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Using ADAMS/Controls
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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.
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
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.
8 Getting Started Using ADAMS/Controls
Learning the Basics
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.
10 Getting Started Using ADAMS/Controls
Learning the Basics
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.
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
■ Starting ADAMS/Controls, 13
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.
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.
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
Reduction gear
Azimuth rotor
3 Select the Static Equilibrium tool to equalize the applied forces and locate the
static position of the model.
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.
Control
system
Getting Started Using ADAMS/Controls 19
Introducing and Starting the Tutorials
1 From the Build menu, point to System Elements, point to State Variable, and then select
Modify.
3 Select control_torque.
20 Getting Started Using ADAMS/Controls
Introducing and Starting the Tutorials
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.
Getting Started Using ADAMS/Controls 21
Introducing and Starting the Tutorials
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.
22 Getting Started Using ADAMS/Controls
Introducing and Starting the Tutorials
1 From the Build menu, point to System Elements, point to State Variable, and then select
Modify.
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.
Getting Started Using ADAMS/Controls 23
Introducing and Starting the Tutorials
7 From the Build menu, point to System Elements, point to State Variable, and then select
Modify.
2 Right-click the Input Variables text box, point to ADAMS_Variable, and then select
Browse.
1 Right-click the Output_Variables text box, point to ADAMS_Variable, and then select
Browse.
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.
26 Getting Started Using ADAMS/Controls
Introducing and Starting the Tutorials
3 Learning ADAMS/Controls with
EASY5
Overview
This chapter teaches you how to use ADAMS/Controls with
EASY5. It contains the following sections:
■ About the Tutorial, 28
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.
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
Getting Started Using ADAMS/Controls 31
Learning ADAMS/Controls with EASY5
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
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
34 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with EASY5
The ADAMS block is now initialized for use with the antenna model.
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
Getting Started Using ADAMS/Controls 35
Learning ADAMS/Controls with EASY5
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.
36 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with EASY5
1 From the toolbar at the top of the EASY5 main window, point to Analysis, point to
Nonlinear, and then select Simulation.
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.
Getting Started Using ADAMS/Controls 39
Learning ADAMS/Controls with EASY5
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.
40 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with EASY5
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
Getting Started Using ADAMS/Controls 41
Learning ADAMS/Controls with EASY5
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.
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.
42 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with EASY5
1 Display ADAMS/View in a new system window and read in the command file,
ant_test.cmd.
Viewport Viewport
Property
Editor Dashboard
Status bar
Overview
This chapter teaches you how to use ADAMS/Controls with
MATLAB. It contains the following sections:
■ About the Tutorial, 47
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.
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.
50 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATLAB
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.
Getting Started Using ADAMS/Controls 51
Learning ADAMS/Controls with MATLAB
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.
52 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATLAB
1 From the new Simulink palette, double-click the Mechanical Dynamics block.
The ADAMS Plant Mask dialog box appears.
Figure 26. ADAMS Plant Mask
5 From the File menu, select Save As, and enter a file name for your controls block
diagram.
Getting Started Using ADAMS/Controls 55
Learning ADAMS/Controls with MATLAB
1 From the menus on the Simulink palette, select Simulation, and then select
Parameters.
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.
Getting Started Using ADAMS/Controls 57
Learning ADAMS/Controls with MATLAB
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.
Figure 28. View Orientation Tools
3 Once you have finished reorienting the model, resume the simulation by selecting
Simulation, and then Start, from the toolbar on the Simulink palette.
1 Display ADAMS/View in a new system window and read in the command file,
ant_test.cmd.
Viewport Viewport
Property
Editor Dashboard
Status bar
Overview
This chapter teaches you how to use ADAMS/Controls with
MATRIXX. It contains the following sections:
■ Starting MATRIXX, 66
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.
66 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATRIXx
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.
■ Start up MATRIXX from the directory that contains the file with the antenna
example.
The Xmath main window appears.
Getting Started Using ADAMS/Controls 67
Learning ADAMS/Controls with MATRIXx
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.
Getting Started Using ADAMS/Controls 69
Learning ADAMS/Controls with MATRIXx
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.
70 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATRIXx
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.
Getting Started Using ADAMS/Controls 71
Learning ADAMS/Controls with MATRIXx
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.
72 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATRIXx
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
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
74 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATRIXx
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.
Note: You can get additional help on build_adams and update_adams scripts by entering
help <script name> in the Xmath command window.
Getting Started Using ADAMS/Controls 75
Learning ADAMS/Controls with MATRIXx
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.
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.
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
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.
78 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATRIXx
Note: The ADAMS model is initialized to the simulation time defined in the SystemBuild
Editor.
Getting Started Using ADAMS/Controls 79
Learning ADAMS/Controls with MATRIXx
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.
80 Getting Started Using ADAMS/Controls
Learning ADAMS/Controls with MATRIXx
3 Once you have finished reorienting the model, you can continue the simulation by
selecting Resume.
ADAMS/View closes automatically after the simulation finishes.
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.
Getting Started Using ADAMS/Controls 81
Learning ADAMS/Controls with MATRIXx
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.
2 To plot the other external outputs, enter: ADAMS_out(2,:) for rotor_velocity and
ADAMS_out(3,:) for azimuth_position.
Viewport Viewport
Property
Editor Dashboard
Status bar
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
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.
Getting Started Using ADAMS/Controls 87
Setting Simulation Parameters
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
90 Getting Started Using ADAMS/Controls
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
Getting Started Using ADAMS/Controls 91
Index
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
92 Getting Started Using ADAMS/Controls
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
plotting from ADAMS/View 59
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
plotting from ADAMS/View 82
simulating interactively in 79
starting 66
Motion, deactivating in ADAMS/View 16
NumDen blocks, using in MATRIXx 73
Getting Started Using ADAMS/Controls 93
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
94 Getting Started Using ADAMS/Controls
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
96 Getting Started Using ADAMS/Controls
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