displacement variable 2 Drag and drop it on the sketch A window called AMEPlot 1 appears it contains the plot of the
554. urrent Drawing Settings Use this to change the characteristics of annotation objects Any changes you make will apply to new annotation objects you add to the sketch Color preferences Use this facility if you want to change the category colors and their associated components and lines If you select this menu item the following dialog box appears You can use three pulldown lists to modify A category color A line run color A line run style Figure 11 62 Color preferences Chapter 11 Facilities Available in all Modes 342 AMESim preferences To set your preferences for the use of AMESim select AMESim preferences in the menu Figure 11 63 AMESim preferences The content of dialog box is controlled by the currently set tab In general Set the options according to your needs and click on OK The values are recorded If you click on Cancel the values will be ignored To return to the AMESim default values click on Restore defaults button For each tab the options are now described General Refer to Figure 11 63 Preview in file browser 2 AMESim 4 2 User Manual 343 Figure 11 64 Preview of the system in the browser This checkbox controls whether a preview of the system is shown in the file browser when selecting ame files You might wish to disable the preview if you find your machine slows when saving systems Acknowledgement before deleting
555. user customized see Available customized page 334 Chapter 11 Facilities Available in all Modes 354 can remove it directly from the Icons menu Follow the instructions 1 Select Icons Remove component The Remove Icon dialog box appears Figure 11 78 Remove icon dialog box 2 Select the component icon you want to remove 3 Select the Parent category of the component icon and click on OK Icon designer The Icon designer facility can be started as a general facility if you select Icons Icon designer It can also be started when creating a new category icon or when creating an icon for a supercomponent With the AMESim Icon Designer you can create and save one or more AMESim icons and specify the ports At a later time you can import them into AMESim to attach to supercomponents or into AMESet to import for submodels Since there is no notion of a submodel or supercomponent in the Icon Designer there are no special restriction on the ports you can add General use of Icon designer Starting Icon designer You have two different ways to start the Icon designer Directly from the menu bar Icons Icon designer Creating a supercomponent Adding a category Adding a component Description of Icon designer There are minor variations in the facility according to how it is started We give here a general description and describe the variation under entries for each usage Note
556. uty cycle Step 2 Create the flat system below The model you have been using is totally equivalent to the system shown in Figure 6 3 which can be built in the same window from a copy paste of the original one Figure 6 3 Complete the previous system with the new PID components UD00 2 duration of stage 1 s 50 output at start of stage 2 null 5 output at end of stage 2 null 5 Chapter 6 The Supercomponent Facility 190 1 Construct this system use Premier submodel and set the following parameters In both cases the simulation gives the results shown in Figure 6 2 6 2 2 Creating a supercomponent From the system shown in Figure 6 3 you are going to create your own supercomponent and associate it with the PID icon of the signal library which is used in Figure 6 1 This supercomponent will contain the subsystem below Figure 6 4 Components of the future supercomponent and it will be represented by the following icon Figure 6 5 PID icon This process can be split up into 3 stages 1 Getting an auxilliary system from selected components 2 Creating a supercomponent from the auxilliary system 3 Assigning the supercomponent to a standard component More precisely this produces a generic supercomponent See the AMECustom manual to customize supercomponents Step 1 Getting an auxilliary system from selected components 1 Select the icons to be stored in the supercomponent 2 Select Edit Co
557. ve no variables If all you want to do is a series of linear analyses with a big system it may be appropriate to do a run with the Save next status of all variables false Note The column Saved is not editable It is for information only Chapter 15 Facilities Available in Run Mode 448 Submodel change of Save next status 1 Make sure you are in Time domain mode 2 Click on a component or line run to produce the Variable list dialog box 3 Click on Save all to ensure that all variables in that submodel will be saved dur ing next run Figure 15 4 Save next status 4 Click on Save none to ensure that no variables in that submodel will be saved during the next run Individual variable change of Save next status 1 Make sure you are in Time domain mode AMESim 4 2 User Manual 449 Figure 15 5 Individual change of save next status 2 Click on a component or line run to produce the Variable list dialog box 3 Alter the check box status in the Save next column A tick means the variable will be saved during the next run 15 3 2 Locked status of state variables The following variables Explicit state Implicit state but not constraint variables have a Locked status which is true or false This locked status only influences the results if there is any sort of stabilizing run If one of these variables is locked its value is not allowed to vary during a stabilizing run The locked states
558. ven if you are not interested in that final value you may have to add a variable in the simple output list in order to build the Compound Output Parameter you want see 18 7 Compound Output Parameters In order to add a Simple Output Parameter go through the following steps 1 Ensure you are in Run mode 2 If necessary select Parameter Export Setup to create the Export Parameter Setup dialog box 3 Click on the component that holds the variable you are interested in the Variable List box appears 4 Select the variable you are interested in drag and drop it on the Export Parameter Setup dialog box A new line appears in the simple output list 18 6 2 Removing simple outputs from the export setup To remove a parameter from the Simple Output Parameter setup select it in the list and click on the Remove button or press the Delete key 18 6 3 Simple output properties Once you have added Simple Output Parameters to the list you have to set some properties Export name This is the same as for Input Parameters see Export Name page 559 Read only fields In the list of simple outputs displayed in the Export Parameter Setup dialog box the fields Submodel AMESim Title and Units are read only They concern the origin of the Simple Output Parameter 18 7 Compound Output Parameters With the Compound Output Parameters tab selected these are displayed in a list with two fields as show on Figure 18 9 AMESim
559. ves you want to save with the Export values facility must have the same variable as abscissa The Table editor can read this format AMESim 4 2 User Manual 511 A file browser appears similar to Figure 16 7 Saving a Plot Configuration 2 Select the directory where you want to save your data file 3 Type in a name for this file and click on the Save button Export plot picture This facility stores the image of the graph in a number of popular formats The resulting file can be read into many word processors The image can also be imported into to AMESim and added to the sketch Print Figure 16 8 Print setup 1 Select File Export plot picture A file browser appears similar to Fig ure 16 7 Saving a Plot Configura tion 2 Select the format you want to use 3 Select the directory where you want to save your data file 4 Type in a name for this file and click on the Save button Select this menu item or click on the button if you want to print the content of the AMEPlot main window A dialog box appears where you can select the printer you wish to use then click on the OK button Chapter 16 The Plotting facilities 512 Quit Select this menu item if you want to close the AMEPlot window 16 5 2 The Edit pulldown menu Copy area If you select this menu item the contents of the AMEPlot main window is copied in the clipboard Using Windows you can paste into some other software such as most
560. w fewer details you can use wild cards Figure 11 42 Wild cards You can replace whole or part of the submodel name or alias with a The allows you to replace the part of the submodel name you do not know or to en large the search You can replace a single character by a Examples If you search on SPR you will find all the submondels beginning with SPR If you search on 01 you will find all the submodels ending with 01 If you know only the instance number type it in the Instance Number box and type a in the Submodel Name field You will find all the submodels which have this instance number 4 Click on Find button Update categories Edit Update categories starts a reinitialization of the category icons the contents of the categories and associated data structures based on the current path list If you are in Sketch mode you will see the category icons disappear and be reconstructed Use this facility if you are creating new icons in AMESim or AMESet and want to be sure that AMESim displays the absolutely latest icons and absolutely latest submodels Available supercomponents Edit Available supercomponents initiates a supercomponent management facility The first stage is a search of the current pathlist looking for supercomponents If the path list is long and involves using a slow computer network this search can be slow Eventually an Available supercomponent dialog AMESim 4
561. w plot any variable for this component 7 Finally select Save none for this component 8 Tick off the body displacement Save next box see Figure 5 3 Chapter 5 Batch Runs and Linear Analysis 148 Figure 5 3 Save next and Saved columns 9 Do a run and verify that you can plot body displacement but no other Body mass variable Saved column When a run is performed and some variables are not saved the Variable list dialog box Figure 5 4 will show the column Saved of these variables as unticked Note that Saved is a status that applies to the previous run Note also that the final value of the variables that are not saved are displayed in the Value column Figure 5 4 Saved column applies to the previous run Experiment by changing the Save next status of variables at the submodel and individual variable level The big advantage of the selected save is for batch runs If you want you can do 50 consecutive runs varying one or more parameters It would be undesirable to produce 50 full size results files for a very big system 5 2 2 Batch runs With a batch run a number of runs are initiated with different sets of parameters These runs are performed sequentially This creates a series of results files and Jacobian files if linear analysis is performed A batch run is initiated in the following stages The characteristics of the parameter values are defined in Parameter mode by selecting Batch parameters from the Pa
562. want to set is named mainDampingRating and the value you want to set is 12000 one line of the input file has to be In the case of a vector add one line per component of the vector If the export name of the vector is internalNodePressure then each line has to start with internalNodePressure i where i is the index of the vector component So for instance if internalNodePressure has a dimension of 3 you add the following 3 lines to the input file Integer Input Parameters In the same way in the in file there must be one line per integer Input Parameter for which you want to set a value Each line must start with the export name of the Input Parameter followed by one or more spaces and the value you want to set to your value You can use the format you want for the value Thus if one of the Input Parameter you want to set is named indexOfFluid and the mainDampingRating 12000 or mainDampingRating 12 000 000 or mainDampingRating 1 2e4 internalNodePressure 1 1 0 internalNodePressure 2 1 2 internalNodePressure 3 1 4 AMESim 4 2 User Manual 569 value you want to set is 2 one line of the input file has to be String list String list Input Parameters are special in that you do not set directly the parameter value Instead of that you assign the index of the wanted string in the list of possible strings For instance let us imagine you have defined an export Input Parameter of type String list The
563. word processors Rotate text This rotates selected text which can be either the title of an axis or a piece of text added manually Use also Ctrl R Clear area This removes all the content of the AMEPlot main Window curve s and text A dialog box appears to ask for confirmation Select all text This selects all the text displayed on the AMEPlot main window You can then press the Del key to delete all the text or use Edit Rotate text to rotate all the text Use also Ctrl A to select all text The operations apply to the whole main window AMESim 4 2 User Manual 513 16 5 3 The View pulldown menu Zoom Zoom Zoom Previous Most of the facilities are also accessible through the view toolbar All except AutoScale All apply to a single plot Zoom Zoom Zoom Previous Autoscale Coordinates 3D Rotation If you select this menu item your cursor takes on the appearance of the Zoom icon You can then define a rectangle around a particular part of a curve by clicking on the mouse left button to define the first corner Then move to the place of the opposite corner with the mouse button remained clicked When this is done the selected area gets zoomed and it replaces the original curve If you select this menu item your cursor takes on the appearance of a Zoom icon You can then click on the plot you want to zoom in on with the mouse left button If instead of this you want to zoom out click
564. ws that there are variables defined in the plot A0 which is time A1 which is the output from the differentiator 2 Click twice on the Add item button to produce two new variables The new variables are called A2 and A3 Figure 16 29 Adding new items in the Plot manager 4 Fill the fields for A2 and A3 as shown in Figure 16 30 Specifying the new items Figure 16 30 Specifying the new items We now have all the variables we need Focus your attention on the left window 5 Click twice to Add curve and expand the curves as shown in Figure 16 31 left Note The names of the variables are case insensitive Thus A0 or a0 can be used for the time You can use the expression editor by a clicking on the button If you terminate your expression with the Enter or tab key or the input focus changes in some other way AMESim will check your expression If it does not like it the expression is removed and an error message will appear AMESim 4 2 User Manual 533 figure Figure 16 31 Adding curves The X and Y variables are not defined for curves 2 and 3 6 Drag and drop variables from the right hand window to the left window to get the contents of the window as shown in the right figure 7 Click on OK AMESim produces the modified plot If some error occurs in evaluation such as a division by zero an error message appears In Figure 16 32 are plots of the result with a row added
565. x A globMax Time A Global Maxi mum Time Computes the time for which globMax A is reached The domain of definition is the same as for glob Max function Syntax Brief description Full description Domain of definition Appendix C 622 glob MinTime A Global Minimum Time This function is defined as globMinTime A glob MaxTime A cf globMaxTime A locMax Time A Local Maximum Time Computes the time for which the highest local max imum is found The domain of definition is the same as for loc Max function loc MinTime A Local Minimum Time This function is defined as locMinTime A loc MaxTime A cf locMaxTime A reachT ime A B Reach Time Tries to find the first communication time ti for which A ti and B ti are defined and are such as A ti B ti OR A ti 1 B ti 1 A ti and B ti are defined and are such as A ti 1 lt B ti 1 AND OR A ti 1 gt B ti 1 AND If no such time is found the function is never de fined Otherwise valueAt reachTime A B t is defined and constant only for t in Start Time Fi nal Time and is not defined for any other t It may also be defined even on point where A or B are undefined Syntax Brief description Full description Domain of definition A ti B ti A ti B ti AMESim 4 2 User Manual 623 differ A Derivation Computes the derivative of a variable A The result
566. xploration module in AMESim provides a set of techniques which will allow you to explore your design space The first step towards design exploration consists in selecting the inputs the AMESim model parameters and the outputs the AMESim model variables that you want to investigate This is done in AMESim using the export module This is described in Chapter 18 AMESim export module The techniques provided in AMESim are the most commonly used in this domain In this chapter you will find the necessary information to use these techniques within AMESim It is not possible to give here a fully detailed presentation of the techniques used for design exploration There are many excellent text books on this subject 19 2 Nomenclature In the Export facility we consistently use the terms input and output and these are useful general terms It is unfortunate that in different domains of design exploration different terms are used The following table summarizes the situation 19 3 Key features The key features are divided into three families which will be described in this Inputs Outputs Design of experiments Controls or sometimes Factors Responses Optimization Inputs Outputs Monte Carlo Controls Responses Chapter 19 AMESim Design exploration module 578 paragraph DOE Optimization Monte Carlo For each family one or more techniques are provided 19 3 1 DOE DOE stands for De
567. xploring a supercomponent When a supercomponent is selected in a Submodel List dialog box the button Explore which was greyed for the submodel in Figure 6 14 becomes available and if you click on it the content of the supercomponent is displayed Chapter 6 The Supercomponent Facility 196 Figure 6 16 Explore supercomponent The Explore Supercomponent dialog box which shows the components from which the supercomponent is built it is referred to as an exploded supercomponent 6 3 3 Changing parameters of a supercomponent If you switch to Parameter mode you get the Explore Supercomponent dialog box by clicking on the PID supercomponent Figure 6 17 How to change parameters in a supercomponent AMESim 4 2 User Manual 197 If you select one of the components in the exploded supercomponent you can examine and change the value of its parameter 6 3 4 Plotting variables of a supercomponent In Run mode the same principle as above is used when the supercomponent is exploded you can click on one of its constituent components and the related Variable List appears Variables can then be selected for plotting in the normal way Figure 6 18 Plotting variables of a supercomponent Running a simulation side by side with the original model is a good test to check that you get the same result Chapter 6 The Supercomponent Facility 198 6 4 Managing Supercomponents 6 4 1 Different types of supercomponent There are
568. y 249 8 3 1 Example 1 the vehicle driveline 249 8 3 2 Example 2 the 3 piston pump case study 254 Functional description of the pump 254 Initial modeling 254 Validation of the final reduced model 262 Comparison and numerical performances 263 Domain of validity 264 Summary 265 References 266 Chapter 9 Getting Started with AMEPilot and the Export module 267 9 1 Introduction 267 9 2 Polynomial integrator 267 9 2 1 Setting up the export 268 9 2 2 Running the simulation 271 9 2 3 Using compoun
569. you select the field you get a menu with the following items free state fixed state state observer LA Times LA Status Eigenvalues Modal shapes Root locus Frequency response Chapter 5 Batch Runs and Linear Analysis 164 3 Try to change the status of various variables 4 Then click on the LA Status button to display the current linear analysis status The Summary of linear analysis fields dialog box is displayed as in Figure 5 23 Figure 5 23 Linear analysis field 5 Ensure that there are no fixed states no control variables and no observer vari ables If you look at the free state variables you will find there are often two titles for the same state variable Thus the state variable known as MAS002 1 velocity at port 1 in the 2 port mass is the same as SPR000A 1 velocity at port 1 as far as the spring submodel is concerned We begin by doing a simple linearization with no control observer or fixed states Hence we will get only the A matrix and as the equations of the system are linear we will always get the same A matrix Note Fixed states are eliminated from the linear analysis A state observer is a free state that happens also to be an observer variable For any other sort of variable the original field value is clear and the cycle sequence is clear control observer AMESim 4 2 User Manual 165 Simple linearization 1 Click on the LA times bu
570. ysis etc Other interfaces are also available For the latest information on AMESim interfaces please refer to section 1 6 6 Interfaces Equations AMESim refers to the set of equations defining the dynamic behavior of the engineering system and its implementation as computer code as the model of the system The model is built up from equations and corresponding code for each Chapter 1 Introduction 4 component within the system These are referred to as submodels AMESim contains large libraries of icons and submodels of components The standard library The standard library provides control and mechanical icons and submodels allowing you to perform dynamic simulation of a wide variety of engineering systems In addition there are optional libraries such as the Hydraulic Component Design the hydraulic resistance pneumatic thermal thermal hydraulic cooling system powertrain filling 1 3 How to use the documentation set The documentation set is made up of Printed and PDF manuals for each software of the AMESim platform Printed and PDF manuals for each library HTML specification sheets for all submodels Printed formats are delivered with the CD ROM containing your applications To access the online documentation 1 Select Help Online An HTML browser is displayed Figure 1 4 Online help 2 Select the documentation you want to consult in the content folders or use the index or the
571. ze the number of variables in the VAR file by the number of points logged R 1 is the time vector A list of variables on the VAR list is stored in a text matrix S The global variables ResultsFromAMESim VarNames FromAMESim are set AMEPLOT relies on this R S AMELOADT ask for user the name of the system See also AMELOADJ AMEPLOT AMERUN gt gt R S ameloadt MSD There are 10 variables There are 81 points per variable gt gt S S time s MAS001_1 acceleration at port 1 m s s MAS001_1 displacement port 1 m MAS001_1 velocity at port 1 m s SD0000_1 duplicate of force at port 1 N SD0000_1 force at port 1 N SD0000_1 spring compression m SD0000_1 spring force N SIN0_1 sine wave output AMESim 4 2 User Manual 225 VELC_1 velocity output m s gt gt plot R 1 R 3 gt gt xlabel S 1 gt gt ylabel S 3 Note that the results are stored in a matrix R and the names titles of the variables in S You will get a plot similar to the the following one Figure 7 3 Plot in MATLAB An alternative to use the index into the R and S arrays is to use the amegetvar function that extracts values and titles from the R and S arrays This makes it unnecessary to know where the variables are stored in the R and S arrays it is sufficient to know the titles The plot above has actually been created using t tlabel amegetvar R S time s di

AMESim 4.0 User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents