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ADAMS Vibration Training Guide: ERSION 12.0
ADAMS Vibration Training Guide: ERSION 12.0
Training Guide
VERSION 12.0
PART NUMBER
120VIBTR-01
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2002 by Mechanical Dynamics, Incorporated. All rights reserved. Printed in the United States of America.
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All other product names are trademarks of their respective companies.
Contents
Welcome to ADAMS/Vibration Training 5
About MSC.Software 6
Course Overview 7
Getting Help in Class 8
Getting Help at Your Job Site 11
Introduction 13
Overview 14
What is ADAMS/Vibration? 20
Instrumenting the Model 21
Input Channels and Actuators 22
Swept Sine 23
Output Channels 24
Forced-Vibration Analysis Specification 25
Workshop 1Introduction 26
Validation Example 39
PSDWhat is it? 58
PSD Actuator 59
Workshop 3Power Spectral Density (PSD) Input 60
User-Defined Input 77
Overview 78
Workshop 4User-Specified Vibration Actuators 79
Rotating Mass Vibration Actuator 91
Rotating Mass 92
Modal Energy Computation 96
Workshop 5Rotating Mass Vibration Actuator 97
CONTENTS...
Vibration of Flexible Bodies 115
Overview 116
Operating Point 117
Workshop 6Vibration of Flexible Bodies 118
Using Design Evaluation to Minimize Frequency Response 131
Introduction 154
Vibration Actuators 155
Analysis Methods 157
Answer Key 159
Contents
About MSC.Software, 6
Course Overview, 7
About MSC.Software
Find a list of ADAMS products at:
http://www.adams.com/mdi/product/modules.htm
http://www.adams.com/mdi/product/partner.htm
http://support.adams.com/training/training.html
Course Overview
Lecture
Hands-on workshops
Theory
While working in any ADAMS/Vibration dialog box, you can press F1 to display online
help specific to that dialog box.
Once the online help is displayed, you can also search for any terms you are looking for
or browse through the index or table of contents.
Enter a search term
Help on help
Access help on help by selecting the:
Help tool
Course CD
The course CD includes the files you will need to complete each workshop, a set of completed
workshop files, the course guide in pdf format, as well as the related ADAMS/Vibration
documentation.
10
Global search:
Select text:
Zoom in:
Technical support
To find your support center, go to http://support.adams.com/services/support/
support_centers.shtm
knowledge
base
Go to http://support.adams.com/kb
For a quick tour, go to http://
www.adams.com/mdi/news/dyndim/
vol3_kbtour.htm
Consulting services
Go to http://support.adams.com/
services/consulting.shtm
11
12
Explain the ASK tool and guide the students to register during class.
INTRODUCTION
Familiarize yourself with the ADAMS/Vibration interface by performing a
forced-vibration analysis using a simple two-degree of freedom, two massspring-damper model.
Spring
damper 1
M1
Spring
damper 2
M2
Spring
damper 3
Overview, 14
What is ADAMS/Vibration?, 20
Swept Sine, 23
Output Channels, 24
Workshop 1Introduction, 26
13
Overview
Usually NVH engineering is involved at the end of the design process, after the Vehicle
Dynamics group has completed its study. Therefore the freedom to change the design due
to NVH requirements is limited. Ideally the NVH group should work parallel with the
Vehicle Dynamics group. If we could do it with ADAMS, it would be great.
Sr. Tech. Specialist CAE-NVH
Major Automotive OEM
14
Introduction
Overview...
ADAMS/Vibration and ADAMS/Linear capabilities
ADAMS/Linear
Eigenvalues calculation
Mode-shape animation
Modal-energy distribution
Forced-response analysis
Frequency-response plotting (TRF, FRF, PSD, modal coordinates,
modal participation)
Forced-response animation
ADAMS/Vibration
Introduction
FRF stands for frequency response function; TRF stands for transfer function.
15
Overview...
16
Introduction
Overview...
Inputs to Mechanical
Model
ADAMS Solution
Postprocessing
Time Domain;
Physical Space;
Fully nonlinear
Time Domain
Inputs
Frequency Domain
Inputs
Frequency Domain;
Modal Space;
Linear
Plots, animations,
tables, and some
frequency data within
ADAMS
Faster; linearly
accurate
Introduction
17
Overview...
Inputs to Mechanical
Model
ADAMS Solution
Postprocessing
Time Domain;
Physical Space;
Fully nonlinear
Time Domain
Inputs
18
Plots, animations,
tables, and some
frequency data within
ADAMS
Introduction
Overview...
Inputs to Mechanical
Model
Frequency Domain
Inputs
ADAMS Solution
Frequency Domain;
Modal Space;
Linear
Postprocessing
Plots, animations,
tables, and some
frequency data within
ADAMS
Faster; linearly
accurate
Introduction
19
What is ADAMS/Vibration?
Operating point
K
disp
20
disp
Introduction
Introduction
Entity:
What it does:
Analogy:
Actuators
Vibrates system
SFORCE
Input channel
Marker axis
Output channel
Measures vibratory
response
21
Actuators apply their force (or torque) through the input channel.
These entities are presented together on the same dialog box as shown here:
Input channel
Actuator
22
Introduction
Swept Sine
Swept sine defines a constant-amplitude sine function of increasing frequency being applied to
the model. The amplitude of the sine function and the starting phase angle are required.
f() = F * [cos() + j * sin()]
where:
Constant amplitude
Frequency increasing
over interval
Introduction
23
Output Channels
User
24
The user OC measures in the reference frame of your choice, per your
function specification.
Introduction
Introduction
25
Workshop 1Introduction
X
XI
XII
VII
VI
II
III
IX
VIII
IV
Problem statement
Familiarize yourself with the ADAMS/Vibration interface by performing a forced-vibration
analysis using a simple two-degree of freedom (DOF), two-mass spring-damper model.
The primary objective of this workshop is to provide a brief overview of the ADAMS/Vibration
interface, including aspects of preprocessing, analysis, and simple results postprocessing. After
you complete this workshop you will have a basic understanding of the ADAMS/Vibration
process that can be applied to your virtual prototypes.
In this workshop you will study damped harmonically forced vibrations. To make it easier to
understand we have kept the model simple. It's a one-dimensional system of two masses, three
springs, and three dampers, as shown next.
Spring
damper 1
k=987.0 N/m
c=3.0 N-sec/m
Spring
damper 2
k=217.0 N/m
c=0.1 N-sec/m
M1
(1.0kg)
M2
(1.5kg)
Spring
damper 3
k=987.0 N/m
c=3.0 N-sec/m
26
Introduction
Workshop 1Introduction...
You will use a forced-vibration analysis to determine the response of M1 as M2 is vibrated by
a sinusoidal input. By utilizing the swept sine forced vibration actuator, you will be able to
obtain the frequency response of the system. The precise magnitude of M1's displacement will
be calculated for the complete range of frequencies in the force being applied at M2.
Model description
The model has two parts (not including ground): M1 and M2.
The block-shaped parts are constrained to ground with frictionless translational joints
such that the system has two degrees of freedom.
The model has been parameterized with the following design variables:
Getting started
First, you will start ADAMS/View and import the model.
To start ADAMS/View and import the model:
1
Introduction
tool.
tool.
27
Workshop 1Introduction...
Loading the ADAMS/Vibration plugin
ADAMS/Vibration has been built as a plugin. You can think of it as an additional layer
surrounding ADAMS/View that gives you access to special features, features unique to
vibration simulation.
Pr
ep
n
tio
roc
lu
So
es
s in
g
ADAMS/VIBRATION
ADAMS/View
Postprocessing
This means that you can take a model that works in the time domain, plug in
ADAMS/Vibration, and then build up the essential entities for frequency domain solution.
To load the ADAMS/Vibration plugin:
From the Tools menu, point to Plugins, point to Vibration, and then select Load.
ADAMS/Vibration is loaded. In addition, your solver and interface (menu structure,
dialog boxes, and so on) have been updated, enabling you to construct
ADAMS/Vibration input channels, actuators, and output channels.
Tip: When you import a model that already contains ADAMS/Vibration data, you do not have
to load the ADAMS/Vibration plugin manually; the core product automatically loads the
plugin for you.
28
Introduction
Workshop 1Introduction...
Instrumenting the model with ADAMS/Vibration tools
There are three basic building blocks in ADAMS/Vibration: input channels, output channels,
and actuators.
Entity:
Description:
Analogy:
Actuators
Single-component forces
(SFORCE) in a time-domain
model.
Input Channels
Output Channels
Introduction
29
Workshop 1Introduction...
You will drive the 2-DOF system model with a swept sine forced vibration actuator, applied to
an input channel at the center-of-mass (cm) of M2. The output channel will be the vertical (Y)
displacement of the center-of-mass of M1. You will compute the frequency response of the
system. You will calculate the precise magnitude of the M1.cm displacement for the complete
range of frequencies being applied at M2.cm.
From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
Right-click in the Input Marker text box, point to Marker, and then select Browse.
The Database Navigator appears.
Double-click M2.cm.
ADAMS/Vibration inserts this marker into the Input Marker text box.
Select Translational.
30
Introduction
Workshop 1Introduction...
11 Select OK.
ADAMS/Vibration creates the input channel and displays a screen icon (a red arrow
resembling an SFORCE icon).
From the Build menu, point to ADAMS/Vibration, point to Output Channel, and then select New.
Right-click the Output Marker text box, point to Marker, and then select Pick.
Using your mouse, point to the center of M1 (the upper box geometry), and then click on
M1.cm.
ADAMS/Vibration inserts the marker into the Output Marker text box.
Select Y.
Select OK.
You have completed the building blocks for the vibration analysis. The next step is to
configure the analysis and then perform it.
Introduction
The students may not see the icon if they forgot to reset the model per Step 4 on page 27.
The need for a screen icon for output channels has been logged as CR22261.
31
Workshop 1Introduction...
Performing a vibration analysis
You can perform two kinds of analyses with ADAMS/Vibration: forced vibration and normal
mode. Both of these are linearized solutions, and as such they must be performed about an
operating point. In this workshop you'll perform a forced-vibration analysis about the static
equilibrium position of the system.
To perform a vibration analysis:
1
From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
Select Damping.
Right-click the Input Channels text box, point to Input Channel, point to Guesses, and then
select Input_Channel_1.
Right-click the Output Channels text box, point to Output Channel, point to Guesses, and
then select Output_Channel_1.
32
Begin: 1
End:
Steps: 200
Introduction
Workshop 1Introduction...
11 Select OK.
Select Magnitude.
The input is amplified at two peaks in the curve. What are the corresponding frequencies?
_________ Hz
_________ Hz
Hint: Use the Plot Tracking tool
Introduction
The peaks near 4.3 Hz and 5.6 Hz, represent an amplification of the input, whereas at higher frequencies
the response is attenuated.
The vertical axis label on the students plot wont say Magnitude (dB) for decibels, it will only say Magnitude. Its a good time for them to recognize this code behavior. Of course, they can update the label
themselves using the property editor.
33
Workshop 1Introduction...
To plot frequency response phase in degrees and log scale:
1
The plotting area of the screen splits into two plots: the upper containing the frequency
response magnitude plot, and the lower containing a blank plot. You will create a new plot
of frequency response phase in the blank area.
2
Choose the input and output channels for the frequency response (like you did in steps 4
and 5 on page 33).
Select Phase.
34
Introduction
Workshop 1Introduction...
Animating a forced-vibration analysis
Next you perform an animation to inspect the system response to a forced vibration, comparing
the system behavior at the two frequencies: 2.8 Hz and one of the peaks you plotted earlier,
5.6 Hz.
To view a forced vibration animation:
1
tool.
Introduction
If the students get different answers for steps 5 and 9, it usually indicates that they used a different value
for Steps in step 10 on page 32.
35
Workshop 1Introduction...
10 Select the Play tool.
Tip: You can better see the phase difference if you have more animation frames and exaggerate
You have now been introduced to the basic features of ADAMS/Vibration. In the workshops
that follow you will explore other available features.
36
Select OK.
Introduction
Workshop 1Introduction...
Optional tasks
1
Change the mass of M2 from 1.5kg to 1.0 kg by modifying the design variable m2_mass.
Re-run the frequency response analysis and plot again.
Reduce the value of one of the stiffness or damping coefficients (using design variables
listed on page 27), rerun and plot.
Perform an automated design study of m2_mass using prewritten command files stored in
the misc subdirectory. Use the F2 key to import each of these command files in the
following order:
prep_for_design_study.cmd
run_ds_m2_mass.cmd
After the simulations have finished, go to ADAMS/PostProcessor and plot the frequency
response for the five vibration analyses. Look at the command files in a text editor to see
what commands were used to prepare and run this design study.
Introduction
The strip chart of OBJECTIVE_1 vs. m2_mass doesn't scale properly and looks like a flat line. If
you transfer to full plot, the vertical scale will look fine in PPT.
37
Workshop 1Introduction...
38
Introduction
VALIDATION EXAMPLE
Use time-domain simulation results to validate accuracy of frequency-domain
solutions.
Post-Processing, 42
39
Repeat
In this workshop you will use both of these methods to validate the accuracy of the solution.
40
Validation Example
Max
Min
Steady state
3.5 sec.
FUNC_GET_STEADY_STATE
MAX_STEADY_STATE
The applied force uses a design variable, FREQ, to assign the frequency.
Validation Example
The List of Allowed Values option was used to govern the frequencies to be
solved.
41
Post-Processing
Plotting
System modes
Frequency response
Magnitude
Phase
Modal coordinates
Modal participation
Animation
Normal-mode animation
Forced-vibration animation
Modal coordinates
Modal participation
Modal energy
42
Validation Example
Briefly demonstrate most of the above features using the two-DOF model from this workshop.
XI
XII
VIII
II
III
IX
VII
VI
IV
Problem statement
Use time domain simulation results to validate the accuracy of frequency domain solutions.
In this workshop, you will run a series of simulations in the time domain and compare the steady
state vibratory behavior of the model with the output from a frequency domain simulation. The
process is as follows:
This process is a way to validate your ADAMS/Vibration results, while appreciating the speed
advantages of using frequency domain solution.
Validation Example
43
This model is similar to the one used in Workshop 1Introduction on page 26.
Getting started
First you will start ADAMS/View and import the model.
To import the model:
1
44
From the Build menu, point to Design Variable, and then select New.
Validation Example
Name:
.model_1.FREQ
Standard value:
4.0
Min. Value:
4.0
Max. Value:
8.0
Select OK.
From the Main Toolbox, within the Create Forces toolstack, select the Applied Force: Force
(Single Component) icon
M2 as the body
This function uses the FREQ design variable you created earlier. The SFORCE function
will impart a 1-Newton sinusoidal force at the frequency, FREQ.
7
Select OK.
Validation Example
45
FUNC_GET_STEADY_STATE: This function extracts the steady state value from the
measure FUNCTION_MEA_DY. It is assumed that steady state has been reached at 3.5
seconds so it takes all the values of the measure corresponding to times equal or
greater than 3.5 seconds. This function uses matrix indexing and expressions. You
can think of it having the simplified form:
FUNCTION_MEA_DY.Q.values[index at 3.5 seconds : index at end time]
function so that it only operates on steady state values. You can think of it having the
following simplified form:
(MAX (FUNC_GET_STEADY_STATE)-MIN (FUNC_GET_STEADY_STATE)) / 2.0
From the Simulate menu, point to Design Objective, and then select Modify.
From the Database Navigator, double-click the model name, and then select FREQ_RESP.
Review the contents of the Modify Design Objective dialog box, then close it by
selecting Cancel.
The model is ready to be solved in the time domain, but before you do that, you should adjust a
few settings in the interface.
46
Validation Example
From the Settings menu, point to Solver, and then select Display.
To generate screen output so you can conveniently monitor simulation progress, use the
external solver, do the following:
To store the individual and multi-run simulation results in the database, perform the
following:
Select More.
Under Individual Simulations, set Save Analysis to Yes, and set Prefix to Run.
Under Multi-Run Simulations, set Save Analysis to Yes, and set Prefix to Multi_Run.
Select Close.
From the Settings menu, point to Solver, and then select Output.
Select Close.
From the File menu, point to Select Directory, and then select results_dir.
Select OK.
Validation Example
47
Prepare the design study to study objective FREQ_RESP by completing the Design
Evaluation Tools dialog box as follows:
Model:
.model_1
Select
Design Study
Design Variable:
FREQ
Notice that after 3 seconds of simulation, the integrator error is tightened and the output
step size is reduced by a factor of 5. This is done to distribute enough points evenly over
the peaks and valleys of the output signal so that the maximum and minimum values are
captured correctly.
3
Select Start.
The five design evaluations will take a while. When theyre done, ADAMS/Vibration will
write a table of results to the information window. In addition, ADAMS/Vibration will
display the following information box:
48
Validation Example
Select OK.
Inspect the results in the Info window, and then close the window.
From the Simulation list, hold down the Ctrl key while selecting Run_001 and Run_005.
Hint: Dont select Last_Run.
Validation Example
49
Steady state
3.5 sec.
After the initial transient has died out, the vibration reaches a steady state solution. The
amplitude at steady state is the vibratory response of the system.
50
Use the Surf option and review the vibratory characteristics of the other runs named
Run_*.
Validation Example
From the Tools menu, point to Plugins, point to Vibration, and then select Load.
From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
The Create Vibration Input Channel dialog box appears.
Right-click the Input Marker text box, point to Marker, and then select Browse.
The Database Navigator appears.
Double-click M2.cm.
ADAMS/Vibration inserts this marker into the Input Marker text box.
Select Translational.
Validation Example
51
This output channel is identical to the one you created in Creating an output
channel on page 31.
The Perform Vibration Analysis dialog box appears. Complete the dialog box as shown
below:
52
Validation Example
Select OK.
ADAMS/Vibration performs a forced-vibration analysis.
Note: Because were still using the standalone Solver for the vibration analysis, a benign
Plot the magnitude frequency response for the vibration analysis like you did in Plotting
frequency response on page 33.
10 Select OK.
11 Select Add Curves.
The design study results (in dashed blue) are plotted on top of the vibration results (in solid
red).
Validation Example
53
Select the design study results curve, either by left-clicking it, or by navigating through
the treeview.
Set Symbol to @.
54
Validation Example
The results of the five time-domain solutions have validated the single ADAMS/Vibration
analysis.
15 How many frequencies were studied using the Design Study? _____________
16 How many frequencies were solved using ADAMS/Vibration? ______________
17 Has the frequency-domain solution solved for more frequencies in less time?
__________Yes __________ No
Wrap-up
1
Exit ADAMS/View.
Validation Example
55
56
Validation Example
PSDWhat is it?, 58
PSD Actuator, 59
57
PSDWhat is it?
58
Power spectral density is the amount of power per unit (density) of frequency
(spectral) as a function of the frequency.
The power spectral density describes how the power (or variance) of a time series is
distributed over a frequency range.
PSD can also be understood as a measure of the intensity in the frequency domain.
Mathematically, it is defined as the Fourier transform of the auto correlation sequence
of the time series. An equivalent definition of PSD is the squared modulus of the
Fourier transform of the time series, scaled by a proper constant term.
Being power per unit of frequency, the dimensions are those of power divided by
Hertz.
PSD Actuator
Notes:
It is assumed that the PSD inputs applied to the linear model are independent
of one another. In other words, they are not correlated.
You cannot combine vibration actuators of the non-PSD-type with PSD-type
vibration actuators in the same vibration analysis.
59
XI
XII
VIII
II
III
IX
VII
VI
IV
Problem statement
Determine the power spectral density (PSD) output at the driver's seat in a conceptual vehicle
model for a given road input PSD.
In this workshop you will determine the effect that road vibration has on a passenger. You will
learn how to define a PSD vibration actuator.
You can define four kinds of actuators in ADAMS/Vibration:
Swept Sine
Rotating Mass
PSD
User
After finishing all of the workshops, you will know how to define all of the actuator types. You
should already be comfortable with the swept sine actuator, since you used it in the last two
workshops. In this workshop you will focus on the PSD actuator. In Workshop 4UserSpecified Vibration Actuators on page 79, you will learn about the user-defined actuator.
Finally, you will use the rotating mass type in Workshop 5Rotating Mass Vibration Actuator
on page 97.
60
The seat part (and passenger) is a block mounted to the vehicle with a bushing.
Each wheel is connected to the chassis with a translational joint and spring-damper
force.
Bushing forces act between the wheels and ground.
Stiffness and damping coefficients throughout the model have been parameterized
with design variables; some geometric and mass characteristics have also been
parameterized.
61
Category:
Design Variable:
Description:
flwhdamp
frwhdamp
rlwhdamp
rrwhdamp
flwhstifff
rwhstiff
rlwhstiff
rrwhstiff
seat_stiff
seat_damp
seat_t_stiff
seat_t_damp
62
Geometric
wheelbase
front_track
rear_track
Mass
passenger_ma
ss
Mass/Geometric
weight_dist
From the Tools menu, point to Plugins, point to Vibration, and then select Load.
From the Build menu, point to Data Elements, point to Spline, and then select Modify.
From the Database Navigator, double-click the model name and select SPLINE_1.
The Modify spline dialog box appears.
63
This is the PSD data that will be applied to the front wheels of the model. The frequency
range of this spectrum goes from 0.1 to 10 hertz.
4
From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
The Create Vibration Input Channel dialog box appears.
64
Right-click in the Input Marker text box, point to Marker, and then select Browse.
Double-click flwheel.cm.
ADAMS/Vibration inserts this marker into the Input Marker text box.
Select Translational.
Select PSD.
Select Displacement.
Right-click the Input Marker text box, point to Marker, and then select Browse.
Double-click frwheel.cm.
ADAMS/Vibration inserts this marker into the Input Marker text box.
15 Select OK.
65
66
Select Apply.
Select OK.
From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
Make sure
you leave this
unchecked
Tip: If you double-click the blank Input Channels text box, the Database Navigator appears
Select OK.
67
Open ADAMS/PostProcessor.
From the Output Channels list, select seat_displacement and seat_velocity by holding down
the Ctrl key while selecting.
Hint: Right-click the dashed blue curve, and then select Delete.
68
Add symbols to the red displacement curve so you can see the discrete output data:
Review the Output PSD curve and then answer the following questions:
9
Does the output resolution seem sufficient enough to capture the resonance peaks?
Yes _____
No _____
10 Why doesn't the lower bound of your PSD output plot extend leftward to 0.10 Hz like
0.1 - 10 Hz. Suppose you had set the Vibration Analysis end frequency to 100 Hz; what
do you think the vibration solver would do?
_________________________________________________________________
12 Use the F8 key to close the plot window and return to the modeling view.
CR32306 has been logged to address the issue of the analysis frequency range not being honored.
69
From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
Right-click the Vibration Analysis text box, point to Vibration_Analysis, point to Guesses, and
then select VibrationAnalysis_PSD.
Notice how ADAMS/Vibration updates the Perform Vibration Analysis dialog box with
the analysis specifications you used before.
Begin: 0.1
End:
Steps: 500
10.0
Select OK.
70
Launch ADAMS/PostProcessor.
Note significant peaks and valleys and write their frequencies here:
Peaks
_______
_______
Valleys
_______
_______ _______
_______ _______
_______
You will animate the results at these frequencies later in the workshop.
4
Changing parameters
Now, you change the damping properties of spring dampers and run another vibration analysis
to see how the vibration response changes. You create an analysis by importing the
specifications from the last simulation.
The vehicle model you've solved so far had what you might consider brand new dampers,
with each damping coefficient being equal and at a nominal design value. Now suppose that
over the life of the vehicle, the dampers had worn so that they are no longer equal from wheelto-wheel, and now supply less damping altogether. To reflect this scenario by importing a
command file, you update the damping parameters.
71
Damping coefficient:
flwhdamp
1e-3
frwhdamp
0.5
rlwhdamp
0.8
rrwhdamp
1.0
From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
Clear the New Vibration Analysis text box, and enter Uneven_Damper_Wear.
Select Import Settings from Existing Vibration Analysis, and when the Database Navigator
opens, select VibrationAnalysis_PSD.
Notice that ADAMS/Vibration updates the Perform Vibration Analysis dialog box with the
analysis specifications you used before.
72
Select OK.
From the Vibration Analysis list, select both VibrationAnalysis_PSD and Uneven_Damper_Wear.
Use the treeview and property editor to change the dashed-blue curve to a solid line.
The resonant peaks have increased in magnitude due to the reduction of damping resulting
from the worn-out dampers.
73
View the model from the right side by using the Shift-R keyboard shortcut.
In the dashboard, select Automatically set time fields for one cycle.
In the text box beneath the Frequency slider, double-click the existing value and enter 1.54
to update the frequency.
Repeat the above steps to animate the response for the VibrationAnalysis_PSD results.
10 How are the wheels vibrating at 1.54 Hertz for the VibrationAnalysis_PSD analysis?
____ In phase
____ Out of phase
Explain why: ____________________________________________________________
11 Animate the forced vibration results for the other frequencies that you recorded earlier,
on page 71.
Wrap up
74
Exit ADAMS/View.
Perform a design study of weight_dist to see how the vehicles fore/aft weight distribution
influences the resonant frequencies.
a
Import the file misc/prep_for_design_study.cmd. This file will build the simulation script
and create an objective that calculates the peak magnitude across the frequency
spectrum.
model_name:
.automobile
sim_script_name:
Design_Study_Script
objective_names:
OBJ_MAG
variable_name:
weight_dist
number_of_levels: 5
Plot the PSD output for the individual runs, using a linear frequency scale.
75
76
USER-DEFINED INPUT
Vibrate the conceptual vehicle by applying a general function of frequency
through a vibration actuator.
Overview, 78
77
Overview
Any user function of the independent variable, omega, can be specified in the
ADAMS/View Function Builder:
f() = g()
where:
is the frequency
Amplitude determined
by user function
Frequency increasing
over interval
78
User-Defined Input
There are some limitations to using the SPLINE function in your user expression. Currently, no interpolation is being done, so you will have to interpolate the data to align with the outputs.
You can think of the user function as a way of directly controlling the amplitude of a swept sine with your
own function.
XI
XII
VIII
II
III
IX
VII
VI
IV
Problem statement
Vibrate the conceptual vehicle by applying a general function of frequency through a vibration
actuator.
In this workshop you will see how you can write your own frequency-based function to vibrate
a model at its input channels. You will learn to modify an existing vibration model to suit a
different vibratory condition. In this example, you will take the conceptual vehicle model from
the last workshop and change its vibration actuator force from PSD to a user-written function.
You will also learn to plot system modes, modal participation, and modal coordinates.
User-Defined Input
79
Getting started
First, you import the model and load the ADAMS/Vibration plugin.
To import model and load the plugin:
1
Using a text editor (such as Notepad), open the command file user_start.cmd.
Using the text editor's find (or search) tool, search for the parameter plugin_name.
This will take you to the section of the command file that loads the plugin for you, as shown
here:
!--------------------------- Plugins used by Model ----------------------------!
!
!
plugin load &
plugin_name = .MDI.plugins.vibration
You can see that the command file is issuing a straightforward command to load the
ADAMS/Vibration plugin from the .MDI.plugins library. When you load the plugin
yourself (through the Tools -> Plugins menu), it executes the same command. You can
learn more about your models and the commands used to build them by reviewing the
contents of your command files.
7
80
From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select
Modify.
When the Database Navigator opens, double-click the model name and select
Input_Channel_FL.
The Modify Vibration Input Channel dialog box appears.
Select User.
Select Apply.
You have updated the left wheel's input channel and vibration actuator. Now you should
check the input channel at the right wheel to see what it is set to.
Right-click the Input Channel Name text box, point to Input Channel, point to Guesses, and
then select Input_Channel_FR.
The dialog box updates with the specifications for the input channel at the right wheel.
The input marker field now contains .automobile.frwheel.cm, the center of mass
marker for the right wheel.
The input channel is a translational force, operating in the global z direction.
Now take a look at the actuator parameters. Notice that they already contain the User
setting, as well as the function you defined for the left wheel, even though you havent
modified the right wheel yet. This is because the second input channel that you created in
Workshop 3Power Spectral Density (PSD) Input used an existing actuator that was
created with the first input channel. In doing this, you built two input channels but only a
single vibration actuator, which is being used by both input channels.
User-Defined Input
81
Select Cancel.
Another way to see how input channels have been defined is to look at them in the
Information window.
Set the option menu next to the Type Filter text box to Browse.
82
User-Defined Input
From the Status Bar of the main modeling window, select the List Information about Database
Objects tool
The Information window appears with the details of the two input actuators. Notice that
each input channel is referencing the same vibration actuator, Vibration_Actuator_1.
Now you will look deeper to get information about Vibration_Actuator_1.
6
From the Information window, in either of the General Parameters sections, click on
(Vibration_Actuator_1), making sure to click at the center of the text so that the text box
field of the information window updates showing the text vibration_actuator_1, as shown
below.
Select Apply.
The Information window updates with details about the vibration actuator you selected.
Notice that the force_expression parameter shows the exponential frequency decay
function you defined earlier.
User-Defined Input
83
From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
Select Import Settings from Existing Vibration Analysis, and when the Database Navigator
appears, double-click VibrationAnalysis_PSD.
The Perform Vibration Analysis dialog box updates with the analysis specifications you
used in the last workshop.
Leave the Begin and End times as-is (0.1 and 10.0, respectively).
In the Steps text box, reduce the data resolution by changing the value from 500 to 50.
Select OK.
When the vibration analysis is finished, the dialog box will close by itself.
84
Launch ADAMS/PostProcessor.
User-Defined Input
Right-click the Page Layout tool, and select the 2 Views, over & under tool
From the Database Navigator, double-click the model name and then double-click
VibrationAnalysis_User.
The table has been saved to disk. Now you will import that data into the animation window
so that it will be displayed below the scatter plot.
12 Right-click the animation window and select Load Report.
13 From the Select File browser, select eigenvalues.txt.
14 If a warning dialog box appears, select OK so that the animation is deleted.
The eigenvalue table displays in the report window. Now you will reduce the font size so
that you can see more of the data in the window.
15 Select the report window by clicking in it.
16 In the property editor, enter 7 in the Font Size text box.
17 To hide the dashboard, select the Toggle Dashboard Visibility icon
User-Defined Input
Some students my be confused during the saving process because the button says Open, when you'd think
it should say Save.
85
86
Right-click the Page Layout tool, and then select the Page Layout: 1 Views tool
User-Defined Input
Select Surf.
Select Magnitude.
ADAMS/PostProcessor plots the participation of modes 5 through 8. Here you can see that
mode 7 makes little contribution across the entire frequency spectrum, whereas mode 6
participates across several frequencies, coming to a significant magnitude peak between 5.0
to 6.0 hertz.
10 Use the up and down arrows on your keyboard to surf (or scroll) through the other modes
87
Select Surf.
Compare mode 2 with some of the others using a keyboard-based method of selection:
Using the mouse, select mode number 2 again. Then, using only the keyboard, hold
down the Shift key and click the Down arrow a few times.
The plot window and legend updates, plotting a curve for each mode that you are
selecting with the keyboard.
88
User-Defined Input
Continue selecting other modes to plot in this manner until you are comfortable with
this method of plotting.
The curves you just plotted were on a mode-by-mode basis. Each curve represented a
given mode's coordinates across the frequency spectrum. Now you will plot the modal
coordinates data using a different feature by frequency instead of by mode.
Scroll to the bottom of the list of frequencies and select number 10.0.
The plot window updates with a plot of modal coordinates versus mode number, as shown
below.
Which mode has the largest modal coordinates value at 10 Hz? _____________________
This curve shows the modal coordinates for each mode, at a given frequency.
9
Quickly surf through the other 49 frequencies to see how the curve shape changes:
Using only the Up arrow on your keyboard, scroll to the next frequency in the
frequency list (~9.1 Hz).
Continue using the Up arrow to quickly surf through the remaining frequencies.
Tip: Use the Shift key if you want to compare some range of frequencies.
User-Defined Input
89
Exit ADAMS/View.
Optional tasks
1
Earlier in step 8 on page 89, you noted that mode 8 had the largest modal coordinates value
at 10 Hz. Perform a forced vibration animation at 10 Hz and compare that vibratory
behavior with the normal mode animation of mode 8.
2
Change the damping rates of the spring dampers and see how the modal participation has
changed.
Create a new vibration analysis by importing the settings from the last simulation.
90
Plot the modal coordinates data by frequency, comparing the results from
VibrationAnalysis_User with the results from the worn damper analysis.
User-Defined Input
Rotating Mass, 92
91
Rotating Mass
Unbalanced
masses
92
Rotating Mass...
F = m*r*2
Force components
Leading: Fx = F cos(*t)
Lagging: Fy = F sin(*t)
m
r
93
Rotating Mass...
Unbalanced moment
M = (m*r* 2)*d
Moment components
Leading: Mx = M cos(*t)
Lagging: My = M sin(*t)
Unbalanced
masses
m
r
94
Rotating Mass...
is the frequency
r is the radial distance of the unbalanced mass from the axis of rotation
Similarly, a rotating mass placed at a distance offset along the axis of rotation results
in an unbalanced moment.
t() = m * 2 * r * d
where:
Increasing frequency
95
96
The modal energy table summarizes, in HTML format, the energy contribution of
each model element for each mode
XI
XII
VIII
II
III
IX
VII
VI
IV
Problem statement
Study the vibratory effects of an out-of-balance mass on a wheel.
In this workshop you will study the vibratory effects of an out-of-balance wheel in a quarter
suspension model. You will learn how to create rotating-mass vibration actuators (leading and
lagging) and perform vibration analyses to see the effect that a change in suspension design has
on the frequency response.
97
Part:
Design Variable:
Description:
Tie rod
DV_pnt7_x_loc
DV_pnt7_y_loc
DV_pnt7_z_loc
UCA
DV_pnt3_z_loc
DV_pnt4_z_loc
Force elements: A linear spring damper exists between the upper and lower control
arms and its stiffness and damping coefficients are parameterized. Two bushings
supply stiffness and damping characteristics along the model DOF. The bushing
translational coefficients are parameterized with design variables:
Force:
Design Variable:
Description:
susp_spring
DV_spr_k
DV_spr_c
Stiffness coefficient
Damping coefficient
chassis_rack_bush
bush1_k
tire_gnd_bush
bush2_k
c_rate
98
Reviewing topology
And so on
If you have simulated the model, reset it and close any animation controls dialog box that
may be open.
99
From the Tools menu, point to Plugins, point to Vibration, and then select Load.
From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
The Perform Vibration Analysis dialog box appears.
Since you want to ignore damping for this analysis, clear the selection of Damping.
This ensures that damping effects will not be included.
Select OK.
ADAMS/Vibration performs a normal-modes analysis. The process runs quickly. If no
error messages appear, you can assume the vibration analysis completed correctly. If you
receive error messages, correct the problem, and rerun your analysis.
100
Launch ADAMS/PostProcessor.
From the option menu located in the menu bar below the File menu, select Animation.
ADAMS/PostProcessor switches to animation mode.
Right-click the animation window, and then select Load Vibration Animation.
The animation for the eigen_nodamp analysis appears in the animation window and is
titled EIGEN_1.
Note: To view the animation from different angles, rotate the view by typing a lowercase
Mode number ____ looks like a wheel hop mode; its frequency is _______.
Mode number ____ looks like a chassis heave mode; its frequency is ______.
Mode number ____ looks like a wheel shimmy (or nibble) mode; its frequency is
_______ and would have a significant effect on steering feel.
101
From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
The Create Vibration Input Channel dialog box appears.
Right-click the Input Marker text box, point to Marker, and then select Browse.
The Database Navigator appears.
Double-click spindle.cm.
ADAMS/Vibration inserts this marker into the Input Marker text box.
Select Translational.
Make these
changes
102
Now you have a pair of actuators that combined together represent the effect of having a 1/
16th-pound weight on the wheel at a 100 mm radial distance from the spin axis. These
rotating mass actuators don't actually add mass to the system: they only produce a force that
is equivalent to the mass.
Select OK.
103
Select OK.
104
Launch ADAMS/PostProcessor.
From the Input Channels list, select both lagging_channel and leading_channel.
Select Magnitude.
Click in the blank space in the Input Channels list to clear the selection of the input
channels.
10 Select Sum All Input Channels (located beneath the Input Channels list).
Notice that the input channels have been greyed-out, indicating that both are being summed
together so you need not select them yourself.
11 Verify that Output Channel contains rack_displacement.
12 Select Magnitude.
13 Select Add Curves.
ADAMS/PostProcessor generates the Sum of All Inputs curve, which is the combined
effect of the leading and lagging actuators.
The three resonant frequency peaks are:
_________Hz, __________Hz, _________Hz
105
_______________________________________________________________________
_______________________________________________________________________
Animating results
Here you inspect the forced vibration animation to see how the system vibrates at each resonant
peak.
To animate the results:
1
Right-click the Page Layout tool, and select the 2 Views, Side by Side
tool.
A front view of the suspension appears to the right of your frequency response plot.
4
Select Automatically set time fields for one cycle (located beneath the Time Increment text box).
Notice that the End Time and Time increment text boxes have been automatically updated
with values and greyed-out.
To see how the system vibrates at higher frequency of the rotating mass, drag the
frequency slider bar all the way to the right and then release it.
In the text box below the Frequency slider, double-click the current value to select the text,
type 0.94, and then press Enter.
Does the animation look familiar? It resembles the mode shape you saw earlier in the
normal-modes analysis on page 100. This time, however, the animation is showing how the
system is vibrating in response to the rotating mass forcing function at the wheel.
106
If the students wonder what the Automatically set time fields for one cycle feature does, have them
read the status bar when they put their cursor over the checkbox.
22.3
81.2
Note: If you click in either the plot or animation window, this will unset some of your
animation settings in the dashboard. You will have to re-enter the Maximum
Translation value and reselect the checkbox, Automatically set time fields for one
cycle.
11 To stop the animation, select the Pause tool.
Select Modal Info (located near the lower-right corner of the dashboard).
The Modal Information dialog box as shown below:
107
Select Write Table to File, and save the baseline modal coordinates as baseline_mc.
ADAMS/PostProcessor writes an HTML file to your working directory, which you can
view with a Web browser. Alternatively, you could have saved the file in tab-delimited text
format.
Slide the frequency slider bar to another frequency, release your mouse button, and see
how the values in the table change. You might see instances where all three modes are
coupled; in other words, the magnitude of vibration is shared or distributed among the
modes.
St the top of the Modal Information dialog box, select Modal Energy.
ADAMS/PostProcessor displays the following text:
Modal Energy Table for
No Modal Energy found for Analysis = Baseline_analysis
The message tells you that the modal energy hasn't been computed. You must request this
prior to performing the analysis.
9
108
This file has modified some of the model's design variables, causing the model hardpoints
to move to new locations. The geometry has changed as shown next:
pnt3_ref
lowered ~3mm
pnt7_ref raised
~12mm
Select Import Settings from Existing Vibration Analysis and choose Baseline.
The simulation parameters from the baseline analysis have been loaded into the dialog box.
109
To compute the energy for all modes, leave the defaults of 0 and 0 for Mode Range.
Select OK.
Select OK again.
Reviewing results
In this section you load your new results, view the modal energy table, and overlay your results
onto a transfer function plot.
To review the results:
1
Launch ADAMS/PostProcessor.
Your last page is displayed with the plot on the left and the animation on the right.
What is the name of the analysis, as shown in the title of the animation window?
_________________________________________________________________
110
Mode number
Total kinetic
energy
Percentage
contribution
Note: To resize the window, drag the bottom corner of the window.
Notice that for mode 1 the largest percentage of kinetic energy is in the chassis, and is
acting in the vertical (Z) direction. Other parts in the system have negligible kinetic energy
contributions.
Review the data tables for each of the 3 modes, and answer the following questions:
8
For mode 2...Which part has the most KE? _________ In which direction?______
10 For mode 3...Which part has the most KE? _________ In which direction?______
11 Close the Modal Information dialog box.
Sometimes the energy table doesn't update properly when clicking the arrow button on the right. It may
display a number 3 in the text box but the table still shows mode 2. One workaround is to enter the mode
number by hand.
111
Right-click the Page Layout tool, and select Page Layout: 1 View
Select Magnitude.
tool.
ADAMS/PostProcessor generates the transfer function plot with curves for each analysis.
112
tool.
____ T
12
____ F
You can expect the driver to feel more steering vibration at 81.2 Hz in the proposed
design. ____ T ____ F
13 The magnitude of chassis heave vibration has increased with the proposed design.
____ T
14
____ F
The proposed design has caused the frequency of the chassis heave mode to shift
downward in the frequency spectrum. ____ T ____ F
In this results comparison we see that the proposed design has reduced the magnitude of
vibration at some frequencies but has increased it at another. This raises the question of which
design is better? There appear to be opportunities here for further optimization of the competing
designs so as to balance NVH design issues with suspension kinematics design issues.
Wrap-up
1
Close ADAMS/PostProcessor.
Exit ADAMS/View.
Optional tasks
Perform a design study of DV_pnt7_y_loc to see how that design variable influences the resonant
frequency of the spindle vibration (also known as wheel shudder).
1
Import the file misc/prep_for_design_study_incl_freq.cmd. This file will build the simulation
script and create an objective that calculates the peak magnitude across the frequency
spectrum.
sim_script_name:
Design_Study_Script
model_name:
.sla
variable_name:
DV_pnt7_y_loc
objective_names:
OBJ_MAG
number_of_levels: 5
113
114
Overview, 116
115
Overview
Model of a bonding machine with flexible bodies for table legs and bonder arm
116
Operating Point
The vibratory behavior of a moving system is often dependent upon its current
operating point.
Recall that the linearization (small displacement analysis) will occur about the
operating point.
Operating points:
Assembly
Static equilibrium
Script
Using a script operating point allows you to perform a vibration analysis after a
transient ADAMS simulation.
In this workshop, you perform vibration analyses at different time durations,
corresponding to different points along the motion path of the bonder mechanism.
117
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IX
VII
VI
IV
Problem statement
Investigate the influence of base excitation on the tip motion of a robotic bonding machine.
In this workshop, you will see that ADAMS/Vibration can be used just as easily with flexible
body models as without. You will learn to perform vibration analyses at different operating
points in the duty cycle of the robot, compute strain energy, plot frequency response, and
animate results. You will study how the system behaves for two different designs of the robot's
flexible forearm.
Model description
118
The model represents a robotic bonding machine that is rigidly mounted to a table.
Five flexible bodies are included: four flexible legs support the table, and a flexible
forearm is used in the robot mechanism.
The table is mounted to a base part with a fixed joint at the bottom of each leg.
The base part itself is connected to ground with a translational joint and spring
damper force, so as to allow vertical motion of the system.
file resides since the model contains flexible bodies and has references to several external
files (.mnf, .mtx, .shl) which are stored in separate subdirectories.
2
From the Build menu, point to ADAMS/Vibration, point to Input Channel, and then select New.
The Create Vibration Input Channel dialog box appears.
Right-click the Input Marker text box, point to Marker, and then select Browse.
119
Double-click BASE.MK34.
ADAMS/Vibration inserts this marker into the Input Marker text box.
Select Translational.
Create three output channels with the parameters listed in the table below.
Output channel
name:
Output marker:
Displacement
direction:
Output_Channel_X
LASER.laser_tip
Output_Channel_Y
LASER.laser_tip
Output_Channel_Z
LASER.laser_tip
From the Settings menu, point to Solver, and then select Display.
The Solver Setting dialog box appears.
Select Close.
120
Operating point =
0.5 seconds
Operating point =
1.0 second
Operating point =
3.0 seconds
Right-click the Simulation Script Name text box, point to Simulation Script, point to Guesses,
and then select TIME_DOMAIN_SCRIPT_1.
This time-domain simulation script will perform an initial static and then simulate the
model dynamically to an operating point of 0.5 seconds.
Complete the Input Channels and Output Channels lists, using all existing channels for each.
121
Do not close this dialog box. You will continue by setting up the modal energy
computation.
To set up modal energy computation:
1
To compute energy for all modes, leave the defaults of 0 and 0 for Mode Range.
Select OK.
Right-click the Simulation Script Name text box, point to Simulation Script, point to Guesses,
and then select TIME_DOMAIN_SCRIPT_2.
Select Import Settings from Existing Vibration Analysis, and then select Half_Second.
The simulation parameters from the Half_Second analysis are loaded into the dialog box.
Select Apply.
The second analysis is complete.
Select OK.
122
Launch ADAMS/PostProcessor.
Simultaneously plot the frequency response of Output_Channel_X, for all three analyses.
Hint: Use Surf.
You should see a frequency response plot resembling the figure below, with each curve
representing the response at a different operating point.
It is evident that the system does not vibrate the same at every stage in its duty cycle. If it
did, all the curves for each operating point would be identical.
3
Comparing the shapes of the three curves, the response for the operating point at
__________ seconds differs from the other two curves.
123
The two resonance peaks below 100 Hz occur at the following frequencies:
_________ Hz __________Hz.
For the three curves, the resonance peaks of displacement magnitude in the z direction
(vertical) occur in a narrow frequency range, from _______ to _______hertz.
If you used the Plot Tracking tool, clear its selection so that it isn't tracking anymore.
124
From the View menu, point to Pre-Set, and then select Iso.
Animate the model at the resonance peaks you wrote in step 5 on page 124 and step 7 on
page 124, taking note of the vibration modes of the forearm.
Hint: Step 8 below is a question about the motion at 121.7 Hz for all three analyses. You
Load and animate the One_Second results just as you did for the Half_Second operating
point.
Following is an image of the deformed mode superimposed with the undeformed shape.
Deformed
body
At which operating point(s) does the forearm displace in a strongly coupled lateral and
vertical motion at 121.7 Hz? ________________
125
page 107.
From the Build menu, point to Flexible Bodies, and then select ADAMS/Flex.
The Create a Flexible Body dialog box appears.
Right-click in the Modal Neutral File Name text box, and then select Browse.
126
Step 9: Have the students perform a normal mode animation of eigenmodes 6 and 7. This will help them
to understand why the forearm would deform in a coupled manner.
Step 10: Students must load the vibration animation for .table.Half_Second before trying to display
the modal energy information.
Select OK.
The new flexible body appears superimposed with the original one, as shown below. Notice
that it is slightly wider.
FIXED_1
FIXED_2
FLEX_ALTERNATE
Right-click the First Body text box, point to Body, point to Guesses, and then select
FLEX_ALTERNATE.
Click OK.
The new flexible body is now connected to the robot at one end. Next, connect it at the
opposite end.
Right-click the First Body text box, point to Body, point to Guesses, and then select
FLEX_ALTERNATE.
Click OK.
127
Right-click the flexible body, point to FLEX_BODY_5, and then select Delete.
Set the datum node and color deformations for the new flexible body by importing the
file datum_and_color.cmd from the misc subdirectory.
Select Import Settings from Existing Vibration Analysis, and select One_Second.
Click OK.
Launch ADAMS/PostProcessor.
128
Some DOS windows will appear on the screen as the .mtx files are being generated for the new flexible
body.
alternate design?
______ Yes ______ No
17 Create a new page, load the vibration animation for Alternate_Design and animate the
Wrap up
To wrap up:
1
Close ADAMS/PostProcessor.
Exit ADAMS/View.
Optional tasks
129
130
131
Design objective
Tip: Use the /View variable and Vibration Macro option
132
PSD: 1 Output
133
134
Review the dialog boxes and ask the students if they have any questions.
135
Other Considerations
Often, vibration issues must be balanced with other design considerations. Therefore,
you may want to have more than one design objective included in your design
evaluations.
Design study
DOE
Optimization
136
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IV
Problem statement
Minimize the vertical acceleration of a rail bogie across the frequency range of 0.1 to 80 hertz.
In this workshop, you will learn how to use design evaluation tools to improve your designs.
You will take a model that has been instrumented for vibration analysis and create an objective
function and a multi-run simulation script. You will also perform a design study of suspension
parameters. Then, you will use optimization to find the combination of parameter variables that
will minimize the vertical acceleration of the bogie.
137
The model represents a rail bogie with two wheelsets and suspension.
The suspension springs connecting arms to the frame are represented with fields;
other attachment points use bushings. Dampers between the frame and arms are
modeled with SFORCEs.
Wheel-to-rail interaction is simplified with linear bushing forces.
Vibration input channels at the four wheels apply vibration forces vertically through a
swept sine actuator.
The output channel is defined to be the vertical acceleration of the frame center-ofmass.
Some parameters of the bogie design have been parameterized as detailed below:
Category:
Design Variable:
Description:
FLD_C_RATIO
RAIL_STIFF
RAIL_DAMP
138
Locate an input channel at one of the wheels, right-click and select it.
Inspect the settings for the input channel, noting that a swept sine is being applied to a
marker on the wheelset. A force magnitude of 1000.0 N is being applied in the local z
direction with zero phase angle.
Select Cancel.
From the Build menu, point to ADAMS/Vibration, point to Output Channel, and then select
Modify.
Inspect the settings for the output channel, noting that acceleration of the wheelset is
being measured in the global z direction.
Select Cancel.
139
From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
Right-click the text box, point to Vibration Analysis, point to Guesses, and then select
Baseline.
The __________ vibration analysis will linearize the model about the ____________
operating point.
Damping will be ___________ and ______ steps will be used across a frequency
range of ________ to ________ hertz.
Load the script-creating dialog box by importing the file cre_vib_solve_script_dlg.cmd from
the dbox subdirectory.
The Create Vibration Multi-Run Script appears.
Right-click the Vibration Analysis Name text box, point to Vibration Analysis, point to
Guesses, and then select Baseline.
The dialog box updates with the frequency range parameters.
Select OK.
The multi-run script is created.
140
Mention that the file for the custom dialog box is also included in the ADAMS/Vibration installation
directory: \install_dir\vibration\examples\macros.
From the Simulate menu, point to Simulation Script, and then select Modify.
Briefly review the commands and see if they make sense to you.
Select Cancel.
tool.
141
Plot the frequency response magnitude for the summed input channels.
You should see a plot on page_1, similar to the one shown next:
Note that the curve has a few resonance peaks at certain frequencies. You are interested in
how the shape of this curve will change as the bogie's design parameters are swept during
a design study. To perform a design study, you must create a design objective. In this
example, you want one that captures the magnitude of the peaks in the curve. The next
section will show you how to do that.
2
142
From the Simulate menu, point to Design Objective, and then select New.
The Create Design Objective dialog box appears.
From the Definition by list, select /View Variable and Vibration Macro.
The Create Vibration Design Objective Macro dialog box appears.
Right-click the Return Value Variable text box, point to Variable, and then select Create.
The Create Design Variable dialog box appears.
10 Select OK.
The dialog box closes and the name of variable, FVA_RESPONSE_VARIABLE, is placed
in the Create Vibration Design Objective Macro dialog box.
11 From the Target Vibration Data list, select Frequency Response: All Inputs, 1 Output.
12 Right-click the Output Channel text box, point to Output Channel, point to Guesses, and then
select Output_Channel_1.
13 Select Maximum.
14 Select All Frequencies.
143
The dialog box closes and both the macro name, eval_fva_results, and the name of variable,
FVA_RESPONSE_VARIABLE, are placed in the Create Design Objective dialog box.
16 Select OK.
The design objective and all its dependencies have been created. To review, a cascade of
what you've created is like this:
144
From the Simulate menu, point to Design Objective, and then select Evaluate.
The Command Window and the Optimize Objective Evaluate dialog box appear.
Select OK.
The value of the evaluated objective is written to the command window:
.bogie.MAX_FRAME_CM_ACC(.bogie.Baseline_analysis) = 54.5498542569 (meter/sec**2)
From the Settings menu, point to Solver, and then select Output.
The Solver Settings dialog box appears.
Select More.
Select Close.
This will permit different frequency responses to be plotted one over the other at the end of
the design study analysis.
If students want to compare the evaluated value to what is shown in a frequency response plot, they will
have to change the plot's vertical axis to a linear scale.
145
Model:
.bogie
Simulation Script:
VIBRATION_SOLVE_MULTIRUN
Study a Objective:
MAX_FRAME_CM_ACC
Select
Design Study
Design Variable:
K11
Default Levels:
Select Start.
The design study runs and plots the objective versus design variable for each trial in the
design study as shown below:
146
Launch ADAMS/Postprocessor.
Tip: Make sure ADAMS/View is the active window.
From the Simulation list, drag-select the five runs Baseline_1 through Baseline_5.
Note: Don't select Baseline.
Select Magnitude.
Describe what appears to be the main effect of the design variable, K11.
______________________________________________________________________
______________________________________________________________________
147
Model:
.bogie
Simulation Script:
VIBRATION_SOLVE_MULTIRUN
Study a Objective:
MAX_FRAME_CM_ACC
Select
Design Study
Design Variable:
K33
Default Levels:
Select Start.
The plot displays as shown below:
Launch ADAMS/Postprocessor.
Tip: Make sure ADAMS/View is the active window.
148
From the Simulation list, drag-select the last five runs, Baseline_6 through Baseline_10.
Select Magnitude.
What appear to be the main effects that parameter K33 has on the vertical acceleration of
the bogie?
________________________________________________________________________
________________________________________________________________________
149
Model:
.bogie
Simulation Script:
VIBRATION_SOLVE_MULTIRUN
Study a Objective:
MAX_FRAME_CM_ACC
Select
Optimization
Design Variables:
K11,K33
Goal:
Select Optimizer.
The Solver Settings dialog box displays the Optimization options.
Select More.
Select Start.
The command window displays output from the optimizer, showing how it's progressing.
Starting optimization iteration: 2
Computing gradients/performing line search. Iteration: 2 Pass: 1
Objective 1 = 5.975601e+000
Computing gradients/performing line search. Iteration: 2 Pass: 2
Objective 1 = 5.953365e+000
OptDes GRG: feasible, K-T satisfied
The optimization has terminated.
Total optimization analysis calls: 9
150
Close the dialog box that tells you the optimization is successful.
When the optimizer has finished, the design variables K11 and K33 are set to the values that
the optimizer had determined to be optimal for the given optimizer settings.
From the Main Toolbox, double-click the Select tool to reset the model.
From the Simulate menu, point to ADAMS/Vibration, and then select Vibration Analysis.
Select OK.
Launch ADAMS/PostProcessor.
Select Magnitude.
151
Here you can see that the optimizer has indeed found a combination of K11 and K33 that
minimizes the maximum acceleration peak across the frequency spectrum.
Wrap up
To wrap up:
1
Close ADAMS/PostProcessor.
Exit ADAMS/View.
Optional tasks
1
Perform a forced vibration animation and review the behavior at frequency peaks.
Hint:
152
THEORY
This appendix shows equations that ADAMS/Vibration uses in performing its
calculations.
Introduction, 154
153
Introduction
To reduce a nonlinear model to a linear form, ADAMS/Vibration performs an eigensolution on
the nonlinear model. The iterative eigensolver in ADAMS/Vibration uses the complete set of
model modes to converge to a subset of modes within the specified error tolerance. The
canonical form1of the linear model is constructed from this subset of model modes. For some
small models, ADAMS/Vibration may not compute the desired number of modes. If you want
to view the complete set of model modes, use ADAMS/Linear.
ADAMS/Vibration creates linearized models from nonlinear ADAMS models in the form of:
x = Ax + Bu
y = Cx + Du
where:
154
De Silva, Clarence W., Vibration Fundamentals and Practice, CRC Press 2000.
Theory
Vibration Actuators
This section describes the calculations for the various vibration actuators ADAMS/Vibration
uses. Included are:
Swept Sine
Rotating Mass
User-Defined Function
Swept Sine
Swept sine defines a constant amplitude sine function being applied to the model. The amplitude
of the sine function and the starting phase angle are required and must be specified on the Create
Vibration Actuator dialog box.
f ( ) = F [ cos ( ) + j sin ( ) ]
where:
Rotating Mass
A rotating mass applies a frequency-dependent force. This actuator represents the force due to
a rotating mass located at a specified offset from an axis of rotation. The axis of rotation is
defined by the input channel that this vibrational actuator is applied to.
2
f ( ) = m r
where:
Theory
is the frequency
r is the radial distance of the unbalanced mass from the axis of rotation
155
Vibration Actuators...
Similarly, a rotating mass placed at a distance offset along the axis of rotation results in an
unbalanced moment.
2
t ( ) = m r d
where:
User-Defined Function
You can define any function of the independent variable omega:
f ( ) = g ( )
where:
is the frequency
g ( ) is the general function of omega
156
Theory
Analysis Methods
This section describes the calculations for the analysis methods used in ADAMS/Vibration.
Included are:
Frequency Response
PSD Computation
Frequency Response
For frequency response computation, the linearized model is represented as:
x(s) = Ax(s) + Bu(s)
y(s) = Cx(s) + Du(s)
where s is the Laplace variable
The system transfer function can be represented as:
1
y(s )
H ( s ) = ---------- = C ( sI A ) B + D
u(s)
where:
For a given vibration analysis, the system frequency response is given as:
y ( s ) = H ( s )u ( s )
Theory
157
Analysis Methods...
PSD Computation
PSD of output channels for given input PSDs is given as:
p ( s ) = H ( s ) U ( s ) H ( s )
where:
The matrix of input spectral densities is a diagonal matrix with the vibration actuator PSDs on
the diagonal locations.
158
Theory
ANSWER KEY
This appendix contains the answers to the questions listed in this training
guide.
159
Answer Key
Answers for workshop 1
Step 8 on page 33: 4.3186 and 5.6078
scale. If you set the vaxis scale to "linear" you'll see the full lower bound of the results data.
Step 11, page 69: It wouldn't be able to solve beyond 10 Hz.
Step 3, page 71:
Step 10, page 74: Out of phase. The damping characteristics at each wheel are different enough
that the wheels cannot respond in the same manner, even though the input variation is the same.
160
Answer Key
Answer Key...
Answers for workshop 5
Step 7 on page 101:
Answer Key
161
Answer Key...
Answers for workshop 6
Step 3, page 123: 3 seconds
Step 5, page 124: 10.562 Hz, 21.0 Hz
Step 7, page 124: 117.2 Hz to 121.7 Hz
Step 8, page 125: The 1.0-second operating point
Step 16, page 129: Yes
Step 18, page 129: No
The forced vibration analysis will linearize the model about the static operating point.
Damping will be included and 400 steps will be used across a frequency range of 0.1
to 80 hertz.
Step 9, page 147: The main effect of K11 is to shift the frequency of the second peak and to
reduce the magnitude of the higher frequencies. The lower frequency peak isnt affected as
dramatically.
Step 9, page 149: The main effects of parameter K33:
162
Answer Key