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You will #uild a relatively simplistic model o! a pendulum which will #e developed into a dou#le+pendulum with a su#structure ,chapter -. and ../. 0igure 4.1. shows the pendulum which you will create in this section.
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inertia tensor I
7 gm< 8
=oint: $oint mo#ility initial $oint state initial angular velocity 5 5 5 rotation a#out 9+a9is ,>61: ?evolute =oint al>/ 6.@6@ 6.6 7 rad 8 7 radAs 8
7m8
thic ness
7m8
Cylinder" representing the rotational a9is: length diameter 5 5 6.; 6.67m8 7m8
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Figure 4.2.: The Open Model Dialogue Box You must now select a directory in which you want to create the new model. Clic on DHew> and enter the model name Dpendulum>. Iit ?eturn to accept.
4hen a new model is created" SIMP(C) automatically create a de!ault model with the !ollowing parameters: Inertia re!erence !rame" one #ody with a mar er" one $oint" one sensor" a de!ault gravity vector and a de!ault %&+geometry.
Iint: 0or a #etter overview it is advisa#le to create an own !older !or each new model. Ghere!ore clic on !older name should #e e*ual/. and enter a name ,model name and
Go start the Model Setup either clic on or Pre-Processor F Model Se up. Gwo windows will appear on the screen. Ghe %& Model Setup window ,!igure ;.%./ and the Jcho (rea ,!igure ;.4./.
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Figure 4.".: Bodies lis #ox Select K3L3ody1 and clic . Jnter the new name Dpendulum>.
&ou#le clic on K3Lpendulum or select it with the mouse and then clic on . Ghe M3S &e!ine 3ody dialogue #o9 appears. 0or this model you will enter the data #y hand" #ut it is even possi#le to get it !rom the data#ase. 4ithin this dialogue #o9 you can enter the physical attri#utes o! the #ody. Ghese include the mass" centre o! mass and the inertia+tensor. You should now enter the data !rom 4.2 !or the #ody. 0igure 4.4. shows how the M3S &e!ine 3ody dialogue #o9 should loo .
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Figure 4.4. MBS De$ine Bod% dialogue #ox You will now change the #ody !rom a cu#oid to a prism to loo li e the hand o! a cloc . Clic on and the %& geometry window appears. 4ithin this window you will !ind the de!ault ensem#le KJLpendulum and the de!ault primitives o! this ensem#le. Ghere is the primitive KPLpendulumLcu#oid. Select the cu#oid and clic KPLpendulumLhand. on and change the name to
Clic on to change the primitive parameters o! the Dhand>. Ghe Primitive &e!inition window appears. Change the Primitive type to M6-: Prism #y CoordinatesN. 3ac in the Primitive &e!inition window change the prism thic ness to 6.6and the Ho. o! shape points to 4. In the shapeAline list #o9 enter the !our shape points as given in chapter 4.2
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In the Model Setup window the cu#oid should have changed to a prism with the shape o! a hand o! a cloc . Go #ring the #ody in the right position li e it is in !igure 4.1. you have to rotate it. Ghere!ore you have to edit the #uilt+in vector and rotation matri9: + + ?otate primitive + B6O on y+a9is ,3eta/ ?otate primitive P B6O on :+a9is ,Gamma/
0igure 4.-. shows how the primitive dialogue #o9 should loo .
Iint: 3ecause SIMP(C) does not have an undo !acility #ut only a reload !acility it is necessary to save your model !rom time to time ,#est a!ter each modi!ication/. Ghere!ore clic on or select File F Sa(e !rom the pull+down menu.
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I! you want to remove a num#er o! changes then you have to reload the model !rom the last save. Jither clic on or File + +eload
Figure 4.,.: +e$erence Frames 0rom this dialogue #o9 you should now either dou#le clic on the re!erence !rame K3LIsys or select it and then clic on . Ghe !ollowing dialogue #o9" !igure 4.@. will appear.
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Figure 4.-.: +e$erence Frames Dialogue Box Select . Ghe %& Geometry window appears. Ghis windows shows the ensem#les and primitives that are associated with this re!erence !rame. 'nder DPrimitives o! Selected Jnsem#les> clic on .
In the input #o9 that then appears you should enter the name DIsysLa9le> ,remem#er: DKPL> will #e attached automatically/. Ghen clic on . Ghe Primitive &e!inition window appears. Change the type to D;: Cylinder>. You will now change the parameters diameter and length according to 4.2. Go rotate the cylinder in its right position you need to edit the #uild+in vector matri9 as !ollows: + ?otate primitive P B6O on :+a9is ,Gamma/
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Figure 4...: 'omple ed Primi i(e De$ini ion )indo* Clic three times on window. to get #ac to the ?e!erence 0rames
Iere you will now de!ine the mar ers which are associated with a $oint. In this case the is the de!ault mar er KMLIsys set #y SIMP(C) on the re!erence !rame. Select KMLpendulum" the de!ault mar er on the pendulum" as . It is necessary to select a $oint type to allow de!ined degrees o! !reedom. Clic on and select D61: ?evolute =oint al> ,rotation a#out 9+a9is/ !rom the =oint Gype Qist. Press .
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In the M3S &e!ine =oint &ialogue #o9 clic on the !irst line ,D?otation a#out al 7rad8>/ o! the initial state #o9. In the !ollowing input window you can enter the initial state o! the $oint in terms o! #oth position and velocity. Jnter the !ollowing modi!ications into the input panel" as they are given in 4.2. + + Position 1elocity 5 5 6.@6@ 6 . Ghe M3S &e!ine =oint window should loo li e !igure
Clic on 4.B.
Figure 4.0.: 'omple ed MBS De$ine /oin Dialogue Box Ghe Pendulum is !inished now and should loo li e 0igure 4.16.
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Congratulations you have just finished your first SIM !C" Model
Ghe !ollowing steps will show you how to animate your model" change the view and modi!y it to a dou#le+pendulum.
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In the dialogue #o9 !igure 4.11. you can use slider #ars to :oom" translate and rotate your model. 4hen you clic on standard views as seen in !igure 4.1;. you can chose #etween some isometric and parallel views.
Iint: You can even change the view #y holding down the Dcontrol> ey and one o! the three mouse eys and moving the mouse: DQe!t mouse #utton> DMiddle mouse #utton> D?ight mouse #utton> 5 5 5 :oom in A out rotate translate .
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In this case you will !ind a new !ile in your !older" which is called: D.SLsuiLg%dLg%d.!lag> It is necessary to delete this !ile to continue with SIMP(C).
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Ghe on+line integration is recommenda#le !or small models with only a !ew degrees o! !reedom li e our pendulum. Clic on or select 'alcula ion F Time 5n egra ion !rom the pull+down menu. Ghe dialogue #o9 !igure 4.1%. appears.
Figure 4.1".: On-6ine Time 5n egra ion )indo* Clic on DGo> to start the on+line integration and animate the pendulum in the model setup window.
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Select 'alcula ion F Time 5n egra ion F 'on$igure !rom the pull+down menu. Ghe time integration window will appear. Jnter the !ollowing parameters: + + + Initial Gime Jnd Gime Hum#er o! Communication Points and then . 5 5 5 6.6 1-.6 1-66
Clic on
Hote: Ghe e9ample a#ove leads to a communication step si:e o! 6.61 s. Hormally the integrator chooses the integration stepsi:e during the integration procedure and varies it due to the integration sta#ility. It may #e necessary to de!ine a ma9imum integration stepsi:e to guarantee that the dynamic answer o! all important eigen!re*uencies is mapped.
Hote: 3e!ore per!orming the time integration it is necessary to save the model #ecause SIMP(C) reads the data !rom the model !iles while per!orming the calculations. Clic on ,in the G'I/ or select 'alcula ion F Time 5n egra ion F Per$orm *i h Measuremen s You can !ollow the integration process in the echo area. Jnter D?eturn> to e9it the echo area when the process is !inished. In the model setup window select or chose 7nima ion F Time 8is or%. Ghe animation control window !igure 4.14. appears
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Figure 4.14.: 7nima ion 'on rol )indo* Clic on to start the animation. J9periment with the push#uttons to see the e!!ects they have on the animation. It is even possi#le to ma e short !ilms o! the animation" which are saved in the model !older.