Simpack 9 Tutorial 1

SIMPACK
SIMPACK 9
CIP
SIMPACK 9 2 /. 2013.10
ISBN 978-7-5502-1943-4
.S . .--- .TH113-39
CIP 2013 216524
SIMPACK 9
GET
83 9 100088

301 185 260 1/16 41.19
2013 9 1
2013 9 1
ISBN 978-7-5502-1943-4
99.80
010-64255036
ii

SIMPACK
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PROSYNX/DVPVTE
PROSYNX/TDM
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GET GET
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2013 7
iii
DLR SIMPACK
SIMPACK
2011 SIMPACK SIMPACK 9.0
SIMPACK 9
SIMPACK SIMPACK
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SIMPACK GET SIMPAKC 9
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2013 7
iv

SIMPACK ...................................................................................................................... 1
1.1 SIMPACK ........................................................................................................................ 1
1.2 SIMPACK ...................................................................................................................... 1
1.3 SIMPACK .................................................................................................................. 2
1.4 SIMPACK ...................................................................................................................... 2
1.4.1 SIMPACK Basic Modules .................................................................................. 3
1.4.2 SIMPACK General Modules .............................................................................. 4
1.4.3 CAD CAD Interfaces .......................................................................................... 6
1.4.4 Flexible Body Simulation Modules .................................................... 6
1.4.5 CACE Software Interfaces ................................................................. 7
1.4.6 Multi Domain Interface ....................................................... 8
1.4.7 Automotive+ ............................................................................................................... 8
1.4.8 Rail Modules ............................................................................................ 10
1.4.9 Drive Line Modules ...................................................................................... 10
1.4.10 SIMPACK Wind Modules ............................................................................... 10
1.4.11 SIMPACK Engine Modules..........................................................................11
1.4.12 SIMPACK Bearing Modules ................................................... 12
1.4.13 SIMPACK Biomotion Modules ........................................................... 13
1.5 SIMPACK ................................................................................................................ 13
1.5.1 ...................................................................................................................... 13
1.5.2 ...................................................................................................................... 15
1.5.3 .......................................................................................................................... 16
1.6 SIMPACK .................................................................................................... 17
1.7 SIMPACK ................................................................................................ 19
1.7.1 SIMPACK ................................................................................................. 19
1.7.2 OLicense ....................................................................................................................... 20
1.7.3 OLicense ....................................................................................................... 22
1.7.4 OLicense ....................................................................................................... 24
1.7.5 SIMPACK ................................................................................................. 25
1.8 ................................................................................................................................................. 29
SIMPACK .................................................................................................................... 30
2.1 SIMPACK ......................................................................................................... 30
2.1.1 .......................................................................................................................... 30
2.1.2 DOS .................................................................................................................. 30
2.1.3 .................................................................................................................................. 32
2.2 SIMPACK ............................................................................................................. 33
2.3 SIMPACK ......................................................................................................... 34
2.3.1 ...................................................................................................................................... 35
2.3.2 .............................................................................................................................. 35
2.3.3 .................................................................................................................................. 37
2.3.4 ...................................................................................................................................... 38
2.3.5 ...................................................................................................................................... 39
I
2.3.6 .............................................................................................................................. 40
2.3.7 .................................................................................................................................. 40
2.3.8 .......................................................................................................................... 40
2.3.9 .......................................................................................................................... 42
2.4 SIMPACK ......................................................................................................... 42
2.4.1 ...................................................................................................................................... 43
2.4.2 ...................................................................................................................................... 43
2.4.3 ...................................................................................................................................... 46
2.4.4 ...................................................................................................................................... 47
2.4.5 .............................................................................................................................. 47
2.4.6 .................................................................................................................................. 47
2.4.7 ...................................................................................................................................... 47
2.4.8 .................................................................................................................................. 48
2.4.9 .................................................................................................................................. 50
2.4.10 ................................................................................................................................ 51
2.5 SIMPACK ........................................................................................................ 51
2.5.1 ...................................................................................................................... 51
2.5.2 SIMPACK ......................................................................................................... 53
2.5.3 .............................................................................................................. 53
2.5.4 .................................................................................................................................. 54
2.5.5 .............................................................................................................................. 54
2.6 SIMPACK ........................................................................................................ 69
2.6.1 ...................................................................................................................... 69
2.6.2 ...................................................................................................................... 70
2.6.3 .rbl .rbx ................................................................................................. 72
2.6.4 AeroDyn v12.59 V13 ................................................................................ 72
2.6.5 ECN ................................................................................................ 72
2.6.6 .smp .smd ............................................................................................. 73
2.6.7 Solver Output Files ............................................................................. 73
2.7 SIMPACK ........................................................................................................................ 73
2.8 ......................................................................................................................................... 73
...................................................................................................................................... 74
................................................................................................................................ 74
1.1
........................................................................................................................................ 75
1.2 MARKER .................................................................................................................................. 87
1.3 ISYS.......................................................................................................................................... 88
1.4 SUBVARS .......................................................................................................... 89
1.5 .................................................................................................................................. 92
1.6 .......................................................................................................................................... 94
1.6.1 .................................................................................................................................. 94
1.6.2 3D Properties ............................................................................................. 95
1.6.3 ....................................................................................................................... 96
1.6.4 ....................................................................................................................... 96
1.7 .......................................................................................................................................... 97
1.8 .............................................................................................................................. 98
II
1.9 ................................................................................................................................................ 101

.............................................................................................................. 101
2.1 .................................................................................................................................... 101
2.2 ....................................................................................................................................... 105
2.2.1 ................................................................................................................................. 105
2.2.2 / ........................................................................................................................ 108
2.2.3 ................................................................................................................................. 109
2.3 ........................................................................................................................................ 109
2.3.1 ..............................................................................................................110
2.3.2 .......................................................................................................................... 111
2.3.3 ..........................................................................................................................112
2.3.4 ..........................................................................................................................112
2.4 .........................................................................................................................................113
2.4.1 Measure tool .....................................................................................................114
2.4.2 Sesnsor..................................................................................................................114
2.5 ............................................................................................................................................115
2.5.1 .....................................................................................................................115
2.5.2 .....................................................................................................................................117
2.5.3 sbr ............................................................................................................................119
2.6 ....................................................................................................................................... 124
2.6.1
.......................................................................................................................... 125
2.6.2 ............................................................................................................................ 125
2.6.3 ................................................................................................................ 126
2.6.4 ............................................................................................................................ 126
2.6.5 ........................................................................................................................ 128
2.7 ........................................................................................................................................... 129
2.8 ........................................................................................................................... 130
2.9 TEST CALL ...................................................................................................................................... 134
2.10 ............................................................................................................................................. 135
.............................................................................................................................. 135
3.1 CMP ........................................................................................................................................ 136
3.1.1 ................................................................................................................................ 136
3.1.2 ................................................................................................................................ 136
3.1.3 ................................................................................................................................ 138
3.1.4 ............................................................................................................ 142
3.1.5 .................................................................................................................................... 143
3.1.6 ................................................................................................................................ 144
3.2 ................................................................................................................... 144
3.3 ............................................................................................................................................... 145
3.3.1 ................................................................................................................................ 145
3.3.2 ................................................................................................................................ 146
3.3.3 ........................................................................................................ 147
3.3.4 ........................................................................................................................ 148
3.3.5 ............................................................................................................................ 149
3.3.6 ..................................................................................................................................... 150
III
3.3.7 ................................................................................................................................ 151

3.4 ........................................................................................................................... 152
3.5 ............................................................................................................................................... 153
.................................................................................................................. 153
4.1 ....................................................................................................................................... 154
4.2 ........................................................................................................................................... 154
4.2.1 ................................................................................................................................ 154
4.2.2 ............................................................................................................................ 155
4.2.3 .................................................................................................................... 156
4.2.4 .................................................................................................................... 157
4.2.5 ........................................................................................................................ 157
4.2.6 ............................................................................................................................ 159
4.2.7 ............................................................................................................................ 161
4.2.8 ................................................................................................................................ 161
4.2.9 ............................................................................................................................ 162
4.3 ....................................................................................................................................... 163
4.3.1 ................................................................................................................................ 163
4.3.2 ................................................................................................................................ 163
4.3.3 .................................................................................................................... 165
4.4 ............................................................................................................................................... 166
.............................................................................................................................. 166
5.1 ........................................................................................................................... 167
5.1.1 ................................................................................................................................ 167
5.1.2 ............................................................................................................ 168
5.1.3 Marker ........................................................................................................................... 170
5.1.4 ................................................................................................................................ 171
5.1.5 ................................................................................................................................ 172
5.1.6 ........................................................................................................................ 174
5.2 ....................................................................................................................... 175
5.2.1 ................................................................................................................................ 175
5.2.2 .................................................................................................................... 175
5.2.3 .................................................................................................................... 176
5.2.4 ............................................................................................................................ 176
5.2.5 ................................................................................................................................ 177
5.2.6 ................................................................................................................................ 177
5.2.7 ................................................................................................................................ 179
5.3 ............................................................................................................................................... 180
.......................................................................................................................... 180
6.1 ....................................................................................................................................... 181
6.2 ....................................................................................................................................... 182
6.2.1 ........................................................................................................................ 182
6.2.2 ........................................................................................................................ 183
6.2.3 .................................................................................................... 185
6.3 ................................................................................................................... 187
6.4 ID ............................................................................................. 190
IV
6.5 ................................................................................................... 193

6.6 ............................................................................................................................... 195
6.6.1 ............................................................................................................................ 195
6.6.2 ............................................................................................................................ 197
6.6.3 ............................................................................................................................ 197
6.7 ............................................................................................................................... 198
6.8 ............................................................................................................................................... 199
SIMPACK .................................................................................................................. 200
.................................................................................................................................. 200
1.1 .................................................................................................................................... 200
1.2 ........................................................................................................................................ 201
1.3 ................................................................................................................................... 205
1.4 ................................................................................................................... 207
1.5 ................................................................................................................................................ 209
.................................................................................................................................. 209
2.1 ....................................................................................................................................... 210
2.2 ........................................................................................................................... 213
2.3 ........................................................................................................................... 214
2.3.1 ............................................................................................................................ 214
2.3.2 ............................................................................................................................ 215
2.3 ............................................................................................................................................... 216
: ......................................................................................................................................... 216
3.1 ........................................................................................................................... 216
3.2 ....................................................................................................................... 218
3.3 .FBI ................................................................................................................................ 218
3.4 ........................................................................................................................... 219
3.5 ........................................................................................................................... 231
3.6 ............................................................................................................... 231
3.7 ............................................................................................................................... 233
3.8 ............................................................................................................................................... 235
.......................................................................................................................................... 235
4.1 PCM ....................................................................................................................... 235
4.1.1 ............................................................................................................................ 235
4.1.2 ........................................................................................................................ 236
4.1.3 PCM ................................................................................................................ 236
4.2 ........................................................................................................................... 236
4.3 ....................................................................................................................................... 244
4.4 ........................................................................................................................... 247
4.5 ............................................................................................................................................... 248
.................................................................................................................................. 249
5.1 ........................................................................................................................... 249
5.2 ........................................................................................................................... 260
5.3 ............................................................................................................... 265
5.4 ............................................................................................................................................... 266
SIMPACK .......................................................................................................... 267
V
MATLAB .................................................................................................................... 267

1.1 ................................................................................................................................... 267
1.2 MATSIM SIMAT .................................................................................................. 272
1.3 MATSIM ........................................................................................................................................ 273
1.4 SIMAT ........................................................................................................................... 278
1.5 SIMAT ........................................................................................................... 282
1.6 ............................................................................................................................................... 282
.............................................................................................................................. 282
2.1 ........................................................................................................................... 283
2.2 ............................................................................................................................... 300
2.3 ............................................................................................................................... 301
2.4 ................................................................................................................... 303
2.5 ................................................................................................................................... 305
2.6 ............................................................................................................................................... 306
...................................................................................................................................... 306
3.1 ....................................................................................................................................... 307
3.2 ....................................................................................................................................... 308
3.3 ................................................................................................................................................ 325
...................................................................................................................................... 325
4.1 ....................................................................................................................................... 326
4.2 ....................................................................................................................................... 326
4.3 ................................................................................................................................................ 333
.................................................................................................................. 333
5.1 ....................................................................................................................................... 334
5.2 ....................................................................................................................................... 340
5.3 ................................................................................................................... 344
5.4 ....................................................................................................................... 351
5.5 ................................................................................................................... 352
5.6 ............................................................................................................................................... 353
.............................................................................................................................. 353
6.1 INTRODUCTION............................................................................................................... 353
6.2 USER INTERFACE ................................................................................ 354
6.2.1 User Routines ..................................................................................... 355
6.2.2 Compile and Link Settings ................................................................. 355
6.2.3 Build Area .......................................................................................................... 356
6.2.4 Message Log ................................................................................................... 356
6.3 DIRECTORY STRUCTURE......................................................................................... 356
6.4 BASICS ................................................................................................................... 357
6.4.1 Routines and Tasks ................................................................................. 357
6.4.2 Element Parameters ................................................................................ 358
6.4.3 Output Values ..................................................................................................... 360
6.4.4 Dynamic States ........................................................................................... 360
6.4.5 Algebraic States .......................................................................................... 360
6.4.6 Descriptive States ................................................................................... 361
6.4.7 Root Functions and Root States ...................................................... 361
VI
6.4.8 Variable Dimensioning ................................................................................... 361

6.4.9 Units and Physical Dimensions ........................................................... 361
6.4.10 Parallelization ....................................................................................................... 362
6.5 ADDITIONAL INFORMATION.................................................................................... 362
6.5.1 Debugging .............................................................................................................. 362
6.5.2 C Fortran Mixing C and Fortran ..................................................................... 362
6.6 ACCESS FUNCTIONS ............................................................................................... 363
6.7 SIMPACK .................................................................................................. 364
6.7.1 Review .................................................................................................................... 364
6.7.2 Exercise .......................................................................................................... 366
6.8 ....................................................................................................................................... 370
.................................................................................................................................................. 371
VII
SIMPACK
1.1 SIMPACK
SIMPACK SIMPACK AG
SIMPACK
SIMPACK
SIMPACK /
SIMPACK
SIMPACK
(PLM)
SIMPACK
SIMPACK HIL()
SIMPACK BMWDaimler
ChryslerBombardierJensen Siemens SIMPACK
1 SIMPACK
1.2 SIMPACK
SIMPACK 1983 DLR
SIMPACK
SIMPACK
SIMPACK

SIMPACK HIL

ASCIIEXCEL
FFT
CAD IDEASUGPRO/E CATIA

MATLAB
DOEOptimization

Fortran C
1.3 SIMPACK
1987 (DLR) MAN
SIMPACK
1993 INTEC DLR SIMPACK
1993 (SIEMENS)(Bosch) SIMPACK
1996 (BMW)(Land Rover) SIMPACK
2001 INTEC SIMPACK
2002 SIMPACK
2003 INTEC (INTEC Dynamics Ltd, UK)
2005 (Daimler)(BMW) SIMPACK
2005 (Germanischer Lloyd) SIMPACK
2006 INTEC (INTEC Japan, France, US)
2007 VestasWinergyHansen SIMPACK
2007 (FVA) SIMPACK
2009 INTEC SIMPACK AG
2011 SIMPACK 9.0
2012 (Ford) SIMPACK
2013 SIMPACK
1.4 SIMPACK
SIMPACK CAD
1.4.1 SIMPACK Basic Modules

SIMPACK PreSolverPost
Wizard SIMPACK
Pre
SIMPACK
CAD 3D SIMPACK
CAD CAD
SIMPACK
SIMPACK
SIMPACK
Solver
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK NVH
Post
SIMPACK

SIMPACK
ASCIIExcel
FFT
SIMPACK
SIMPACK
Wizard
1.4.2 SIMPACK General Modules

SIMPACK
NVH
Contact
SIMPACK
2D SIMPACK
CAD
FlexCONTACT
SIMPACK
1) 2D 3D
2) One point and multi-point contact
3) Contact on flexible bodies
4) CAD Import of contact shapes from CAD systems
5) Arbitrary contact forces )
6) Friction in contact point
7) Specially adapted numerical methods
User
SIMPACK C Fortran
/
2D Marker SIMPACK
Access Functions
1) SIMPACK
2) SIMPACK
4
3)
4)
fortran C
5) SIMPACK
Control
SIMPACK
SIMPACK
1)
2)
3) A/D
4) / PID
5)
6)
NVH NVH
SIMPACK NVH SIMPACK NVH
NVH
SIMPACK NVH
1
2
3
4
5
6
7
SIMPACK NVH
SIMPACK NVH
90-95%
Non-linear Elastomere P.Pfeffer

SIMPACK /
1 P. Pfeffer
2
3
4 SIMPACK
5
Dynamic Bushing
SIMPACK /
Order Analysis
SIMPACK
1.4.3 CAD CAD Interfaces

Catia V5 CATSIM V5 Creator
CATIA V5 CATIA V5
Catia V5 CATSIM V5 Runtime

CATIA V5 CATIA CAD
Pro/E ProSIM
Pro/ENGINEER Pro/E
1.4.4 Flexible Body Simulation Modules

SIMBEAM
SIMPACK SIMBEAM SIMPACK
FlexModal SIMPACK SIMBEAM
SIMPACK
SIMPACK 3D
FlexModal
SIMPACK AbaqusAnsysIdeas
MSC.NastranNX NastranPermasAdina
FlexContact
SIMPACK Flex Contact SIMPACK SIMPACK
FlexModal SIMPACK Contact SIMPACK Flex
Contact
6
Loads Static
SIMPACK LOADS Static SIMPACK FEM SIMPACK
AnsysMSC.NastranNX Nastran
Loads Stress&Strain
SIMPACK LOADS Stress&Strain SIMPACK FEM SIMPACK
LOADS Durability
SIMPACK LOADS Durability SIMPACK
- FEMFAT FAT4FEM
FlexTrack
/
FAT4FEM
SIMPACK FAT4FEM SIMPACK
SIMPACK
1.4.5 CACE Software Interfaces

SIMAT
SIMPACK MATLAB/Simulink SIMPACK
MATLAB/Simulink MATLAB
MATSIM
MATLAB/ Simulink SIMPACK SIMPACK Controls
MATLAB/Simulink SIMPACK SIMPACK
MATLAB Result Export

SIMPACK MATLAB .mat
MATLAB SIMPACK MATLAB
IPCInter Process Communication

IPC SIMPACK
7
CAE
1.4.6 Multi Domain Interface

SIMPACK
1) SIMPACK RT
2) Software-in-the-Loop SIL ) SIMPACK
MATLAB/SIMULINK FMI
3) SIMPACK
4) MBS SIMPACK Excel
FMU Import
SimulationXDymola Amesim
DSHplus SIMPACK Control
FMU Export
SIMPACK FMU Export SIMPACK
FMU
FMU for Model-Exchange
FMU for Co-Simulation
SIMPACK RT
SIMPACK RT SIMPACK
SIMPACK

SIMPACK
1.4.7 Automotive+
SIMPACK
SIMPACK
NVHSILMIL
HIL
SIMPACK
SIMPACK
SIMPACK
TM-Easy
TNO-SWIFTF-Tire (SIL)(HIL)
SIMPACK SIMPACK
SIMPACK
TNO MF-Tyre (3rd party)

SIMPACK TNO
TNO MF-SWIFT (3rd party)

SIMPACK TNO MF-Type
TNO
TM Easy Tyre (3rd party):

SIMPACK TNO
FTire :
SIMPACK Ftire
FTire ():
SIMPACK Prof. Gipser
CDTire :
SIMPACK CDtire
CDTire ():
SIMPACK
Prof. FraunhoferGesellschaft
Virtual Suspension:
SIMPACK
9
1.4.8 Rail Modules

SIMPACK Wheel/Rail DLR 20 /
SIMPACK
SIMPACK
/
()
SIMPACK
Rail User
SIMPACK
1.4.9 Drive Line Modules

Drive Line Selection 1
: FE053 Cardan JointForce 59 Const. Velocity JointFE056 Differential Gear BoxFE057
Planetary Gear

: FE058 Cardan ShaftFE054 Const. Velocity ShaftFE067 Gearbox Synchronising
Gear Pair
Belt
Shaft Coupling
1.4.10 SIMPACK Wind Modules

RotorbladeSMu
SIMPACK Simbeam FlexModal
10
SIMPACK
NREL Interface to AeroDyn Ver. 13 (NREL)

SIMPACK AeroDyn V13
ECN Interface to AeroModule (ECN)

SIMPACK AeroModule (ECN)
Wind Turbine Control Interface

SIMPACK MITA-Teknik 3MW
1.4.11 SIMPACK Engine Modules

SIMPACK
SIMPACK
SIMPACK
SIMPACK SIMPACK Engine
SIMPACK Engine
SIMPACK
SIMPACK
Hydraulic Lash AdjusterHLA
Valve Spring, Multi Mass Model
1D
Valve Spring, SIMBEAM Model + Segment Multi Mass Model

+
3D
Simbeam FlexModal
11
Gas Force
Control DSHPlus
Chain
Roller Chain Silent/Tooth Chain
Smart Chain
1.4.12 SIMPACK Bearing Modules

Journal Bearing
Tower Interface to TOWER Module HD Impedance 3rd party

SIMPACK IST
Tower TOWER Module HD Impedance3rd party

IST
Tower Interface to TOWER Module HD Reynolds3rd party

SIMPACK IST
Tower TOWER Module HD Reynolds 3rd party

IST
Tower Interface to TOWER Module Full EHD 3rd party

SIMPACK TOWER IST
Tower TOWER Module Full EHD 3rd party

TOWER IST
12
1.4.13 SIMPACK Biomotion Modules

Biomotion Force Elements3rd party
Biomotion
Biomotion Motorcycle Rider3rd party

Biomotion
Biomotion HAS-Powertool Controller3rd party

Biomotion
1.5 SIMPACK
1.5.1
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
1.
SIMPACK

2.
SIMPACK
SIMPACK
13

3.
SIMPACK
SIMPACK

4.
SIMPACK -- 3D
SIMPACK

5. NVH
SIMPACK
SIMPACKNVH
SIMPACK
SIMPACK
SIMPACK
SIMPACK
14
SIL
IPC SIMPACK
CAE MATLAB/Simulink MATLAB
Real-Time Workshop Simulink SIMPACK
SIMPACK S-function Simulink
7. MILHIL
SIMPACK SIL Software-in-the-loop /MIL
Man-in-the-loop HILHardware-in-the-loop
SIMPACK
6.
1.5.2
SIMPACK
1.
SIEMENS SIMPACK
SIMPACK SIEMENS
SIEMENS
SIEMENS
ICE SIMPACK
ICE
SIMPACK

SIMPACK

SIMPACK
2.
SIMPACK X2000
SIMPACK Las Vegas
3.
ALSTOM SIMPACK

SIMPACK
15
CITEF

SIMPACK
5.

SIMPACK 160km/h,200km/h,300km/h

SIMPACK

SIMPACK
SIMPACK
4D 4D
SIMPACK DF4D
--
DF4D
4.
1.5.3
SIMPACK
SIMPACK
SIMPACK
GLWindTechVestasRepowerECN SIMPACK
1. GL
2. SIMPACK SIMAPCK
SIMPACK
3. aerodyn
4.
5.
6.
SIMPACK
AreoDyn
ECN-Aero
SIMPACK
1.
2. ()
3.
4.
16
5.
6.
7.
8.
BearInxRomax
1.5.4 SIMPACK
1.
2.
3.
4.
5.
SIMPACK
/
//
/
1.6 SIMPACK
17
-
-
- BDF RK -
BodyJointoutside Force/Moment
Reference Frame
18

Marker
Move Marker
Constraint
:
m nmn
1.7 SIMPACK
1.7.1 SIMPACK
SIMPACK8.9 SIMPACK Optimum OLicense
SIMPACK OLicense V4.4
SIMPACK OLicense SIMPACK
OLicense SIMPACK
OLicense SIMPACK OLicense
19
1.7.2 OLicense
OLicense OLicense SIMPACK
OLicense SIMPACK
OLicense Windows OLicense
1 OLicense OLicenseServer-4.4.0-Win32-Setup.exe
OLicenseServer-4.4.0-Win32-Setup.exe OLicenseV4.4 OLicense

2
2 OLicense
OLicense OLicense
OLicense
2OK OLicense 3
3 OLicense
3Next 4
4 OLicense
20
4Next OLicense 5
5 OLicense
5I Agree OLicense 6
6 OLicense
6
Next 7
7 OLicense
OLicense C :\Program Files\Optimum

21
GmbH\OLicenseServer
D :\Optimum GmbH\OLicenseServer
7 Next
8 OLicense
8Install OLicense 9
9 OLicense
9Finsh OLicense
1.7.3 OLicense
OLicense OLicense-Server-Controls OLicense
Run OLicense-server OLicense Run
OLicense-serverOLicense-ServerOLicense-Server-Control
10
22
10 OLicense
OLicense-Server-Controls 11
11
2
1
2
11 OLicense
OLicense
SIMPACK
1. Start LocalOpen
Browser FrontendView/Administrate Content
12 OLicense
2. 13
Administrator Server
23
13 OLicense
3.
14 Export Server Info
14 OLicense
4. 15 SIMPACK
OLicense.olsiml SIMPACK
SIMPACK SIMPACK
1.7.4 OLicense
SIMPACK
OLicense
1. OLicense SIMPACK OLicense
24

2. OLicense
OLicense
OLicense Server
Control License import
OLicense 15 ...
OLicense OLicense
15 OLicense
3.
OLicense OLicense
16 OLicense
4.
OLicense Close to Tray
OLicense
1.7.5 SIMPACK
SIMPACK SIMPACK
1 SIMPACK spck-9.3.1-build53-win32-installer.exe 17
25
17 SIMPACK
2Next 18
18 SIMPACK
3I accept the agreementNext 19
26
19 SIMPACK
4 SIMPACK C:\Program
Files\SIMPACK-9.3.1
SIMPACK
Next 20
20 SIMPACK
5 OLicenseNext 21
21 SIMPACK
6Next SIMPACK 22
22 SIMPACK
27
7 23
23 SIMPACK
8Finish SIMPACK View Readme File

Do you want to launch SIMPACK now? 24 ReadMe
24 SIMPACK
OK
25 SIMPACK
28
25 SIMPACK
Extras
Licensing SIMPACK
26
26 SIMPACK
OLicense License server/filelocalhost
OLicense SIMPACK
(hostname) 80 :
(postname:port)
(;)
hostname1;hostname2:port2;... hostname1:port1;hostname2:port2;...
License Server OK SIMPACK
1.8
1. SIMPACK
2.
3. SIMPACK
29
SIMPACK
SIMPACK
SIMPACK
2.1
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
2.1.1
SIMPACK SIMPACK
1
1 SIMPACK
SIMPACK 9.3.1 SIMPACK

SIMPACK
SIMPACK 9.3.1 SIMPACK
2.1.2 DOS
SIMPACK DOS SHELL
SIMPACK
2.1.2.1 SIMPACK DOS

SIMPACK DOS
simpack-gui
simpack-gui <modelname.spck>
SIMPACK
simpack-gui SIMPACK
.exe
DOS SIMPACK
path SIMPACK ../run/bin/win32
path SIMPACK
SIMPACK DOS
30
2.1.2.2 SIMPACK DOS

SIMPACK DOS
simpack-post
simpack-post <projectname.spf>
SIMPACK
simpack-post SIMPACK
.exe
DOS SIMPACK
path
DOS
SIMPACK
SIMPACK
--help
*.qs
--script -s
SIMPACK
SIMPACK
--lic-server
--lic-token
--lic-client-log
SIMPACK IP
TRUE FALSE
TRUE FALSE
--lic-checkout-timeout
--lic-server-timeout
--lic-timeout
token
SIMPACK
s
SIMPACK
s
SIMPACK
s
simpack-post projectfile.spf
simpack-post --lic-server 192.168.2.45:8080 --lic-token TRUE
simpack-post -s exportmydata.qs myproject.spf myoutfile.csv
2.1.2.3 SIMPACK DOS

SIMPACK simpack-slv DOS
SIMPACK *.sjs
SIMPACK SIMPACK
job Viewset
SIMPACK
simpack-slv <modelname.spck>
SIMPACK simpack-slv
SIMPACK
--help -h
--silent
--testcall
--static-equilibrium
--driven-equilibrium
(*.spck)
(*.spck)
(*.spck)
shell log
Solver
31
--eigenvalues
--integration
--kinematics
--measurements
--ssm-export
(*.spck)
(*.spck)
(*.spck)
(*.spck)
(*.spck)
--gen-standalone
(*.spck)
<model>
zip
--script or -s
(* .sjs)
--co-simulation
--measurements-type NONE
--measurements-type NONE
--ssm-file-type
--port
--input-model
--inc-results(TRUE or FALSE)
--output
<timestamp>_< input model name>
--zip SIMPACK zip

SIMPACK
SIMPACK
--file
--measurements-type
--ssm-file-type
--port -p
--slv-threads -j
--output-path -o
--log-level -l
--log-file -o
--lic-server
--lic-token
--lic-client-log
--lic-checkout-timeout
--lic-server-timeout
--lic-timeout
CFG FULL
YOUTANI
ONLINE
NONE
matlab
matlab_1
FATALERROR
WARNING SHORT
INFO
INFO
License
IP
TRUE/FALSE
TRUE/FALSE
y-Outputs
3D SIMPACK (.sbr)
ONLINENONE
matlab
matlab_1
token
SIMPACK s
SIMPACK s
SIMPACK
s
simpack-slv --integration mymodel.spck

simpack-slv --integration --measurements-type ONLINE --measurements-type ANI mymodel.spck
simpack-slv --lic-server 192.168.2.45:8080 --lic-token TRUE --kinematics mymodel.spck
simpack-slv -s myrunup.sjs mymodel.spck linear
2.1.3
Windows *.txt*.dat*.avi
SIMPACK
*.spckSimpack-gui*.spf
32
Simpack-post*.sjssimpack-slv
2.2
SIMPACK
SIMPACK MBS/
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK SIMPACK
SIMPACK
Problem definition
Development of a mechanical model
Provision of the physical parameters for the model
33
SIMPACK
Pre-processing
SIMPACK

3D

Problem Solution
ODEs DAEs
Post-processing
SIMPACK
2D3D
SIMPACK FFT
3D
Microsoft Excel MATLAB
2.3
SIMPACK
SIMPACK
SIMPACK 9.3.1SIMPACK 9.3.1 SIMPACK 5
5 SIMPACK
SIMPACK Windows
5 1
2
3
4
5
67
8
34
2.3.1
SIMPACK
Pre
Windows
2.3.2
10
1 File
File New(Ctrl+N)SIMPACK V9.0

Automitive
File Open(Ctrl+O) SIMPACK (*.spck )

FileImport(*.spck )
File Close
File Save(Ctrl+S)
File Save as
FileCreate Standalone Model
FileRecent Models SIMPACK
FileExit SIMPACK
2Edit
Edit Undo(Ctrl+Z) SIMPACK

Undo Ctrl+Z
Edit Redo(Ctrl+Y) SIMPACK

RedoCtrl+Y
Edit CopyCtrl+C)
Edit PasteCtrl+V) Ctrl+C
EditCreate
45
Editrename
EditDelete(Del)
EditProperties
EditData Explore
3 ViewSet
ViewSet Pre SIMPACK
ViewSetWizard SIMPACK
ViewSetJobs SIMPACK
4Actions
ActionsDOF and State dependency SIMPACK
ActionsReset States to Zero SIMPACK
0
35
Actions Show Measure Tools

Marker Marker
ActionsApply initial vehicle velocity

ActionsUpdate Linear Rail-Wheel Profiles SIMPACK
Actions Edit User routines SIMPACK
ActionsUpdate ModelsF5
SIMPACK
5 Utilities
Utilities Dynamics Spring generationSIMPACK
Utilities Rotorblade generationSIMPACK

Utilities FBI File generationSIMPACK
.fbi
UtilitiesStress File generationSIMPACK

Utilities3rd Party ToolsSIMPACK
Cosin CDTire IST
6Solver
Solver Assemble System SIMPACK

SolverTest Call SIMPACK
SolverKinematics SIMPACK
SolverStatic Equilibrium SIMPACK
SolverDriven Equilibrium SIMPACK
Solver
Preload SIMPACK
SolverTime Integration SIMPACK (
)
SolverMeasurements SIMPACK
SolverEigenvalues SIMPACK
SolverState-Space Matrices SIMPACK MATLAB
SolverCo-simulation
SolverRealtime
7 Scripting
Scripting Manage Scripts SIMPACK *.sjs

SIMPACK V9 SIMPACK
JavaScript QTScript
SIMPACK sjs
SIMPACK Java Script
ScriptingRecent Scripts SIMPACK
8View
ViewWindows
ViewToolbars
FileEdit
ViewView Full ScreenF11
View2D Properties 2D
View3D Properties 3 D
ViewView Properties
ViewSave View As
36
9Extras
ExtrasLicense
Extras Option
10 Help
Help DocumentationF1 SIMPACK

HelpAbout SIMPACK SIMPACK
2.3.3
SIMPACK
Pre 5 SIMPACK
Wizard 6 SIMPACK
6 Wizard
Jobs 7 Pre/Wizard
Solver Jobs
7 SIMPACK
37
2.3.4
SIMPACK
File
Edit
Marker
View
z
Refit
Undo/Redo
Display
Mass properties Visulization
Element Creation
Marker
38
Online Solver
On Line Test Call
Offline Solver
Off Line Test Call
2.3.5
SIMPACK V9 Windows

SIMPACK
39
2.3.6
SIMPACK V9 Windows
IntentMandatory
OptionalInvisible
2.3.7
2.3.8
SIMPACK AG LOGO
2.3.8.1
Ctrl+ Ctrl
Ctrl+ Ctrl
Ctrl+ Ctrl
Create
3D Properties 9
40
View Properties 10
SaveView As
10
2.3.8.2 2D
3D 2D 3D
2D SIMPACK AG LOGO 11
11
41
2D SIMPACK 2D
2D 2D 3D 2D
3D $B_CB

$Demo_bf 2D
2D 12
12
2.3.9
SIMPACK
Ctrl+N
Ctrl+O
Ctrl+S
Ctrl+XCtrl+CCtrl+V
Undo/redoCtrl+ZCtrl+Y
F1
Ctrl+A
F11
F5
/F4
SIMPACK
2.4
SIMPACK
SIMPACK SIMPACK 9.3.1

SIMPACK 9.3.1 PostProcessor SIMPACK 13
42
13 SIMPACK
SIMPACK Windows
13 1
2
3
4
5
6
7
8
2.4.1
SIMPACK
Windows
2.4.2
10
1File
File New(Ctrl+N)Project
File Open(Ctrl+O) SIMPACK (*.sbr)

(*.spf)ASCII (*.csv)
FileClose
File Save(Ctrl+S)
FileSave As
FileExport
ASCII
FEMFAT
FilePrintCtrl+P
FilePage Setup
FileRecently opened projects
SIMPACK
FileRecently opened result files

SIMPACK SIMPACK
FileExit SIMPACK
2Edit
Edit Undo(Ctrl+Z) SIMPACK

Undo Ctrl+Z
43
Edit Redo(Ctrl+Y) SIMPACK

RedoCtrl+Y
Edit CutCtrl+X)
Edit CopyCtrl+C)
Edit PasteCtrl+V) Ctrl+C
EditDeleteDel
EditDuplicate Curves
EditUpdate(F5)
3View
ViewPropertiesSIMPACK
View Refit
4Format
Format
project
FormatAdd PagesetPageset
FormatClose
FormatCutCtrl+X
FormatCopyCtrl+C
FormatPasteCtrl+V
FormatRename
Pageset
FormatAdd PagePage
FormatAdd Autosize PagePage
FormatAdd Animation PagePage
FormatCutCtrl+X
FormatCopyCtrl+C
FormatPasteCtrl+V
FormatRename
page
FormatProperties
FormatBorder Color
FormatBackground Color
FormatLayout
FormatType
FormatAdd 2D 3D
FormatCutCtrl+X
FormatCopyCtrl+C
FormatPasteCtrl+V
FormatRename
Diagram
FormatProperties
FormatBorder Color
FormatFrame Color
44
FormatLayout
Format Grid
Format Legend
FormatAddX/Y
FormatCutCtrl+X
FormatCopyCtrl+C
FormatPasteCtrl+V
FormatRename
Animation
FormatProperties
FormatBorder Color
FormatDraw Style
FormatStress/Deformation Probe
FormatView properties
FormatCamera Type
FormatCamera Views
FormatShow Markers
FormatCutCtrl+X
FormatCopyCtrl+C
FormatPasteCtrl+V
FormatRename
Curve
FormatProperties
FormatColor
FormatStyle
FormatWidth
Format Show Curve
FormatReplace Resultfile
FormatShow Value Slider
FormatHighlight Axes
FormatCutCtrl+X
FormatCopyCtrl+C
FormatPasteCtrl+V
FormatRename
5Scripting
Scripting Open Editor

ScriptingStart Macro Recording
ScriptingStop Macro Recording
ScriptingExecute Function
ScriptingRegister Function
Scripting
6Animation
AnimationOpen Animation PlayerAnimation Player 14

MPEG
Animation Play Forward
45
Animation Player Backward

Animation Pause
Animation Stop
14
7Extras
ExtrasOption SIMPACK
ExtrasSave custom colors
8Windows
WindowsView Full ScreenF11 SIMPACK

WindowsHide ViewsF6
WindowsViews SIMPACK
Result Tree
Session Tree
Script
ConsoleMessage Log
WindowsToolbars SIMPACK
FileEditZoomTableScripting Animation
9Help
Help DocumentationF1 SIMPACK

HelpAbout SIMPACK SIMPACK
2.4.3
SIMPACK
File
Edit
46
Zoom
Table
Scripting

Animation
2.4.4
SIMPACK Windows
ID ExtrasOption
2.4.5
Clear
2.4.6
2.4.7
SIMPACK Windows

*
ab[cd]
47
ID ExtrasOption
2.4.8
SIMPACK
Project
15
15
2D 3D
12D
2D
2D 16
Add
Diagram 2D 2D Diagram
16
X-Y

XY
SIMPACK X Y
48
23D
3D
3D 16
Add
Diagram 3D 3D Diagram
X-Y-Z

XYZ
3D
SIMPACK
16 Add
Textframe
17
General
OK
17
5
LOGO
16 AddBitmap
18
SIMPACK
*.png
*.jpg
*.jpeg
*.tiff
*.gif*.bmp
18
49

Page
Page title frame
Graphics Table Cells
Header
Footer
2.4.9
SIMPACK
input_CURVE | Filter1 | Filter2 | Filter3 | FilterN > output_CURVE
Filter
FormatAdd Filter
19
19
Filter Type 20
2.20
20 SIMPACK General3D Filter

Frequency Analysis
StaticsWear+
OK
19
OK
50
2.4.10
SIMPACK Annotations
Diagram
Add Annotation
Annotation
21
21
TextGeneral
AnnotationOK
Annotation
Frame
Coordinates
Curve -
Index Index
Maximum ymax.
Minimum ymin.
o
Style
o
Endstyle
o
Width
2.5 SIMPACK
2.5.1
Simpack
SIMPACK
ODE
= f(x,t)
DAEs
51
2-1
= f(x,t,)
C(x,t)=0
2-2
2-3
C(x,t)=0

f(x,t) f(x,t,)
SIMPACK
SIMPACK
SIMPACK
SODASRT_2
SODASRT
RADAU5
ODEs DAEs
ODEs DAEs
SIMPACK
SIMPACK
SIMPACK
SIMPACK
Euler
Euler
Runge-Kutta
Runge-Kutta-Bettis
DOPRI5/4
LSODE
SODASRT
SODASRT_2
RADAU5
SIMPACK8.9 SODASRT_2
SODASRT
SODASRT_2 SODASRT DASSL DASSL
SODASRT_2 SIMPACK AG DASSL
52
ODE
DAE
Euler
Runge-Kutta
DOPRI5/4
Runge-Kutta-Bettis
LSODE-ADAMS
Euler
LSODE-GEAR
RADAU5
SODASRT
SODASRT_2
Euler
SODASRT
SODASRT_2
RADAU5
SIMPACK SIMPACK
SIMPACK
2.5.2 SIMPACK
SIMPACK

RHS-Call

2.5.3
SIMPACK

SIMPACK/Control
SIMPACK
SIMPACK
SIMPACK
22 SIMPACK
21
53
22 SIMPACK
2.5.4
SIMPACK
16
CPU
CPU SIMPACK
SIMPACK SIMPACK
SOLVER
Solver
12
1 ()
34
58
916
SIMPACK tokens Solver
2.5.5
SIMPACK
54
$SLV_ SolverSettings
SIMPACK
/
Solver Settings$SLV_ SolverSettings 23
23
23
2.5.5.1 Result File

23 Result File SIMPACK
SIMPACK
SIMPACK

/output//<MODEL>.output
/output//<MODEL>.output
+/output
User path
2.5.5.2 Parallel Solver

23 Parallel Solver 24
SIMPACK
SIMPACK
55
SIMPACK Solver
Solver Solver
SIMPACK
24
2.5.5.3 Test Call

23 Test Call 25
SIMPACK Test Call
25
RHS Test Call
56

Right-Hand Side1
Right-Hand
Side.tes
Right-Hand Side 1000
2.5.5.4 Measure
23 Measure
26 27 SIMPACK
26
SIMPACK
*.sir
SIMPACK *.sbr 26
time setting
mode
57
27
27
Y
(Y-output vector)(result elements)sensorSubvars
2.5.5.5 Time Integration

23 Time Integration 28
SIMPACK
28
58
Ts Te
Ts Te
Te Td Te Td
Te = Ts+Td
2-4
Te
SIMPACK .sir
fs
tn
Td
2-5
Max.wall clock time

0
12h48h

SODASRT 2 SIMPACK
SODASRT 2
DAE
LSODE ODE
LSODE Adamsgear
Fixed Stepsize
DAE
DOPRI5 Runge-Kutta
ODE
RADAU5 SODASRT 2
SODASRT SODASRT 2
SODASRT 2
SIMPACK
Tolerance
SIMPACK
2-6
xi i
59
1.0e-4 1000
1.0e-4+1000*1.0e-4=0.1001 1.0e-7 1.0e-10
general
0
generalgeneral 0
1.0e-4
SIMPACK
General
29
29
initial stepsize
0 SODASRT 2
1000
Hmax
60
maximum stepsize
meet output points 0
maximum order:
SODASRT 2 1 5
5
RHS-call maximum number of RHS-call:
wall-clock -1
MBS formalism
explicitresidual
root functions
SIMPACK
RHS-calladditional RHS-call after each step
meet output points
Advanced
30
30
avoid drift on position level
61

jacobian evaluation
finite difference increment
optimized
method:sparse
full
partitioned evaluation
partitioned evaluation
linear algebra:
SODASRT 2
full
exploit second order structure
sparse
Scaling
31
31
Cscale
2-7
0
62
2.5.5.6 Kinematics
23 Kinematics 32
SIMPACK
32
2.5.5.7 Eigenvalues
23 EigenValues
33
63
33
damping of force element and flexible bodies
0
coriolis Force
scaling of absolute eigenvector componets
.eva
2.5.5.8 Linearization
23 Linearization 34
state-space matrices export
64
34
time domain excitation handling
Finite Difference Increment

SIMPACK i
2-8
x IEEE 754
2-9
xi
2-10
2-11
classicoptimized
optimized CuserCuser
1.
Cuser
65
2.5.5.9 Equilibrium
23 Equilibrium 3536 37
SIMPACK
SIMPACK
0
2-12
0
2-13
z p
General

1e-6
35
Static

66
u(t)=0
0
u(t)=u(t0)
t0
u(t)=u(t0)up=0
t0
0

36
Driven Static
DAE

DAE-Hybird
DAE

DAE DAE
37
67
2.5.5.10 Co-Simulation
23 Co-Simulation 38
SIMPACK
SIMPACK SIMPACK
SIMPACK
38
Settings
0

Server SIMPACK SIMPACK Client
20000
SIMAT SIMPACK
SIMPACK-SIMPACK SIMPACK MATLAB
Simpack-Simpack SIMPACK 39
SIMPACK
39 SIMPACK-SIMPACK
SIMPACK
68
Server Port Number 20000

Server Address SIMPACK IP
localhost
Server timeout Simpack-Simpack 0
SIMPACK
SIMPACK
Exported SubVars+
-
User Data value

+
-
2.5.5.11 Realtime
23 RealTime 40
SIMPACK
SIMPACK
General
0
localhost
IP

0
40 SIMPACK
2.6 SIMPACK
2.6.1
SIMPACK V9.0 V89 *.sys*.dim
69
*.dbp*.dbi *.spck *.spck ASCII

!file.version=1.3! Removing this line will make the file unreadable
! SIMPACK Version Information SIMPACK
! Global parameters
! Substructures
! Views
! Solver Settings
! SubVars
! Reference systems
! Bodies
! Tracks
! Senders
! Receivers
SIMPACK SIMPACK 8904

SIMPACK V9 Substructure
SIMPACK 8904
1) SIMPACK 8904 8905
2) Open Model
3) Model Setup
4)
2.6.2
1(.subvar)
(.subvar) SIMPACK
UTF-8 (8-bit Unicode Character
Encoding)
header SubVars
GroupsGroup
Overwriting
!file.version=1.3! Removing this line will make the file unreadable
! SubVars
subvar ($_MASS,str=0.1kg, intent= 1,txt=Mass)
70
subvargroup.begin ($G_PA)
subvar ($_DIAMETER,str=0.1,txt=Diameter)
subvar ($_LENGTH, str=2.0,txt=Length)
subvargroup.end ($G_PA)
subvar
$_
str
intent
012
txt
2(.afs)
Input Functions
Input Function Setsheader
Constant gradient dydx = const.

Univariate function y = f(x) ("Input Function 1D")
Bivariate function z = f(x,y) ("Input Function 2D")
Array of univariate functions y1,2,,n = f(x)
Array of bivariate functions z1,2,,n = f(x,y)
3(.su2)
B
B Primitive
.su2
headerbody!
4(.su3)
1. x, y, zz = f(x,y)
2. , y, R
R = f(,y)
3. cij
m
z ( x, y ) cij x i y j
i 0 j 0
4.
2-14
cij
m
R( , y ) cij i y j
i 0 j 0
2-15
y, R R = f(y)
43# 7# 87#
SIMPACK
headerbody!
5.
5(.trc)
6(.trm)
()d ds
()d ds Superelevation u
71
Track ASCII
x,y,z
x,y,z
7(.tre)
Input Function Sets
y
z g
yLyRzL zR
8(.prr .prw)
SIMPACK
(y)(z)
cant
2.6.3 .rbl .rbx
.rbl.rbx
2.6.4 AeroDyn v12.59 V13

FE-237 AeroDyn
AeroDyn V12.59 V13
aerodyn.ipt
airfoil.dat
constwind.wnd
tower.dat ()
2.6.5 ECN
FE-239 ECN
ECN
ecnaero.ini
input.txt
airfoils.dat
airfoil.dat
constwind.wnd
tower.dat (optional)
72
2.6.6 .smp .smd
(.smp)
(.smd)
2.6.7 Solver Output Files

.tes
.eva SIMPACK .sbr
2.7 SIMPACK
SIMPACK
MBS SIMPACK
SIMPACK
SIMPACK

SIMPACK
SIMPACK

SIMPACK

SIMPACK
SIMPACK

2.8
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
SIMPACK
73
SIMPACK
SIMPACK

SIMPACKGUI
SIMPACKSIMPACK 9.3.1 SIMPACK
SIMPACK 1
1 SIMPACK
1
1. FileEdit
2. ViewSets
SIMPACK ViewSets
PreProcessor (Pre)
Jobs
3. Create a new model
Open
Undo/Redo
-, Visualization
Create element
View
4. /3D/2D Page
74
5. Message Log
6. Model Tree
7. SubVars
2Element Creation
1.
2. SubVars Model Tree ViewToolbars
1.1
Step1File New...
:
Automotive
Automotive_Track _
Chain
General
Rail_Track _
Rail_Wheelset _
75
General
tutorial_gets_I_01_triple_pendulum.spck4
SIMPACK File Recent Models
Step2

Ctrl
<Ctrl> + + =
<Ctrl> + + =
<Ctrl> + + =
<Ctrl> + +=
refit
x
y
z <Ctrl> + z

Model Tree
ViewsViews5
Views
76
$V_defaultname_13D
$V_defaultname_1Overwrite with working View
6
$V_defaultname_1$V_defaultname_1
$V_my_viewOK
7$V_Ortho
Step3SIMPACK
SIMPACKMBS
4SIMPACK
Bodies8
77
SIMPACK$B_Body19
1.
2. RigidFlexible
9 Body1
3. SIMPACKManual
Autobased on geometryMass Manual

CG&Interia auto
4.
5. SIMPACK
6.
9OK
Step4Body1Markers
Geometry10
10
$P_Body1_cuboid
Geometry$P_Body1_cuboid
$P_Body1_sphereOK
78
$P_Body1_sphere$P_Body1_sphere
11
11 Body1
1.
2. 15Sphere
ID15
3. MarkerMarker
MarkerMarker
4. Marker0
5. Radius0.10.1Number of meridians
24
6. Apply
1.
ID
2. Radius:
SI SI
Radius = 0.10.1
100mm
79
SIMPACK

[rad]
[deg]
[Nms/rad]
[Nm/rad]
[kNm/rad]
[rad/s]
[rpm]
[Ns/m]
[kNs/m]
[N]
[kN], [lbf], [kgf]
[Hz]
[kHz]
2
[kg
m
[m]
[mm], [cm], [km], [in], [ft], [yd], [mi]
[kg]
[g], [t], [oz], [lb]
[N/m]
[kN/m], [N/mm]
[s]
[ms], [min], [h]
[Nm]
[kNm]
[m/s]
[km/h], [mph]
11Display12
12
1. Draw styleShadedWireframe
2. :0.25
3. Meridian color 213
48Custom colors
4. OK
13
80
14
14
SIMPACKUndoEdit Undo
Ctrl + z
Step5Body1Bodies$B_Body1Geometry
$P_Body1_rodOK
15
15
1.
2.
3.
4.
5.
2Cylinder
z0.5
x90degx90
10.06
OK
15deg
radians 90
= 90
= 90 kg
81
Body116
Body1
Bodies$B_Body132.4
16 Body1
Data input:Auto (based

on geometry)SIMPACK
Step6Body1$B_Body1
17
17Body1
1.00 0.50
17
82
SIMPACKGUI
Body1BRFzxy
3D--
BRFBFR
BRF BRF
Body Reference FrameBRF Marker
Markers BRF BRF $M_Body1_BRF
Marker Marker BRF
Step7Body1Bodies$B_Body1Body1
Data Input
AutoBased on geometry
Manual
No
MassBody15Center of Gravity0,0,018
Apply
18
83
7860 kg/m
m = V
3-1
V = r3
3-2
r = 0.1 m m = 33 kg5kg
Ixx = Iyy = Izz =
m
r2
3-3
r = 0.1 m m = 5 kg
Ixx = Iyy = Izz=
5kg
0.1 m2=0.02 kgm
$B_Body1
3-4
19
Bodies$B_Body10,0,0.15
20OK
19
20
84
z21
20 Inertia relative to: Center of gravity
0.15 m Body Reference

Frame Marker
21
Step8
Step9CtrlBody1
$P_Body1_sphere$P_Body1_rod22
23Multiple Elements
1.
2. 7850
3. OK
22
23
Bodies$B_Body1Geometry$P_Body1_shpere
85
Mass PropInclude Primitive in computation

Body1Bodies$B_Body1
24
24
1. Data inputAuto(based on geometry)

2. Apply
3-5
SIMPACK
Number of meridians:SIMPACK
SIMPACK
CAD
Solid
23 Treat Primitive for computation as:
Shell
Wireframe
24Comment
+
Body120
86
1.2 Marker
MarkerMarker
Marker
z1.0 Marker
Step9Body1MarkerBodies$B_body1
Bodies$B_body1Markers
$M_body1_topOK25
1. MarkerMarker
2. Marker2Cardan Angles
3. Marker
4. z1.0
5. OK
25 Marker
$B_Body1MarkerMarker$M_Body1_BRF
Marker$M_Body1_topMarker $M_Body1_BRFBRF
1. BRF Marker BRF Marker

BRF Marker
2. Marker$M_<name_of_body>_
$J_$J_<name_of_body>_
$B_$M_$J_BodiesMarkersJoints
Step10Step9Body1Marker26
26 Marker
87
MarkerBody1
Body1Body1Marker27Marker
MarkerMarker
27 Marker
1.3 Isys
SIMPACKGlobal Reference System
$R_IsysReference Systems
28Marker$M_IsysMarker
28
Isys Inertia System

Step11Reference SystemsGeometry
$P_Isys29
1. 30Coordinate Axis,
2. 0.2
3. OK
88
Body1
29
Step12Body1MarkerReference
SystemsMarkers$M_Isys_rotatedOK
30
1. beta-30degMarkery30deg
2. OK
30 Marker
1.4 SubVars
SubVars?
SubVars Substitution Variables
mass5kg
5kg10kg
100
l =1.0 m l = 4.0 m
$_length
= 1.0
[m]
3-6
$_diameter = 0.06 * $_length [m]
3-7
SubVarsSubVars
89

Step13
OK31
$_length
31
1. 1.0
2. OK
Step14Step13$_diameter32
32
1.
2.
3.
4.
Elements
$_length3
$_length*0.06
OK
Step15Bodies$B_Body1Geometry
$P_Body1_rod33
90
33
1.
2.
3.
4.
$_lengthz
$_length
$_diameter
OK
Body1 Marker$M_Body1_top Marker

$M_Body1_top
Step16MarkerBodies$B_Body1Markers
$M_Body1_top34
1. $_lengthz
2. OK
34 Marker
1. --Current value is 1,taken from

variable: $_length
SIMPACK SI
2. Formula/SubVar/
Formula/SubVar/
F4
3. SubVar SubVar
SubVar
91
SubVar
35
35
1. MarkerType
2
123
5Marker5: Euler AnglesApply
2. SubVars
P
Parameterization
3. SubVar Group SubVars
1.5
SIMPACKJoint
SIMPACKIsys
DOF06

z1 DOFzxy
x1 DOF: alphax
Isys6
Joints
$J_Body136
36 Body1
Type1: Revolute Joint al,x

y2: Revolute Joint be
Type
92
Pos.Vel.00
xyzCardan angles
x
y
z
alpha, al
beta, be
gamma, ga
MarkerFrom Marker To MarkerFrom

MarkerIsysMarker
IsysTo MarkerMarkerBRF
Pos.Vel.To MarkerFrom Marker

DescriptionRotation about bePos.0
37
37
y
Current value:
Vel.-5 rad1
rad/sSIMPACK
Pos.Vel.0
From Marker Isys

To Marker BRF
MarkerTo Marker
Step17Joints$J_Body138
38 Body1
1.
2.
3.
From MarkerMarker$M_Isys
To MarkerBody1Marker$B_Body1_top
2Revolute Joint be
93
4. OK
39
39
39
y
Step18Step17From MarkerMarker$M_Isys_rotated
40
40
To Marker From Marker

To Marker From Marker Markers
To
MarkerFrom
Marker
From Marker
-30 MarkerFromTo
Step17 40
1.6
1.6.1
View Properties
View Properties41
42
41
ViewView Properties...View Properties

94
42
Close
$V_my_view43
43
1.6.2 3D Properties
44Background Color
Marker LayoutMarker
44
95
1.6.3
bounding box
bounding box
Isys
Isys43Exclude Isys xed objects
45
45
View Properties
Marker
<Ctrl> + +
1.6.4
zoom to selection
46
46
3DMarkers3D
Filter47
96
47
1.7
SIMPACK
Step19
48
48
1.
2.
3.
1. y
GlobalsGravity
2.
5 kg1e-5 kg0
-9.81 m/ 0 m/ 3 m/
$_length60 m
f=
97
1
2
1.8
SIMPACK
Step20Bodies $B_body1
$B_body1
Ctrl+CCtrl+V
Step21
$B_Body2OK
F2
$B_Body2$B_Body3
$B_Body2
Step22Body2Joints$J_Body2
DescriptionRotation about be
4950
0
49
50
$J_Body2From Marker$M_Isys_rotated$M_Body1_BRF,
51
51
98
1. Joint DenitionPos.
2. From Marker
3. From Marker
From MarkerFrom Marker
Joints$J_Body2From Marker
Marker
52MarkerMarker
Markers BRF Marker Marker
$M_Body1_rotated
BRF MarkerOK53
52
53
Step23Body2Bodies$B_Body2
Geometry$P_Body2_sphereDisplay
54
99
54
Step24Step22Step23Body3Body3
55
55
Step25
100
1.9
SIMPACKSIMPACK
Marker

Test Call
1
2.1
Step1SIMPACKSIMPACKStartAll Programs
SIMPACK 9.3.1SIMPACK
Step2SIMPACK
Step3File Save As
tutorial_gets_II_01_force_element_ptp.spck
--Isys
IsysMarker
Step4MarkerReference Systems $R_Isys
Markers
$M_Isys_spring_
locationOK3
101
3 Marker
1.
2.
x1Markerx1
OK
Step5
Create
$F_springOK4
1. From Marker Marker$M_Isys_spring_location
2. To Marker Body3Marker$M_Body3_BRF
3. 5Spring
DamperPtP4Spring-damper parallel PtP
4.
Nominal length l_nom11
1m
Stiffness c100100N/m
Damping d1010Ns/m
5. OK
SIMPACK
5
5
Spring Damper/PtPPoint to Point Force
CmpComponent ForcePtP
PtPCmp
xyz,,Marker
User-Elements
SIMPACK User RoutinesSIMPACK
SIMPACK
102
Step6
Step5
103
Marker$M_Isys_spring_locationMarker$M_Body3_BRF
Reference SystemsGeometry
$P_Isys_springOK
7
1. Point-To-Point
2. :Cylinder
3. Marker$M_Isys_spring_location
4. Marker$M_Body3_BRF
5. 0.01
6. OK
Step7SIMPACK
Forces Elements$F_spring
99Disabled
OK$F_spring
$F_spring
Disabled
104
2.2
Marker
2.2.1
SIMPACK
Marker
10
10
11
105
11
SIMPACK
IsysFrom
Marker To MarkerFrom Marker
To Marker/Marker/MarkerID1
2
Markers12
12
13
13
Ctrl+Ctrl+
14
106
14
Create
SIMPACK
15
15
16Ctrl
17
16
17
$B_Body3
Create Annotation18SIMPACK
107
18
$B_Body319
19 Body3
20
Body2Body3
20 Body3
2.2.2 /
Referencing ElementsReferenced Elements

$B_Body121
108
21 Body1
Referencing Elements
Referenced ElementsNo
Elements referenced
2.2.3
Body1Body2Body3
22
22
2.3
2.3.1Measurements
SIMPACK2.3.2
109
2.3.1
GlobalsTime
23
0OK
23
Step8 Solver Settings$SLV_SolverSettings

24
24
1. Time Integration
2. Integration Method
SODASRT 2
SODASRT 2SIMPACK Optimized DASSL Integrator with RooT function handling
Root function handling
3. SIMPACK End time Duration
End time5
4. SIMAPCK Sampling rate
110
100 Hz
Stepsize 0.01, Number of points 501
Sampling rate
Number of points
5 s 3
t = 0 s t = 2.5 s t = 5 s
1 t = 0 s
Sampling rate
100 Hz
t_end t_start
1
= Stepsize =
Number of points 1
Sampling rate
3-8
2.3.2
24Measurements25
25Result Conguration
SIMPACK
SensorsPositionVelocity
Acceleration
25
111

1. Result Conguration
2. Solver Settings
2.3.3
24Measurements26
Result Directory
./<model>.output/
26
2.3.4
Step9
Solver Time Integration
SIMPACK Jobs
27SIMPACK
112
27
Solver Jobs
Message Log
cpu-time28
cpu1
cpu
Solver Jobs
Clear Finished Jobs
28
2.4
SIMPACK
Measure tool
Sensor
113
2.4.1 Measure tool

Measure Tool
MarkerMarker$B_Body3BRF Marker
$B_Body1BRF Marker
Step10 Actions
29 29 Results Marker
1. Select Marker Marker$M_Body3_BRF

2. Marker Marker Select Marker
$M_Body1_BRF
3. Marker Select Marker
$M_Isys
4. Cardan 1-2-3SIMPACK
Euler 3-1-3Rail 1-3-2Aerospace 3-2-1
5. m
6. deg
7. Close
29
2.4.2 Sesnsor
Marker
Step11
Create
$S_my_sensor_B2_topOK
30
1. From MarkerMarker$M_Isys
114
2. To MarkerBody2Marker$M_Body2_top
3. Calculation ReferenceFrom MarkerMarker
SIMAPACKMarkerMarker
4. OK
Step12Step1131
30
31
Step13
z
From MarkerTo Marker
To Marker$M_Body2_topzIsys
Isys
2.5
SIMPACK
MATLAB
2.5.1
GUI32
115
32
Session Tree/Result Tree

WindowViews
FileNew
TreeProject 133
Session
33
Project 1Rename
MyPostProjectOK34
34
116
2.5.2
States PlotsStates Plots
States
x
Body1joint.st.pos
Body2joint.st.pos
Body3joint.st.pos
Body1joint.st.vel
Body2joint.st.vel
Body3joint.st.vel
SIMPACK
.sir
.sir
.sir
Step1433Files
35 SIMPACK Integration Results(*.sir),

tutorial_gets_II_01_force_element_ptp.output
tutorial_gets_II_01_force_element_ptp.sir,36
35 .sir
Step15Session TreePage 1
Table Layout
117
37
Body1Body2Body338
36
37
38
Session TreePageset
39
39
015
10-3 s
118
39
Session TreePage 1Page 2States

plotIntegration InfoPagesetSIMPACK Intermediate Results,
My First Project,40
40
2.5.3 sbr
Step1633Files
SIMPACK Binary Results(*.sbr), tutorial_

gets_II_01_force_element_ptp.output tutorial_
gets_II_01_force_element_ptp.sbr,41
41
119
2.5.3.1
Step17My First Project
Add Pageset,PagesetSIMPACK
Binary ResultsPage 1
Table Layout
42
43
Ctrl+

Animation Player
AnimationOpen Animation Player...
42
43
Page 1My Sensor ResultsTime Integrationsensor

120
posCtrlz44
z
44
Shift
Time Integrationsensor ang posCtrlbeta

4545
Marker$M_Body2_topMarker$M_Body1_BRFy30

F6Session Tree
ResultTreeF11GUIF6F11GUI
45
121
2.5.3.2
SIMPACK
Step18My Binary ResultsAdd Page

My Force Output Results
46
Time Integrationforce output
$F_springTotal force47
force force$F_spring
ForcesForces
48
force output
Spring lengthTotal forceSpring force
force forceforce torque
46
47
122
48
2.5.3.3
6
Step19My Binary Results

Add PageMy Joint Forces
Time
Integrationjoint forcez49
z$J_Body1
joint force
Animation Properties
50
1. Forces
2. 500%
3. 300%
4. OK
49
123
50
51Z
51
tutorial_gets_II_post_01_my_rst_projectSIMPACK
.spfFile Exit
2.6
Step20 SIMPACK File Save As...
tutorial_gets_II_01_force_element_ptp.spcktutorial_gets_II_02_modal_analysis.spck
1.9318552
Marker$M_Isys_spring_locationBody3Marker$M_Body3_BRF
1.93185
?
124
52
2.6.1
?
2.6.2
?
5
53
53
125
2.6.3
?
t = 1.7
s t = 3.7 s54
54
2.6.4
Static Equilibrium
Online Static Equilibrium
Step21SIMPACK
Solver Settings$SLV_SolverSettings
55
126
55
1. Equilibrium
2. Static
3. NewtonSIMPACKNewtonTime
integrationAdvancedNewton
Time integrationAdvanced
4. OK
SIMPACK
Step22
Solver Static
Equilibrium
56
56
Maximum force residuum in equilibrium
0
56
127

0 0
0
Close
56Copy computed equilibrium States to

model57
57
Joints$J_Body1
Body1
SIMPACK
2.6.5
Solver Eigenvalues
Online
Offline
SIMPACKASCII<model_name>.eva
Step23
Solver Eigenvalues
Perform eigenvalue calculation58
FrequencyNatural Damping
0.37Hz0.79Hz1.06Hz
Real PartImag. Part

Undamped Frequency
128
58
580
joint.st.acc( 1): $J_Body3 = 8.5491596D-09D-090!
$F_springNatural
Damping
Step24 58
Mode Animation
Frames/PeriodScaling
Close
2.7
2.8
State Sets
2.6.4
Step25
Create
$ST_equ_positionOK
59
129
59
Step26$ST_equ_position State Sets

$ST_equ_position
$ST_equ_position
Step27 Actions
60
60
1. Joints Position States Velocity States

Position States
2. Overwrite selected States to zero
Step28 Step24 Step25
$ST_states_zero
2.8
Input Function
Step29
$I_linear_characteristics
OK 61
130
61
1.
-1-1001,100
2. xf(x) 1
3. LinearSIMPACK Step
CubicAkimaGeneric
4. OK
$F_spring
c=
F
100N
=
=100N/m
d
1m
3-9
61 Plotsfunction values, f(x)

rst derivative, f(x) 100 62
62
131

61 DatatypeConstant gradient
100 N/m
Step30 Step29 $I_non_linear_characteristics

63
63
x = 0.4 m
Clow = d =
Chigh =
5000 N
= 1250N/m
0.40 m
1500500 N
0.60.4 m
= 5000N/m
3-10
3-11
64
Value Slider
Show Value Slider
65 x f(x)
From To Markers
132
64
65
Step31 Force elements

$F_spring 66 66
c = 100N/m
66
Step32 Step30 $F_spring

133

t = 0 s ?
/
SIMPACK Test Call
2.9 Test Call

SIMPACKTest Call/
Solver Test CallTest Call
Online
Offline
Test Call
ASCIITest Call<model name>.tes
Step33Test CallTest CallSolverTest CallOnline
Test Call67
67 Test Call
Test Call
t = 0 s
Output Values of Force/Control Elements: 68
68
Spring lenth = 2.3462194D+00 m

1.93185 0.4144
63
x = 0.4144 m 0.4 0.6
t = 0 sc = 5000 N/m
134

5000
50000.4144
Test
Call
Step34 69
69
Step35 Subvars$_length
0.6 Force elements$F_spring
Nominal length l_nom1 70
70
2.10
SIMPACK
Constraint
Cmp

135
3.1 Cmp
3.1.1
Step1 SIMPACK
tutorial_gets_II_02_modal_analysis.spck 2
Step2 Force elements$F_spring

3 3 Disabled

tutorial_gets_III_02_constraints.spck
3.1.2
CmpComponent force element

PtP Cmp
Cmpxyz
FromTo Markers0Cmp
Step3
$F_mount,OK 4
136

3. Spring Damper
Cmp 5Spring-Damper Parallel Cmp
4. 1.0e5 N/m Cmp
0 xy z From Markers
To Markers 0 Cmp From Markers To Markers
0
5. OK
1 Marker GUI Marker

Marker
21.0e5100000 SIMPACK
SIMPACK
c_x
c_yc_z From Marker From

Marker x
yzc_xc_y
c_z
Step4
Marker
5
137
3.1.3
Marker
From To Markers SIMPACK
Step5 SIMAPACK
tutorial_gets_III_02_constraints.output tutorial_gets_III_02_constraints.sbr

6
Step6 6 Page 1Force Elements Cmp

force output$F_mountf_x given in M_ref
f_y given in
M_reff_z given in M_ref 7
t = 0 sFromTo Markers
138
Shift
Shiftxy
Ctrl
Diagram Properties8
8
Axes
9
X AxesPrimary
Scaling
Auto Scale
Min
0Max
5 10
Y AxesPrimaryScalingAuto Scale
Min
-600Max
600
9 x
10 y
11 f_y
139
Curve PropertiesInfo
501 Y-MinY-Max 0 12
11
12 Y
$F_mount To Marker From Marker
y ?

y x-z
Markers y
From To Markers
103
Fx = cx x = cx (xTo xFrom )
3-12
Fy = cy y = cy (yTo yFrom )
3-13
Fz = cz z = cz (zTo zFrom )
3-14
Dist. Mi Mj in x_Mi
Dist. Mi Mj in y_Mi
Dist. Mi Mj in z_Mi
140
To From Markers
Step7 To From Markers
PagesetAdd Page
Step5 Page 2
Displacement
force output$F_mount
Dist. Mi Mj in x_Mi
Dist. Mi Mj in y_MiDist. Mi Mj in z_Mi

Y Min
-0.02
Max
0.02 13 13 Marker
y
13
Step8 File
,
tutorial_gets_III_post_01_my_second_project.spf
.sbr
From Marker y 1.4
Step9 From Marker Force Elements$F_mount
From Marker Marker 14
Marker y 1.4mm From Marker y 1.4
OKOK
14 Marker
Step10
Reload 15
15 y -140N y
1000N
Fy = cy y = m 0 0.0014 m = 140N
3-15
SIMPACK y
From Markers To Markers x-z
141
15 Marker
3.1.4
Step11Pageset
Add Page
Page 3Page 3
Rname
Force ArrowsOK

force output$F_mountf_x given

in M_ref
f_y given in M_reff_z given in M_ref

force force$F_mount
Force ArrowsAnimationForces$F_mountforce x
z res 16
16
t = 0 s
From Marker
Force ArrowsAnimationForces$F_mountforce
Marker
From MarkerTo MarkerBoth
142
3.1.5
Step12
Solver
StaticEquilibrium
17
17
Maximum force residuum in equilibrium
01818
17Copy computed equilibrium States to model
17
18
143

Newton
NewtonTime Integration
Solver settings$SLV_Solversettings
EquilibriumstaticTime
integration
3.1.6
Step13 Perform eigenvalue
calculation
19
natural damping
19
3.2
144
SIMPACK
20
20
3.3
Cmp
Markers
CPU
SIMPACK
constraints
Marker
Step140
$F_mount
tutorial_gets_III_03_constraints.spck 21
21
3.3.1
Step15
$L_constraint
OK 22
3. 25User Defined Constraint SIMPACK
4. z From Marker To Marker z

5. OK
145
22
SIMPACK From Marker xy z
3.3.2
Body1 Body1 Body2
Body2 Body3 Body3
SIMPACK
Step16
23
146
23
1. Set all as suggested
2. Assemble system
3. Close
24
24
From Marker$M_Isys_spring_location
Markers z
Lock Transl. in z of M_k
= locked
x
?
22 DOF
JointStatesConstraintsDof
3-16
3-12
3-17
Step17
z x
25 25
25
3.3.3
DOF
To From Marker z z 0
DOF and State Dependency
23 Actions
SIMPACK
Set all as suggested
147
3.3.4
Step18 x
Constraints$L_constraint 26 26 x Lock Transl.
in x of M_kAssemble System
27
26
$J_Body1 $J_Body2 $J_Body3

DependencyindependentdependentAssemble
System
27
28
148
28
To Marker From Marker
Joint State position
SIMPACK ?
27 $J_Body1 $J_Body2
$J_Body3 27 Dependent States
Step19
x z Marker
$M_Isys_spring_location1
JointStatesConstraintsDof
(3-18)
3-21
(3-19)
3.3.5
Step20
SIMPACK
tutorial_gets_III_03_constraints.sbrPageset
Add PageConstrained Forces
constr force-torque$L_constraint 29
29
149
From To Markers SIMPACK

SIMPACK Markers
0 x z
29 constr force-torque
-
Ns From To Markers
From To Markers x z
File
,
tutorial_gets_III_post_01_my_second_project.spf
From To Markers
0pos_rel = vel_rel = 0
3.3.6
NewtonTime
integratiion
Step21Time integratiion Solver
settings$SLV_Solversettings Equilibriumstatic
Time integration 30 OK
30
Step22
31
31 Maximum force
residuum in equilibrium
0
32 32 31 Copy computed
equilibrium states to model
150
31
32
Step23
3.3.7
Step24
calculation
33
Perform eigenvalue
33
33 f = 0.7756 Hz
3.1.6
151
33
x z
3.4
0.6m Subvars
$_length 0.6
0.6m
Step25 Marker Reference Systems$R_Isys

Markers$M_Isys_spring_location 34 $_length
34 x
34 Marker
Marker 35 Marker
Isys To From Markers
35
Step26
36
152
36
3.5
Cmp
SIMPACK
SIMPACK :
1 2
153
4.1
submodelSIMPACKSIMPACK
SIMPACK
Substructuring
Model Import
12 12
12
4.2
Step1 SIMPACK
tutorial_gets_II_02_modal_analysis.spck File
tutorial_gets_IV_01_substructuring.spck
Step2
tutorial_gets_IV_02_sub.spcktutorial_gets_IV_03_sub.spck
3
4.2.1
SIMPACK
Step3 GlobalsSearch Path 4
1.
154
2.
3. OK
Globals
Search Path 5
SIMPACK
5 .
4.2.2
Step3
Create
$S_MyFirstSubstructure
OK 6
1. Filename
tutorial_gets_IV_02_sub.spck OK
2. OK
4.2.1SIMPACK
tutorial_gets_IV_02_sub.spck
155
4.2.3
Step4 SubstructuresJoints$J_Body1
8
1. From Marker
Body3 Marker
$M_Body3_top
2. OK
9
Step5
156
4.2.4
Step6 Step3 tutorial_gets_IV_02_sub.spck
$S_MySecondSubstructure Step4
10 Body1 $J_Body1 From Marker
Body3 Marker$S_MyFirstSubstructure.$M_Body3_top
10
11
11
Step7
4.2.5
Step8 12
12
1.
2.
length$_length
157

SubVars
tutorial_gets_IV_01_substructuring
Step9$S_MyFirstSubstructure.$_length
0.60.75Apply 13
13
SubVar Properties
0.75
0.75 0.6
Reset to Inherited
Apply 14 SubVar Properties0.6
14
14
$_length0.75
158
15
15
4.2.6
Step10 SIMPACK
Step2
SubVars$_length
0.60.5
OK 16
16
Step11 Geometry
Display
17
17
Step12 File Recent Models tutorial _gets_IV_01_

substructuring.spck$S_MySecondSubstructure
18 Step11
tutorial_gets_IV_03_sub.spcktutorial_gets_IV_02_sub.spckOK
159
18
19 $S_MySecondSubstructure
Body1 Body3
19
Step12$S_MySecondSubstructure Body1
$J_Body1 From Marker Body3
$M_Body3_top
20
20
GeneralSubmodel
switch modeRetain all overwritten parametersRetain Marker
references inoverwritten parameters
Receiver(Sender)
160
4.2.7
$S_MySecondSubstructure
Step13$S_MySecondSubstructure
SIMPACK
0.08
21
21
4.2.8
/
tutorial_gets_IV_01_substructuring.spcktutorial_gets_IV_02_sub.spck
.spck
Step14 File
22
ZIP-File with Standalone model
ZIP Output Folder
OK
22
22
.zip
161
\database
\main_model
main_modeldatabase
.sbr .sbr
SIMPACK
Directory with Standalone Model
SIMPACKZIP
4.2.9
tutorial_gets_IV_04_substructuring_resolved.spck
tutorial_gets_IV_04_substructuring_resolved.spck
Step15 Substructures$S_MyFirstSubstructure
OKMyFirstSubstructure
23 MyFirstSubstructure
23
Step16 Step15 MySecondSubstructure

24
24
162
4.3
4.3.1
Step17 SIMPACK
tutorial_gets_II_02_modal_analysis.spck File
tutorial_gets_IV_05_sub_import.spck
File
tutorial_gets_IV_04_model_import.spck
tutorial_gets_IV_04_model_import.spck
4.3.2
Step18 File
25
25
Model to import:
Step17
tutorial_gets_IV_05_sub_import.spck 26
26
Name of colliding
elements
Ignore ReplaceIgnor
Replace
Prex
Sufx
163
Prex
mySub
27
27
27 Import
Undo
OK
28
29
With absolute path

c:/mymodels
With relative path
../mymodels
Dont store
With relative path
29
164
Globals Imported Files
4.3.3
30
30
Step19
mySub
31 Joints$J_mySubBody1
32 From Marker
Body3
Marker$M_Body3_topOK
31
165
32
33
33
4.4
1
2
166
5.1
5.1.1
Isys 0
6
Step1 General
tutorial_gets_V_01_cantilever_flex.spck
$B_Body1
$P_Body1_Cuboid
Geometry
Step2 Body1 Body1 Body1

Delete
3
Delete
OK
4
167
5.1.2
1.
2. flexible-pendulum.fbi
3. OK
flexible-pendulum.fbichapter3example_5
OK
SIMPACK Preview
Reloading the
modied model was successful
OK
Step4 Bodies$B_Body1
6 6
FE Properties
Mass Properties
168

Modes
Options
Marker
Loads SIMPACK Loads_stress&strain
1. Flexiblemodal
SIMPACK Rigid
2. FE Properties
3. flexible-pendulum.fbi
OK
4. OK
7 6 Mass Properties
4.9988Kg
169
5.1.3 Marker
$B_Body1 Marker
Bodies$B_Body1Markers Body1
Marker$M_Body1_BRF Marker Body1 Marker
Marker
Step4 Marker Bodies$B_Body1Markers
Marker $M_Body1_topOK
8
8 Marker
1. Marker 2Cardan Angles

2. Marker Marker
Marker
Marker Marker
Position Connect Marker
Classic Connection Marker Marker
Marker User Defined Interpolation
Marker Marker
RBE Marker Marker

Marekr Position Connect
Position Connect Marker Marker
Undeformed Marker
3. ID
9
5 10005 OK
170
4. Marker Marker
5. OK
BRF MarkerMarker
5.1.4
0
6
Marker From Marker Marker x

90 Marker
Marker Marker
Step5 Joints$J_Body1 10
10
1. From Marker
11
Marker
Marker $M_Isys_Body1 OK
12 alpha 90deg OK 11
OK OK
11 Marker
12 Marker
171
2. To Marker
Body1 Marker$M_Body1_top
3. 0 00 Degrees of Freedom
4. OK
13
13
5.1.5
Step6 GlobalsGravity
14 OK
14
Modes 15
15
15 IRM
172
16
16
1. Eigenmode f-min, n-modes

2. f-min 0.1
n-modes 5
3. Apply
4.
5.
Step8
Perform eigenvalue calculation 17
Step7
17
173
5.1.6
Step9 6 Joints$J_Body1
18 20:6 DOF al-be-ga
Modes 19 IRM
f-min0
6 6
f-min0.1
18
19
174
5.2
tutorial_gets_II_
01_force_element_ptp.spck
5.2.1
Step11tutorial_gets_II_01_force_element_ptp.spck
tutorial_gets_V_02_triple_pendulum_flex.spck Bodies
$B_Body2GeometryCtrl Body2 $P_Body2_sphere$P_Body2_rod
Delete Body2 20
20
Step12 SubVars$_length
10.6
OK
5.2.2
Step13 Step3 21
21
Step4 22
22
175
5.2.3
Step15 Step7 5 IRM
23
23
5.2.4
Step16
24
Copy computed
equilibrium states to model 25
24
176
25
5.2.5
23
Step17
26
26
26
5.2.6
Step18 Actions
,
27 27 JointsFlexible BodiesPosition states
177
27
Geometry$P_Body2_Flex 28 28 Deformation scaling
1000
1000
28
Step20
29
29
178
5.2.7
Step21 Solver Settings

$SLV_SolverSettings 30 30 End time
20
20 Output stepNumber of points2001
30
Step22
tutorial_gets_V_02_triple_pendulum_flex.output
tutorial_gets_V_02_triple_pendulum_flex.sbr 31
31
179
31 Project 1 Pageset Page 1 Animation

tutorial_gets_V_02_triple_pendulum_flexBodies$B_Body2Primitives$P_Body2_Flex
32 32 1000
32
33
33
5.3
SIMPACK Communicator SIMPACK

ReceiverSender
SIMPACK
SIMPACK superordinate model
mainmodel
SIMPACK SIMPACK
submodel
180
6.1
Communicator
Marker

ReceiverSenderReceiver
Marker Sender
ReceiverSender

ID

ID
V-12 12
181
6.2
6.2.1
Step1 SIMPACK General,
OKwheel_01.spck
Step2 Bodies$B_Body1Geometry
$P_Body1_Cuboid 2 2
5 10
Step3 Marker Reference System

$R_IsysMarkers
$M_Isys_wheelOK 3 Marker
Marker
3 Marker
182
Marker
BRFMarker
From MarkerMarker
Marker
Step4 Joints$J_Body1 4
4 From Marker $M_Isys$M_Isys_wheel
Step5 $COM_00
OK 5 5 Destination object
Marker $M_Isys_wheelOK 5
OK
Step6 File
,
wheel_02.spckwheel_01.spck
wheel_02.spck
6.2.2
OKchassis.spck
Step8 Bodies$B_Body1Geometry
$P_Body1_Cuboid 6 6 x 50
y 20 z 5
183
Step9 Marker Bodies$B_Body1Markers
Marker
$M_Body1_center_LPosition
0,0.15,0
Cardan angles
0,0,0
$M_Body1_FLPosition
0.2,0.15,0
Cardan angles
0,0,0
$M_Body1_RLPosition
-0.2,0.15,0
Cardan angles
0,0,0
Step10 Joints$J_Body1
1Revolute Joint al00 Degrees of Freedom
Step11
$COM_00,
OK 7 7 Source object
Marker Body1 $M_Body1_center_LOK 7
OK
7 $COM_00
Step12 Step11 8 9
Alias
aabb
8 $COM_FL
184
9 $COM_RL
Step13 File
,
chassis_AS.spckchassis.spck
chassis_AS.spck
6.2.3
Step14 SIMPACK
Step13
chassis_AS.spck Bodies
$B_AS_F,OK
OK
Step15 Step2 B_AS_F 10
10 B_AS_F
Bodies$B_AS_F_01Geometry
$P_AS_F_01OK 11
11
Step16 Marker Bodies$B_AS_F
Markers
Marker
$B_AS_F_chassisPosition
0,0,0.05
Cardan angles
0,0,0
$B_AS_F_wheelPosition
0,-0.04,-0.05
Cardan angles
0,0,0
Step17 Marker $B_Body1 Marker
185
$M_Body1_center_RPosition
0,-0.15,-0.1
Cardan angles
0,0,0
11 B_AS_F
$M_Body1_FRPosition
0.2,-0.15,0
Cardan angles
0,0,0
$M_Body1_RRPosition
-0.2,-0.15,0
Cardan angles
0,0,0
Step18 Joints$J_B_AS_F
12 12 To Marker $B_AS_F_chassisOK
12
Step19 Bodies$B_AS_F
Bodies
$B_AS_F_Copy_1
$B_AS_F_Copy_1$B_AS_R
Step20 Step18 13
186
13
Step21$COM_FL
$COM_RL
$COM_FR$COM_RR
Source object
Marker$B_AS_F_wheel$B_AS_R_wheel 14 15
14 $COM_FR
15 $COM_RR
6.3
16
beta
16
Marker 16
Marker
187
16

OKmainmodel_via_name.spck
Bodies$B_Body1 Delete
17
1.
2.
3. OK
Step24
$S_CH
OK 18 Filename
chassis.spck
18
188
Step25
$S_WH
OK 19 Filename
wheel_01.spck
19
20
$COM_00
$COM_00
20
$S_WH$COM_00
21 $COM_00
Marker
$M_Body1_center_L
22 From
Marker $Body1_center_L
21
189
22
wheel_01.spck
> 23
23
6.4 ID
IDSIMPACK
ID
1 ID
2 ID
ID
ID
ID
24
190
24 ID
Step26mainmodel_via_sub_ID.spck ID
Step27
wheel_02.spck
Receivers$COM_00 25
25
1. Destination object Marker

$M_Isys_wheel
2. Priority list
3.
aa bb
4. Override indexSUBSTR_ID ID
5. OK
wheel_02.spck$COM_FLaa
wheel_02.spck$COM_RL bb
Override index0
0
25Override index123
Override index2
bb
wheel_02.spck
191
Step28mainmodel_via_sub_ID.spck
$S_WH_01
OK
26 Filename
wheel_02.spck
27
Marker aa Marker
26
27
Step29mainmodel_via_sub_ID.spck
$S_WH_02OK
28 Filename
wheel_02.spck
28
192
Marker
marker
aabb
SUBSTR_IDOverride index2Override index
bb
bb
Marker
29
Marker
29
ID
6.5
30
30
Step30
mainmodel_via_sub_ID_availability.spck
6.2 chassis_AS.spck
Step31 Substructures$S_CH
31 Filename
chassis_AS.spck, 31 OK
193
31
32 chassis_AS.spck
chassis.spck
chassis_AS.spck$COM_00 Marker
$M_Body1_center_Rwheel_01.spck Marker
chassis_AS.spckaa
Marker$M_AS_F_wheelwheel_02.spck Marker
chassis_AS.spckbb
Marker$M_AS_R_wheelwheel_02.spck Marker
chassis.spckchassis_AS.spck
Override indexSUBSTR_ID
ID
Override index
32
194
6.6
Marker
33
33
6.6.1
Step32chassis_wheel_sub.spck

$_pos
OK 34
0
OK
34 $_pos
Step33
Substructures$S_CHJoints$J_Body1 35 Step32
195
35
Step34
$COM_pos
OK 36
36
1. Destination object $_pos

2. Priority list
3.
pos_1
pos_2pos_3
4. Override indexSUBSTR_ID ID
5. OK
196
6.6.2
OKcar.spck
Bodies$B_Body1 Delete
37
1.
2.
3.
OK
Step37
$_POS_1(
0)$_POS_2(0.55)$_POS_3(1.1)
Step38
$COM_POS_1,OK 38 38 Source object

$_POS_1OK
38
Aliaspos_1,OK$COM_POS_1
$COM_POS_2pos_2$COM_POS_3
pos_3
38 $COM_POS_1
6.6.3
Step39car.spck
$S_car_01OK 39 Filename
197
chassis_wheel_sub.spck
39
Step40 Step35 chassis_wheel_sub.spck

40
40
6.7
SIMPACK
198
-
Marker
Marker
BRF
Marker BRF Markers
BRF Marker$M_Isys BRF
override index
override index0
6.8
SIMPACK
199
SIMPACK
SIMPACK

1 R1 R2 S
1
R1
2m 0.1m
R2
4m 0.1m
S
0.4m
1.1
1 R1 R2 S
R1 R2 R1 S R2 S
SIMPACK
xyz xyz

Wheelsets
1
yoz yzR1
R2 R1 S R2 S
y X z z
2
DOFsystem =
DOFjoint - DOFconstraint
200
(4-1)
FOSsystem = 2 DOFjoint + DOFconstraint

(4-2)
DOFsystem = 1 3 2 = 1
FOSsystem = 2 3 + 2 = 8
2
1.2
2
Step 1 SIMPACK General
OKCrank Block
SIMPACK
3
SIMPACK
Step 2: R1
$_R1_Len
OK
4 Definition
2OK R1
Step 3 Step 2
$_R1_D R1
0.1$_R2_Len R2
4$_R2_D
R2
0.1$_H
0.4
201
Step 4 Body1 Bodies

$B_Body1 Rename$B_R1
OK
Step 5R1 Bodies$B_R1Geometry
$P_R1_Cuboid 5 Type2 Cylinder
$_R1_Len $_R1_D 5 HeightOut diameter
5 OK
R1 6 R1
5 R1
6 R1
Step 6 Marker R1 MarkerR1 y R1

Marker $M_R1_L$M_R1_R
0-10010
Bodies$B_R1Markers
Marker
$M_R1_L$M_R1_R
7
202
7 R1 Marker
Step7R1 Joints$J_R1 8
8 R1
1 To Marker R1 Marker$M_R1_L
2 1Revolute Joint al x
3 1
R1 y
4. OK
9
9 R1
Step 8 Step 4 Step 7 R2 From Marker

203
R1 $M_R1_RTo Marker R2 $M_R2_L

Step 9 Step 4 Step 5
Step7 From Marker R2 $M_R2_RTo Marker
$M_S_BRF
Step10
$L_Con
OK 10
1 From Marker Marker$M_Isys To Marker
marker$M_S_BRF 25
2. 6 locked x z
locked Apply Assemble System
11
10
11 1
1 R1
R2 S independent
dependent
Assemble system
Close
10 OK
12
11
204
12
13 a b b
1) 13 a b
2) 13 b a
3) 13 b a a b
SIMPACK a b
13
1.3
Step 11:
1.
R1 5rad/s
14
2. Solver setting-$SLV_Solversettings
14
205
3.
R1 S 15
14
15 R1 S
Step 12:
$F_Fri
OK 16
206
16
1
From Marker
$M_Isys To Marker S Marker$M_S_BRF
2. 100
3. Friction calculation mode Friction coefficientOperating mode Translational
friction
4Direction of friction force 1 In reference axis(1D)
Ref. axis for friction force y
5. Normal force Fn comes from Constraint
6. Constraint ID for Fn$L_ConConstraint index for
Fn Constraint Force 1
7. Regularisation velocity v_eps 0.001m/sFriction coefficient 0.3
8. -1/0/1/2=/// 1 OK
Step 13: R1 S 17
17 R1 S
1.4
Step 14 R1 0$F_Fri 16
Disable
Step 15
207
18
1.
$E_EX OK
18 Type 4
2. u_Vector Assignments create
3. Number of position switches 1f t 23

18 Apply
Step 16 $F_Torque
OK 19
1. From Marker To Marker R1 $M_R1_L
2. 93
3. 19 nr_u for f_x/f_y/f_z xy z nr_u for l_x/l_y/l_z
x
y z
nr_u for l_x
$UE_EX_Value
19
Step 17:
$F_Damper
OK 20
1. From Marker To Marker Marker $M_S_BRF
2. 2
208
3. (Damping d) 1 OK
20
Step18: 10s 20s R1

S 21
21 R1 S
1.5
SIMPACK
209

23.5 Kg;
/:
200 N/m
20Ns/m
0.3m
2.1
2
Step 1 SIMPACK
General
OK
mass_oscillator
Step 2Body1 Step 1 SIMPACK

3 Bodies$B_Body1
4
2
1. Data input Mass manual, CG & Inertia auto,
2. Body1 23.5 Kg
3. OK
3 SIMPACK
210
4 Body1
Step 3Body1 Bodies$B_Body1

Geometry$P_Body1_Cuboid 5 OK
Body1 0.2
Step 4 Marker Bodies$B_Body1Markers
Marker
$M_Body1Position
0,0,0
Cardan angles
0,0,0
$M_Body1_topPosition
0,0,0.1
Cardan angles
0,0,0
Step 5Body1 Joints$J_Body1

6
1 To Marker Body1 Marker$M_Body1

2 6 6Prismatic Joint z z
3-0.4 Body1 z 0.4 Body1
0.3
4 OK
211
Step 6
$F_Spring
OK 7
1.
2.
3.
4.
To Marker Body1 Marker$M_Body1_top

4
OK
Step8
Body1
Sensor
Body1
Step 7 Sensor Sensor
$S_position
OK 8
8 Sensor
1. To Marker Body1 Marker$M_Body1_top

2. OK
Step 8 Reference Systems$R_IsysGeometry
$P_Isys_spring
OK 9
9
212
1. 13Spring
2. -90deg y 90
3. $S_position
Length 1
4. Scaling 10
5. z Sensor pos
6. Step 7 $S_position
7. z $S_position z
8. OK
10
11
11
2.2
Step 9 Solver setting-$SLV_Solversettings
12
12
213
1. 20s
2. OK
Body1 z 13
Body1
23.5Kg 230.535N
200N/m
1.15m 13 Body1 1.15m 1.55m
Body1 0.4m
13 Body1 Z
2.3
14
l0 F0
K d p a
v
ma K l0 p d v + F0 mg
(4-3)
(4-3)
mg K l0 p + F0
(4-4) 14
p
F0
2.3.1
Step 10
214
Perform
static equilibrium calculation

15
15
1. Body1 1.55m
2. Copy computed equilibrium states to model
3. Close
16
Body1-0.4
16
2.3.2
Step 11
17
17
1. No Yes
2. Perform Preload calculation Nominal force
F_nom 230.55
3. Close
18
215
18
2.3
:
SIMPACK SIMBEAM SIMBEAM SIMPACK
SIMPACK
1
1
SIMPACK

.fbi

3.1
SIMPACK SIMPACK
SIMPACK .fbi
SIMPACK SIMPACK
ABAQUS
ANSYS
216
MSC NASTRAN
NX NASTRAN
I-DEAS
RADIOSS
ADINA
PERMAS
SIMPACK
SIMPACK Markers
RBE SIMPACK
SIMPACK Marker
1
1
NASTRAN
ABAQUS
ANSYS
RBE2
KINEMATIC COUPLING
CERIG,CE,MPC 184
217
NASTRAN
ABAQUS
ANSYS
RBE3
DISTRIBUTING COUPLING
TARGET 170 with CONATCT 174 or CONTACT 175
NASTRAN RBE3
UM
3.2
3.1
1 3 2 4
3 1
4 2
SIMPACK
ANSYS SIMPACK Chapter 4
example_ 3fe_data
SIMPACK ANSYS .cdb .sub NASTRAN .dat .op2

ABAQUS .inp .odb .cdb.dat.inp
.sub.op2.odb
3.3 .fbi
Step1 SIMPACK UtilitiesFbi File Generation 5
218
5 fbi
1. 1 .cdb .sub .cdb

.sub ANSYS FE Files
2. .fbi
3.
0.001 1000 1
1
4. Generate fbi
Step2 Step1 2 fbi
3.4
1 6 1
2 1
2 1
Step 3 SIMPACK
GeneralOK
crane
Step4 Globals
6
Search Path 7
1.
2. .fbi
3. OK , OK
Step5Body1 Bodies$B_Body1
Rename
$B_frameOK$B_frame
8
219
1.
2.
3.
500
OK
Step6 Bodies$B_frameGeometry
$P_frame_cuboid 9
1.
2.
3.
4.
39CAD Interface CAD

alpha 90deg x 90
CAD file name dipan01.obj
OK
dipan01.obj .fbi chapter4

example_3
Step7 Bodies$B_frameGeometry
$P_frame_01OK
10
1. 2Cylinder
2. gamma 90deg Z 90
3.
4. OK
220
10
SIMPACK Body
orthographic
Step8 Marker Bodies$B_frameMarkers
Marker
$M_framePosition
0,0,0
Cardan angles
0,0,0
$M_frame_boom1Position
0.8,0,-0.4
Cardan angles
0,-30deg,0
$M_framePosition
0,0,1.5
Cardan angles
0,0,0
Step9 BodiesJoints$J_frame
11 .
11
1. From Marker Marker$M_Isys

2. To Marker Marker$M_frame
3. 1Revelute Joint al 1 alpha
4. OK
Step10
1
Bodies
$B_boom1
OK 12
1. Body Flexiblemodal
2. Flexible Body input boom1.fbi
OK
3. Apply
221
4. Modes 13
5. f-minn-modes
13 0.1Hz 10
6. IRM
12 1
7.
8.
9.
10.
11.
12.
Apply 8
8
Options 14
Gnerate Marker
OK
8 9
13 1
222
14 1 Marker
1. .fbi ,
2. 1
3. 1 2
Step11 1 Marker Bodies$B_boom1
Markers Marker
1 Marker
$M_boom1_12 $M_boom1_spring_top$M_boom1_13541 $M_boom1_frame
$M_boom1_15 $M_boom1_boom2
Step12
1
BodiesJoints$J_boom1
15
15 1
223
1. From Marker Marker$M_frame_boom1

2. To Marker 1 Marker$M_boom1_frame
3. 2Revelute Joint be 1 beta
4. OK
Step13 Step10Step12 2 $B_boom2 2 Marker
$M_boom2_1 $M_boom2_boom1$M_boom2_9 $M_boom2_pulley

2 16
16 2
Step14 Bodies
$B_pulley
OK
OK
$P_pulley_01Height0.4Outer diameter0.13
$P_pulley_02Height0.1Outer diameter0.4
Step15 Marker Bodies$B_pulleyMarkers
Marker
$M_pulleyPosition
0,0,0
Cardan angles
0,0,0
$M_pulley_weight_refPosition
0,0,0.2
Cardan angles
0,30deg,0
$M_pulley_weightPosition
0,0,0
Cardan angles
0,0,0, Marker Reference
Marker$M_pulley_weight_ref
Step16 Joints$J_pulley
17
Step17 Bodies
$B_weight
OK
1000
0,0,0
100,100,100
Step18 Marker Bodies$B_weightMarkers
Marker
$M_weightPosition
0,0,0
Cardan angles
0,0,0
$M_weight_pulleyPosition
10,0,0
Cardan angles
0,0,0
Step19 Bodies$B_weightGeometry
Point-To-Point Marker i$M_weight
Marker j$M_weight_pulley0.1 18 1
224
17
18 Point-To-Point
Step20 Joints$J_weight
19
Step21 Bodies
$B_spring_top
OK
OK
Step22 Bodies$B_spring_topGeometry
$P_spring_top 20
1. 2Cylinder
2. 90deg z 90
3.
4. OK
19
225
20
Step23 Marker Bodies$B_spring_top

Markers
Marker
$M_spring_top_boom1Position
1,0,0
Cardan angles
0,0,0
$M_spring_top_bottomPosition
-1,0,0
Cardan angles
0,0,0
$M_spring_top_conPosition
-0.3,0,0
Cardan angles
0,0,0
Step24 Joints$J_spring_top
21
21
1.
From Marker 1 Marker$M_boom1_spring_top
2.
To Marker Marker$M_spring_top_boom1
3.
2Revolute Joint be
4.
30deg
5.
OK
Step25 Bodies
$B_spring_bottomOK
OK
Step26 Bodies$B_spring_bottomGeometry
$P_spring_bottom 22
226
22
1. 2Cylinder
2. 90deg z 90
3.
4. OK
Step27 Marker Bodies$B_spring_bottom
Markers
Marker
$M_spring_bottom_framePosition-1,0,0
Cardan angles
0,0,0
$M_spring_bottom_topPosition
0.29,0,0
Cardan angles
0,0,0
$M_spring_bottom_conPosition
1,0,0
Cardan angles
0,0,0
Step28 Joints$J_spring_bottom
23
23
1. From Marker 1 Marker$M_frame_spring_bottom

2. To Marker Marker$M_spring_bottom_frame
3. 2Revolute Joint be
4. OK
Step29
Marker move Marker
move Marker Marker
$E_move
OK 24
1. 4Constant Second Derivatives
227
2.
3.
4.
5.
6.
create
1.57 90
Apply 5
OK
24
Step30 move Marker Reference System$R_Isys

Markers
$M_Isys_move
OK 25
1. move Marker -94Rotation with u(t)
2. x
3. Step29
4. OK
Step31
$L_move
OK 26
1. From Marker move Marker$M_Isys_move
2. To Marker Marker$M_frame
3. 25
4. From Marker To Marker alpha
5. OK
25 move Marker
228
26
Step32 Step31 27
27
Step33
set all suggested
close
Step34
$F_spring
OK 28
1. From Marker Marker$M_spring_top_bottom
2. To Marker Marker$M_spring_bottom_top
3. 5
4.
5. OK
229
28
Step35 z
x GlobalsGravity
29
29

30
1.
2.
3. OK
30
230
3.5
Step37
Perform static equilibrium calculationCopy computed
Step38 31
31
1. Measured Marker Select Marker $M_boom2_pulley

2. Relative to Marker Select Marker $M_Isys
3. Coordinates wrt Marker Select Marker $M_Isys
4. Angle type Cardan 1-2-3
5. Results Z 8.8871 Close
Step39
$S_top
OK 32
32
1.
2.
3.
From Marker $M_Isys_move

To Marker $M_boom2_pulley
OK
3.6
Step40
crane.sbr 33
231
33
1.
2.
3.
4.
5.
6.
7.
Crane
Properties 34
Flexible Bodies
Enable Contouring
Abs
Auto Bounds
OK 35
34
35
232
Step41
Time Intergrationsensor pos$S_top Z
36 Step38 8.8871
36
Filter type001Shift y Shift factor -8.8871

OK 37 25
36 Z
37
3.7
Step42 SIMPACK
SIMPACK
SIMPACK
Bodies
$B_boom1 38
38
233
1. Loads
2. Loads
3. 1 boom1_cad.cdb
4. Apply
5. Generate Input Decks
crane.output
Step43 crane.output
crane-B_boom1_irm.dat
crane-B_boom1_mod.dat
boom1_cad.cdbcrane.output ANSYS
crane-B_boom1_irm.datcrane-B_boom1_mod.dat
crane-B_boom1_irm.rstcrane-B_boom1_mod.rst
Step44 SIMPACK Utilities
39
39
1. crane.output .rst
2. 1.rst 1.rst
ANSYS Fe File
3. Generate
4. OK crane.output
crane-B_boom1.stress
Step45
Step46 Step40 40
40
234
3.8
SIMPACK /
SIMPACK
SIMPACK
SIMPACK
PCM
SIMPACK
SIMPACK PCM 197 1
197
IF

4.1 PCM
SIMPACK PCM
PCM
4.1.1
VRCAD
B NURBS
235
4.1.2
MBS
b un pn
K
pn un
4-5
E < 0.45 K :
K=
1+ (12)
4-6
cl =
4-7
PCM
4-1AK K
Fnk = cl Ak unk
4-8
4.1.3 PCM
PCM 1
2
3 PCM
MBS PCM
M R
rRM ARMPCM Me
Mf EF
2 PCM
rMeMf AMeMf
vMeMf wMeMf
FMe
TMe i Mf
2 PCM
PCM
0 PCM
4.2
1 3
197 197
197
236
Step 1 SIMPACK
General
OKswitch
1.
2. SIMPACK
3. OK , OK
chapter4example_4
Step3 Body1 Bodies
$B_Body1 Rename$B_frameOK
Bodies$B_frameGeometry$P_frame_cuboid
Delete
Step4 Marker Bodies$B_frameMarkers

Marker
$M_frame_contactPosition
-0.125,0.07,0.05
Cardan angles
0,0,0
$M_frame_right_padPosition
-0.268,-0.02,0.05
Cardan angles
0,0,0
$M_frame_left_padPosition
0.28,-0.02,0.05
Cardan angles
0,0,0
$M_frame_rodPosition
0,0.18,0.05
Cardan angles
0,0,0
$M_frame_limit_bodyPosition
0,-0.3,0.05
Cardan angles
0,0,0
Step5 Joints$J_frame
5
237
Step6 Bodies
$B_contactOK
0,0,0.05
Step7 Marker Bodies$B_contactMarkers
Marker
$M_contact_jointPosition
-0.125,0.07,0.05
Cardan angles
0,0,0
$M_contact_rightPosition
-0.282,0.016,0.05
Cardan angles
0,0,0
$M_contact_leftPosition
0.282,0.016,0.05
Cardan angles
0,0,0
Step8 Bodies$B_contactGeometry
$P_contact 6
1. 39CAD Interface
2. CAD file name
contact.obj
3. 0.001SIMPACK
CAD 1000
4. OK
Step9 Bodies
$B_contactGeometry
$P_contact_right
OK 7
238
1. 2Cylinder
2. Marker $M_contact_right
3. -10.5deg z 10.5
4. 0.1 0.012
5. OK
Step10 Step9
8
Step11 Joints$J_contact
9
1. From Marker Marker$M_frame_contact
2. To Marker Marker$M_contact_joint
3. 3Revolute Joint ga z
4. OK
8
239
Step12 Bodies
$B_rodOK
OK
Step13 Marker Bodies$B_rodMarkers
Marker
$M_rod_jointPosition
0,0.15,0
Cardan angles
0,0,0
Step14 Step8 10
Step15 Bodies$B_rodGeometry
$P_rod_01
OK 11
1. 2Cylinder
2. Marker Marker$M_rod_joint
3. Y 0.15
4. 0.188 0.3
5. OK
10
240
11
Step16 Joints$J_rod 12
1. From Marker Marker$M_frame_rod

2. To Marker Marker$M_rod_joint
3. 5Prismatic Joint y
4. OK
Step17 Bodies
$B_right_padOK
OK
Step18 Marker Bodies$B_right_pad
Markers Marker
$M_right_pad_framePosition
0,0,0
Cardan angles
0,0,0
12
Step19 Bodies$B_right_pad
Geometry$P_right_pad 13
1. 2Cylinder
2. -0.01 Y 0.01
3. 0.1 0.02
4. OK
241
Geometry
OK 14
$P_right_pad_01
13
14
1. 2Cylinder
2. -0.01 Y 0.01
3. 0.06 0.1
4. OK
Step21 Joints$J_right_pad
15
15
1.
From Marker Marker$M_frame_right_pad

242
2. To Marker Marker$M_right_pad_frame
3. 00 Degrees of Freedom
4. OK
Bodies
$B_right_pad_Copy_1
Bodies$B_right_pad_Copy_1
$B_left_pad
OK
SIMPACK bodyMarker
SIMPACK
Step23 Joints$J_left_pad
16 16
16
Step24 Bodies
$B_limit_bodyOK
OK
Step25 Bodies$B_limit_body
Geometry$P_limit_body 17
17
1.
2.
2Cylinder
0.1 0.08
243
3. OK
Step26 Joints$J_limit_body
18 18
18
02s 40N 2s -30N 0-2s

2s
4.3
Step27 IF
$X_force
OK 19 19 if
if(TIME-2:40,40,-30)
if Math
TIME Functions if TIME-2
040
TIME-2040
TIME-20
-30
19 IF
Step28
$F_frame_rod
OK 20
1. From Marker Marerk$M_frame_rod
2. To Marker Marekr$M_rod_frame
244
3.
4.
5.
50ForceTorque Expression Cmp

y Step27
OK
20
Step29
$F_rod_contact
OK 21
1. From Marker Marerk$M_rod_BRF
2. To Marker Marekr$M_contact_BRF
3. 197Geom. Prim. Contact
4.
5. $P_rod
6. $P_contact
7. OK
Step30 Step29 22
21
245
22
Step31 Step29 23
23
Step32 Step29 24
Step33
$F_torsion_spring
OK 25
1. From Marker Marerk$M_frame_contact
2. To Marker Marekr$M_contact_joint
3. 13Spr-damp rot meas. -inp cmp13
4. -1
5. 0.05
6. 0.01
7. Gamma > 10 From Marker To Marker
10
8. OK
246
24
25
4.4
$SLV_SolverSettings 26
247
26
1. 5 s
2. 100Hz
3. OK
Step35
Perform
static equilibrium calculationCopy
computed equilibrium states to model
27
27
Step36
Step39
28 28
175N
8.8N 2s
28
4.5
IF PCM
197
248
PCM
PCM PCM
PCM
SIMPACK
1

82 move Marker
5.1
1 2
249
50
Step 1 SIMPACK
General
OK
lifting_mechanism
1.
2. SIMPACK
CAD
3. OK , OK
chapter4example_5
Step3 Body1 Bodies
$B_Body1 Rename$B_dizuoOK
Bodies$B_dizuoGeometry$P_dizuo_cuboid 4
1. 39CAD Interface
2. y y -0.238
3. alphagamma x z 180deg180deg
4. CAD file name
zhizuo.obj
5. 0.001SIMPACK
CAD 1000
6. OK
250
Step4 Marker Bodies$B_dizuoMarkers

Marker
$M_dizuoPosition
0,0,0
Cardan angles
0,0,0
$M_dizuo_yeya_gangPosition
0.185,0,0.027
Cardan angles
0,0,0
$M_dizuo_lagan_LPosition
0.015,0.2045,0.243
Cardan angles
0,0,0
$M_dizuo_lagan_RPosition
0.015,-0.2045,0.243
Cardan angles
0,0,0
Step5 Bodies
$B_lagan_LOK
5 350.9,0,0
0.07,10.8,10.8
Step6 Marker Bodies$B_lagan_LMarkers

Marker
$M_lagan_LPosition
0,0,0
Cardan angles
0,0,0
$M_lagan_L_sanjiaobiPosition
1.72,0,0
Cardan angles
0,0,0
Step7 Bodies$B_lagan_LGeometry
$P_lagan_L 6
5
251
1. 19Point-To-Point Marker
2. Cylinder
3. Marker i Marker$M_lagan_L
4. Marker j Marker$M_lagan_L_sanjiaobi
5. 0.05
6. OK
Step8 Joints$J_lagan_L
7
1. From Marker Marker$M_dizuo_lagan_L

2. To Marker Marker$M_lagan_L
3. 2Revolute Joint be y
4. OK
Step9
Bodies$B_lagan_L
Bodies
$B_lagan_L_Copy_1
Rname$B_lagan_ROK
Joints$J_lagan_R 8 From Marker
Marker$M_dizuo_lagan_R
252
Step10 Bodies
$B_sanjiaobi_LOK
9 52
-0.45,0,0.06
0.4,5.8,5.8
Step11 Marker Bodies$B_sanjiaobi_L

Markers Marker
$M_sanjiaobi_LPosition
0,0,0
Cardan angles
0,0,0
$M_sanjiaobi_L_chexiangPosition-1.08,0,-0.014
Cardan angles
0,0,0
$M_sanjiaobi_L_huosaiPosition
-0.2778,0,0.1873
Cardan angles
0,0,0
Step12 Bodies$B_sanjiaobi_L
253
Geometry$P_sanjiaobi_L_Cuboid 10
10
1. 39CAD Interface
2. xyz -1.0560.79-0.52
3. betagamma y z -23.87deg90deg
4. CAD file name
sjbi_l.obj
5. 1SIMPACK
1
6. OK
Step13 Joints$J_sanjiaobi_L
11
11
1. From Marker Marker$M_lagan_L_sanjiaobi

2. To Marker Marker$M_sanjiaobi_L
4. 10deg
5. OK
Step14
Bodies$B_sanjiaobi_L
Bodies
$B_sanjiaobi_L_Copy_1
254
Rname
$B_sanjiaobi_ROK
Joints$J_sanjiaobi_R 12
From Marker Marker$M_lagan_R_sanjiaobi
12
Step15 Bodies
$B_yeya_gangOK
13 800.55,0,0
2.5,28,28
Step16 Marker Bodies$B_yeya_gang

Markers Marker
$M_yeya_gangPosition
0,0,0
Cardan angles
0,0,0
$M_yeya_gang_huosaiPosition
0.23,0,0
Cardan angles
0,0,0
Step17 Bodies$B_yeya_gang
Geometry$P_yeya_gang 14 14
1 0.2
13
255
14
Step18 Joints$J_yeya_gang
15
15
1. From Marker Marker$M_dizuo_yeya_gang

2. To Marker Marker$M_yeya_gang
4. -18deg
5. OK
Step19
$I_lift
OK 16
16 2 15 0.4
256
16
Step20
$E_lift
OK 17
17
1. 2From Input Function

2. u-Vector assignments Create
3. Input Function f(t) Step19 $I_lift
4. Derivation fd,fdd mode Derivatives of f(t)
5. Plots 18 plot t-max 50

6
18
257
6.
7. OK
Step21 Bodies
$B_huosaiOK
19 500.65,0,0
0.7,22.3,22.3
Step22 Marker Bodies$B_huosaiMarkers

Marker
$M_huosaiPosition
0,0,0
Cardan angles
0,0,0
$M_huosai_sanjiaobi_LPosition
1.148,0.2045,-0.00093
Cardan angles
0,0,0
$M_huosai_sanjiaobi_RPosition
1.148,-0.2045,-0.00093
Cardan angles
0,0,0
Step23 Bodies$B_huosaiGeometry
$P_huosai_Cuboid 20
1. 39CAD Interface
2. CAD file name
huosai.obj
3. 0.001SIMPACK
0.001
4. OK
19
20
Step24 Joints$J_huosai
21
258
21
1. From Marker Marker$M_yeya_gang_huosai

2. To Marker Marker$M_huosai
3. 40Single Axis u(t)
4. Axis of Motion Translation in x x
5. Time Excitation-ID for s(t)sp(t)spp(t) Step20
6. OK
Step25 Bodies
$B_chexiangOK
22 11.5,0,0.2
143,870,930
22
Step26 Marker Bodies$B_chexiangMarkers

Marker
$M_chexiangPosition
0,0,0
Cardan angles
0,0,0
$M_chexiang_sanjiaobi_LPosition2.669,0.2045,0.0168
Cardan angles
0,0,0
259
$M_chexiang_sanjiaobi_RPosition
2.669,-0.2045,0.0168
Cardan angles
0,0,0
$M_chexiang_mass_centerPosition
1.5,0,0
Cardan angles
0,0,0
Step27 Bodies$B_chexiangGeometry
$P_chexiang_Cuboid 23
23
Step28 Marker Reference System$R_Isys

Markers Marker
$M_Isys_chexiangPosition
-2,0,0.4
Cardan angles
0,0,0
Step29 Joints$J_chexiang
24
1. From Marker Marker$M_Isys_chexiang
2. To Marker Marker$M_chexiang
3. 10Spherical Joint al-be-ga
4. OK
24
5.2
260
x z
Step30
$L_sanjiaobi_huosai_LOK 25
1. From Marker Marker$M_sanjiaobi_L_huosai
2. To Marker Marker$M_huosai_sanjiaobi_L
3. 25User Defined Constraint
4. x z locked From Marker To Marker x z
5. OK
25
Step31 Step30
26
Step32 Step30
27
26
261
27
Step33 Step30
28
28
Step34
29
29 Set all as suggestedAssemble system
8
80
262
29
30
Step35 Marker
Marker
move Marker
Reference System$R_IsysMarker s 30
$M_Isys_chexiang_massOK 31
31 move Marker
1. move Marker -82Congruent Marker move Marker Leading

Marker move Marker Leading Marker
2. Marker$M_chexiang_mass_center Leading Marker

263
3. $M_Isys Marker
4. $M_Isys Marker
5. move Marker Leading Marker
Marker
move Marker Leading Marker
move
Marker Leading Marker
6. OK
Step36
$I_mass
OK 32
32
2 50000
15
10000
32
Step37
$X_massOK 33
33 IFCTNXTIME,$I_mass
Step38 $F_mass_missing
OK 34
1. From Marker move Marker$M_Isys_chexiang_mass
2. To Marker Marker$M_chexiang_mass_center
3. 50ForceTorque Expression Cmp
4. z Step37
5. OK
33
264
34
5.3
$SLV_SolverSettings 35
35
1.
4.
5.
20 s
Outpu steps Number of points 201
OK
Step39
Perform static equilibrium calculationCopy computed
Step40
36
265
36
5.4
move Marker
SIMPACK
SIMPACK
266
SIMPACK
MATLAB
MATLAB
SIMPACK MATLAB
SIMPACK MATLAB SIMPACK
MATLAB
MATSIM
MATLAB DLL DLL SIMPACK
SIMAT
SIMAT SIMPACK MATLAB
ABCD
MATLAB MATLAB SIMPACK
FMU
SIMPACK MATLAB S-function
MATSIM SIMAT 1
MATSIM
SIMAT
1.1
Step 1 SIMPACK
General
OKmodel
Step2 Marker Reference Systems$R_Isys
Markers
Marker
$M_Isys_massPosition
0,0.5,0
Cardan angles
0,0,0
$M_IsysPosition
0,1,0
Cardan angles
0,0,0
Step3 Reference Systems$R_Isys

Geometry
$P_Isys_ground
OK 2
267
1. 31Cell Array
2.
3.
4. OK
Step4 Reference Systems$R_Isys
Geometry
$P_Isys_cylOK
3
1. 2Cylinder
2. y 0.5
3.
4. OK
Step5 Body1 Bodies$B_Body1
Rname
$B_mass1OK
Step6 1 Marker Bodies$B_mass1Markers
Marker
$M_mass1_topPosition
0,0,0.1
Cardan angles
0,0,0
Step7 1 Bodies$B_mass1
268
Geometry$P_mass1_Cuboid 4
4 1
1. 1Cuboid
2.
3. OK
Step8 1 1
Step7 Bodies
$B_mass1Geometry
$P_mass1_text
OK 5
1. 33Text
2.
3. FE 04
4. 0.08
5. OK
5 1
Step9 1 1
Bodies$B_mass1Geometry
269
$P_mass1_springOK
6 1
1. 19Point-To-Point
2. Point-To-Point Cylinder
3. Marker$M_Isys_mass
4. 1 Marker$M_mass1_top
5. 0.05
6. OK
Step10 1 Joints$J_mass1
7
7 1
1. From Marker Marker$M_Isys_mass

2. To Marker 1 Marker$M_mass_top
3. 6Prismatic Joint z Z
4. -0.5
5. OK
Step11 2 Bodies
$B_mass2OK
2 OK
Step12
2 Marker
Bodies$B_mass2Markers
Marker
$M_mass2_topPosition
0,0,0.1
Cardan angles
0,0,0
Step13 Step7 1 2
270
Step14 Step8 2 8
8 2
Step15 Step9 2 9
9 2
Step16 Step10 2 10
10 2
Step17 1
$F_mass1_springOK 11
1. From Marker Marker$M_Isys_mass

2. To Marker 1 Marker$M_mass1_top
271
3. 4Spring-damper parallel PtP PtP

From To Marker
4. 101
5. OK
1 4
2 2
2 2 1
Step18 SIMPACK File

model_matsim.spckmodel_simat.spck
11
1.2 MATSIM SIMAT

Step19 MATLAB MATSIM SIMAT MATLAB File
12
1. Add Folder
2. SIMPACK Partners mathworks
SIMAT MATSIM
3.
4. SIMAT r2011b win32MATSIM
r2011b 32 64
win64
5. Save
12 MATLAB SIMPACK
272
Step20 MATSIM MATSIM 13
13 MATSIM
1.
2.
3.
4.
Command Window mex setup

y
VC++ 2008
y MATSIM
1.3 MATSIM
Step21 MATLAB/SIMULINK FE04_MATSIM.mdl 14 14
14 MATSIM
FE04_MATSIM.mdl chpter5example1
Step22 MATLAB Command Window
Step23 SIMULINK SIMULINK Simulation

Configuration Parameters
15
273
SIMPACK 16
15
16
Step24 Step23 17 Build

FE04_MATSIMwin32FE04_MATSIM.dll.dll
MATLAB SIMPACK
17 MATLAB
274
Step25 SIMPACK
Step18
model_matsim.spck
Step26 database database

mbs_db_matsim Step24 FE04_MATSIM database
mbs_db_matsim SIMPACK GlobalsSearch Path 18
18
1.
2. database database
3. OK
Step27 2
$C_kinematic_measurementOK 19
19
1.
2.
3.
4.
5.
6.
165Kinematic Measurements Sensor

From Marker Marker$M_Isys_mass_control
To Marker 2 Marker$M_mass1_top
1
2
OK
Step28 MATSIM
275
$C_MATSIM
OK 20
20
1. 233MatSIM
2. MATSIM FE04_MATSIM Step24 dll
3. Step27 $C_kinematic_measurement
4. Step27
Ch 1
C*measurement + u
5. Step27 $C_kinematic_measurement
6. Step27
Ch 2
C*measurement + u
7. MATLAB
8. OK
Step30
$F_spring_control
OK 21
21
1.
2.
From Marker Marker$M_Isys_mass_control

To Marker 2 Marker$M_mass2_top
276
3. 110Proportional Actuator Cmp

4. Step28 $C_MATSIM
5. TotalForce
6. Force
7. Z-axis
8.
9. OK
22
22
1.
2.
3.
10s
100Hz
OK
Step31
1 2 Z 23 23
1 2 04
23
277
1.4 SIMAT
Step32 SIMPACK
Step18 model_simat.spck
Step33
SIMPACK
$UI_SIMAT_force
OK 24
24
1.
2.
3.
4.
1
0
create
OK
Step34
$_mass2
OK 25
25
1. From Marker Marker$M_Isys_mass_control

3. From Marker
4. OK
Step35
SIMPACK
$Y_positionOK 26
26
278
1.
2.
3.
4.
2Sensor Position
Step34 $S_mass2
z
OK
Step36
$Y_velocity
OK 27
1. 4Sensor Velocity
2. Step34 $S_mass2
3. z
4. OK
27
Step37
$F_mass2_control
OK 28
28
1. From Marker Marker$M_Isys_mass_control

3. 93Force/Torque by u(t) CMP
4. Z Step33 $UE_SIMAT_force
5. OK
29
279
29
1. Co-Simulation
2. ServerMATLAB SIMPACK
MATLAB
3. 20123
4. SIMAT
5. OK
Step39 MATLAB SIMAT SIMAT_2011b.mdl 30 30
SIMPACK Command Window simat SIMULINK
30
SIMAT_2011b.mdl chpter5example_1
Step40 30 SIMPACK 31
280
31 MATLAB
1. 0.001 SIMPACK MATLAB

2. 20123 SIMPACK
3. MATLAB SIMPACK
Remote Server
4. 3 Remote Server SIMPACK IP
5. SIMPACK MATLAB
6. 5 SIMPACK
7. OK
Step41 SIMPACK SIMPACK SIMPACK
20123 MATLAB 20123 MATLAB
SIMPACK SolverCo-SimulationStart Co-Simulation SIMPACK
32
32
Step42 MATLAB
SIMPACK
S-Function SIMPACK
S-Function Parameters S-Function name simat_9_3_r2011b
simat_9_3_r2011a simat_9_3_1_r2011b simat_9_3_1_r2011a
Step43 SIMPACK 1 2 Z 33
281
33 1 2
33
1.5 SIMAT
Step44
SIMPACK
Step18
model_simat.spck
SIMPACK SolverState- Space Matrices
for MATLAB model_simat.output
model_simat.m
Step45 MATLAB SIMAT_LSA.mdl

MATLAB
1.6
SIMPACK MATLAB MATSIM
SIMAT MATSIM SIMAT
SIMPACK
SIMPACK
SIMPACK 1

282
-7
0.1965
310
15.2
43
22.5
7
-0.0207
300
7
-0.1551
300
388.5
688.21
1643.7
714
320.2
619.9
1711.97
682.5
23
0.425
7
100
23
20
20
0
0
0
0
200
200
109
0.552
0.324
60
20
0
0
100
60
20
0
0
100
175
310
290
143.5
287.5
312.5
0
2.1
1 2
Step 1 SIMPACK
General
OKgearbox
Step 2$B_Body1Rename
$B_housing,OK
Step3 Marker Bodies$B_housing
Markers
Marker
$M_housing_carrierPosition
0,0,0
Cardan angles
0,0,0
$M_housing_ringPosition
0.3,0,0
Cardan angles
0,0,0
$M_housing_st2_w_shaftPosition
1.5,0,0
Cardan angles
0,0,0
$M_housing_st2_p_shaftPosition
1.5,0.4305,0
Cardan angles
0,0,0
Step4 Bodies$B_housingGeometry
283
$P_housing_Cuboid 3
1.
2. 0.95 x 0.95
3.
4. OK
Step5 Joints$J_housing
1Revolute Joint al00 Degrees of Fredom
From Marker
To Marker
1.
2.
orthographic
Step6 Bodies
$B_carrierOK 4
284
1. 4000
2. x 0.3
3.
4. OK
Step7 Marker Marker Marker
Marker Marker
Bodies$B_carrierMarkers
Marker
$M_carrier_planet01_refPosition
0.3,0,0
Cardan angles
0,0,0
$M_carrier_planet01Reference Marker:$M_carrier_planet01_refPosition
0,0,0.508
Cardan angles
0,0,0
0.3,0,0
Cardan angles
120deg,0,0
0,0,0.508
Cardan angles
-120deg,0,0
0.3,0,0
Cardan angles
240deg,0,0
0,0,0.508
Cardan angles
-240deg,0,0
$M_carrier_jointPosition
0,0,0Cardan angles
0,0,0
$M_carrier_torque_inPosition
-0.1,0,0
Cardan angles
0,0,0
120
Marker XYZ Marker Marker
120 Marker Marker
Step8
Bodies $B_carrier Geometry
5 6
5 $P_carrier
285
6 $P_carrier_01
Step9 Joints$J_carrier 7
1. From Marker Marker$M_housing_carrier

2. To Marker Marker$M_carrier_joint
3. 1Revolute Joint al
4. OK
Step10 Bodies
$B_st2_w_shaftOK 8
1. 371
2. X 0.5
3
4 OK
286
Step11
Marker Bodies$B_st2_w_shaft
Markers
Marker
$M_st2_w_shaft_sleevePosition
0.1,0,0
Cardan angles
0,0,0
$M_st2_w_shaft_jointPosition
0.45,0,0
Cardan angles
0,0,0
$M_st2_w_shaft_gearPosition
0.6,0,0
Cardan angles
0,0,0
Step12 Bodies$B_st2_w_shaft
Geometry$P_st2_w_shaft 9
1. 2Cylinder
2. x 0.5 x 0.5
3. gamma 90deg z 90
4. 1 400 315
5. OK
0.8
287
Step13 Joints$J_st2_w_shaft
10
1. From Marker Marker$M_housing_st2_w_shaft
2. To Marker Marker$M_st2_w_shaft_joint
4. OK
10
Step14 Bodies
$B_st1_sun_shaft
OK 11
11
1. 165
2. x 0.08
3
4 OK
Step15 Marker Bodies$B_st1_sun_shaft
Markers
Marker
$M_st1_sun_shaft_gearPosition
-0.35,0,0
Cardan angles
0,0,0
$M_st1_sun_shaft_pinion_gearPosition
0.5,0,0
Cardan angles
0,0,0
Step16 Bodies$B_st1_sun_shaft
288
Geometry$P_st1_sun_shaft 12
12
1. 2Cylinder
2. x 0.08 x 0.08
3. gamma 90deg z 90
4. 1.2 150
5. OK
Step17
Joints$J_st1_sun_shaft
13
13
1.
2.
3.
4.
5.
6.
From Marker Marker$M_st2_w_shaft_sleeve

To Marker Marker$M_st1_sun_shaft_pinion_gear
25User Defined Joint
al-axis
x-axis
OK
289
Step18 Bodies
$B_st2_p_shaftOK 14
14
1. 120
2. x 0.5
3.
4. OK
Step19 Marker Bodies$B_st2_p_shaft
Markers
Marker
$M_st2_p_shaftPosition
0.2,0,0
Cardan angles
0,0,0
$M_st2_p_shaft_gearPosition
0.35,0,0
Cardan angles
0,0,0
$M_st2_p_shaft_dampingPosition
0.9,0,0
Cardan angles
0,0,0
Step20 Bodies$B_st2_p_shaft
Geometry$P_st2_p_shaft 15
1. 2Cylinder
2. x 0.5 x 0.5
3. gamma 90deg z 90
15
4.
1 0.14
290
5. OK
Step21
Joints$J_st2_p_shaft
16
1. From Marker Marker$M_housing_st2_p_shaft
2. To Marker Marker$M_st2_p_shaft_joint
4. OK
Step22 01 Bodies
$B_planet01OK 17
16
17 01
1. 01 628
2.
3. 01
4. OK
Step23 01 Marker X XOY
Z Marker
Bodies$B_planet01Markers
$M_planet01_jointOK Marker
291
$M_planet01_jointPosition
0,0,0
Cardan angles
90deg,0,90deg
Step24 01 Bodies$B_planet01
Geometry$P_planet01 18
18 01
1. 25Gear Wheel 01 SIMPACK
2. SIMPACK RackInteral
Exteral
Sleeve
Pinion
01 Exteral
Gear Pair
3. 0
4. 15.2mm 15.2mm
0.0152
5. 22.5deg SIMPACK
22.5deg
6. -0.0207 SIMPACK
7. 7deg
8. 0 0
9. SIMAPCK /Cofficient
/Height
/Diameter Diameter
10. 688.21mm9
11. 619.9mm9
12. SIMPACK Normal backlash factor
Normal backlash
Circumferential backlashAngular backlash
Normal backlash
292
13. 0
14. 43
15. 300mm
16. 300mm
17. 4314 43 SIMPACK
18. 0
19. OK
Step25 01 Joints$J_planet01
19
1. From Marker Marker$M_carrier_planet01
2. To Marker 01 Marker$M_planet01_joint
4. OK
Step26 01
- Bodies$B_planet01
$B_planet02
$B_planet03
19 01
Step27 02 03 20 21
20 02
293
21 03
Step28 Bodies
$B_st1_sunOK 22
1. 0.0001
2.
3. 0.0001
4. OK
22
Step29 Step23 Marker

$M_st1_sun_jointPosition
0,0,0
Cardan angles
90deg,0,90deg
Step30 Step24 23
294
23
Step31 Step25 24
24
Step32 Step28Step31
0.0001
25 26 Marker
$M_ring_jointPosition
0,0,0
Cardan angles
90deg,0,90deg
295
25
26
Step33 Step28Step31
400Kg
19,19,32
27
28 Marker
$M_st2_gear_jointPosition
0,0,0
Cardan angles
90deg,0,90deg
296
27
28
Step34 Step28Step31
0.0001
29 30
Marker
297
$M_st2_p_gear_jointPosition
0,0,0
Cardan angles
90deg,0,90deg
29
30
Step35 Step28Step31
0.0001
31 56Circular mod. amount
0.05mm76
Lead crowning amount
0.01mm 32
Marker
$M_pinion_gear_jointPosition
0,0,0
Cardan angles
90deg,0,90deg
298
31
32
Step36 Step28Step31
0.0001
33 34 Marker
$M_sleeve_gear_jointPosition
0,0,0
Cardan angles
90deg,0,90deg
33
299
34
2.2
Step37 01
$F_planet01_ringOK 35
35
300
1. From Marker Marker$M_planet01_joint

From To
2. To Marker Marker$M_ring_joint
3. 225Gear pair
4. Gear 1 $P_planet01
5. Gear2 $P_ring
6. on off
on
7. on off
SIMPACK
8. SIMPACK None Linear Linear
9. SIMPACK None Simple None
10. 0
11. SIMPACK 9
12.
010
13. 0.8
14. Gear 1 SIMPACK
Gear 1
15. Gear 1 2.1E11
16. Gear 1 0.3
17. Gear 2 SIMPACK
Gear 2
18. Gear 2 2.1E11
19. Gear 2 0.3
20. 5000
21. 5000
22. 0.0001
23. OK
Step38 Step37 02 03
01 02 03
2.3
Step39
$F_shaft_coupling
OK 36
1. From Marker Marker$M_pinion_gear_joint
From To
2. To Marker Marker$M_sleeve_gear_joint
3. 242Spline Coupling
4. $P_pinion_gear
5. $P_sleeve_gear
6. 05
7. SIMPACK
301
8. 2.1E11
9. 0.3
10. SIMPACK
11. 2.1E11
12. 0.3
13. SIMPACK None Linear Linear
36
14. 5000
15. 5000
16. 0.0001
17. SIMPACK None
Viscous damping
Regularized coulomb
None
18. SIMPACK DisabledBasic
Basic&Combined force arrows
Basic&Sliced force arrows
Basic
19. OK
Step40
302
0.5
$F_limit_force
OK 37
37
1.
2.
3.
4.
5.
6.
7.
From Marker Marker$M_st2_w_shaft_sleeve

To Marker Marker$M_st1_sun_shaft_pinion_gear
5Spring-Damper Parallel Cmp
x 1.0e12
x 1.0e9
x 0.5mm
OK
2.4
Step41 Marker Reference SystemsMarker
Marker
$M_Isys_torque_inPosition
-0.1,0,0
Cardan angles
0,0,0
$M_Isys_dampingPosition
2.2,0.4305,0
Cardan angles
0,0,0
Step42 SIMPACK
$E_torque_in
OK 38
303
38
1. 14Constant Value or Derivative

2. Create
3. 50000
4. OK
Step43 SIMPACK
$F_torque_in
OK 39
39
1.
2.
3.
4.
5.
From Marker Marker$M_Isys_torque_in

To Marker Marker$M_carrier_torque_in
93Force/Torque by u(t) Cmp
Step42
OK
Step44 SIMPACK
$F_damping
OK 40
1. From Marker Marker$M_Isys_damping
2. To Marker Marker$M_st2_p_shaft_damping
3. 13Spr-damp rot meas. inp Cmp
4. 2000
5. Alpha > 10 [deg]
304
6.
OK
40
2.5
SIMPACK
Z
Step45 Solver settings$SLV_Solversettings
41
1. 10s
2. 100Hz
3. OK
41
Step46
01 42 42
305
42 01
2.6
43 41 SIMPACK
BearINX
SIMPACK
1
2 SIMPACK
2
306
3.1
SIMPACK 3
SIMPACK xoy xy
xy
226
227
SIMPACK
1
307
5 8mm
3.2
Step 1 SIMPACK
General
OKstep_1_roller_chain_START
SIMPACK
6
Step 2: Body1 Bodies$B_Body1
Rename$B_CD1_refOK
SIMPACK
Step 3 CD1_ref Marker$B_CD1_ref Marker

1
1 $B_CD1_ref Marker
1
2
3
4
$M_CD1_ref_CRS
$M_CD1_ref_CMS_01
$M_CD1_ref_CMS_02
$M_CD1_ref_BLA_piv
000
0.050.350
-0.050.350
-0.0950.280
308
$M_CD1_ref_CDT_top
-0.060.040
$M_CD1_ref_CDT_bot
0-0.060
7
8
$M_CD1_ref_GUI_01
$M_CD1_ref_GUI_02
0.090.260850
00.370
-100deg
Marker
$M_CD1_ref_CDT_top
CD1_ref Marker
Bodies$B_CD1_refMarkers
Marker$M_CD1_ref_CRS 7
7 CD1_ref Marker
1 Marker CD1_ref 7 Marker

Step 4 Marker Marker
2
2 Marker
$M_Isys_CD1_ref
000
2
3
4
$M_Isys_CMS_01
$M_Isys_CMS_02
$M_Isys_CRS
0.050.350
-0.050.350
000
2 Reference Systems$B_IsysMarkers
Marker$M_Isys_CD1_ref
Marker
Step 5 Marker CD1_ref
Bodies$B_CD1_REFGeometry 8 $P_CD1_CDT_bot
Marker 8
8 CD1_ref
309
CD1_ref
Step 6 step_1_roller_chain_START step_2_roller_chain_WHEELS

Bodies
$B_CRS_wheelOK 9 0.1kg000
IxxIyy Izz 0.00010.00010.0001 9
Step 7
Bodies$B_CRS_wheelGeometry $P_CRS_wheel$P_CRS_wheel_profile 46
Chain Wheel 10
10 SLV
2D
3 11 13
3 3 10
$B_CRS_wheel $P_CRS_wheel_profile
9 CRS_wheel
10 CRS_wheel
310
Chain wheel type
2
3
Number of teeth
Number of strands
Profile Type
21
23
Profile eccentricity
in x
Profile eccentricity
in y
Profile torsion angle
Root diameter
Tip diameter
Transverse pitch
Tooth width
Negative face
position
Positive face position
Bore diameter
Shroud diameter
Drawing tolerance
IFctn Radial runout
IFctn Azimuthal
runout
IFctn Angular runout
Roller seating radius
24
25
6
7
8
9
10
11
12
13
14
15
16
17
19
20
Roller
Roller
18
1
36
1
Standard
Standard
12
11
11
rad
m
m
m
m
0
41mm
49mm
9mm
4.3mm
0
86mm
94mm
9 mm
4.3 mm
11
13
13
13
13
-1.5rmm
-1.5mm
12
m
m
m
1.5mm
20mm
40mm
0.0001
1.5mm
55mm
70mm
0.0001
12
12
12
2.6mm
2.6mm
13
Tooth flank radius
135mm
750mm
13
Roller seating angle
rad
126deg
128deg
13
11
311
12
13
Step 8
$B_CRS_wheel
Joints$J_CRS_wheel
14 From Marker $B_CD1_ref $M_CD1_ref_CRSTo Marker
3 z
14
312
Step 9 Step7$B_CMS_01_wheel $B_CMS_02_wheel

$B_CRS_wheel 3
Step8
$B_CMS_01_wheel $B_CMS_02_wheel From

Marker $B_CD1_ref $M_CD1_ref_CMS_01 $M_CD1_ref_CMS_02To Marker
3 z 15
step_3_roller_chain_GUIDES.spck
15
Step 10 5 $B_BLA 0.1kg

000
IxxIyy Izz 0.0080.0010.09
4 Marker 3
4 BLA Marker
1
2
3
4
$M_BLA
$M_BLA_piv
$M_BLA_CDT_top
$M_BLA_CDT_contact_cen
000
-0.0950.280
-0.060.040
00.040
-100deg
Marker 16
47Chain GuideReference Marker Marker$M_BLA 5 17
16 SLV
18 From To Marker
$M_CD1_ref_BLA_piv $M_BLA_piv 3 z
16
313
17 2D
5
GUI_02
BLA
GUI_01
Circular arcs
Circular arcs
Circular arcs
20mm
20mm
10mm
Material width
4.2mm
4.2mm
2mm
Chord height
drawing tol
0.0001
0.0001
0.0001
Centre width
10mm
11mm
5mm
Final arc defined by
Angle
Angle
Angle
Final arc 1 initial

angle
rad
25deg
25deg
89deg
17
Final arc 1 radius
10mm
10mm
2.5mm
17
10
Final arc 2 initial

angle
rad
110deg
110deg
2deg
17
11
Final arc 2 radius
10mm
10mm
2.5mm
17
12
Closing arc radius
350mm
350mm
350 mm
17
13
Closing arc segment
Concave
17
Closing arc position
Concave
Internal
Concave
14
16
Number of Arcs
17
Master arc
19
Arc 1 radius
12.597mm
27.755mm
800mm
17
20
Arc 1 centre X
1 X
-51 mm
115mm
17
21
Arc 1 centre Y
1 Y
25mm
280mm
-778 mm
17
23
Arc 2 radius
79.865mm
113.778mm
17
24
Arc 2 centre X
2 X
-101mm
185mm
17
Guide type
Width
314
Internal Internal
17
25
Arc 2 centre Y
2 Y
70mm
230mm
17
27
Arc 3 radius
450mm
800mm
17
28
Arc 3 centre X
3 X
-471mm
835mm
17
29
Arc 3 centre Y
3 Y
80mm
10mm
17
31
Arc 4 radius
96.588mm
99.537mm
17
32
Arc 4 centre X
4 X
-151mm
135mm
17
33
Arc 4 centre Y
4 Y
230mm
40mm
17
35
Arc 5 radius
18.806mm
14.21mm
17
36
Arc 5 centre X
5 X
-96mm
50mm
17
37
Arc 5 centre Y
5 Y
285mm
35mm
22
18 BLA
Step 11$B_GUI_01 Marker

$M_GUI_01 $M_GUI_01_fixed0000.090.260850
Step10 Reference Marker $M_GUI_01 5

$B_GUI_01 From To Marker $M_CD1_ref_GUI_01 $M_GUI_01_fixed
0 ,
Step 12 $B_GUI_02
Marker$M_GUI_02000
step10 Reference Marker $M_GUI_02 5

$B_GUI_02 From To Marker $M_CD1_ref_GUI_02 $M_GUI_02
0 ,
19
19
315
19 step_4_roller_chain_CHAIN.spck
Step 13 SIMPACK
Chain OK
ROL_chain_8_mm$B_CDR_reference
Chain_Link_Template$CD_Roller_Chain_Inner_8mm
$CD_Roller_Chan_Outer_8mm 20 21 8mm
8mm
8mm
20 21 Content Type
20
21
Step 14 step_4_roller_chain_CHAIN.spck
GlobalsSearch Path 22 + Chain
316
22
Step 15
ChainOK 23 ROL_chain_8_mm.spck
OK
23
Step 16
Create Chain Drive
$CD_Chain
24
1. General 24 Chain type Roller/BushSilent Smart
Roller/Bush Marker Chain Drive Ref.
Marker$B_CD1_ref Marker $M_CD1_refNumber of links 130
Nominal Chain load 200
171.9 172 128.3 130
317
24
2. Chain Links
25 Link pitch 8mmat load
50NInner Link TemplateOuter Link Template
$S_Chain
$_Inner $_OuterNumber of strands 1 Transverse pitch
0
25
3. Chain Layout 26 Tensioner Joint$J_BLA

State Rotation about ga z Leading wheel
4. 26 Add wheel
27 CRS_wheel
$P_CRS_wheel_profileOK 28
Circulation direction
1Contact roller-wheel 2Contact stiffness
3Contact damping 2 3
4Damping transition depth 5Max. tensile contact force
11Friction roller-wheel Regularized Coulomb
12Friction Coefficient 13Regularization velocity
11 Viscous 12Damping coefficient
318
26
27
28
5. GUI_01
Chain Layout
26Add guide 27
GUI_01$P_GUI_01_ profileOK 29
Circulation direction Negative ga z
319
29 GUI_01
6CMS_01
Chain Layout 26Add wheel 27
CMS_01_wheel$P_GUI_01_wheel_profileOK
30
Circulation direction Positive ga z
Wheel setup flag Profile angleWheel Joint Joint state

Joint vel. Direction Contact &Friction Definition
30 CMS_01_wheel
7.GUI_02CMS_02wheelBLA
31
General 24 Generate Chain
OK
Compute positions and velocities 32
226
Groups$G_ChainForce Elements$F_Force
step_4_roller_chain_CHAIN_RESULTS.spck
31
320
32
Step 17 227 Total drive

Chain Link step_4_roller_chain_CHAIN_RESULTS.spck
1.Total Drive
$G_Result_Total_Drive
$F_Max_Chain_Force 33 From To Marker 227 Chain Drive
Results1 chain Drive $CD_Chain3Result type Total drive4Monitored contact
Max. chain force;$F_Min_Chain_Force$F_Max_Chain_Force
4Monitored contact Min. chain force
33 Total Drive
2.Chain Path
CD1_ref Marker $M_CD1_ref_strand_01 $M_CD1_ref_strand_02
$M_CD1_ref_strand_03 $M_CD1_ref_strand_04 0.03,0.02,0 0.08,0.3,0
-0.08,0.3,0-0.02,0.03,0
$G_Result_Path$F_Strand_01 34 Marker
$F_Max_Chain_Force 3Result type Chain Path4Sensor Marker
$M_CD1_ref_strand_01$F_Strand_02$F_Strand_03 $F_Strand_04
321
34
3.Chain Guide
$G_Result_Guide$F_GUI_01_max_vel 35 Marker
Chain Drive
3Result type Chain Guide
4
Guide Primitive
$P_GUI_01_profile5Monitored contact Max. impact velocity Max.
normal contact force Max. impact velocity
GUI_02
35
4.Chain Link
$G_Result_Link$F_Wheel_link120 36 MarkerChain
Drive 2Link number
120 1203Result type Chain Link4Monitored contact Joint
to previous LinkJoint to succeeding LinkBush/roller-Wheels Plate-Guides
5Output Values Complete Force arrows input
$F_Wheel_link120 36
322
36
Step 18 4
$F_HLA 37 From To Marker
$M_CD1_ref_CDT_bot $M_BLA_CDT_top 4:Spring-damper parallel Ptp1 6
60mm 3000N/m 50000Ns/m 120N
37 04
Step 19 CRS_wheel -3000rad/s

Solver Settings$SLV_SolverSettings 38 0.1s
1001 LSODEOK
323
38
39 42
39 Total drive
40
324
41 GUI_01
42
3.3
SIMPACK V 1 2
V
325
1 SIMPACK
4.1
SIMPACK 2 xoy xy

1. Marker
2.
3.
4.2
Step 1 SIMPACK
General
OKBeltSIMPACK
Reference Systems$R_IsysMarkers
Marker
Marker
1
2
3
$M_Isys_pulley_1
$M_Isys_pulley_2
$M_Isys_belt_reference
-0.300
0.30.30
-0.300.1
1
2
Marker $R_IsysGeometry$P_Isys_Ground
326
3 Type 31Cell Array2Length in X 3Length in Y 1 0.64Number

of segments X 5Number of segment Y 6 Position x -0.5y -0.1
Step 2
1
Bodies$Body1 $B_Pulley_1_drive
1e-9 Marker $M_Pulley_1_drive
$M_Pulley_1_drive_pulley0,0,00,0,0.1$P_Pulley_1_drive Type
2Cylinder 90deg2Height 0.1m3Outer diameter 4Inner diameter
0.04m 0.02m
Step 3 2 Step 2$B_Pulley_2_torque$B_Pulley_1_drive
From To Marker $M_Isys_pulley_2 $M_Pulley_2_torque 3
z 190rad/s
Step 4 1 $B_Pulley_1 0.02kg
0.0025,0.0025,0.0025
$P_Pulley_1_3D 4 2
5 2
4 $P_Pulley_1_3D
327
Pulley type
Grooved V Flat
Effective pulley diameter
0.12
0.2
Pulley width
0.016
0.016
Number of ribs
Groove angle
deg
40
40
Shroud diameter
0.1
0.18
Bore diameter
0.045
0.045
Negative Face Position
-0.005
-0.005
10
Positive Face Position
12
Number of Planes
64
64
13
Number of highlight planes
Step 5 1 Jiont$J_Pulley_1From To Marker

$M_Pulley_1_drive_pulley $M_Pulley_1_BRF 0
Step 6 2 $B_Pulley_2 0.3kg0.005
0.0050.005
$P_Pulley_,2_3D 2 2
Step 7 2 Jiont$J_Pulley_2From To Marker
$M_Pulley_2_torque_pulley $M_Pulley_2_BRF 0
Step 8
$T_drive 6
14 u_Vector Assignments create
1Constant value 3142Constant value for fdt
328
$T_T_torque_pulley_2 4 7
Step 9$B_Pulley_1_drive 8 40 z
8 $B_Pulley_1_drive
Step 10$F_pulley_2_torque 93 9
From To Marker $M_Isys_pulley_2 $M_Pulley_2 z
329
Step 11$F_Beltz 10 240 From To Marker

Dyn. States 11
Step 12 Reference SystemsGeometry$P_Isys_betl 12
10
330

1
2
3
5
6
7
8
9
10
11
12
13
14
20
21
22
23
24
25
26
27
Belt layout initalization

Reference Marker
Number
pre-tension
specific stiffness EA
belt mass per length rho_1
width of shear layer
height of shear layer(inside)
height of shear layer(outside)
result output level
force arrow scaling factor
span vibration scaling facto
torque arrow scaling factor
pulley1:primitive
1:position wrt.belt
1:slip model
1:longitud damp
1:number of modes
1:trans damp
1:friction coeff
1:regular vel
kg/m
m
Ns/m
Ns/m
rad/s
11 Dyn.States
331
force (re-)initialization
$M_Isys_belt_reference
2
200
135000
0.08
0.015
0.0008
0.001
+
1
1000
1
V-belt
1
3
0.01
0.8
0
12
Step 13 13
14 15 span force
13
332
Page 2
Diagram
Diagram
body ang vel.$B_Pulley_1_drive.gamma
body ang vel.$B_Pulley_2_torque.gamma

200
314.00
190
180
313.98
gamma [rad/s]
gamma [rad/s]
170
313.96
160
150
313.94
140
313.92
130
313.90
0.0
0.2
0.4
0.6
0.8
120
0.0
1.0
0.2
0.4
time [s]
0.6
0.8
1.0
0.6
0.8
1.0
time [s]
14
Page 5
Diagram
Diagram
force output.$F_Beltz.
force output.$F_pulley_2_torque.Torque L_z in M_k

35
2 : span force
x 103
1.2
30
1.0
0.8
20
2 : span force [N]
Torque L_z in M_k [Nm]
25
15
0.6
10
0.4
5
0.2
0
-5
0.0
0.2
0.4
0.6
0.8
1.0
0.0
0.0
0.2
time [s]
0.4
time [s]
15 span force
4.3
V
SIMPACK
SIMPACK
Aerodyn ECN-aeroFE237FE239 FE241
SIMPACK MATLAB MATLAB SIMPACK

Fluent SIMPACK
333
SIMPACK FE241
SIMPACK IPC
Socket
SIMPACK
SIMPACK

82 move Marker
Sbr

1
5.1
1
2
Step 1 SIMPACK
334
General
OKdanti
Step 2$B_Body1Rename
$B_dan,
Step 3$B_dan 3
OK
Step 4
GlobalsSearch Path 4
1.
2.
3. OK
Step5$B_dan_Cuboid
5
335
1. 39CAD Interface CAD SIMPACK

2. dan.slp
3. 0.001 CAD SIMPACK
0.001
4. OK
6
Chapter 5example 5
Step6 Marker Marker Markerr
$M_dan_yi_01
0,0,0.07
$M_dan_yi_02
0.07,0,0
$M_dan_yi_03
0,0,-0.07
$M_dan_yi_01
-0.07,0,0
$M_dan_aero
0,0,0
Step7 Joints$J_dan
20: 6 DOF al-be-ga Y 170
0.5
Step8 200mm 60mm 6mm
Bodies
01 $B_yi_01OK 7
7 01
1. Data input Mass manual, CG & Inertia auto
336
2. 1kg
3. OK
Step 9 01 Bodies$B_yi_01Geometry
$P_yi_01 8
8 01
1. 01
2. -0.1 Y 0.1m
3. Mass Prop Density 7850
SIMPACK
4. OK
Step10 01 Marker 01 Marker 01

Marker Marker
$M_yi_01_dan
0,0,0
$M_yi_01_aero
0-0.1,0
Step11 01 Joints$J_yi_01
9
9 01
1. From Marker $B_dan Marker$M_dan_yi_01

2. To Marker 01yi_01 Marker$M_yi_01_dan
3. 1Revolute Joint al X
4. OK
Step12 Step8Step11 02$B_yi_02 02 Marker
337
$M_yi_02_dan
0,0,0
$M_yi_02_aero
0-0.1,0
02 10
10 02
02 11
11 02

$M_yi_03_dan
0,0,0
$M_yi_03_aero
0-0.1,0
03 12
12 03
338
03 13
13 03

$M_yi_04_dan
0,0,0
$M_yi_04_aero
0-0.1,0
04 14
14 04
04 15
15 04
339
82 move Marker
82 move Marker Marker leadingMarker
5.2
Step15
$_dan_Fx
OKOK
0 x
Step16 SubVars
$G_dan_yi_CFDOKOK
Step17 Step 15 Step 16
Step18 SubVars
$G_dan_yi_CFD
$_dan_Fy
OKOK 0
y
Step19 Step18
$_dan_Fz z 0
$_dan_Mx x 0
$_dan_My y 0
$_dan_Mz z 0
$_yi_01_Fx 01 x 0
$_yi_01_Fy 01 y 0
$_yi_01_Fz 01 z 0
$_yi_01_Mx 01 x 0
$_yi_01_My 01 y 0
$_yi_01_Mz 01 z 0
$_yi_02_Fx 02 x 0
$_yi_02_Fy 02 y 0
$_yi_02_Fz 02 z 0
$_yi_02_Mx 02 x 0
$_yi_02_My 02 y 0
$_yi_02_Mz 02 z 0
$_yi_03_Fx 03 x 0
$_yi_03_Fy 03 y 0
$_yi_03_Fz 03 z 0
$_yi_03_Mx 03 x 0
$_yi_03_My 03 y 0
$_yi_03_Mz 03 z 0
$_yi_04_Fx 04 x 0
$_yi_04_Fy 04 y 0
$_yi_04_Fz 04 z 0
$_yi_04_Mx 04 x 0
$_yi_04_My 04 y 0
$_yi_04_Mz 04 z 0
340
$_end_time SIMPACK 0.001

Step20 SubVars
$G_dan_yi_CFD
dan_yi_CFD.subvar
Step21 SIMPACK
SIMPACK GlobalsSubVar Files
16
16
1.
Step20
dan_yi_CFD.subvar
2. Overwriting
3. OK OK
Step22 Marker Reference Systems
$R_IsysMarkers
Marker
$M_Isys_dan
OK 17
7. move Marker -82Congruent Marker move Marker Leading
Marker move Marker Leading Marker
8. Marker$M_dan_aero Leading Marker

9. $M_Isys Marker
10. $M_Isys Marker
11. move Marker Leading Marker Marker
move Marker Leading Marker
12. OK
17 move Marker
341
Step23 Step22 move Marker$M_Isys_yi_01 Leading Marker

$M_yi_01_aero$M_Isys_yi_02 Leading Marker $M_yi_02_aero$M_Isys_yi_03 Leading Marker
$M_yi_03_aero$M_Isys_yi_04 LeadingMarker $M_yi_04_aero Step22
Step24 93 93

$E_dan_CFD_FxOK 18
18
1. 14Constant Value or Derivative

2. create 93
3. $_dan_Fx
$G_dan_yi_CFD $G_dan_yi_CF. $_dan_Fx
4. OK
Step25 Step24
$E_dan_CFD_Fy$E_dan_CFD_Fz$E_dan_CFD_Mx$E_dan_CFD_My$E_dan_CFD_Mz
$E_yi_01_CFD_Fx$E_yi_01_CFD_Fy$E_yi_01_CFD_Fz$E_yi_01_CFD_Mx$E_yi_01_CFD_My
$E_yi_01_CFD_Mz$E_yi_02_CFD_Fx$E_yi_02_CFD_Fy$E_yi_02_CFD_Fz$E_yi_02_CFD_Mx
$E_yi_02_CFD_My$E_yi_02_CFD_Mz$E_yi_03_CFD_Fx$E_yi_03_CFD_Fy$E_yi_03_CFD_Fz
$E_yi_03_CFD_Mx$E_yi_03_CFD_My$E_yi_03_CFD_Mz$E_yi_04_CFD_Fx$E_yi_04_CFD_Fy
$E_yi_04_CFD_Fz$E_yi_04_CFD_Mx$E_yi_04_CFD_My$E_yi_04_CFD_Mz
Step26
$F_dan_CFD
OK 19
19
1.
From Marker Marker$M_Isys_dan

342
2. To Marker Marker$M_dan_aero
3. 93
4.
5. OK
Step27 Step26 20 21 22 23
20 01
21 02
343
22 03
23 04
5.3
0.1
Step28

$E_yundong_zheng
OK 24
344
24
1. 4Constant Second Derivatives

2. create
3. 1.57 90
0.1 0.1
4. OK
Step29 Step28 $E_yundong_fu 25
25
Step30 Bodies$B_danMarkers
$M_dan_yi_01_moveOK
26
345
26 move Marker
1. 94 move Marker move Marker Marker

2. move Marker x
3.
4. Marker
5. OK
Step31 Step30 move Marker 27 28 29
27 move Marker
346
28 move Marker
29 move Marker
Step32
$L_dan_yi_01
OK 30
1. From Marker move Marker$M_dan_yi_01_move
2. To Marker 01 Marker$M_yi_01_dan
3. 25
4. From Marke To Marker alpha
5. OK
347
30 01
Step 33 Step32 31 32 33
31 02
348
32 03
33 04
Step34 SIMPACK
34
349
34
1. Set all as suggested
Assemble system
2. Close
1. Y 170m/s
2.
350
5.4
Step35 Solver settings$SLV_Solversettings
35
35
1. End time
$_end_time
2. Output steps Number of points 101
3. OK
Step36 SIMPACK .sbr
.sbr
SIMPACK
SIMPACK
Solver settings$SLV_Solversettings 36
1. Measurment
2. Result Configuration
3. Sensors Position Velocity
4. OK
351
36
Step37
$S_dan
OK 37
37 Sensor
1. From Marker Marker$M_Isys

2. To Marker Marker$M_dan_BRF
3. OK
Step 38 Step37 Sensors
$S_yi_01From Marker$M_dan_yi_01To Marker$M_yi_01_dan

5.5
SIMPACK-post.exe s post2csv.qs danti.sbr post

SIMPACK-post.exe SIMPACK
Post2csv.qs SIMPACK
Chapter 5example_5
danti.sbr
post .sbr
352

"C:\Program Files\SIMPACK-9.3.1\run\bin\win32\simpack-post.exe" -s
"D:\simp\writing_book\chapter_five\example_5\danti.output\sbr2csv.qs"
"D:\simp\writing_book\chapter_five\example_5\danti.output\danti.sbr"
"D:\simp\writing_book\chapter_five\example_5\danti.output\111"
var myModel = Spck.openModel("D:\simp\writing_book\chapter_five\example_5/danti.spck");

Spck.Slv.integ(myModel);
Spck.Slv.meas(myModel);
myModel.saveAs("D:\simp\writing_book\chapter_five\example_5/danti01.spck ");
myModel.close();
.sjs SIMPACK
SIMPACK-slv.exe s solver.sjs
SIMPACK-slv.exe SIMPACK
Solver.sjs
"C:\ProgramFiles\SIMPACK-9.3.1\run\bin\win32\simpack-slv.exe"-s
"D:\simp\writing_book\chapter_five\example_5\solver.sjs"
solver.sjs
solver.sjs
var myModel = Spck.openModel("D:\simp\writing_book\chapter_five\example_5/danti.spck");
myModel.close();
solver.sjs
var myModel = Spck.openModel("D:\simp\writing_book\chapter_five\example_5/danti01.spck");
myModel.close();
5.6
move Marker
6.1 Introduction
SIMPACK User Routines SIMPACK
SIMPACK Filters
Excitations
Reference Systems
Moved Markers
Joints
Constraints
353
Force Elements and Control Elements

(.sti) SIMPACK
Rail-Wheel Contacts for the tangential contact forces
y-Outputs
Result Elements
External additional (arbitrary) routines and
functions
SIMPACK
Access Functions SIMPACK
SIMPACK Fortran 90 C SIMPACK

Fortran C SIMPACK
Fortran 90 C
Windows DLL
SIMPACK
SIMPACK makefile
SIMPACK
Fortran C
6.2 User Interface

SIMPACK
1 Actions Edit User Routines
354

(.ini)
6.2.1 User Routines

1
Directory...
6.3 SIMPACK
Filternone
Add Fortran FortranC/ C++
Edit
SIMPACK
general options SIMPACK ConTEXT
6.2.2 Compile and Link Settings

1
Windows /
Fortran Fortran Shell

bin Windows
ifortvars.bat Linux ifortvars.sh
ifortvars.csh Linux shell
SIMPACK
C/C++ C/C++
Make Make flagsmake
355
Includes
Fortran
/External objects/libraries
?*DebugRelease
../../../extobj/ ()
F F compile flags Fortran
/warn:unused
Fortran
C C compile flags C C
C++C++ compile flags C++

C++
Linker flags
6.2.3 Build Area
Build user libraries
Build type Standard

Clean
Clean
Debug
debugger
6.2.4 Message Log

Message Log warnings
errors
6.3 Directory Structure

SIMPACK
SIMPACK
<platform>win32
win64linux32linux64 SIMPACK
32 SIMPACK 64
32 *
356
SIMPACK
*<...>
build SIMPACK
<platform>
Debug
<...>
Release
<...>
lib SIMPACK
<platform>
src
ext SIMPACK
mbselem SIMPACK
*includeinclude
*modules Fortran
*<...>
*extobj
*extlib
SIMPACK /defaults/lib/ <platform>
6.4 Basics
Fortran C Fortran
Fortran C Simpack
6.4.1 Routines and Tasks

SIMPACK
typeMy Spring/DamperMy Acceleration

Filter
setup
calculation routine
SIMPACK
basename
357
SIMPACK
IDs
IDs
Category
File and Routine Basename
IDs
ID Range
Plot Filters 2D
ufilter2D
141150
Excitations
utimex
9099
Reference Systems
urefsys
1019
Moved Markers
uMarker
0119 1)
Joints
ujoint
5069
Constraints
uconstr
5069
Force Elements
uforce
2040
Tire (sti)
utyre_sti
2)
Roads
uroad
9195
Road (sti)
uroad_sti
2)
Rail-Wheel Contacts
ufric
0105 3)
y-Outputs
uyout
101-120
Result Elements
uresult
0120
1)
Moved Marker IDs are negative in the user interface

2)
Only one element is allowed
3)
Only for tangential forces
ID
_type _setupJoint 52
ujoint52.f ujoint52_type()
ujoint52_setup() ujoint52()
SIMPACK Add
IDs master
6.4.2 Element Parameters

SIMPACK
SIMPACK setup
task 0
SIMPACK
unit
SIMPACK SIMPACK.ins
Fortran SIMPACK
/run/user/include/
knr_force
include
358
Parameter Type
Description
1)
knr_double
knr_integer
knr_sel_menu
knr_force
knr_control
knr_force_control
knr_force_pre
knr_control_pre
knr_force_control_pre
knr_par_store
knr_nodef
1)
2)
2)
2)
1 knr_doubleknr_integer
2)
Element Category
Limit
Filters
40
Excitations
33
Reference Systems
Moved Markers
50 (see text)
Joints
30
Constraints
13
Force Elements, Control Elements
100 (see text)
Roads (SIMPACK )
12 (see text)
Roads (sti)
12
Tires (SIMPACK )
100
Tires (sti)
100
Rail-Wheel Contacts
100
y-Outputs
40
Result Elements
spck_df_forcepardim()
spck_df_Markerpardim() spck_df_roadpardim()
type
6.4.8
359
6.4.3 Output Values

setup 0
SIMPACK
unit 6.4.9
Element Category
Limit
50 (see text)
Roads (SIMPACK )
10
Roads (sti)
10
Rail-Wheel Contacts
50
spck_df_forceovdim()
type
6.4.8
6.4.4 Dynamic States

Force ElementsControl Elements Rail-Wheel Contacts
setup 0
6.5
Element Category
Limit
10 (see text)
Rail-Wheel Contacts
10
spck_df_forcestdyndim()
type
6.4.8
6.4.5 Algebraic States

setup
0 Functionsspck_df_forcestalg()
spck_df_Markerstalg()
360
6.4.6 Descriptive States

setup
0spck_df_forcestdesc()
6.4.7 Root Functions and Root States

6.5
setup 0
Function spck_df_forcestroot()
6.4.8 Variable Dimensioning
SIMPACK
spck_df_forcesetupdim() spck_df_Markersetupdim()
type-1
spck_df_forcepardim()
6.4.9 Units and Physical Dimensions

type
SIMPACK
SIMPACK
SIMPACK.ins SIMPACK.h SIMPACK
/run/user/include/ included
SIMPACK.inscomment
SIMPACK SI SIMPACK
setupcalculation
SI
SIMPACK SIMPACK
SI SIMPACK
SIMPACK
361
6.4.10 Parallelization
spck_df_threadsafe
shared data
structures Fortran COMMON C shared structures
Fortran SAVE
COMMON modules
C ID
6.5 Additional Information

6.5.1 Debugging
debugger
SIMPACK
Debug
Debug
SIMPACK
SIMPACK
6.5.2 C Fortran Mixing C and Fortran

Fortran C
SIMPACK
Fortran C
Fortran C
Fortran call by reference
C
*C void Fortran
C SIMPACK.h C
PREFIX
C Fortran
C
& C Fortran void Fortran
Fortran C C
PREFIXSIMPACK.h
Fortran
Windows Intel Fortran

_ Fortran C
Fortran Fortran
362
C SPCK_FTN_NAMES() SIMPACK.h
C myfunction()
#include "SIMPACK.h"
[...]
#define MYFUNCTION SPCK_FTN_NAMES( myfunction, MYFUNCTION )
[...]
void PREFIX MYFUNCTION( int *intValue ); /* prototype */
[...]
void PREFIX MYFUNCTION( int *intValue ) /* function */
{
[...]
}
SPCK_FTN_NAMES()_
Strings
Fortran
Fortran C
Null character\0 Fortran C
Fortran
Arrays
Fortran C
Fortran 1 C
0 Fortran row,col C
[col-1,row-1]
6.6 Access Functions

SIMPACK
typesetup
error flag
Fortran Fortran
spck__
asconstrcf
CALL spck_as_constrcf(value, id, mflag, comp, refsys, err)

uf
Element access (ae)
Name access (an)
Scalar access (as)
Vector access (av)
Define property (df) setup
Define scalar (ds)
Define vector (dv)
363
Solver access (slv)

Vector operations (v) 3 1
Matrix operations (m) 3 n n 3
Utility functions (uf)
Get dimension (dim)
6.7 SIMPACK
6.7.1 Review
6.7.1.1 User Routine Introduction
SIMPACK SIMPACK
SIMPACK
6.7.1.2 Requirements
SIMPACK 9.3.1
win32
Fortran Fortran Compiler
1. ifort 11.1-update-7 or newer version 11 update

2. ifort 2011 (12.1) -update-11 or or newer version 2011 update
C C Compiler
1. Visual Studio C++ 2008 SP 1 (together with ifort 11.1 or 2011)

2. Visual Studio C++ 2010 SP 1 (together with ifort 2011)
3. gcc 4.3.3 through to 4.6.3
SIMPACK SIMPACK License Requirements
1. USER_GUI (Graphical User Interface)
2. USER_SLV (Solver)
3. USER_CRE (Creator)
6.7.1.3 Fortran
!*
Column one signals a comment line when c, ! or * exists
2-5
2345 Column 2-5 are used for labels (e.g. goto 9001)
6 +
6 Column six is used for a line continuation when + exists
; Starts a new line

!
Fortran
1
Integer value
1.0 Real value
1.d0 Double Precision value
position = 0.4
If ( position .gt. 0 ) then
! Position is assumed to be integer
364
! Position is therefore 0
! 0 is not greater than 0
endif
position = 0.6
int(position) ... 0
nint(position) ... 1
Fortran
6.7.1.4 User Routine Templates

SIMPACK Fortran
*type
*setup*
uforcexx_type.fForce Type Definitions
- Force Type Description
- Force Class
uforcexx_setup.f Set-up of Force Element
- Parameter Settings
- Output Value Settings
- State Settings
- Force Settings
- Pre-Calculations
- Post-Calculations
uforcexx.fForce Calculations
- Force Calculations
- Root Calculations
6.7.1.5 Unit Introduction

SIMPACK
SIMPACK SI
SIMPACK
par_u Parameter Units
ov_u Output Value Units
st_u State Units
Kp_length(m)
kp_velocity(m/s)

Y-outks_utyp
y-out y_u
6.7.1.6 Shared Libraries

SIMPACK
365
6.7.2 Exercise
6.7.2.1
SIMPACK
SIMPACK

SIMPACK
6.7.2.2
1. Stiffness
N/m
2. Damping
Ns/m
3. Reference Frame
F = (stiffness x deformation) + (damping x velocity)
Step1 SIMPACK
Step2 Force Elements$F_spring

Delete
Step3 Actions
4
366
1. 5
E:/SIMPACK_Start/user routine
Directory
2. Filter Force Elements

3. Add 6 6 Number
20 20 Number SIMPACK
20~40 OK
uforce20.f E:/SIMPACK_Start/user
routine src ext
mbselem mbselem uforce20.f Fortran
SIMPACK
4. EditSIMPACK ConText
Fortran uforce20.f Fortran
uforce20_ typeuforce_ setup uforce20 7
367
SIMPACK
uforce20_type
type_name = 'User Force/Control Type 2020Spring damper
! static dimensions
call spck_df_ForceParDim(
1, ierr )
! parameters
if ( ierr .ne. 0 ) goto 9002
call spck_df_ForceStDynDim( 0, ierr )
! dynamic states
call spck_df_ForceOvDim(
0, ierr )
! output values
! static dimensions
call spck_df_ForceParDim(
3, ierr )
! parameters3
call spck_df_ForceStDynDim( 0, ierr )
! dynamic states
call spck_df_ForceOvDim(
2, ierr )
! output values2
uforce20_setup
! dimensions
npar = 1 npar = 3
nstdyn = 0
nov
= 0 nov
= 2
uforce20_setup -1
if ( task .eq. -1 ) then

! parameters
cc
call spck_df_ForceParDim( npar, ierr ) cc
cc
if ( ierr .ne. 0 ) goto 9001 cc
! dynamic states
cc
call spck_df_ForceStDynDim( nstdyn, ierr ) cc
cc
! output values
cc
call spck_df_ForceOVDim( nov, ierr ) cc
cc
return
uforce20_setup 0
! parameters
! ---------!
name '123456789012345678901234567890' | type
| unit type
par_str( 1) = 'Parameter 1
' ; par_typ( 1) = knr_double ; par_u( 1) = knodef
cc par_str( 2) = 'Parameter 2
' ; par_typ( 2) = knr_double
; par_u( 2) = knodef
cc par_str( 3) = 'Parameter 3
' ; par_typ( 3) = knr_double
par_str( 1) = 'stiffness
' ; par_typ( 1) = knr_double ; par_u( 1) = kp_stiffness
par_str( 2) = 'damper
' ; par_typ( 2) = knr_double ; par_u( 2) = kp_damping
par_str( 3) = 'Reference Isys ' ; par_typ( 3) = knrb
cc
ov_str( 1) = 'Output value 1
' ; ov_u( 1) = knodef
cc
ov_str( 2) = 'Output value 2
' ; ov_u( 2) = knodef
ov_str( 1) = 'displacement
' ; ov_u( 1) = kp_length
368
ov_str( 2) = 'velocity
' ; ov_u( 2) = kp_velocity
! output flag
! 0 = output values
! 1 = force and output values
! 2 = torque and output values
! 3 = force, torque and output values
res_flg =0 res_flg =1 res_flg =3
uforce20
double precision stiffness
double precision damping
integer refsys
integer err
double precision pos
double precision vel
0
stiffness = par(1)
damping = par(2)
refsys
= nint(par(3))
Call spck_as_dz( pos, mk_to, mk_from, refsys, err )
Call spck_as_vz( vel, mk_to, mk_from, refsys, 0, err )
force(1:3)
= 0.0d0
torque(1:3)
= 0.0d0
ov(1:ov_dim)
= 0.0d0
stdynd(1:stdyn_dim) = 0.0d0
force(1:2)
= 0.0d0
force(3) = stiffness * pos + damping * vel
torque(1:3)
= 0.0d0
C
ov(1:ov_dim)
= 0.0d0
ov(1) = pos
ov(2) = vel
stdynd(1:stdyn_dim) = 0.0d0
ConText
5. Fortran compiler configFortran Fortran
ifortvar.bat
6. Build type Standard Clean 6.2.3
7. Build user libraries
[100%] Building Fortran object CMakeFiles/user.dir/mbselem/uforce20.f.obj
[100%] Built target user
8. Close GUI
SIMPACK /lib/win32
user.dll
Step4

$F_Spring_damper_user
OK 8 From Marker
Marker$M_Isys To Marker Body1 Marker
$M_Body1_top20User Force/Control Type 2030020
Reference Isys$M_Isys
369
Step5
6.8
SIMPACK
370

[1] SIMPACK help documents.
[2] . [M]. 2006.
[3] . [M]. 2001.
[4] . 55t [D]. 2011.
[5] . Fluent Simpack [D].
2012.
[6]. . Simpack [M].
2008.
[7].. ADAMS [M].2005.
[8].GB5599-85
[9].. [M].2007.
[10].. [M]. 2008.
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Simpack 9 Tutorial 1

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SIMPACK

2011 SIMPACK SIMPACK 9

1.9 ................................................................................................................................................ 101

3.3.7 ................................................................................................................................ 151

6.5 ................................................................................................... 193

MATLAB .................................................................................................................... 267

6.4.8 Variable Dimensioning ................................................................................... 361

CAD IDEASUGPRO/E CATIA

1.4.1 SIMPACK Basic Modules

1.4.2 SIMPACK General Modules

Non-linear Elastomere P.Pfeffer

1.4.3 CAD CAD Interfaces

Catia V5 CATSIM V5 Runtime

1.4.4 Flexible Body Simulation Modules

1.4.5 CACE Software Interfaces

MATLAB Result Export

IPCInter Process Communication

1.4.6 Multi Domain Interface

TNO MF-Tyre (3rd party)

TNO MF-SWIFT (3rd party)

TM Easy Tyre (3rd party):

1.4.8 Rail Modules

1.4.9 Drive Line Modules

Drive Line Selection 2

1.4.10 SIMPACK Wind Modules

NREL Interface to AeroDyn Ver. 13 (NREL)

ECN Interface to AeroModule (ECN)

Wind Turbine Control Interface

1.4.11 SIMPACK Engine Modules

SIMPACK SIMPACK Engine

Hydraulic Lash AdjusterHLA

Valve Spring, Multi Mass Model

Valve Spring, SIMBEAM Model + Segment Multi Mass Model

1.4.12 SIMPACK Bearing Modules

Tower Interface to TOWER Module HD Impedance 3rd party

Tower TOWER Module HD Impedance3rd party

Tower Interface to TOWER Module HD Reynolds3rd party

Tower TOWER Module HD Reynolds 3rd party

Tower Interface to TOWER Module Full EHD 3rd party

Tower TOWER Module Full EHD 3rd party

1.4.13 SIMPACK Biomotion Modules

Biomotion Motorcycle Rider3rd party

Biomotion HAS-Powertool Controller3rd party

SIMPACK Las Vegas

OLicense SIMPACK OLicense

OLicenseServer-4.4.0-Win32-Setup.exe OLicenseV4.4 OLicense

OLicense C :\Program Files\Optimum

14 Export Server Info

3I accept the agreementNext 19

8Finish SIMPACK View Readme File

OLicense License server/filelocalhost

SIMPACK 9.3.1 SIMPACK

2.1.2.1 SIMPACK DOS

2.1.2.2 SIMPACK DOS

2.1.2.3 SIMPACK DOS

--zip SIMPACK zip

simpack-slv --integration mymodel.spck

Development of a mechanical model

Provision of the physical parameters for the model

File New(Ctrl+N)SIMPACK V9.0

File Open(Ctrl+O) SIMPACK (*.spck )

Edit Undo(Ctrl+Z) SIMPACK

Edit Redo(Ctrl+Y) SIMPACK

ViewSet Pre SIMPACK

.dbp.dbi .spck .spck ASCII