CNTRL Gs

Getting Started
Using ADAMS/Controls
About this Guide 3
Learning the Basics 5
Introducing and Starting the Tutorials 11
Learning ADAMS/Controls with EASY5 27
Learning ADAMS/Controls with MATLAB 47
Learning ADAMS/Controls with MATRIXx 63
Setting Simulation Parameters 85

2 Getting Started Using ADAMS/Controls
Copyright
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should not be construed as a commitment by Mechanical Dynamics, Incorporated. Mechanical Dynamics,
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All other product names are trademarks of their respective companies.
Part number: 110CTRLGS-01

Getting Started Using ADAMS/Controls 3
About this Guide
About this Guide
Welcome to ADAMS/Controls
ADAMS/Controls™ is an add-on module to MDI’s ADAMS/View or ADAMS/Solver
that helps you add sophisticated controls to your ADAMS model. ADAMS/Controls lets
you connect your ADAMS model to block diagrams that you’ve developed with control
applications such as EASY5, MATLAB, or MATRIXX.
ADAMS/Controls offers you the option of simulating your combined mechanical system
and controller through the control application environment or through ADAMS/Solver.
ADAMS/Controls also lets you interactively view the simulation results in
ADAMS/View.
What You Need to Know

This guide assumes that you know how to run ADAMS/View or ADAMS/Solver. It also
assumes that you have a moderate level of proficiency with one of the controls packages
with which ADAMS has an interface. These include: EASY5, MATLAB, or MATRIXX.
To use ADAMS/Controls, you need access to one of these controls packages so that you
can prepare a controls block diagram, add it to your mechanical model, and simulate the
combined system.
For information on ADAMS/View or ADAMS/Solver, or for information on other MDI
products, see the online Documentation Roadmap.
About this Guide
1 Learning the Basics
Overview
ADAMS/Controls helps you connect your ADAMS
mechanical system models to block diagrams developed with
EASY5, MATLAB, or MATRIXX. This chapter introduces
you to ADAMS/Controls and the basics of its interface
features. It contains the following sections:
■ How You Benefit from Using ADAMS/Controls, 6
■ How to Improve the Design Process with

ADAMS/Controls, 6
■ Ways in Which You Can Use ADAMS/Controls, 8
■ About the ADAMS/Controls Four-Step Process, 9
■ How to Learn ADAMS/Controls, 10

Learning the Basics
How You Benefit from Using ADAMS/Controls

By combining mechanical system simulation tools and controls design tools, you can:
■ Add sophisticated controls to an ADAMS model and simulate the combined
system.
■ Generate mechanical system simulation models directly from your ADAMS
data without having to write equations.
■ Analyze the results of your simulation in the ADAMS environment or the
control application environment.
How to Improve the Design Process with ADAMS/Controls

In the typical design process of a mechanical system with controls, the mechanical
designer and the controls designer work from the same concept, but use different sets of
software tools. The result is that each designer produces a model for the same problem.
Each design is then subject to verification and testing, and the first time the two designs
are brought together is during physical prototype testing. If a problem occurs during the
interaction between the controls design and the mechanical design, the engineers must
refine the control design, the mechanical design, or both, and then go through the entire
verification process again as shown in Figure 1 on page 7.
Learning the Basics
Figure 1. Design Process Before ADAMS/Controls
With ADAMS/Controls, the two designers can share the same mechanical model. They
can also verify from one database the combined effects of a control system on a nonlinear,
non-rigid model. The physical testing process is greatly simplified, and the risk of having
a control law that is developed for the wrong mechanical model is eliminated as you can
see in Figure 2 on page 8.
Learning the Basics
Figure 2. Improved Design Process with ADAMS/Controls
Ways in Which You Can Use ADAMS/Controls

You can use ADAMS/Controls with either ADAMS/View or ADAMS/Solver. The
simulation method you choose, interactive or batch, determines which application you use.
■ ADAMS/View - By using ADAMS/Controls with ADAMS/View, you can
animate your model and view the effects of the control system and any
structural modifications you make. This is the application you use if you are
running an interactive simulation.
■ ADAMS/Solver - For faster simulation results, you can run ADAMS/Controls
directly with ADAMS/Solver, MDI’s powerful analysis engine. This is the
application you use if you are running a simulation in batch mode.
Learning the Basics
About the ADAMS/Controls Four-Step Process

The diagram in Figure 3 describes the four-step process of combining controls with a
mechanical system. The tutorials in this guide walk you through the detailed procedures
for each step.
Figure 3. ADAMS/Controls Four-Step Process
Step One:
Build the
ADAMS
model.
Step Two: Step Three: Step Four:
Identify the Build the control Simulate the
ADAMS inputs system block model.
and outputs.
diagram.
■ Step One: Build the Model - The first step in working with ADAMS/Controls
is to build or import an ADAMS model. The model should be complete and
include all necessary geometry, constraints, forces, and measures.
■ Step Two: Identify the ADAMS Inputs and Outputs - Define the inputs
and outputs through the information or startup file in ADAMS/View or
ADAMS/Solver. The outputs describe the variables that go through the
controls application (the output from ADAMS/Controls is the input to the
controls application). The inputs describe the variables that come back into
ADAMS (the output of the controls application) and, therefore, complete a
closed loop between ADAMS and the controls application. All inputs and
outputs must be set up as variables.
Learning the Basics
ADAMS Input ADAMS/View ADAMS Output

or
ADAMS/Solver
Controls
Controls Output Application Controls Input
■ Step Three: Build the Block Diagram - Build the control system block
diagram with one of the following applications: EASY5, MATLAB, or
MATRIXX. Include the ADAMS plant block in your diagram.
■ Step Four: Simulate the Model - Simulate the combined mechanical
model and control system. Several different methods are available to run
your simulation.
How to Learn ADAMS/Controls

This guide introduces you to the most basic concepts of Using ADAMS/Controls through
a series of tutorials. You begin learning ADAMS/Controls with Chapter 2, Introducing
and Starting the Tutorials. This material explains the basics of the ADAMS side of the
ADAMS/Controls interface. After you complete Chapter 2, you continue with the tutorial
that is associated with the specific controls application you are using, including EASY5,
MATLAB, or MATRIXX.
2 Introducing and Starting the
Tutorials
Overview
This chapter starts you off on the process of adding controls to
your ADAMS model. Following this chapter are three different
tutorials, one for each of the controls applications you can use
with ADAMS/Controls: EASY5, MATLAB, or MATRIXX.
After you finish this chapter, continue with the tutorial that is
specific to the controls application you are using.
This chapter contains the following sections:
■ About the Tutorial, 12
■ How You’ll Learn ADAMS/Controls, 12
■ Starting ADAMS/Controls, 13
■ Step One - Importing the ADAMS Model, 14
■ Step Two - Identifying the ADAMS Inputs and

Outputs, 17
Note: Before doing these tutorials, you should be familiar with

the basic features of the ADAMS/View interface. See
the Learning ADAMS/View Basics guide, for
information about the ADAMS/View interface.
Introducing and Starting the Tutorials
About the Tutorial

The tutorials in this guide give you an overview of the four-step process of adding controls
to an ADAMS model. This chapter covers Steps One and Two of the process in depth.
You’ll learn how to:
■ Import an ADAMS model and run a trial simulation with ADAMS/View.
■ Use the ADAMS/Controls interface features to identify forces, motions, and
sensors on your mechanical model.
Steps Three and Four are covered in the chapters that follow for each controls application.
How You’ll Learn ADAMS/Controls

By following the tutorials in this guide, you’ll apply the four-step process of using
ADAMS/Controls on a simple antenna-pointing problem. The objective of the problem is
to add a control system to the antenna that will move the antenna along a defined path to
track a satellite signal.
For this tutorial, you will supply the torque that pivots the antenna in the azimuthal
(horizontal) direction. The torque level will be computed by a control system, based on the
error between the actual antenna position and the desired antenna position. This is more
realistic than attaching an ADAMS motion to the pivot and driving the motion directly. By
applying a torque, you can look at issues related to motor size in an actual mechanical
system.
Starting ADAMS/Controls
You’ll start the tutorial by launching ADAMS/Controls through ADAMS/View. In UNIX,
you’ll launch ADAMS/Controls from the ADAMS Toolbar. From Windows, you’ll start
ADAMS/Controls from the Start menu.
To start ADAMS/Controls and create your database in UNIX:
1 At the command prompt, enter the command to start the ADAMS Toolbar, and then
press Enter. The standard command that MDI provides is adamsxxx, where xxx is
the version number, for example adams11.0.
The ADAMS Toolbar appears.
2 Select the ADAMS/Controls tool .

The ADAMS/Controls main window appears. You are now ready to begin the
ADAMS/Controls tutorial.
For more information on the ADAMS Toolbar, see the guide, Running and
Configuring ADAMS on UNIX.
To start ADAMS/Controls and create your database in Windows:

■ From the Start menu, point to Programs, point to ADAMS 11.0, point to AControls,
and then select ADAMS - Controls.
The ADAMS/Controls main window appears. Do not close this window.
You are now ready to begin the ADAMS/Controls tutorial.
For more information on running ADAMS products from the Start menu, see the
guide, Running ADAMS on Windows.
Step One - Importing the ADAMS Model

Now you’ll import an ADAMS model and familiarize yourself with its construction by
following the next three sections:
■ Importing the ADAMS Model, 14
■ Familiarizing Yourself with the Model, 15
■ Running a Trial Simulation, 16
Importing the ADAMS Model

In this section, you’ll import install_dir/controls/examples/antenna/antenna.cmd, where
install_dir is the directory in which ADAMS is installed. The file antenna.cmd contains the
completed model of the antenna.
To import the ADAMS model:
1 Copy all of the files in install_dir/controls/examples/antenna to a new directory.

2 In the Start In text box on the ADAMS/Controls welcome screen, enter the name of
your new directory (the one created in Step 1).
This sets your new directory as your working directory.
3 Select Close to close the ADAMS/Controls welcome screen and open
ADAMS/View.
4 In ADAMS/View, from the File menu, select Import.
5 Right-click the File to Read text box, and then select Browse.
The File Selection dialog box appears.
6 Select the file antenna.cmd.
7 Select OK.
This file contains a model called main_olt. An antenna model like the one shown in
Figure 4 on page 15 appears.
8 Wait for the model to load and then select Render from the Main Toolbox to
change the display of the antenna from a line drawing into a shaded, three-
dimensional image.
Figure 4. Shaded Model of Antenna
Antenna
Elevation bearings
Antenna support Plate
Reduction gear
Azimuth rotor
Familiarizing Yourself with the Model

This model is designed so that its base turns in the azimuthal (horizontal) direction and its
antenna moves in the vertical direction.
To familiarize yourself with the model, locate the following components:

■ Azimuth rotor (peach) tied by revolute joint to ground.
■ Azimuth reduction gear (sky blue) tied by revolute joint to ground.
■ Azimuth plate (magenta) tied by revolute joint to ground.
■ Antenna support (silver) tied by fixed joint to plate.
■ Elevation bearings (peach) tied by fixed joint to support.
■ Antenna (sky blue) tied by revolute joint to bearings.
Running a Trial Simulation
To run a trial simulation with ADAMS/View:
1 From the Main toolbox, select the Simulate tool .

2 Enter the following in the Simulation container of the Main toolbox:
◆ In the End Time text box, enter 0.5 seconds.
◆ In the Steps text box, enter 250.
3 Select the Static Equilibrium tool to equalize the applied forces and locate the
static position of the model.
4 Select the Simulation Start tool .

The base of the mechanism turns counterclockwise as the antenna moves up and
down. If the base doesn’t turn in the current configuration, see Deactivating the
Motion.
Deactivating the Motion

Now that you know the model is working properly, you can begin the process of adding a
control system to it. The first step is to deactivate the azimuthal motion on the model.
When the model is deactivated, the joint .main_olt.azimuth_actuator applies a torque based
on values that the the Controls system package predetermines.
To deactivate the motion:
1 From the Edit menu, select Deactivate.

The Database Navigator appears.
2 Double-click the model main_olt.
A list of parts and motions appears.
3 Scroll down the list and select azimuth_motion_csd.
4 Select OK.
ADAMS/View deactivates the motion.
5 Select the Reset to Start tool to reset the simulation back to its first frame.
6 Rerun the simulation.
Now that you’ve deactivated the azimuthal motion, the antenna moves laterally, but
it does not move horizontally as it did during the last simulation.
Note: You might detect some small movement in the azimuthal direction because the
model has no constraints or restoring forces to control its natural movement. You
should also notice that the flex to the antenna support beam increases when the
azimuthal motion is deactivated. The flexing illustrates that a certain amount of
coupling takes place between the elevation and azimuthal movements.
Step Two - Identifying the ADAMS Inputs and Outputs

Now you’ll identify the inputs and outputs on the ADAMS model by:
■ Identifying the Path of ADAMS Inputs and Outputs, 18
■ Verifying Input Variables, 19
■ Verifying Input Functions, 21
■ Verifying Output Functions, 22
■ Defining Input Variables, 23
■ Defining Output Variables, 24

Identifying the Path of ADAMS Inputs and Outputs

Figure 5 indicates the path of the input and output variables to and from the antenna model
and its control system. This diagram shows that when you supply an input control torque
to the antenna model, you receive controller outputs of azimuth_position and rotor_velocity.
The circular path allows you to:
■ Define the input and output variables in ADAMS/View.
■ Read in the variables with EASY5, MATLAB, or MATRIXX and run a
simulation.
■ Animate and plot the simulation results in ADAMS/View.
■ Modify the variables and repeat this process as necessary.
Figure 5. Terminology for ADAMS Inputs and Outputs
Input = control _torque ADAMS Output = azimuth_position

model and rotor_velocity
Control
system
Verifying Input Variables

ADAMS/Controls and controls applications such as EASY5, MATLAB, and MATRIXX
communicate by passing state variables back and forth. Therefore, you must connect your
model’s input and output variables (and the functions that those inputs and outputs
reference) to a set of state variables.
This step has already been done for you in the antenna model that you imported. When you
create your own model, you will have to define the state variables and their corresponding
input or output variables.
For this tutorial, you will verify that the state variables on the antenna model and control
system correspond to the correct input and output variables.
To verify the input variables:
1 From the Build menu, point to System Elements, point to State Variable, and then select
Modify.

The list of ADAMS variables appears.
Figure 6. List of ADAMS Variables
3 Select control_torque.
4 Select OK.
The Modify State Variable dialog box appears.
Figure 7. Modify State Variable Dialog Box
5 Look in the F(time, ...)= text box and verify that the run-time function for the input
variable, control_torque, is 0.0.
Because the control torque is defined to get its value from the control application,
the 0.0 will be overwritten during each step of the simulation.
6 Select Cancel to close the Modify State Variable dialog box.
Note: After you close the box, click in the background of the screen to clear the
selection of the model.
Verifying Input Functions

Now you’ll verify the function that is referenced to the input variable.
To verify the function that is referenced to the input variable, control_torque:
1 From the Edit menu, select Modify.

2 Double-click main_olt, and then double-click azimuth_actuator (azimuth_actuator is the
name of the control torque).
The Modify a Torque dialog box appears.
Figure 8. Modify a Torque Dialog Box
3 Look in the F(time, ...)= text box and verify that the run-time function for the input
variable reads: VARVAL(.main_olt.control_torque).
Note: VARVAL (short for variable value) is the ADAMS function that returns the value
of the given variable. Notice that the function is defined as the value of the
control_torque variable. In other words, the input control torque
(azimuth_actuator) gets its value from the input variable.
Verifying Output Functions

Now you’ll verify the output functions just as you verified the input functions in the
previous section.
To verify the output functions:
Modify.
The Variable Selection dialog box appears.

3 Select azimuth_position.
4 Select OK.
Figure 9. Modify State Variable Dialog Box
5 Look in the F(time, ...)= text box to verify that the run-time function for the output
variable is AZ(.main_olt.bearings.MAR70, .main_olt.ground.MAR.26).
This function returns the angle about the z-axis, the axis about which the given
object moves. Therefore, the function assigns the rotating position of the antenna to
the output state variable.
6 Select Cancel to close the Modify State Variable dialog box.
Modify.
The Variable Selection dialog box appears.

9 Select rotor_velocity.
10 Select OK.
11 Look at the F(time, ...)= text box and verify the run-time function for the output
variable is WZ(.main_olt.rotor.MAR21, .main_olt.ground.MAR22, .main_olt.ground.MAR22).
This function measures the rotational velocity of the given object.
Defining Input Variables
To define the input variables:
1 From the Controls menu, select Plant Export.

The ADAMS/Controls Plant Export dialog box appears.
Figure 10. ADAMS/Controls Plant Export Dialog Box
2 Right-click the Input Variables text box, point to ADAMS_Variable, and then select
Browse.

3 Select control_torque.
4 Select OK.
Defining Output Variables
To define the output variables:
1 Right-click the Output_Variables text box, point to ADAMS_Variable, and then select
Browse.

2 Select rotor_velocity and azimuth_position, holding down the Ctrl key as you click the
mouse.
3 Select OK.
4 In the File Prefix text box, type ant_test for the filename.
5 Right-click the Csd Package text box, and then select the controls application you
are using during this session: Matlab or MATRIXx_and_EASY5.
6 Select OK.
ADAMS/Controls saves the input and output information in a .m or .inf file (.m for
MATLAB or .inf for MATRIXX and EASY5). It also generates a command file
(.cmd) and a dataset file (.adm) that are used during the simulation process.
ADAMS/Controls setup is complete after the plant has been exported. Now you
will go to the specific Controls application (EASY5, MATLAB, or MATRIXX) and
complete the link between the Controls and mechanical systems.
Note: You have now finished the introduction to the ADAMS/Controls tutorials. To
continue learning the ADAMS/Controls interface, go to the tutorials that follow this
section. If you are using:
■ EASY5, go to Chapter 3, Learning ADAMS/Controls with EASY5.
■ MATLAB, go to Chapter 4, Learning ADAMS/Controls with MATLAB.
■ MATRIXx, go to Chapter 5, Learning ADAMS/Controls with MATRIXx.
3 Learning ADAMS/Controls with
EASY5
Overview
This chapter teaches you how to use ADAMS/Controls with
EASY5. It contains the following sections:
■ Step Three - Adding Controls to the ADAMS Block

Diagram, 28
■ Step Four - Simulating the Model, 36
Note: Before beginning this tutorial, you should have finished

Chapter 2, Introducing and Starting the Tutorials.
Learning ADAMS/Controls with EASY5
About the Tutorial

This chapter provides you with procedures for using ADAMS/Controls with EASY5. It
teaches you Steps Three and Four of the four-step process of adding controls to an
ADAMS model. You’ll learn how to:
■ Specify the control algorithms in your system using EASY5.
■ Simulate an ADAMS model with a complex control system.
■ Plot simulation results.
Step Three - Adding Controls to the ADAMS Block Diagram

You will add controls to the ADAMS block diagrams by:
■ Starting EASY5, 28
■ Creating the ADAMS Interface Block, 29
■ Constructing the Controls System Block Diagram, 34
Starting EASY5
To start EASY5:
■ Start EASY5 on your system from the directory that contains the file with the
antenna example. This is the working directory that you created in Step One -
Importing the ADAMS Model on page 14.
The EASY5 main window appears.

Creating the ADAMS Interface Block

You create the ADAMS interface block by defining its component parts in the Add
Components dialog box. After you define the component parts, you place the block in the
work space area of the EASY5 main window.
To create the ADAMS interface block:
1 From the EASY5 toolbar, select Add or type Ctrl+A.

The Add Components window appears.
Figure 11. Add Components Window
2 Select a category for each of the component fields in the window.

■ Under Opened libraries, select Extensions.
■ Under Extension Groups, select ADAMS/Controls Extension.
■ Under ADAMS/Controls Extension, select ADAMS Nonlinear Block.
The information you supply in these fields becomes part of the ADAMS
interface block.
3 Move the cursor to the center of the EASY5 main window and click.
The ADAMS interface block appears. You build the controls block diagram by
adding elements to this block.
ADAMS Nonlinear Block
Initializing the ADAMS Interface Block
To initialize the ADAMS interface block:
1 Use the middle mouse button to click the ADAMS interface block (for a two-button
mouse, click the right and left buttons simultaneously).
The Component Data Table appears.
Figure 12. Component Data Table
2 Select Spawn ADAMS Interface on the lower right corner of the Component Data
Table.
The ADAMS Interface dialog box appears (see Figure 13 on page 31).
3 At the prompt, enter the following information:
■ For information file name, enter ant_test.inf, which is the name of the
file generated during the Plant Export from ADAMS/Controls, and
press Enter.
■ For number of independent states, enter 14, and press Enter.
This number initializes the EASY5 integrator to accommodate space
for 14 ADAMS states in continuous mode.
The ADAMS Interface dialog box appears.
Figure 13. ADAMS Interface Dialog Box
Three simulation methods are available:

■ Option 1: Function evaluation mode with no feed-through
■ Option 2: Function evaluation mode with feed-through
■ Option 3: Co-simulation mode
Note: Options 1 and 2 are continuous simulation methods and option 3 is a
discrete simulation method. For information on choosing a simulation
method, see Choosing a Simulation Method on page 86.
If you’ve linearized a nonlinear ADAMS model and represented it as A,
B, C, and D matrices and the matrix D is zero at all times, then there is
no feed-through from the input variables to the output variables. If the
matrix D is not zero at all times, then there is feed-through from the input
variables to the output variables.
4 For this example, enter option 3 to select the co-simulation method.

The ADAMS Interface dialog box closes, and the Component Data Table now
looks like Figure 14:
Figure 14. Component Data Table
5 In the Component Data Table, do the following:

a Enter a value for the following input modes:
■ For ANI_MOD, enter 1 to define interactive mode as the animation mode. For
more details about animation modes, see the section, Choosing an
Animation Option on page 87.
■ For OUT_RAT (output rate interval), enter .001.
Note: Do not change the USE_ICS flag. This flag determines how to set the initial
conditions of the ADAMS model.
If the USE_ICS flag is set to 1, the model uses the ADAMS initial conditions,
which is the default.
If the flag is set to 0, the model relies on EASY5 to provide the initial
conditions. For example, if you need to start a simulation from the end of the
last run simulation, which is stored on EASY5, set the USE_ICS flag to 0.
b Select Info from the lower left corner of the Component Data Table.
The Component Information Page appears as shown in Figure 15. This page
displays an overview of the ADAMS nonlinear block extension components.
c Review the information on this page to ensure that you entered the correct
values in the Component Data Table. Select Close to close the Component
Information Page.
Figure 15. Component Information Page
6 Return to the Component Data Table and do the following:

a Place the cursor on the input name U1 and click the middle mouse button.
The information line at the bottom of the EASY5 main window displays the input
name as control_torque.
b Click on the other output names, Y1 and Y2, and see that the output names read
rotor_velocity and azimuth_position, respectively, and then select OK.
The ADAMS block is now initialized for use with the antenna model.
Constructing the Controls System Block Diagram

The completed block diagram is in the file, antenna.mf.0, in the examples directory. To
save time, you can read in this diagram instead of building it.
To construct the controls system block diagram:
1 Review the controls block diagram in Figure 16. Begin recreating the diagram with
the blocks from the Add Components menu.
2 Place the Step Function Generator block in the diagram first.
3 Click on the Step Function Generator block using the middle mouse button.
The Component Data Table appears.
4 Set the step time (TO) to .01 and the step value (STP) to 0.3, and then select OK.
Figure 16. Controls Block Diagram
5 Connect the input blocks by clicking once on the First Order Lag block and then on
the ADAMS Nonlinear Block.
EASY5 labels this connection as S2 LA11.
6 Connect the output blocks in the diagram by clicking on the ADAMS Nonlinear Block
and then on the Summing Junction block. Be sure to connect the azimuth+position
output (Y2) to the first Summing Junction block (LA) and the rotor_velocity output (Y1)
to the second Summing Junction block (LA11).
7 Connect the Strip Chart to the ADAMS Nonlinear Block.
Be sure to connect only the Y1 output to the Strip Chart.
The Y1 output corresponds to the rotor-velocity signal from the ADAMS Nonlinear
Block.
8 Click the Strip Chart using the middle mouse button to display the Component Data
Table. Set the sample period TAU to .001, and then select OK.
Note: You must edit the connection from the ADAMS Nonlinear Block to the Strip
Chart because EASY5 automatically connects the state vector from the
ADAMS block to the display variable on the Strip Chart.
9 From the File menu, select Save As, and then enter a file name for your controls
block diagram.
You have now created the controls block diagram.
Step Four - Simulating the Model

You’ll simulate your mechanical model and controls system by:
■ Building the Executable, 36
■ Executing the Simulation, 36
■ Pausing and Stepping Through the Simulation, 40
■ Plotting from EASY5, 41
■ Plotting from ADAMS/View, 43
Building the Executable

You must build an executable for your model before you execute a simulation in EASY5.
To build the executable:

■ In EASY5, from the Build menu, select Create Executable.
After a few moments, EASY5 displays the message, Executable has been
created, at the bottom of the main window.
You are now ready to execute the simulation.
Executing the Simulation
To execute the simulation from EASY5:
1 From the toolbar at the top of the EASY5 main window, point to Analysis, point to
Nonlinear, and then select Simulation.
The Simulation Data Form window appears.

2 For the Plot Results option, select Yes.
The Show-Edit Plot Variables button appears.
3 Select Show-Edit Plot Variables.

A Plot Specification Form appears where you define the variables that you want to
plot after the simulation.
Note: If you are using the completed block diagram from the file, antenna.mf.0,
that was provided for you in the examples directory, you may find that the
Plot Specification Form opens with information that is unnecessary for this
tutorial. To remove the information, select Select All on the bottom of the
Plot Specification Form, and then select Delete. The Plot Specification
Form should look like the one shown in Figure 17.
Figure 17. Plot Specification Form
4 Select the variables that you want to plot for the simulation.
For this tutorial, you will select three variables: Y1, Y2, and S2 LA11.
a Click in the column next to number 1.
A box appears.
b Select Show Name List.
The Pick Dialog box appears.
c Select the variable Y1.
d Repeat this procedure for a second and third variable. For the second variable,
select Y2, and for the third, select S2 LA11 (the input to the ADAMS block
as indicated in Figure 16).
The finished Plot Specification Form should look like the one in Figure 18.
Figure 18. Plot Specification Form
■ Select OK.
The Plot Specification Form closes.
5 Return to the Simulation Data Form window and specify the following simulation
parameters:
■ For Start Time, enter 0.0.
■ For Stop Time, enter .25.
■ For Time Increment, enter .001.
■ For Integration Method, enter BCS Gear.
6 Select Execute and Close to begin the simulation.

For more information about the simulation settings, see the EASY5 manual.
A new ADAMS/View window appears and the analysis begins on the model
specified in the ADAMS block. ADAMS/View displays the analysis for you.
To run an interactive simulation:
1 As the simulation begins, arrange the windows so that you have a good vantage
point to view the antenna model.
Note: The ADAMS model is initialized to the current simulation time in EASY5.
2 Start and pause the simulation by selecting Continue and Break on the interactive
plot window.
ADAMS/View accepts the control inputs from EASY5 and the model moves in
response to them. ADAMS/View then provides the azimuthal position and rotor
velocity information to EASY5. The simulation process creates a closed loop in
which the control inputs from EASY5 affect the ADAMS simulation, and the
ADAMS outputs affect the control input levels. See Figure 5 on page 18 for an
illustration of the closed loop simulation process.
Pausing and Stepping Through the Simulation

The interactive capabilities of ADAMS/Controls let you pause the simulation in EASY5
and monitor the graphic results in ADAMS/View. You can plot simulation results during
pause mode.
To pause the simulation:
1 Select Break to pause the simulation at the next sample step.

You can use the interactive plot window (Figure 19) to pause the simulation, or you
can single-step through the simulation. If you select Step, the simulation steps
through one sample step (.001 seconds) of the interactive Strip Chart.
Figure 19. Interactive Plot Window
2 Now go back to ADAMS/View. While the simulation is paused, you can change
the orientation of the model with the View Orientation tools in the Main toolbox.
These tools help you to observe the model from different vantage points.
Figure 20. View Orientation Tools
3 Once you have finished reorienting the model, select Resume to continue the
simulation.
ADAMS/View closes automatically after the simulation finishes.
The EASY5 Plotter window and the Plot Selection Menu appear.
Plotting from EASY5

EASY5 automatically displays the Plot window after running a simulation. By default,
EASY5 displays the plot of the first variable you defined in the Plot Specification Form
(see Figure 18 on page 38). You can plot any data generated in EASY5 by selecting a
variable from the Plot Selection Menu. In this tutorial, you’ll plot the curve for control
torque.
To plot from EASY5:

■ From the Plot Selection menu, point to Displays, and then select the variable,
S2 LA11, which is the control torque input to the ADAMS block from EASY5.
The EASY5 Plotter window displays the plot for control torque.
Figure 21 on page 42 shows how the plot should look. Notice that the control
torque reaches a peak, and then settles down as the antenna accelerates. As the
antenna gets close to its final position, the torque reverses direction to slow down
the antenna. The antenna moves past its desired position, and then settles down
to the point of zero error. At this point, the torque value is also zero.
To add labels to the plot:
1 At the bottom of the Plot Selection Menu, select Edit Display.

The Display Specification Form appears.
2 Enter the following labels:
■ In the Plot Title text box, enter ADAMS/Controls Torque Input from EASY5 to
ADAMS.
■ In the x-axis text box, enter time in seconds.

■ In the y-axis text box, enter Control Torque, N-m.
The labels you entered appear on the plot as shown in Figure 21.
Figure 21. Plot of Control Torque Input
Plotting from ADAMS/View
To plot from ADAMS/View:
1 Display ADAMS/View in a new system window and read in the command file,
ant_test.cmd.
2 From the File menu, select Import.

3 Select the following:
■ For File Type, select ADAMS Results File.
■ For Files to Read, select antenna.res.
■ For Model, select main_olt.
When you read in results files, be sure to include the model name because
ADAMS/View needs to associate the results data with a specific model.
Note: You can plot any data from the simulation and rerun the animation from
ADAMS/View.
4 From the Review menu, select Postprocessing.
ADAMS/View launches ADAMS/PostProcessor, a post-processing tool that lets
you view the results of the simulations you performed. Take a minute to familiarize
yourself with ADAMS/PostProcessor.
Figure 22 on page 44 shows a conceptual sketch of the ADAMS/PostProcessor
window.
Figure 22. ADAMS/PostProcessor Window

Menu bar
Main Toolbar
Page
Treeview Viewport Viewport
Viewport Viewport
Property
Editor Dashboard
Status bar
5 From the dashboard, set Source to Objects.

6 From the Model list, select .main_olt.
7 From the Filter list, select constraint.
8 From the Object list, select antenna_joint.
9 From the Characteristic list, select Element Torque.
10 From the Component list, select Y.
11 Select Add Curves.
ADAMS/PostProcessor generates the curve.
To add labels to the plot:
1 In the treeview, navigate to the plot and select it.

2 In the Property Editor, in the Title text box, enter the name: Antenna Joint Peak Torque,
Controlled.
The plot title appears above the plot.
Figure 23 illustrates how the curve should look. The curve shows the stress in the
antenna joint from the azimuth control loop. You can use the information on the
plot to help you determine how to modify the control system of the antenna model.
For example, you can reduce the load in the antenna joint by decreasing the
velocity gain of the azimuth controller at the expense of slowing the overall
response of the controller. This is the type of trade-off between the mechanism
design and the control design that you can analyze using ADAMS/Controls.
Figure 23. ADAMS Antenna Joint Peak Torque, Controlled
MATLAB
Overview
MATLAB. It contains the following sections:

Diagram, 48

2, Introducing and Starting the Tutorials.
About the Tutorial

This chapter provides procedures for using ADAMS/Controls
with MATLAB. It teaches you Steps 3 and 4 of the four-step
process of adding controls to an ADAMS model. You will
learn how to:
■ Specify the control algorithms in your system using
MATLAB.
■ Simulate an ADAMS model with a complex control
system.
Learning ADAMS/Controls with MATLAB

You will add controls to the ADAMS block diagrams by:
■ Starting MATLAB, 48
■ Importing the ADAMS Block Diagram, 50
■ Setting Simulation Parameters in the Plant Mask, 52
Starting MATLAB
Running an ADAMS/Controls cosimulation will check out an ADAMS/Solver license and
possibly an ADAMS/View license (for interactive simulations only). To ensure that you
are able to run these products, close your current ADAMS/Controls session.
To start using MATLAB:
1 Start MATLAB on your system.

2 Change directories to the one in which your ant_test.m file resides (the working
directory you specified during your ADAMS/Controls session).
You can do this by entering cd c:\new_dir, where new_dir is the name of your working
directory.
3 At the prompt (>>), type ant_test.
MATLAB echoes:
%%%INFO:ADAMS plant actuators names:
1 control_torque
%%%INFO:ADAMS plant sensors names:
1 rotor_velocity
2 azimuth_position.
4 At the prompt, type who to get the list of variables defined in the files.
MATLAB echoes:
ADAMS_forces
ADAMS_inputs
ADAMS_joints
ADAMS_outputs
ADAMS_prefix
ADAMS_sysdir
ADAMS_uy_ids
ADAMS_mode
ADAMS_utidir
You can check any of the above variables by entering them in at the MATLAB
prompt. For example, if you enter ADAMS_outputs, MATLAB displays all of the
outputs defined for your mechanism:
ADAMS_outputs= rotor_velocity!azimuth_position.
Importing the ADAMS Block Diagram
To import the ADAMS block diagram:
1 At the MATLAB prompt, enter adams_sys.

This builds a new model in Simulink named adams_sys.mdl. This model contains
the adams_sub block representing your mechanical system.
A palette containing the ADAMS blocks appears. These are the blocks that you will
include in the Simulink block diagram.
Figure 24. Simulink Palette
2 From the File menu, point to New, and then select Model.
A new palette for building your block diagram appears.
3 Drag and drop the adams_sub block from the adams_sys palette onto the new
palette.
4 Double-click the adams_sub block.

All of the elements in the subsystem appear.
Figure 25. ADAMS Sub-Block
Note: The inputs and outputs you defined for the model appear in the sub_block. The
input and output names automatically match up with the information read in from
the ant_test.m file.
Setting Simulation Parameters in the Plant Mask
To set the simulation parameters:
1 From the new Simulink palette, double-click the Mechanical Dynamics block.
The ADAMS Plant Mask dialog box appears.
Figure 26. ADAMS Plant Mask
2 In the Output Files Prefix text box, enter ‘mytest’.

Be sure to enclose the name with single quotation marks. ADAMS/Controls saves
your simulation results under this name in the three file types listed in Table 1 on
page 53.
Table 1. File Types
File name: File type: What the file contains:
mytest.res Results ADAMS/Solver analysis data and

ADAMS/View graphics data
mytest.req Requests ADAMS/Solver analysis data
mytest.gra Graphics ADAMS/View graphics data
3 Select a simulation parameter for each text box.

◆ Select discrete for Simulation mode.
This mode specifies that ADAMS solve the mechanical system equations and
that the controls application solve the control system equations. See the section,
Choosing a Simulation Method, on page 86, for more details about simulation
modes.
◆ Select interactive for Animation mode.
Animation mode allows you to graphically monitor your simulation results in
ADAMS/View. See the section, Choosing an Initialization Method, on page 88,
for more details about animation modes.
◆ Select automatic for initialization mode. See the section, Choosing an Initialization
Method, on page 88, for more details about initialization modes.
4 Select Apply.
5 Select Close to close the plant mask.

The completed block diagram is in the file, antenna.mdl, in the examples directory. To save
time, you can read in our diagram instead of building it. Remember to update the settings
in the plant mask if you decide to use this file.
1 At the MATLAB prompt, type simulink.

The Simulink library palettes appear. Use the block icons from the palettes to
complete your controls block diagram. Each icon contains a submenu.
2 Double-click each icon to reveal its submenu.
3 Look at the controls block diagram in Figure 27.
4 Drag and drop the appropriate blocks from the Simulink library to complete your
block diagram as shown below.
Figure 27. Controls Block Diagram
5 From the File menu, select Save As, and enter a file name for your controls block
diagram.

You will simulate your mechanical model and control system by:
■ Setting the Simulation Parameters, 55
■ Pausing the Simulation, 56
■ Plotting from MATLAB, 57
Setting the Simulation Parameters
To set the simulation parameters:
1 From the menus on the Simulink palette, select Simulation, and then select
Parameters.
The Simulation Parameters dialog box appears.

2 Enter the following simulation parameters:
◆ For Start Time, enter 0.0 seconds.
◆ For End Time, enter 0.25 seconds.
3 Select the Type text box for the Solver options:
◆ Set the first text box to variable step mode.
◆ Set the second text box to ode15s.
◆ Accept the default values in the remaining text boxes.
4 Select OK to close the Simulation Parameters dialog box.
To start the simulation:

■ Select Start.
A new ADAMS/View window opens and graphically displays the simulation.
If you’re using Windows NT, a dialog box appears with the current simulation data.
If you’re using UNIX, the current simulation data scrolls across the MATLAB
window.
ADAMS accepts the control inputs from MATLAB and the model moves in
response to them. ADAMS then provides the azimuthal position and rotor velocity
information to MATLAB. This simulation process creates a closed loop in which
the control inputs from MATLAB affect the ADAMS simulation, and the ADAMS
outputs affect the control input levels. See Figure 5 on page 18 for an illustration of
the closed loop simulation process.
Pausing the Simulation

The interactive capabilities of ADAMS/Controls let you pause the simulation in
MATLAB and monitor the graphic results in ADAMS/View. You can plot simulation
results during pause mode.
1 A time display in the upper left corner of the ADAMS screen tracks the seconds of
the simulation. As soon as the time elapsed reaches .1 seconds, move your cursor to
the Simulink palette, point to Simulation, and then select Pause.
MATLAB suspends the simulation.
2 Now go back to ADAMS/View. While the simulation is paused, you can change
the orientation of the model with the View Orientation tools in the Main toolbox.
These tools help you to look at the model from different vantage points.
3 Once you have finished reorienting the model, resume the simulation by selecting
Simulation, and then Start, from the toolbar on the Simulink palette.
Plotting from MATLAB

You can plot any of the data generated in MATLAB. In this tutorial, you will plot the
ADAMS_uout data that is saved in the ADAMS sub_block. The ADAMS sub_block is
shaded in the figure below.
Figure 29. ADAMS Sub-Block
To plot from MATLAB:

■ At the MATLAB prompt, type in the following command:
>>plot (ADAMS_tout, ADAMS_uout)
The plot window opens and shows the time history of input from MATLAB to
ADAMS. Figure 30 shows you how the plot should look. Notice that the control
torque reaches a peak, and then settles down as the antenna accelerates. As the
antenna gets close to its final position, the torque reverses direction to slow down
the antenna. The antenna moves past its desired position, and then settles down
to the point of zero error. At this point, the torque value is also at zero.
To add labels to your plot:

■ At the MATLAB prompt, enter:
>>xlabel(‘time in seconds’)
>>ylabel(‘Control Torque Input, N-m’)
>>title(‘ADAMS/Controls Torque Input from MATLAB to ADAMS’)
The labels appear on the plot.
Figure 30. Control Torque Input from MATLAB to ADAMS
To plot from ADAMS/View:
ant_test.cmd.

3 In the File Selection dialog box, select the following:
■ For the File Type, select ADAMS Results File.
■ For Files to Read, select Read mytest.res.
■ For Model, select main_olt. Be sure to include the model name when you read
in results files. ADAMS/View needs to associate the results data with a
specific model.
ADAMS/View.
window.

Menu bar
Main Toolbar
Page
Viewport Viewport
Property
Editor Dashboard
Status bar


2 In the Property Editor that appears, in the Title text box, enter the name: Antenna
Joint Peak Torque, Controlled.
MATRIXx
Overview
MATRIXX. It contains the following sections:

Diagram, 64

Introducing and Starting the Tutorials on page 11.
This tutorial is designed for MATRIXX version 62.2. You can
use it with other versions of MATRIXX, but, the interface
might be different.
Learning ADAMS/Controls with MATRIXx
About the Tutorial

This chapter provides procedures for using ADAMS/Controls with MATRIXX. It teaches
you Steps Three and Four of the four-step process of adding controls to an ADAMS
model. You will learn how to:
■ Specify the control algorithms in your system using MATRIXX.
■ Simulate an ADAMS model with a complex control system.

You will add controls to the ADAMS block diagram by:
■ Setting up the MATRIXX Interface, 65
■ Starting MATRIXX, 66
■ Defining SuperBlock Attributes, 67
■ Defining ADAMS Block Parameters, 69
■ Creating the ADAMS Block, 70

Setting up the MATRIXX Interface

In this section you will set up the ADAMS/Controls MATRIXX interface. You must
perform these steps before starting MATRIXX. Be sure to visit the MDI knowledge base
at http://support.adams.com/kb/ for the latest information.
To run the ADAMS/Controls MATRIXX interface:
1 Copy the following two files from the /install_dir/controls/matrixx/ directory to your
local directory, where install_dir is the directory where ADAMS/Controls is
installed:
makefile.{system_type} to ./makefile
adams_matrixx.c
For example, if you are running on a Sun Ultra with ADAMS/Controls installed in
/usr/local/adams11, you enter:
cp /usr/local/adams11/controls/matrixx/makefile.ultra ./makefile
cp /usr/local/adams11/controls/matrixx/adams_matrixx.c .
2 Do one of the following:
■ Copy the following three files from the /install_dir/controls/matrixx/
directory to your local directory:
build_adams.msc
update_adams.msf
Build_adams
■ In your startup.ms file, add the line:
path “/install_dir/controls/matrixx/”
For example, on a Sun system, you include:
path “/usr/local/adams11/controls/matrixx/”
3 Set the environment variable SYSBLD_ADAMS to /install_dir/controls/.
For example, on a Sun system, enter:
setenv SYSBLD_ADAMS /usr/local/adams11/controls/
You can add the above to your .cshrc file.
Starting MATRIXX
Ensure that you’ve set up MATRIXX so that you can run cosimulations from the directory
containing the antenna example. See Setting up the MATRIXX Interface on page 65.
To start using MATRIXX:
■ Start up MATRIXX from the directory that contains the file with the antenna
example.
The Xmath main window appears.
Defining SuperBlock Attributes

In this section, you will create a file called SuperBlock in MATRIXX that contains the
controls block diagram for the antenna model.
To define the SuperBlock attributes:
1 In the command window, enter Build.

The command window is the blank area attached to the bottom of the main window.
The SystemBuild Editor appears.
2 In the SystemBuild Editor, from the File menu, select New, and then select
SuperBlock.
The SuperBlock Properties dialog box appears.

Figure 33. SystemBuild Editor Window
3 In the SuperBlock Properties dialog box, in the Name text box, enter antenna_system
as the block name.
4 In the Outputs text box, enter 3 to define the number of outputs required for the
combined antenna model and controls system.
5 Set Type to Continuous to define the simulation type.
6 Select OK to exit the SuperBlock Properties dialog box.
Defining ADAMS Block Parameters

In this section, you will supply the control system parameters for the ADAMS block.
To define the parameters for the ADAMS block:
1 In the Xmath command initial window, enter the simulation time as a column
vector:
t=[0:0.001:0.25]’;
where:
■ The first parameter (0) is the start time
■ The second parameter (0.001) is the step size
■ The third parameter (0.25) is the simulation end type
2 Enter the following controller parameters as Xmath variables:
PGain = 1040
VGain = 950
Den = [1e-3,1]’;
where PGain and VGain are the numerators and Den is the denominator of the controller
transfer functions.
Creating the ADAMS Block
To create the ADAMS block:
1 Ensure that you’ve either copied the two build_adams* files to your working
directory, or have added a proper path line to your startup.ms file (see Setting up
the MATRIXX Interface on page 65 for more information).
2 In the Xmath command window, enter build_adams.
The Build_adams Input dialog box appears.
3 Select ADAMS Information File.
A file browser appears.
4 Select ant_test.inf, and then select OK.
5 In the ADAMS block name text box, enter a name for the SuperBlock you are
creating, such as antenna, and press Enter.
6 Select Interactive for the ADAMS Animation Mode option.
Animation mode lets you graphically monitor your simulation results in
ADAMS/View. See the section, Choosing an Initialization Method on page 88, for
more details about animation modes.
7 Select Discrete as the Simulation Mode option.
For more details about simulation options, see Choosing a Simulation Method on
page 86.
8 In the Sample/Output Interval text box, enter 0.001 as the sample interval, and then
press Enter.
9 Select Build ADAMS Block.
The Build_adams Input dialog box should now look like the one in Figure 34.
Figure 34. Completed Build_adams Input Dialog Box
10 Select OK.
The ADAMS block, antenna_system, is now created in the Superblock.
The ADAMS block appears in the SystemBuild Editor as shown in Figure 35 on
page 72. You can reposition the block by dragging and dropping it to a new location
on the screen.
Note: The ADAMS block, antenna_system, automatically receives the correct number of
inputs and outputs as well as the names specified in the ADAMS antenna model.
Figure 35. ADAMS SuperBlock

The completed block diagram is in the file, antenna.xmd, in the examples directory. To
save time, you can read in that diagram instead of building it.
1 Double-click a blank area of the SystemBuild Editor.

The Palette Browser appears. Navigate the control categories using the treeview;
click and drag components on to the SystemBuild editor window with the middle
mouse button. To set parameters, select the block in the SystemBuild editor
window, select Edit, and then select Block Properties.
2 Select the appropriate submenu, then click on the block you want to place in your
diagram.
A Step Block dialog box appears for you to modify parameters on the block.
3 Modify the parameters, and then select Done to place the block in the SystemBuild
Editor.
4 Review the completed controls block diagram shown in Figure 36. Recreate the
same diagram for your antenna model using the procedures in the following
section.
Figure 36. Controls System Block Diagram
To add and connect blocks in the controls system block diagram:
1 Start building the diagram by placing a reference slider in the SystemBuild Editor.
Note: The reference slider is limited to generating a position between -0.3 and
0.3.
2 Place two dynamic NumDen blocks in the diagram, and then define a numerator
and denominator for each block as follows:
◆ At the Numerator prompt of the blocks, enter %PGain and %VGain, respectively.
◆ At the Denominator prompt of each block, enter the variable name, Den.
The NumDen blocks should look like the ones in Figure 37.
Figure 37. Completed NumDen blocks
3 Connect the blocks in your controls system diagram. Make sure that both the input
and outputs of the ADAMS block are connected as external outputs in the
SystemBuild model.
4 From the File menu in the Xmath window, select Save All, and then enter a file name
for your completed controls block diagram.
Xmath saves the file with the extension .xmd. The file includes both the
SystemBuild models and Xmath variables used in the current session.

You will simulate your mechanical model and control system by:
■ Modifying Simulation Parameters, 74
■ Pausing and Stepping the Simulation, 80
■ Plotting from MATRIXX, 81
Modifying Simulation Parameters

You can modify the simulation parameters for your model through the Build_adams
dialog box that you invoke using the build_adams script, or you can modify them directly
from the command window using the update_adams script. The next two procedures explain
how to modify the parameters using the two scripts. Follow either procedure depending on
how you want to modify the parameters.
Note: You can get additional help on build_adams and update_adams scripts by entering
help <script name> in the Xmath command window.
To modify the simulation parameters using the build_adams script:
1 In the Xmath command window, enter build_adams.

The Build_adams input dialog box appears. The name, antenna, appears in the
ADAMS block name text box.
2 To modify the block name, click the text box, enter Telescope in place of antenna,
and then press Enter.
3 Select the Update ADAMS block option, and select OK.
The ADAMS SuperBlock is now named Telescope.
Note: You can use the build_adams script to modify all of the simulation settings in the
Build_adams Input dialog box. The current settings are stored in the Xmath
variables.
To view the variables:
1 From the Xmath main window, select Windows, and then select Variables.
The Xmath Variables window appears.
2 Select Partition, and then select ADAMS.
You should modify these variables only through the build_adams or update_adams
scripts.
To modify the simulation parameters using the update_adams script:
1 In the Xmath command window, enter update_adams (“Telescope”,{NewSampleP=0.005})

to change the sample interval in the SuperBlock, and then press Enter.
The sample interval in the ADAMS SuperBlock changes from 0.001s to .005s.
2 Using the build_adams script once more, change the sample interval back to its
original value.

This section shows you how to execute an interactive simulation from MATRIXX.
To execute the simulation:
1 From the SystemBuild Editor menu, select Tools, and then select Simulate.
The SystemBuild Simulation Parameters dialog box appears.
Figure 38. SystemBuild Simulation Parameters Dialog Box
2 Set the following parameters:

◆ Select Outputs, and select the Use Extended Time Vector option. When this option is
used with the discrete simulation mode, ADAMS/Controls saves two values for
each simulation step.
◆ Select Parameters, and enter the variable name ADAMS_out in the Output Variable text
box.
◆ In Time Vector/Variable text box, enter t to define the simulation time vector. The t
references the time vector [0:0.001:0.25]’ that you defined in Step Four of Starting
MATRIXX on page 66.
◆ Select the Interactive option.
The SystemBuild simulation mode is set to interactive.
3 Select OK.
The Interactive Simulator window appears.
Figure 39. Interactive Simulator Window
4 Use the control buttons to pause and resume the simulation and to modify the
Xmath variables.
After you select OK, MATRIXX begins to initialize the simulation data. A new
ADAMS/View window opens and the simulation initialization begins. The
simulation data appears in the terminal window where you launched MATRIXX,
and the ISIM (interactive simulator) appears.
5 After initialization, review the information in the terminal window. If it is correct,
go to the ISIM and select Resume to execute the simulation.
The model simulates in the ADAMS/View window. If the simulation does not
begin, press Rerun.
Running a Simulation from the Xmath Command Window

You can also execute the simulation from the Xmath command window, where you can
create scripts that run a number of simulations with varied settings.
To run the simulation from the Xmath command window:
1 In the Xmath command window, enter the following command:

ADAMS_out=sim(“antenna_system”,t,{extend, interact});
2 Press Enter to start the simulation.
A new ADAMS/View window opens and the simulation begins.
Note: The ADAMS model is initialized to the simulation time defined in the SystemBuild
Editor.
Running the Simulation Interactively

You can interrupt the simulation to modify the controller variables or to change the
visual aspect of the model.
To run the simulation interactively:
1 Arrange the windows so that you have a good view of the model. Close the
SystemBuild Editor to help unclutter the screen.
2 When a new ADAMS/View window opens and the simulation begins, start
and pause the simulation by selecting Resume and Pause respectively. While in
pause mode, experiment with making modifications to the control system:
◆ Modify the reference signal for azimuthal position by moving the slider in the
Interactive ISIM window.
◆ Modify the control variables, PGain and VGain, by selecting RVE, selecting each
variable, and then selecting Open.
The Matrix Editor appears.
◆ Modify the selected variable and close the window.
ADAMS/View accepts the control inputs from MATRIXX and the model
moves in response to them. ADAMS/View then provides the azimuthal
position and rotor velocity information to MATRIXX. This simulation
process creates a closed loop in which the control inputs from MATRIXX
affect the ADAMS/View simulation, and the ADAMS/View outputs affect
the control input levels. For an illustration of the closed loop simulation
process, see Figure 5 on page 18.
Pausing and Stepping the Simulation

The interactive capabilities of ADAMS/Controls let you pause the simulation and perform
time and block steps in MATRIXX while monitoring the graphic results in ADAMS/View.
You can also plot simulation results during pause mode.
1 Select Pause in the ISIM Control Panel.

MATRIXX suspends the simulation. Pause changes to Resume after you select it so
you can toggle between Simulation and Pause mode.
2 Go back to ADAMS/View. While the simulation is paused, you can change the
orientation of the model using the View Orientation tools in the Main Toolbox.
These tools help you to observe the model from different vantage points.
3 Once you have finished reorienting the model, you can continue the simulation by
selecting Resume.
4 Advance the SystemBuild model one sample interval at a time by selecting
TimeStep. Notice how the ADAMS model is updated during each time step.
5 Select Block Step to execute one block at a time in the SystemBuild model.
You can monitor how the signals are updated by switching the view mode of the
blocks. To switch the view mode, point on a block and type v.
6 When the simulation is completed, close the ISIM window by selecting the File
menu, then selecting Exit.
Plotting from MATRIXX

You can plot any of the data generated in MATRIXX. In this tutorial, you will plot the
ADAMS_out data that is saved in the Xmath environment.
To plot from MATRIXX:
1 In the Xmath command window, enter:

plot (ADAMS_out(1,:), {title=”ADAMS/Controls Torque Input from MATRIXx to ADAMS”,
xlab=”time in seconds”, ylab=”Control Torque input, N-m”})
The plot window opens and shows the time history of input from MATRIXX to
ADAMS/View and includes the specified plot labels. Figure 41 on page 82 shows
you how the plot should look.
Notice that the control torque reaches a peak, and then settles down as the antenna
accelerates. As the antenna gets close to its final position, the torque reverses
direction to slow down the antenna. The antenna moves past its desired position,
and then settles down to the point of zero error. At this point, the torque value is
also at zero.
2 To plot the other external outputs, enter: ADAMS_out(2,:) for rotor_velocity and
ADAMS_out(3,:) for azimuth_position.
Figure 41. Controls Torque Input from MATRIXX to ADAMS

ant_test.cmd.

3 Select the following:
◆ For File Type, select ADAMS Results File.
◆ For Files to Read, select antenna.res.
◆ For Model, select main_olt.
Be sure to include the model name when you read in results files. ADAMS/View
needs to associate the results data with a specific model.
ADAMS/View.

window.
Menu bar
Main Toolbar
Page
Viewport Viewport
Property
Editor Dashboard
Status bar


2 In the Property Editor, in the Title text box, enter the name: Antenna Joint Peak Torque,
Controlled.
6 Setting Simulation Parameters
Overview
ADAMS/Controls provides a variety of options for simulating
and animating your integrated model and controller. This
chapter introduces you to these options and the advantages
they offer. This chapter contains the following sections:
■ Choosing a Simulation Method, 86
■ Choosing an Animation Option, 87
■ Choosing an Initialization Method, 88

Setting Simulation Parameters
Choosing a Simulation Method

ADAMS/Controls offers you two methods with which you can simulate your integrated
model and controller: discrete or continuous. These methods allow you to analyze your
model with ADAMS or the control application (EASY5, MATLAB, or MATRIXX).
Table 2. Simulation Methods
Method: Its Purpose:
Discrete mode Specifies that ADAMS solve the mechanical system equations
and the control application solve the control system equations.
Continuous mode Specifies that the control application solve both the
mechanical and control system equations.
For most analyses, the discrete mode is generally the more efficient simulation method. It
is faster and can handle complex models better than continuous mode. You should use
continuous mode when equations solved in the control system would cause a large
coupling effect on the ADAMS data. For example, you might prefer to use the continuous
mode if your analysis requires a very small time step.
To preserve the proper dynamics for a mechanical system, discrete mode should sample
the mechanical system at least five times greater than the highest frequency of interest. If
the time step is too small to sample at five times the highest frequency, then you should
use continuous mode.
Note: You can find the highest frequency of your mechanical system by performing a
linear analysis with the ADAMS add-on module, ADAMS/Linear. For information
about ADAMS/Linear, see the guide, Using ADAMS/Solver.
Choosing an Animation Option

ADAMS/Controls lets you choose one of two animation modes: interactive or batch. Both
methods allow you to save results to ADAMS files for review at a later date.
Table 3. Animation Options
Method: Its purpose:
Interactive ■ Specifies the simulation to run in ADAMS/View.

mode
■ Provides a dynamic, graphic display of the simulation
results.
■ Allows you to pause during a simulation to review any
animation or plotting results.
■ Allows you to verify the initial design of your control
law for proper signal phase and magnitude.
Batch Specifies that the simulation run in ADAMS/Solver. This is

mode the preferred method if a graphic display of the analysis
results is unnecessary.
Choosing an Initialization Method

ADAMS/Controls lets you choose one of two initialization modes: automatic or manual.
Both methods allow you to issue ADAMS/View or ADAMS/Solver commands before
simulating your combined model and controller.
Table 4. Initialization Options
Method: Its purpose:
Automatic Allows you to issue any command in the Initialization command

mode field of the ADAMS plant mask before running a simulation. You
can specify a command in two ways. For example, if you want to
change the color of the antenna model, you can issue one of the
following commands:
◆ At the MATLAB prompt, enter:
ADAMS_Init=‘geometry attributes geometry_name=
.main_olt.antenna.REV15 color=RED’
Within the ADAMS mask, the Initialization command field
reads: ADAMS_Init.
◆ Alternatively, inside the Initialization command field, you can
enter the complete command string enclosed in single quotes
and square brackets as follows:
[‘geometry attributes geometry_name=.main_olt.antenna.REV15
color=RED’]
Manual Allows you to issue ADAMS commands directly from

mode MATLAB.
■ After you enter a command at the MATLAB prompt,
MATLAB sends it to ADAMS for immediate execution.
■ After ADAMS executes the command, MATLAB prompts
you for an additional command or direction to continue.
Index
Index A-B
A-B C-D
ADAMS
block, creating in EASY5 29 E-F
block, creating in MATRIXx 70
block, initializing interface in EASY5 30 G-H
ADAMS/Controls
about 3 I-J
basics 5
benefits of 6
K-L
design process with 6
four-step process, about 9
M-N
how to learn 10
initialization methods in 88 O-P
starting from UNIX or Windows 13
Q-R
using 8
Animation options S-T
batch 87
interactive 87 U-V
Antenna model
components of 15 W-Z
importing 14
Automatic initialization mode 88
Batch animation mode 87
Block diagram
ADAMS, creating in EASY5 29
ADAMS, creating in MATRIXx 70
controls system, constructing in EASY5 34
controls system, constructing in MATLAB 54
controls system, constructing in MATRIXx 72
importing ADAMS in MATLAB 50
sub-block of ADAMS in MATLAB 51
Index
C-D A-B
Component
data table in EASY5 30 C-D
information page in EASY5 33
Continuous simulation mode 86 E-F
Controls
G-H
adding to ADAMS block using EASY5 28
adding to ADAMS block using MATLAB 48 I-J
adding to ADAMS block using MATRIXx 64
how to improve design process of 6 K-L
Deactivating azimuth motion in model 16
Design process with ADAMS/Controls 6 M-N
Discrete simulation mode 86
O-P
E-F
Q-R
EASY5
adding controls to ADAMS block 28 S-T
component data table in 30
component information page in 33 U-V
constructing controls system diagram in 34
creating ADAMS block in 29
W-Z
executing a simulation in 36
initializing ADAMS interface block in 30
pausing and stepping simulation in 40
plotting from 41
plotting from ADAMS/View 43
simulating interactively in 39
starting 28
Executing
simulation in EASY5 36
simulation in MATLAB 56
simulation in MATRIXx 74
File types 53
Index
Four-step process in ADAMS/Controls 9 A-B

Functions
output 22 C-D
VARVAL 21
E-F
G-H
How you’ll learn ADAMS/Controls 12 G-H
I-J I-J
Identifying inputs and outputs 17
K-L
Import
ADAMS antenna model 14 M-N
block diagram in MATLAB 50
Initialization method O-P
automatic 88
manual 88 Q-R
Initializing ADAMS block in EASY5 30
Input S-T
defining variables for 23
functions, verifying 21
U-V
identifying path for 18
verifying variables for 19 W-Z
Interactive animation mode 87
K-L
Learning
ADAMS/Controls 10
ADAMS/Controls with EASY5 27
ADAMS/Controls with MATLAB 47
ADAMS/Controls with MATRIXx 63
Index
M-N A-B
Manual initialization mode 88
MATLAB 55 C-D
adding controls to ADAMS block 48
constructing controls system diagram in 54 E-F
executing simulation in 56
importing block diagram in 50 G-H
pausing simulation in 56
plotting from 57 I-J
setting parameters in plant mask 52 K-L
setting simulation parameters in 55
simulating interactively in 53 M-N
Simulink palette in 50
starting 48 O-P
MATRIXx Q-R
adding controls to ADAMS block 64
adding NumDen blocks to controls diagram 73
S-T
constructing controls system diagram in 72
creating ADAMS block 70
U-V
defining attributes in SuperBlock 67
executing a simulation in 74
modifying simulation parameters in 74 W-Z
pausing and stepping simulation in 80
plotting from 81
simulating interactively in 79
starting 66
Motion, deactivating in ADAMS/View 16
NumDen blocks, using in MATRIXx 73
Index
O-P A-B
Output
defining variables for 24 C-D
functions, verifying 22
identifying path for 18 E-F
Parameters, setting in MATLAB plant mask 52
G-H
Pausing
simulation in EASY5 40
I-J
simulation in MATLAB 56
simulation in MATRIXx 80 K-L
Plant mask, setting parameters in MATLAB 52
Plotting M-N
EASY5 results in ADAMS/View 43
from EASY5 41 O-P
from MATLAB 57
from MATRIXx 81 Q-R
MATLAB results in ADAMS/View 59
MATRIXx results in ADAMS/View 82 S-T
Q-R U-V
Running a trial simulation in ADAMS/View 16
W-Z
S-T
Setting
plant mask parameters in MATLAB 52
simulation parameters in ADAMS/Controls 85
simulation parameters in EASY5 38
simulation parameters in MATLAB 55
simulation parameters in MATRIXx 74
Simulation
animation options for 87
choosing a method for 86
continuous, choosing 86
discrete 86
Index
executing in EASY5 36 A-B

executing in MATLAB 56
executing in MATRIXx 74 C-D
in step 4 using EASY5 36
in step 4 using MATLAB 55 E-F
in step four using MATRIXx 74
initialization options for 88
G-H
modifying parameters in MATRIXx 74
parameters, setting in ADAMS/Controls 85
I-J
pausing and stepping in EASY5 40
pausing and stepping in MATRIXx 80 K-L
pausing in MATLAB 56
running a trial without controls 16 M-N
running interactively in EASY5 39
running interactively in MATRIXx 79
O-P
Simulink palette in MATLAB 50
Starting Q-R
EASY5 28
MATLAB 48 S-T
MATRIXx 66
Steps
U-V
step 1 - importing model 14
step 2 - inputs and outputs 17 W-Z
step 3 - adding controls using EASY5 28
step 3 - adding controls using MATLAB 48
step 3 - adding controls using MATRIXx 64
step 4 - simulation in EASY5 36
step 4 - simulation in MATLAB 55
step 4 - simulation in MATRIXx 74
SuperBlock
defining attributes in MATRIXx 67
file in MATRIXx 67
Index
Tutorial A-B
about 12
for ADAMS/Controls with EASY5 27 C-D
for ADAMS/Controls with MATLAB 47
for ADAMS/Controls with MATRIXx 63
E-F
introducing and starting the 12
U-V G-H
Variables I-J
defining input for 23
defining output for 24 K-L
output function for 22
verifying input for 19 M-N
VARVAL function 21
Verifying O-P
input variables 19
Q-R
output functions 22
W-Z S-T
Ways to use ADAMS/Controls 8
U-V
W-Z
Index
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z

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Getting Started

About this Guide 3

Learning the Basics 5

Introducing and Starting the Tutorials 11

Learning ADAMS/Controls with EASY5 27

Learning ADAMS/Controls with MATLAB 47

Learning ADAMS/Controls with MATRIXx 63

Setting Simulation Parameters 85

ADAMS ® is a registered United States trademark of Mechanical Dynamics, Incorporated.

Part number: 110CTRLGS-01

About this Guide

What You Need to Know

■ How to Improve the Design Process with

■ Ways in Which You Can Use ADAMS/Controls, 8

■ About the ADAMS/Controls Four-Step Process, 9

■ How to Learn ADAMS/Controls, 10

How You Benefit from Using ADAMS/Controls

How to Improve the Design Process with ADAMS/Controls

Figure 1. Design Process Before ADAMS/Controls

Figure 2. Improved Design Process with ADAMS/Controls

Ways in Which You Can Use ADAMS/Controls

About the ADAMS/Controls Four-Step Process

ADAMS Input ADAMS/View ADAMS Output

How to Learn ADAMS/Controls

■ How You’ll Learn ADAMS/Controls, 12

■ Step One - Importing the ADAMS Model, 14

■ Step Two - Identifying the ADAMS Inputs and

Note: Before doing these tutorials, you should be familiar with

About the Tutorial

How You’ll Learn ADAMS/Controls

To start ADAMS/Controls and create your database in UNIX:

2 Select the ADAMS/Controls tool .

To start ADAMS/Controls and create your database in Windows:

Step One - Importing the ADAMS Model

■ Familiarizing Yourself with the Model, 15

■ Running a Trial Simulation, 16

Importing the ADAMS Model

To import the ADAMS model:

1 Copy all of the files in install_dir/controls/examples/antenna to a new directory.

Antenna support Plate

Familiarizing Yourself with the Model

To familiarize yourself with the model, locate the following components:

Running a Trial Simulation

To run a trial simulation with ADAMS/View:

1 From the Main toolbox, select the Simulate tool .

4 Select the Simulation Start tool .

Deactivating the Motion

To deactivate the motion:

1 From the Edit menu, select Deactivate.

Step Two - Identifying the ADAMS Inputs and Outputs

■ Verifying Input Variables, 19

■ Verifying Input Functions, 21

■ Verifying Output Functions, 22

■ Defining Input Variables, 23

■ Defining Output Variables, 24

Identifying the Path of ADAMS Inputs and Outputs

Input = control _torque ADAMS Output = azimuth_position

Verifying Input Variables

To verify the input variables:

The Database Navigator appears.

Verifying Input Functions

To verify the function that is referenced to the input variable, control_torque:

1 From the Edit menu, select Modify.