Altair MotionView 2019

Tutorials

altairhyperworks.com
Contents
Access the Model Files ...................................................................................................... 1
MV-100: Introduction to the MotionView Environment ........................................................... 2
MV-1000: Interactive Model Building and Simulation ...........................................................25
MV-1012: Analytical Contact Simulation using MotionView and MotionSolve ...........................57
MV-1015: Using Spline3D to Model Combustion Forces in an Engine ......................................72
MV-1020 Modeling 2D Rigid to Rigid Contact Simulation .......................................................87
MV-1023: Using Python Subroutines in MotionView Model Building ...................................... 108
MV-1025: Modeling Point-to-Curve (PTCV) Higher-Pair Constraint ....................................... 125
MV-1026: Modeling Curve-to-Curve (CVCV) Higher-Pair Constraint...................................... 142
MV-1027: Modeling Point-to-Deformable-Curve (PTdCV) Higher-Pair Constraint .................... 160
MV-1028: Modeling Point-to-Deformable-Surface (PTdSF) Higher-Pair Constraint .................. 169
MV-1029: Modeling Point-to-Deformable-Surface Force (PTdSF) ......................................... 177
MV-1030: Creating a System Definition Using the MotionView GUI ...................................... 184
MV-1032: Model Building and Simulation using Wizards ..................................................... 196
MV-1040: Model Building using Tcl .................................................................................. 205
MV-1050: Automation Using TCL ..................................................................................... 214
MV-1060: Introduction to MDL ........................................................................................ 217
MV-1070: Creating a Simple Pendulum System using MDL ................................................. 231
MV-1080: Creating an Analysis using MDL ........................................................................ 248
MV-1090: Creating a Dataset using MDL .......................................................................... 254
MV-2040: Load Estimation for a Fore Canard Actuator Mechanism under Aero-dynamic Loads 259
MV-2100: Introduction to Non-Linear Finite Element (NLFE) Analysis in MotionSolve ............. 279
MV-2110: Using an NLFE Helical Spring in a Cam-Follower Mechanism ................................. 299
MV-3020: Optimization of a Two Spring Mass System ........................................................ 317
MV-3021: Optimization of an Impact Absorber .................................................................. 329
MV-3022: Optimization of a 4-bar Model .......................................................................... 337
MV-3023: Optimization of a Suspension ........................................................................... 351
MV-3030: Load Export ................................................................................................... 359
MV-3040: Durability and Fatigue Tools ............................................................................. 366
MV-4000: Eigen Analysis using ADAMS/Linear .................................................................. 374
MV-4010: Working with ADAMS ...................................................................................... 379
MV-4020: Solver Neutral Modeling .................................................................................. 383
MV-4030: Flexible Bodies for MotionView with Abaqus ....................................................... 386
MV-5000: Rigid body Animation - Basic ............................................................................ 395
MV-5010: Rigid body Animation - Advanced ..................................................................... 401
MV-6000: Plotting Basics ................................................................................................ 406
MV-7007: Adding Friction to Joints .................................................................................. 411
MV-8000: Open Loop Events........................................................................................... 429
MV-8001: Path and Velocity Following .............................................................................. 447
MV-8002: Multi-Maneuver Events .................................................................................... 462
MV-8003: Gear and Clutch Control .................................................................................. 468
MV-8050: Using the Leaf Spring Builder ........................................................................... 473
MV-8100: Tire Modeling ................................................................................................. 502
MV-8500: Using the Truck Library ................................................................................... 518
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Technical Support
Altair provides comprehensive software support via web FAQs, tutorials, training classes, telephone and
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Telephone and E-mail

When contacting Altair support, please specify the product and version number you are using along with
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Technical Support p.vi

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See www.altair.com for complete contact information.

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Access the Model Files

Required model files for the tutorials are available online.

1. To access model files, visit Altair Connect or the Altair Client Center.

A user ID and password are required to access the model files. Follow the instructions at the
website to obtain login credentials.

2. Select the required file package and download it onto your system.

Note that the files may require unzipping before proceeding with the tutorials. When extracting
zipped files, preserve any directory structure included in the file package.

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MV-100: Introduction to the MotionView Environment

This tutorial contains an introduction to the MotionView graphical user interface.

Invoking MotionView:

• In Windows - go through the Start Menu (Start Menu > Programs > Altair
HyperWorks installation > MotionView).
OR

• In Linux - invoke ~hw_install/altair/scripts/mview in an "open terminal"

(where ~hw_install is the location where HyperWorks is installed).

The MotionView interface:

MotionView is one of the clients that reside under the HyperWorks Desktop (HWD)
framework. The framework provides a common layout for all clients. Other clients that
are available under this framework are: Hypermesh, HyperView, HyperGraph 2D,
HyperGraph 3D, MediaView, TextView, and TableView. The client is selected, or
changed, using the Client selector drop-down menu:

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The image below shows the HWD graphical user interface with MotionView activated as
the client:

The HWD graphical user interface can be broadly categorized into six segments:

Main Menu

The Main menu bar includes all functionalities that are available through the various toolbars.
Additionally, the Main menu contains other useful utilities like FlexPrep, Import CAD/FEM, Macros,
etc.

Note - The Main menu varies between the different clients of HyperWorks Desktop.

The following table summarizes the functionalities available in the Main menu of MotionView:

Main Menu Item Functionality Alternatives

File Provides options to The same options are available

manage files (Creating new through HWD Standard Toolbar also.
models, Opening and
Saving models/Sessions,
Importing and Exporting a
Solver Deck, etc.).

Edit Provides options to Same options are available through

manage the pages and Page Edit Toolbar also.
windows of a session (Cut,
Copy, Paste, and Overlay
of the page and window).

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View Allows you to manage the

display of the graphical
user interface (the display
of Browsers, Command
Window, Panel Area, Tab
Area, Toolbars, etc.).

Solver Mode Allows you to switch

between solvers modes
(MotionSolve, ADAMS, and
ABAQUS).

Model Allows you to access the

following:

• Assembly Wizard

• Attachment Wizard

• Set Wizard Paths

• Implicit Graphics

• Data Summary

• Topology Summary

Analysis Allows you to access the

following:

• Task Wizard

• View Reports

Tools Provides you with access to Check Model – Available in Run

various tools and special panel.
utilities:

• Check Model

• Freeze Output Ids

• Import CAD or FE using

HyperMesh

• Model Identification Tool

• CG/Inertia Summary

• Custom Wizards

• Reports

• MS UserSub Build Tool

• Templex Functions

• Options

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FlexTools Provides you with access to

various utilities:

• Flex Prep – Used for

generation and
translation of flexbody
files.

• Flex File Gen - Generates

an animation file for
ADAMS flexbody results.

• Fatigue Prep – Helpful in

the translation of MBD
result files to other
formats useful in fatigue
analysis.

• Load Export – Allows you

to export loads from an
MBD analysis.

Macros Provides you with access to

macros that are useful for
modeling and model
debugging.

Applications Allows you to invoke other

HyperWorks applications
from the MotionView
graphical user interface.

Help Provides you with access to

the online help.

HWD Standard Toolbars

Toolbars provide quick access to commonly used features. HyperWorks Desktop toolbars are
static and will not change, regardless of which application is active. Some of the toolbars become
inactive when different clients are selected. In the table below, all of the HWD toolbars are
introduced. Please be sure to note the toolbars that are not applicable to the MotionView client.

Toolbar Purpose Image

Client Selecting the HWD client

Selector from the drop-down list.

Standard Options for file

management (Creating,
Editing, Saving,
Importing, and Exporting
of files etc.).

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Page Options to:

Controls
• Create and Delete
pages and windows.

• Expand, Swap, and

Synchronize selected
windows.

Note - To navigate
through different pages of
a session, use the

Previous Page or

Next Page buttons

(located at the upper right
corner of the window,
below the menu bar area
and above the graphics
area). See the Page
Display and Navigation
Area topic for additional
information.

Page Edit Options to manage pages

and windows of a session
(Cut, Copy, Paste, and
Overlay of a page and
window).

Animatio Provides controls for the

n Toolbar animation of results.

Note - Available in HyperView and HyperGraph only.

Standard Options to view model in

Views different orthogonal
views.

3D View Options to control the 3D

Controls view of the model
(Rotate, Pan, Zoom, etc.).

2D View Options to control the 2D

Controls view of plots (Pan, Zoom,
etc.).

Note - Available in HyperGraph only.

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Reports Options to
Create/Open/Define
Report Templates.

Scripting Options to
Create/Open/Debug/Run
Tcl and HyperMath
scripts.
Note - Not available in MotionView.

Image Capture Image/Video of

Capture the active page.

Note - Please refer to the Hyperworks Desktop User’s Guide > Graphical User Interface > Toolbars topic
for a detailed explanation of each toolbar listed above.

Client Specific Toolbars

Client specific toolbars provide access to options required for pre- or post-processing of FEA/MBD
models. MotionView has a set of toolbars for building an MBD model. Each MotionView toolbar group
provides access to entities with similar characteristics. For example, all entity such as Joints and
Motions are grouped in the Constraint toolbar. The table below shows MotionView toolbars with a
brief explanation of their usage.

Toolbar Purpose Image

General Actions Options to render graphics,

provide access to the Run panel
(change solver settings and
submit jobs to the solver), and
the Entity Selector.

Depressing the Entity Selector

icon indicates the graphic

screen is in entity selection mode.
If no other entity icons are
depressed, the selection is not
filtered to a particular entity (any
entity that has a graphical
representation on the screen can
be selected).

Container Entity Select/Add container entities like

Assemblies, Systems, and
Analyses.

Reference Select/Add entities like Points,

Entity Bodies, Vectors, Markers, etc.

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Constraint Select/Add constraint entities like

Joints, Motions, Couplers, etc.

Force Entity Select/Add force entities like

multi-axial Forces, Spring
Dampers, Bushings, Beams,
Contacts, etc.

Control Entity Select/Add entities like Solver

Variables, Solver Arrays, SISO
Controller, Differentials, and
Sensors which are useful in
defining controlled simulations.

General MDL Select/Add general MDL entities

Entity like Datasets, Templates, Forms
and Output Requests.

Model Check Checks the model.

Point Macros Access point creation macros

useful in adding points with
respect to a reference frame,
along a vector, along a curve and
at an arc center.

Other Macros Other macros useful in modeling

and debugging: calculate angles,
find connected entities, create
markers for a deformable surface
and contact properties editor.

A left click on an entity icon sets the filter to select that particular entity from the graphic
screen, while a right-click on a toolbar icon enables adding that entity to the model (see the
Points example below):

• Left mouse click - Filters selection to a Point entity.

• Right mouse click - Opens the Add Point dialog to add a Point.
Note - Mouse over the icons to display a tip about the type of entity that can be selected or added.

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Browsers

Tab Area

The tab area docks different browsers, the purpose of the browsers is to navigate through the
hierarchy tree and execute some operations specific to the selected items. Available for all clients is
the Session Browser, which allows you to browse to the different pages or windows in an HWD
session, as well as execute certain page and window operations. In addition to the Session
Browser, client specific browsers are shown based on the active window. For example, when the
MotionView is active client in the working window, the MotionView Project Browser is shown;
similarly, when HyperView is active, the Results Browser is shown. Specifically, the MotionView
Project Browser helps you browse/select different modeling entities, in addition to executing
certain modeling operations. Other browsers include the Organize Browser (used for data
management and collaboration) and the Process Manager (used for process automation). Please
refer to the client specific online help regarding the available browsers. Finally, browsers can be
placed on either side of the graphic window (Left/Right/Both) through the Menu bar by using the
View > Tab Area menu options.

Mouse Options in the Project Browser

A left mouse click on an entity in the Project Browser selects that entity and the details of entity
are displayed in the Panel area (see the example below):

A right click on an object brings up a context menu with options that are relevant to the selected
object.

For example, a right click on a Point entity brings up a context menu that provides options to either
Deactivate, Rename, Add, Delete, or Cut the point entity along with options to filter entities.

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Similarly, a right mouse click on the Model (the topmost folder in the browser hierarchy) displays
up a context menu with options useful in model building.

Panel Area

Below the client specific toolbar is the panel area where you can view and modify the various values
and properties of a selected entity. Panels may have several tabs which organize the various
properties and values of the entity type selected. For example, the Spring Damper panel has the
connectivity information and properties displayed in three tabs (as shown below):

Connectivity tab: Allows you to specify the type of spring, the bodies to attach, and the
attachment points.

Properties tab: Allows you to set the stiffness and damping properties of a spring.

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Preload tab: Allows you to set a 'preload' on a spring by specifying a force value or spring free
length.

Graphics Window

Graphics window is the model visualization area where you can interactively work on the model.

The following table illustrates the various mouse clicks available for model visualization:

Operation Action

Left click on an entity like a Point, Selection (the selected entity is highlighted by
Graphic, etc. (while the Entity Selector a white boarder around it).
and an entity icon is depressed in the
toolbar).

Hold the left mouse button and move Displays the entity name on the mouse tooltip
over the model (while the Entity and selects the entity upon releasing mouse
Selector and an entity icon is button.
depressed in the toolbar).

Right-click on a model entity. Displays a context menu with various options:

Select, Cut, and Delete against each entity
name.

Ctrl + Left mouse button Rotates the model (observe the mouse
tooltip).

Ctrl + Left click Picks the center of rotation.

Ctrl + Right mouse button Translates/Pans the model.

Ctrl + Middle mouse button Selects the window to fit.

Ctrl + Middle click Fits the model to the window.

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The controls for the mouse can be found under Tools > Options > Mouse:

You can customize the mouse controls using this dialog.

Note - The items under the Main Menu, Browser, and Client specific toolbars differ from client to
client.

Exercise:
In this exercise you will learn to:

• Open and Save a model in MotionView.

• Add a Page and change the Page Layout in a Session.
• Change between HWD clients.
• Open and Save a HWD session.
Prior to beginning this tutorial, please copy all of the files located in the
mv_hv_hg\mbd_modeling folder to your <working directory>. See Access the Model
Files for additional information.

Step 1: Opening a MotionView model file.

1. Start MotionView:

− In Windows - go through the Start Menu (Start Menu > Programs > Altair
HyperWorks installation > MotionView).

− In Linux - invoke ~hw_install/altair/scripts/mview in an "open terminal"

(where ~hw_install is the location where HyperWorks is installed).

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2. Click the Open Model icon, , on the Standard toolbar.

OR

− From the File menu select Open > Model.

3. From the Open Model dialog, locate and select the model definition file
SingleCylinderEngine_model.mdl, located in your working directory.

Note MDL stands for “Model Definition Language”. MDL is an ASCII

programmable language for modeling in MotionView. See the MotionView
Reference Guide for details about the different MDL statements.

4. Click Open.

The single cylinder engine model displays in the graphics window (fit to the window).

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5. Upon successful loading of a model into MotionView, the status bar will display the
Ready message (in the lower left corner of the screen). The Project Browser lists
all of the entities in the model. Click on the Expand /Collapse button of each
entity (Bodies, Points, Joints, Motions, etc.) to browse through the entities. Use
the mouse controls in the graphics area to rotate, pan, and zoom the model.

6. Expand the Bodies folder in Project Browser by clicking on the next to Bodies
( ).

7. Click on the CRANK_SHAFT body from the bodies listed to review its properties.

Note Each entity will have a label and a unique variable name. For example, the
crank shaft body has a label of CRANK_SHAFT and a variable name of
b_CRANKSHAFT.

The corresponding entity panel (Bodies in this case) is displayed in the bottom of
the window.

8. From the Properties tab, observe the Mass and Inertia properties of the body.

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9. Click on CM Coordinates tab to review the CM point of the body and its orientation.

The Origin point defines the body CG location and the orientation is defined with
respect to global reference frame using direction cosines DxDyDz.

Step 2: Selecting and modifying a motion.

In this step you will modify the crank shaft rotational velocity to 10rad/sec.

1. Left click the Motion icon on the Constraint toolbar to change the graphical
selection to a motion entity. Move the cursor in the graphics area with left mouse
button pressed to identify the motion CrankShaft Rotation and release the mouse
button to select it.

OR

− Browse to the Motions entity in Project Browser and click on next to Motions
and select CrankShaft Rotation.

Note Implicit graphics are displayed for all applicable entities, allowing you to
visualize their location and orientation. See the MotionView User’s Guide
for details about controlling the visualization of implicit graphics.

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2. From the Motion panel, click on the Properties tab.

3. Enter 10 in the Value field.

Step 3: Saving a MotionView model.

1. From the File menu, select Save As > Model.

The Save As Model dialog is displayed.

Note You can also click the Save Model icon, , on the Standard toolbar to
the save the file in working directory with the existing name. If the model
is new, you will be prompted to input the name of the model.

2. Browse to your working directory and specify the File name: as

SingleCylinderEngine_model_10rad_per_sec.mdl.

3. Click Save.

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Step 4: Solving the model.

1. Click the Run icon, , on the General Actions toolbar.

The Run panel is displayed.

2. Click the Run button to solve the model using MotionSolve.

Upon clicking Run, MotionSolve is invoked and solves the model. The HyperWorks
Solver View window appears which shows the progress of the solution along with
messages from the solver (Run log). This log is also written to a file with the
extension .log to the solver file base name.

3. Once the job is completed, close the solver execution window.

4. Clear the message log.

Step 5: Adding pages to a session.

In this section you will learn how to add a page, change to different HWD clients, change
the page layout, and navigate between pages. You will also load the result files to view
the animation and the plot. Even though there are both Animate and Plot buttons in
the MotionView Run panel, clicking those buttons will result in the HyperView and
HyperGraph clients opening automatically in different windows on the same page,
however in this exercise you will manually do the same on a different page, in order to
familiarize yourself with the concept of page and window within the HWD environment.

1. Click on the Add Page icon from Page Controls toolbar.

A new page is added with MotionView as the client.

Note Please note that the Add Page option adds a page with the current client
(MotionView in this case).

2. From the Select application drop-down menu, select HyperView to change the
current window to HyperView.

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3. From the Load Model panel, click on the Select file icon next to Load model.

The Load Model File dialog is displayed.

4. Browse to your working directory and select the animation results file
SingleCylinderEngine_model_10rad_per_sec.h3d.

The Load results field is automatically populated with

SingleCylinderEngine_model_10rad_per_sec.h3d.

Note H3D is an Altair binary file for HyperView. The H3D file contains both model
and results data from a solver run. Please see the Appendix (below) for
various use cases of H3D files in MotionView/MotionSolve.

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5. Click Apply to load the results.

6. From the Animation toolbar, click the Start/Pause Animation button to

animate the results.

7. Rotate, pan, and zoom the model using the mouse controls for better visualization
and understanding of the results.

8. Click the Start/Pause Animation button to stop the animation.

9. Add a window to the current page to plot the results.

10. From the Page Controls toolbar, click the arrow next to the Page Window Layout

button and select the two window layout from the pop-up menu.

11. Click in the graphics area of second window in order to make it the active window.

12. Use the Select application drop-down menu to change the application from
HyperView to HyperGraph 2D .

Note The Client selector displays the icon of the current client (HyperGraph in
this case).

13. Click the Build Plots icon, , on the Curves toolbar.

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14. From the Build Plots panel, click the Open File icon, , next to Data file.

The Open Data File dialog displays.

15. Browse to your working directory and select the MotionSolve results file
SingleCylinderEngine_model_10rad_per_sec.abf.

Note ABF is the Altair Binary File for HyperGraph. Other output files from
MotionSolve (.mrf and .plt) can also be used for reading results into
HyperGraph.

16. Click Open.

17. Plot the angular velocities of the crank shaft:

− For X Type, select Time.

− For Y Type, select Marker Velocity.

− For Y Request, select REQ/70000002.

− For Y Component, select Wx.

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18. Click Apply and observe Wx = 10 rad/sec.

Two Window Layout (with HyperView and HyperGraph 2D)

19. From the Animation toolbar, click the Start/Pause Animation button to
animate the results.

20. Click on Expand/Reduce Window icon, to expand or reduce an active window.

21. Observe the top right corner of the page which displays the current page (2 of 2).

Click on Previous Page icon, or Next page icon, to navigate to page 1

(the MotionView model).

MotionView with Single Cylinder Engine Model

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Step 6: Saving a session file.

1. From the File menu, select Save As > Session.

The Save Session As dialog is displayed.

2. Browse to your working directory and specify the File name as mywork.mvw.

Note A session file saves the complete HWD data (the page, window, client, and
results information). Please refer to the Appendix below for details
regarding the different types of HyperWorks Desktop files.

3. Click Save.

Your work is saved as a session file.

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Step 7: Opening a session file.

1. From the File menu, select New > Session to start a new session.

Click Yes to the message asking if you would like to discard all of the current
session data and start new session.

2. From the File menu, select Open > Session.

The Open Session File dialog is displayed.

3. Browse to your working directory and select the session file saved in previous step
mywork.mvw.

4. Click Open.

5. Browse through the pages to look at the model, plots, and animation that you
worked on during the exercise using the icons.

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Appendix
HyperWorks Desktop file types:

The following table summarizes the different file types in HWD and the location where the file can
be loaded and saved.

File Type Extension Window Mode

Session script .mvw Any

Report template .tpl Any

MDL .mdl MotionView

Animation .gra, .res (Adams and Optistruct), HyperView

h3d, .flx, .mrf

Plot .req, .mrf, .abf, .plt, .res (ADAMS) HyperGraph

Templex script, .tpl, .txt TextView

any text file
Options for loading and saving different file types

H3D file use cases in MotionView/MotionSolve:

H3D is an Altair format for storing model and result information. In general, an H3D file is used for
post-processing results in HyperView; however the H3D file has a few other use cases in
MotionView/MotionSolve.

Graphic H3D File This type of H3D contains Model information only. A graphical H3D
file is an imported geometry into MotionView for visualization of a
body.

Flexbody H3D File This type of H3D contains Model and Flexible body information.
Therefore, MotionView can use it as a graphic, as well as to represent
a deformable body by accessing the modes, mass, and inertia
information. HyperView can read it as both Model and Results, and
also animate the mode shapes, modal displacements, stresses, etc.
(if available).

Results H3D File This type of H3D is written by MotionSolve. It contains Model and
Results information. HyperView can read it as both Model and
Results, and also animate the position, deformation, stresses, forces,
etc.

H3D contains different blocks of information based on the above needs:

• Model Information – Nodes and Elements

• Flexible Body Information – Modes, Interface Nodes, Mass/Inertia
• Results – Position, Displacements, Stress, Strain, etc.

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MV-1000: Interactive Model Building and Simulation

Multi Body Dynamics (MBD) Overview

MBD Definition

Multi Body Dynamics (MBD) is defined as the “study of dynamics of a system of

interconnected bodies”. A mechanism (MBD system) constitutes a set of links (bodies)
connected (constrained) with each other to perform a specified action under application
of force or motion. The motion of mechanisms is defined by its kinematic behavior. The
dynamic behavior of a mechanism results from the equilibrium of applied forces and the
rate of the change of momentum.

MBD Modeling

A classical MBD formulation uses a rigid body modeling approach to model a mechanism.
A rigid body is defined as a body in which deformation is negligible.

In general, in order to solve an MBD problem, the solver requires following information:

• Rigid body inertia and location

• Connections – type, bodies involved, location, and orientation
• Forces and motions – bodies involved, location, orientation, and value
MotionView facilitates quick and easy ways of modeling items, such as a system, through
graphical visualization.

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In this tutorial, you will learn how to:

• Create a model of a four-bar trunk lid mechanism interactively through the

MotionView graphical user interface.
• Perform a kinematic analysis on the model using MotionSolve.
• Post-process the MotionSolve results in the animation and plot windows.

Car Trunk-Lid Mechanism

The trunk-lid shown in the image above uses a four-bar mechanism for its opening and
closing motions.

A schematic diagram of the four-bar mechanism is shown below:

The four links (bodies) in four-bar mechanism are namely; Ground Body, Follower,
Coupler, and Input Link. In this example, the Ground Body is the car body and Input
Link is the trunk-lid body. The remaining two bodies (Follower and Coupler) form the
part of the mechanism used to aid the opening and closing of car trunk-lid.

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The following entities are needed to build this model:

• Points
• Bodies
• Constraints (Joints)
• Graphics
• Input (Motion or Force)
• Output
Copy trunk.hm and trunklid.hm, located in the mbd_modeling\interactive folder, to
the <working directory>.

Exercise

Step 1: Creating points.

1. Start a new MotionView Session.

2. Add a point using one of the following methods:

− From the Project Browser, right-click on Model and select Add > Reference
Entity > Point from the context menu.

OR

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− Right-click on the Points icon, , on the Reference Entity toolbar.

The Add Point or PointPair dialog is displayed.

Note Other entities like Bodies, Markers, etc. can also be created using either of
the methods listed above (Project Browser or toolbar).

3. For Label, enter Point A.

4. For Variable, enter p_a.

The label allows you to identify an entity in the graphical user interface, while the
variable name is used by MotionView to uniquely identify an entity.

Note When using the Add "Entity" dialog for any entity, you can use the label
and variable defaults. However as a best modeling practice, it is
recommended that you provide meaningful labels and variables for easy
identification of the entities. For this exercise, please follow the prescribed
naming conventions.

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5. Click OK.

The Points panel is displayed. Point A is highlighted in the Points list of the
Project Browser.

Points Panel - Properties Tab

6. Enter the values for the X, Y, and Z coordinates for point A, listed in the table
below.

The table below lists the coordinates of the points needed for this model:

Point Location

Label Variable X Y Z

Point A p_a 921 580 1124

Point B p_b 918 580 1114

Point C p_c 915 580 1104

Point D p_d 896 580 1106

Point E p_e 878 580 1108

Point F p_f 878 580 1118

Point G p_g 830 580 1080

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Point Location

Point H p_h 790 580 1088

Point I p_i 825 580 1109

7. Other (multiple) points can be entered using the following method:

− Repeat steps 2 through 4 and click Apply to create points B through I. Remember
to substitute B, C, etc., for A when entering the label and variable names in the
Add Point or PointPair dialog. Clicking the Apply button allows you to continue
to add points without exiting the Add "Entity" dialog.

− After keying in the label and variable name for Point I, click OK to close the dialog.

The points panel for Point I is displayed.

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− Click the Data Summary... button located in the upper right corner of the Points
panel.

The Data Summary dialog shows the table of points and you can enter all the
coordinates in this table.

Data Summary Dialog

− Since the Y value of all the points are the same, you can parameterize the value
for the points Point B to Point I to the Y value of Point A as follows:

➢ Select the Y coordinate field along Point B.

➢ Click on the button to invoke the Expression Builder.

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➢ Select the Y value of Point A as shown in figure below:

Expression Builder

➢ Copy the above expression and paste it into the Y coordinate field of other
remaining points.

➢ Enter the X and Z coordinates as listed in the table above.

Note Press ENTER on the keyboard to move to the next field.

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➢ Click Close.

8. Change the view to left, by clicking on the XZ Left Plane View icon on the
Standard Views toolbar.

Step 2: Creating bodies.

The mechanism consists of four rigid-body links: Ground (car body), Input Link, Coupler,
and Follower. Ground Body is available by default when a new MotionView client is
invoked, hence creating the Ground Body separately is not required. In this step, you'll
create the Input Link, Coupler, and Follower rigid-body links in the mechanism.

1. Right-click on the Bodies icon, , on the Reference Entity toolbar.

The Add Body or BodyPair dialog is displayed.

2. Specify the label as Input Link and the variable name b_inputlink.

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3. Click OK.

The Bodies panel is displayed. The new body that you just added is highlighted in
the model tree of the Project Browser.

4. Click the Properties tab.

5. Enter the following values for mass and inertia:

− Mass = 1

− Ixx, Iyy, Izz = 1000, Ixy, Ixz, Iyz = 0

− Click the CM Coordinates tab to specify the location of the center of mass of the
body.

6. Select the Use center of mass coordinate system check box.

7. Under the Origin, click the Point collector .

A cyan border appears around the collector indicating that the collector is now active
for selection.

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8. From the graphics area, select Point G on the model by using the left click of the
mouse. While selecting, keep the left mouse button pressed and move the cursor
over the points to see the label. Release the mouse button when Point G is located.

OR

− Click again to launch the Select a Point dialog.

− Select Point G from the model tree.

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− Click OK.

Point G is selected as the origin of the center of mass marker for the input link.

Note - The above-mentioned methods for selecting a point can also be applied to
other entities such as: body, joint, etc. For selecting the Ground Body or
the Global Origin, you can click on the triad representing the Global

Coordinate System on the screen .

− Retain the default orientation scheme (Orient two axes) and accept the default
values for .

9. Repeat steps 1 through 8 to create the two remaining links with the following label
and variable names:

Label Variable Name

Follower b_follower

Coupler b_coupler

10. Specify the mass and inertia for these links as:

− Mass = 1

− Ixx, Iyy, Izz = 1000, Ixy, Ixz, Iyz = 0

11. Specify points B and D as the origin of the center of mass marker for Follower and
Coupler, respectively.

12. Retain the default orientation (Global coordinate system) for the CM marker.

Step 3: Creating revolute joints.

The mechanism consists of revolute joints at four points: A, C, E, and F. The axis of
revolution is parallel to the global Y axis.

1. From the Project Browser, right-click on Model and select Add > Constraint >
Joint from the context menu.

OR

− Click the Joints icon, , on the Constraint toolbar.

The Add Joint or JointPair dialog is displayed.

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2. Specify the label as Follower-Ground and variable name as j_follower_ground for

the new joint.

3. Under Type, select Revolute Joint from the drop-down menu.

4. Click OK.

The Joints panel is displayed. The new joint you added is highlighted in the model
tree in the Project Browser.

5. Under the Connectivity tab, double click the first Body collector .

The Select a Body dialog is displayed.

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6. From the model tree, select Bodies from the left-hand column and Follower from
the right-hand column.

7. Click OK.

Notice that in the Joints panel the Follower Body is selected for and the
cyan border moves to .

8. Click in the graphics window. With the left mouse button pressed move the cursor to

the global XYZ triad .

9. Release the left mouse button when Ground Body is displayed in the graphics
window.

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10. Under Origin, double click the Point collector .

The Select a Point dialog is displayed.

11. Select Point A as the joint origin.

12. Click OK.

13. To specify an axis of rotation, under Alignment Axis, click the downward pointing
arrow next to Point and select Vector.

14. Specify the Global Y axis vector as the axis of rotation of the revolute joint.

15. Repeat steps 1 through 14 to create the three remaining revolute joints: points C, E,
and F.

Revolute Joint Variable Name Body 1 Body 2 Point Vector

Label

Follower-Ground j_follower_ground Follower Ground A Global Y

Follower-Coupler j_follower_coupler Follower Coupler C Global Y

Coupler-Input j_coupler_input Coupler Input Link E Global Y

Input-Ground j_input_ground Input Ground F Global Y

Link
Revolute joint information

Step 4: Specify a motion for the mechanism.

The input for this model will be in the form of a Motion. A Motion can be specified as
Linear, Expression, Spline3D, or Curve. In this step, a Motion is specified using an
expression.

1. From the Project Browser, right-click on Model and select Add > Constraint >
Motion from the context menu.

OR

− Right-click on the Motion icon, , on the Constraint toolbar.

The Add Motion or MotionPair dialog appears.

2. Specify the label as Motion_Expression and the variable name as mot_expr for the
new motion.

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3. Click OK.

The Motion panel is displayed. The new motion is highlighted in the model tree in
the Project Browser.

4. From the Connectivity tab, double click on the Joint collector .

The Select a Joint dialog is displayed.

5. From the model tree, select the revolute joint at Point F (Input-Ground) that you
created in the previous step.

6. Click OK.

The Motion panel is displayed.

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7. From the Properties tab, select Expression by clicking on the downward arrow
next to Linear.

8. Click in the Expression field.

The Expression Builder is activated.

9. Click on the button to open the Expression Builder and enter following
expression between the back quotes `60d*sin(2*0.1*PI*TIME)`.

The above expression is a SIN function with an amplitude of 60 degrees and

frequency of 0.1 Hz. With the above expression the trunk lid is opened to an angle
of 60 degrees and back in a total time period of 5 seconds.

10. Click OK.

Note This method of creating an expression can also be used for specifying non-
linear properties for other entities like Force, Spring Damper, Bushing, etc.

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Step 5: Creating outputs.

You can create outputs using bodies, points and markers. You can also directly request
force, bushing, and spring-damper entity outputs. Another way to create outputs is to
create math expressions dependent on any of the above mentioned entities.

In this step, you will:

• Add a displacement output between two bodies using the default entities.
• Add another output to record the displacement of a particular point G on the
input link relative to the global frame based on Expressions.
1. From the Project Browser, right-click on Model and select Add > General MDL
Entity > Output from the context menu.

OR

− Right-click on the Outputs icon, , on the General MDL Entity toolbar.

The Add Output dialog is displayed.

2. Specify the label as Input Link Displacement and the variable name as o_disp for
the new output.

3. Click OK.

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4. To create a Displacement output between two points on two bodies:

− For Body 1 and Body 2, select Input Link and Ground Body, respectively.

− For Pt on Body 1 and Pt on Body 2, select point I and the Global Origin point,
respectively.

− Record the displacement on Both points, one relative to the other.

5. Add one more output with the label as Input Link CM Displacement and the
variable name as o_cm_disp to calculate the X displacement between the CM
markers Input Link and the global origin:

− From the drop-down menu, select Expressions.

− Click in the F2 field. This activates the button.

− Click on the button.

The Expression Builder dialog is displayed.

− From the Motion tab, select DX.

− Place the cursor inside the brackets after DX.

− From the Properties tab, expand the following trees: Bodies/Input

Link/Marker CM.

− Select idstring.

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− Click Add to populate the expression.

− Add a comma to separate the next expression.

− Add a pair of curly brackets "{}".

− Place the cursor inside the added brackets.

− From the Properties tab, expand the following items in the tree:
Markers/Global Frame.

− Select idstring.

− Click Add to populate the expression.

6. Click OK.

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7. To check for errors, go to the Tools menu and select Check Model. Any errors in
your model topology are listed in the Message Log.

The above function DX measures the distance between Input Link’s CM (center of
mass) marker and marker representing the Global Frame in the X direction of the
Global Frame. Refer to the MotionSolve Reference Guide for more details regarding
the syntax and usage of this function.

Note The back quotes in the expression are used so that the MDL math parser
evaluates the expression. Entity properties like idstring, value, etc. get
evaluated when they are placed inside curly braces {}, otherwise they are
understood as plain text. Refer to the Evaluating Expressions in MotionView
topic to learn more about various kinds of expressions and form of
evaluation adopted by MotionView.

Step 6: Add graphic primitives.

At this stage your trunk lid model does not contain any graphics, and the entities created
in previous steps are represented only by implicit graphics (which are not available in
solver deck or results file).

Trunk-lid with only implicit graphics

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In this step you will add graphics for visualization of a mechanism. MotionView graphics
can be broadly categorized into three types: implicit, explicit, and external graphics.

Implicit Graphics The small icons that you see in the MotionView interface when you
create entities like points, bodies, joints, etc. are called implicit
graphics. These are provided only for guidance during the model
building process and are not visible when animating simulations.

Explicit Graphics These graphics are represented in form of a tessellation, are written
to the solver deck and subsequently available in the results. Explicit
graphics are of two types.

Primitive Graphics These graphics help in better visualization of the model and are also
visible in the animation. The various types of Primitive Graphics in
MotionView are Cylinder, Box, Sphere, etc.

External Graphics One can import in various CAD formats or Hypermesh files into
MotionView. The ‘Import CAD or FE using HyperMesh..’ utility in
MotionView can be used to convert a CAD model or a Hypermesh
model to h3d graphic format which can be imported into MotionView.
One can also import .g, ADAMS View .shl and wavefront .obj files
directly into MotionView.

MotionView allows you to turn on and off implicit graphics for some of the commonly
used modeling entities.

1. To turn on all implicit graphics:

− From the Model main menu, select Implicit Graphics...

− Turn on the Visible check box.

Note - Implicit graphics of Individual entities can be turned on or off by using the
Visible check box for each entity.

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− Click Close.

The state of the implicit graphics (whether on or off) is not saved in your model
(.mdl) or session (.mvw) files. MotionView uses its default settings when:

• You create a new model in another model window.

• You start a new session.

• You load an existing .mdl/.mvw file into a new MotionView session.

To visualize the four-bar mechanism, you need to add explicit graphics to the
model. In this step, you will add cylinder graphics for Follower, Coupler, and
Input Links.
To add explicit graphics to your model:

− From the Project Browser, right click on Model and select Add > Reference
Entity > Graphic from the context menu.

OR

− Right-click on the Graphics panel icon, , on the Reference Entity toolbar.

The Add Cylinder or CylinderPair dialog is displayed.

2. In the Add Cylinder or CylinderPair dialog, enter the label as Follower Cylinder
and the variable name as gcyl_follower.

Note The name of the dialog changes with the graphic type. For example, the
dialog name changes to Add Box or BoxPair when the Box graphic type is
selected.

3. From the Type drop-down menu, select Cylinder. Click OK.

4. In the Connectivity tab, double-click the Body button below Parent.

Select the Follower from the Select a Body list and click OK.

This assigns the graphics to the parent body.

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5. To select the origin point of the cylinder, click below Origin.

6. Pick Point A in the graphics area.

7. Click under Direction.

8. Select Point C for .

9. From the Properties tab, enter 2 in the Radius 1: field.

Note The cylinder graphic can also be used to create a conical graphic. By
default, the Radius 2 field is parameterized with respect to Radius 1, such
that Radius 2 takes the same value of Radius 1. Specify different radii to
create a conical graphic.

10. For the remaining bodies in your model, follow steps 2 through 9 to create the
appropriate explicit graphics for other links.

Label Variable name Graphic Body Origin Direction Radius

type

Follower gcyl_follower Cylinder Follower Point A Point C 2

Cylinder

Coupler gcyl_coupler Cylinder Coupler Point C Point E 2

Cylinder

Input Link gcyl_inputlink_1 Cylinder Input Link Point F Point E 2

Cylinder 1

Input Link gcyl_inputlink_2 Cylinder Input Link Point E Point G 2

Cylinder 2

Input Link gcyl_inputlink_3 Cylinder Input Link Point G Point H 2

Cylinder 3

Input Link gcyl_inputlink_4 Cylinder Input Link Point H Point I 2

Cylinder 4

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After the addition of cylinder graphics for all three links, the Model will look as shown below:

Four-bar mechanism of the trunk-lid assembly

Step 7: Add external graphics and convert a HyperMesh file to an

H3D file.
MotionView has a conversion utility that allows you to generate detailed graphics for an
MDL model using HyperMesh, Catia, IGES, STL, VDAFS, ProE, or Unigraphics source files.
MotionView uses HyperMesh to perform the conversion.

In this step, you will use this conversion utility to convert a HyperMesh file of a car trunk
lid into the H3D format.

1. From the Tools menu, select Import CAD or FE using HyperMesh.

The Import CAD or FE using HyperMesh dialog is displayed.

2. Activate the Import CAD or Finite Element Model Only radio button.

3. From the Input File option drop-down menu, select HyperMesh.

4. Click the browser button next to Input File and select trunklid.hm, located in
<working directory>, as your input file.

The Output Graphic File field is automatically populated with the

trunklid_graphic.h3d file from the <working directory>.

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5. Click OK to begin the import process.

The Import CAD or FE using HyperMesh utility runs HyperMesh in the

background to translate the HyperMesh file into an H3D file.

Note The H3D file format is a neutral format in HyperWorks. It finds wide usage
such as graphics and result files. The graphic information is generally
stored in a tessellated form.

6. When the import is complete the Message Log appears with the message
"Translating/Importing the file succeeded!". Clear the Message Log.

7. Use steps 1 through 6 to import the trunk graphics by converting the trunk.hm file
to trunk.h3d.

Step 8: Attach H3D objects to the input link and ground bodies.
In this step, you will attach the trunk lid H3D object to the input link and the trunk H3D
object to Ground.

1. Click the Graphics icon on the Reference Entity toolbar.

2. Select g_trunklid_graphic from the graphics area.

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3. In the Connectivity tab, double click the Body collector under Parent.
Select Input Link from the Select a Body list.

4. Click OK.

The Graphics panel is displayed.

Note Observe the change in the trunk lid graphic color to the Input Link body
color.

5. Similarly, select the newly created g_trunk_graphic graphic from the Project
Browser and set the as Ground Body.

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6. Click the Save Model icon on the Standard toolbar.

If the model is new you will be prompted to input the name of the model, otherwise
the model will be saved in the working directory with the existing name.

Note Existing models can be saved to another file using the Save As > Model
option located in the File menu.

7. From the Save As Model dialog, browse to your working directory and specify the
File name: as trunklid_mechanism.mdl.

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8. Click Save.

Trunk-lid mechanism

Step 9: Solve the model with MotionSolve.

MotionSolve can be used to perform kinematic, static, quasi-static, and dynamic
analyses of multi-body mechanical systems. The input file for MotionSolve is an XML file
called MotionSolve XML. The solution in MotionSolve can be executed from MotionView.

In this step, you will use MotionSolve to perform a kinematic simulation of the
mechanism for a simulation time of 5 seconds, with a step size of 0.01 second.

1. Click the Run icon, , on the General Actions toolbar.

2. Click on the Check Model button on the Model Check toolbar to check the
model for errors.

3. From the Main tab of the Run panel, specify Transient as the Simulation type.

4. In the field located to the right of the Save and run current model option, specify
the name for the XML file as trunklid_mechanism_run.

MotionView uses the base name of your XML file for other result files generated by
MotionSolve. See the MotionView User’s Guide for details about the different result
file types.

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5. Activate the Export MDL snapshot check box (in order to save the model at the
stage in which the Run is executed).

6. Specify an End time of 5 for your simulation and a Print interval of 0.01 (the time
unit is second by default).

Note - You can access the Units form from the Forms panel, .

7. Click the Run button located on the right side of the panel to solve the model using
MotionSolve.

8. Check the Message Log for more information.

Upon clicking Run, MotionSolve is invoked and solves the model. The HyperWorks
Solver View window appears which shows the progress of the solution along with
messages from the solver (Run log). This log is also written to a file with the
extension .log to the solver file base name.

9. Review the window for solution information and be sure to watch for any
warnings/errors.

Step 10: View animation and plot results on the same page.
Once the run is successfully complete, both the Animate and Plot buttons are active.

1. Click the Animate button.

This opens HyperView in another window and loads the animation in that window.

2. To start the animation, click the Start/Stop Animation icon, , on the toolbar.

3. To stop/pause the animation, click the Start/Stop Animation icon again, , on

the toolbar.

4. Return to the MotionView window.

5. Click the Plot button.

This opens HyperGraph and loads the results file in a new window.

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6. Leave the X-axis Data Type as Time.

7. Input the following y-axis data:

Y Type Marker Displacement

Y Request REQ/70000000 Input Link

Displacement (on Input Link)

Y Component DM (Magnitude)

8. Click Apply.

This plots the magnitude of the displacement of Point I relative to the Global
Origin.

Your session should look like the figure below:

Session with model, plot, and animation

Step 11: Save your work as a session file.

1. From the File menu, select Save As > Session File.

2. Specify the file name as trunklid_mechanism for your session.

3. Click Save.

Your work is saved as trunklid_mechanism.mvw session file.

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Appendix

Evaluating Expressions in MotionView

Expressions in MotionView are evaluated by two kinds of parsers:

Math Parser

A MotionView parser that evaluates a MotionView expression as real/integer/string for a field as

appropriate.
Real

This type of field can contain a real number or the parametric expression that should
evaluate to a real number. This type of field is found in Points, Bodies , Force – Linear.
Note that only the value of the expression as evaluated goes into the solver deck and not
the parametric equation.

Example: p_a.x, b_0.mass

String

This type of field can contain a string or a parametric expression that should evaluate to a
string. This type of field is found in entity such as DataSets with strings as Datamember,
SolverString etc. As in case of Linear field, only the value of the expression as evaluated
goes into the solver deck and not the parametric expression.

Example: b_inputlink.label
Integer

This type of field can contain an integer or a parametric expression that evaluates to an
integer. This type of field is found such as DataSets with an integer as Datamember.
Even in this case, only the value of the expression as evaluated goes into the solver deck
and not the parametric equation.
Templex Parser

A math program available in HyperWorks that can perform more complex programming than the
math parser, other than evaluating a MotionView expression.

The following type of fields in MotionView are evaluated by the templex parser that evaluates a
parameterized expression:

Expressions

This type of field is different than the three listed above because it can contain a
combination of text and parametric expression. It is generally used to define a solver
function (or a function that is recognized by the solver). This type of expression is
embedded within back quotes ( ` ` ) and any parametric reference is provided within
curly braces {}. The presence of back quotes suggests the math parser to pass the
expression through Templex. Templex evaluates any expression within curly braces while
retaining the other text as is.

For example in the expression ` DX({b_inputlink.cm.idstring},

{Global_Frame.idstring})` , the templex evaluates the ID (as a string) of the cm of
the Input link body (b_ inputlink) and that of marker Global Frame while retaining
“DX” as is.

These fields are available in entity panels such as: Bushings, Motions, Forces with
properties that toggle to Expression, Independent variable for a curve input in these
entities, and Outputs of the type Expression.

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MV-1012: Analytical Contact Simulation using MotionView

and MotionSolve

In this tutorial, you will learn how to:

• Setup semi-analytical contact between a primitive spherical geometry and a

meshed geometry.
• Perform a transient analysis to calculate the contact forces between these
geometries.
• Process the results.
• Compare the analysis time when using meshed representation for the spheres.
For these purposes, you will make use of a ball bearing model.

Introduction
This tutorial will guide you through the new analytical 3-D rigid body contact capabilities
in MotionSolve. When one or both of the rigid bodies in contact are primitive spheres,
MotionSolve uses a semi-analytical or fully analytical contact method respectively to
calculate the penetration depth(s) and subsequently the contact force(s). This is
explained in the table below:

Body I graphic Body J graphic Contact method Description

A semi-analytical contact
method that computes contact
Primitive Sphere Mesh Sphere – Mesh between the primitive sphere
(Body I) and the tessellated
geometry (Body J).

A fully analytical contact method

Primitive Sphere Primitive Sphere Sphere – Sphere that is independent of the
tessellation of either graphics.

There are several 3D contact applications that involve spherical geometries (ball
bearings, re-circulating ball systems etc.) – using the analytical approach for computing
the contact forces in such scenarios offers several benefits:

1. The simulation time is reduced when using the semi-analytical or fully analytical
approach.
2. The simulation is more robust since the dependence on the mesh quality is
removed.
3. The simulation results are often more accurate since there are no or lesser effects
of mesh discretization.

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Ball Bearing Model

A ball bearing is a type of bearing that consists of balls located between the outer and
inner bearing races. The balls are in contact with both the outer and inner races. The
purpose of the balls is mainly to support radial loads between the two races while
minimizing losses due to friction. Since the balls roll in between the two races, the
friction is drastically reduced as compared to two surfaces sliding against each other. A
typical ball bearing geometry is illustrated in the figure below:

A typical ball bearing geometry with six balls. A cutaway section shows how the balls are in contact with the
outer and inner races.

The geometries for all surfaces except the balls are meshed in this geometry. Only the
six balls are defined as primitive spheres.

Step 1: Loading the model in MotionView.

1. Copy the files Ball_Bearing.mdl and bearing_graphic.h3d, located in the
mbd_modeling\contacts folder, to your <working directory>.

2. Start a new MotionView session.

3. Open the Ball_Bearing.mdl model file from the <working directory>.

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MotionView model for the ball bearing mechanism

The figure above shows the model as it is setup in MotionView. This model has all the
necessary contacts defined except for a few which you will setup next. The following
table describes the components present in this model.

Component name Component type Description

Ground Body Rigid body Ground Body

Outer Race Rigid body The outer bearing race body

Inner Race Rigid Body The inner bearing race body

Ball 1, , Ball 6 Rigid Body Ball bodies

Rim Rigid Body The rim body that keeps the balls in
place

Ball1_inter, …, Ball5_inter 3D rigid body Contact force element between the

contact balls and the Rim

Ball1_upper, …, Ball5_upper 3D rigid body Contact force elements between the

contact balls and the Outer Race

Ball1_inter, …, Ball5_inter 3D rigid body Contact force elements between the

contact balls and the Inner Race

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Component name Component type Description

Solver Units Data Set The solver units for this model. These
are set to Newton, Millimeter, Kilogram,
Second

Gravity Data Set Gravity specified for this model. The

gravity is turned on and acts in the
negative Z direction

Outer Race Graphic Graphic The graphic that represents the outer
race body. This is a tessellated graphic

Inner Race Graphic Graphic The graphic that represents the inner
race body. This is a tessellated graphic

Rim Graphic Graphic The graphic that represents the rim

body. This is a tessellated graphic

Ball 1 – Primitive, …, Ball 6 - Graphic The graphics that represent the ball
Primitive bodies. These are primitive geometries

Inner Race Rev Revolute Joint Revolute joint defined between the
Inner Race and Ground Body

Outer Race Fixed Fixed Joint Fixed joint defined between the Outer
Race and Ground Body

Input Motion to Inner Race Motion A motion defined on the Inner Race Rev
joint that actuates the mechanism

Step 2: Defining contact between the primitive and meshed

geometries.
In this step, you will define contact between:

• Ball 6 and the Outer Race

• Ball 6 and the Rim
• Ball 6 and the Inner Race
1. Add a new contact force entity by right-clicking on the Contact button in the Force
Entity toolbar:

The Add Contact dialog is displayed.

2. For Label, enter Ball6_inter.

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3. For Variable, enter con_ball6_inter.

4. Verify that 3D Rigid To Rigid Contact is selected in the drop-down menu and click
OK.

The Contact panel is displayed.

5. From the Connectivity tab, resolve Body I to Ball 6 and Body J to Rim. This will
automatically select the graphics that are attached to these bodies.

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6. To make sure that the geometries are well defined for contacts, the normals of the
surface mesh should be along the direction of contact and there should be no open
edges or T-connections in the geometries. To make sure the normals are oriented
correctly, activate the Highlight contact side box. This will color the geometries
specified for this contact force according to the direction of the surface normals.
You should make sure both geometries are completely red i.e. there are no blue
patches for either geometry. To see this clearly, you may have to deactivate the
Outer Race graphic. This is illustrated in the figures below.

Checking for incorrect surface normals

7. Next, you can check for open edges or T-connections. If the associated graphics
mesh has any open edges or T-connections, the Highlight mesh errors option
would be active. Activate the box for Highlight mesh errors if there are any mesh
errors. Doing this will highlight any open edges or T Connections in the geometry.

The graphics associated in this contact entity don’t have mesh errors. Hence you
should see Highlight mesh errors grayed out.

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8. Next, you need to specify the contact properties. To do this, click on the Properties
tab to bring up the Normal Force and the Friction Force property tabs within the
Contact panel. In this model you will use an Impact model with the following
properties:

Normal Force Model Impact

Stiffness 500.0

Exponent 3.0

Damping 1.0

Penetration Depth 0.1

Friction Force Model Disabled

Specify the properties as defined above in the contact panel.

9. Repeat steps 1 – 3 for creating contact between the Ball 6 body and the Outer
Race body and also between the Ball 6 body and the Inner Race body. The
details for these are listed in the table below:

Label Ball6_outer Ball6_inner

Variable con_ball6_outer con_ball6_inner

Body I graphic Ball 6 – Primitive Ball 6 – Primitive

Body J graphic Outer Race Graphic Inner Race Graphic

Normal Force Model Impact Impact

Stiffness 1000.0 1000.0

Exponent 2.1 2.1

Damping 0.1 0.1

Penetration Depth 0.1 0.1

Friction Force Model Static and Dynamic Static and Dynamic

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Mu Static 0.4 0.5

Mu Dynamic 0.2 0.3

Stiction transition velocity 1.0 1.0

Friction transition velocity 1.5 1.5

10. Save your model.

Step 3: Setting up a transient simulation and running the model.

At this point, you are ready to setup a transient analysis for this model.

1. To setup a transient analysis, navigate to the Run panel by clicking on the Run
button in the toolbar .

2. From the Run panel, change the Simulation type to Transient and specify an end
time of 2.0 seconds.

3. Further, to obtain accurate results, you will need to specify a smaller step size than
the default. Click on the Simulation Settings button and navigate to the
Transient tab.

4. Set the Maximum step size to 1e-5 and click Close.

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5. Specify a name for your XML model and click the Run button. This will start the
transient simulation.

6. In the HyperWorks Solver View window that pops up, a message is displayed
from the solver that confirms that the semi-analytical contact method is being used
for the contact calculations.

As you may have noticed, you did not have to explicitly specify the contact force method
to be used. MotionSolve automatically detects if one or both the bodies in contact are
primitive spheres and accordingly changes the contact force method being used.

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Step 4: Post-processing the results.

After the simulation is complete, MotionSolve prints out a summary table (both on
screen and in the log file generated) that lists the top five contact pairs ordered by
maximum penetration depth and by maximum contact force for this simulation. This is
very useful since it can be used to verify that the model is behaving as intended even
before loading the results (ABF, MRF, PLT or H3D) files. You can also use this table to
verify that the penetration depths and contact forces are within the intended limits for
your model. The summary table for this simulation is illustrated below:

1. Motionview makes available an automated report for model containing contacts. The
report automatically adds animation and plots to the session. The report can be
accessed through Analysis > View Reports menu option.

The View Reports dialog is displayed.

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2. The report item, Contact Report, for the last submitted run will be listed at the top.
Select that item and click OK.

3. Additional pages are added to the report. Use the Page Navigation buttons

(located at the upper right corner of the window, below the menu bar area and
above the graphics area) to view these pages.

Contact Overview

MotionSolve writes out a static load case to the H3D file that can be used to view the
maximum penetration on all the geometry in contact throughout the length of the
simulation. This enables you to inspect your results to see where the maximum
penetration depth occurred in your geometry/geometries. You may hide one or more
parts to view this clearly in the graphic area.

Note You may Fit the graphic area in case the graphics are not visible in the Graphics
area.

1. From the Results browser select the components Ball 1 – Primitive to Ball 6 –
Primitive.

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2. Right-click and click Hide from the context menu.

3. Similarly, Hide the Rim graphic and Inner Race graphic in order to visualize the
contours on the Outer Race graphic.

Contact overview for penetration depth

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Animation – Penetration Depth

1. Navigate to the next page , which shows a transient animation of the

penetration depth.

2. You can visualize the contours individually on the components by isolating the
components. For example, to visualize the contours on the Inner Race graphic,
select the component in the Results browser, right-click and select Isolate from
the context menu.

3. Click on Start/Pause Animation to view the animation.

Visualizing the Contact forces via force vectors

1. Navigate to the next page , which shows a transient animation of the contact
forces.

2. Fit the model in the graphics area.

3. Select Transparent Element and Feature Lines from the toolbar options.

4. Go to the Vector panel.

5. Activate the Display tab and change the Size Scaling option to By Magnitude and
use a value of 5.

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6. Click on Start/Pause Animation button to view the animation.

Animating the total contact force (the outer race graphic is turned off for better visualization)

Plotting Contact Forces

Note You may turn off curves from the Plot browser to look at individual force plots.

1. Each time a new contact entity is created in MotionView, a corresponding output

force request is created that can be used to plot the contact forces between the
geometries specified in the contact entity.

2. Go to the next page , which has a HyperGraph plot of all the contact force
magnitudes.

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Step 5: Comparing the run time with a model containing meshed

spheres.
The semi-analytical (and fully analytical) contact method is more efficient than the 3D
mesh-mesh based contact. To illustrate this, you can run the same model you just
created however instead of using primitive spheres for the bearings, use a meshed
representation. Such a model is already available in your HyperWorks installation. Copy
the model Ball_Bearing_meshed.mdl, located in the mbd_modeling\contacts folder, to
your <working directory>. Run this model from MotionView and compare the analysis
time to see the speedup. As an example, a comparison between the run times for the
two models is listed in the table below. Also listed are the machine specifications that
were used to generate this data.

Model Ball_Bearing.mdl Ball_Bearing_meshed.mdl

Contact Type Semi-analytical Mesh-Mesh

Number of processors used for 1 1

solution

Core Analysis Time (seconds) 177.4s 1342s

Total Elapsed Time (seconds) 180.4s 1344s

CPU Speed 2.4GHz 2.4GHz

Available RAM 57,784 MB 57,759 MB

CPU Type Intel Xeon E5-2620 Intel Xeon E5-2620

Platform Windows 7 Windows 7

As can be seen, for this model, a speedup of ~7x (1344/180.4) is achieved.

Summary
In this tutorial, you learned how to setup semi-analytical contact between a primitive
spherical geometry and a meshed geometry. Further, you were able to inspect the
geometry to make sure the surface normals were correct and there were no open edges
or T connections.

You were also able to setup a transient analysis to calculate the contact forces between
these geometries and post-process the results via vector and contour plots, in addition
to plotting the contact force requests.

Finally, you were able to compare the analysis time between a fully meshed
representation of the spheres and the model that you created. A significant speedup
was observed which makes the semi-analytical contact method the first choice for
solving 3D contact models when applicable.

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MV-1015: Using Spline3D to Model Combustion Forces in

an Engine

In this tutorial you will learn how to:

• Use Spline3D to model an input which depends on two independent variables.

This will be accomplished by building a Single Cylinder Engine model similar to the one
shown below:

What are Spline3Ds?

Spline3Ds are reference data plotted in three-dimensional coordinates which have two
independent vectors or axis. These can be visualized as a number of 2D Splines
(Curves) placed at regular intervals along a third axis. For instance, a bushing is
generally characterized by a Force versus the Displacement curve. Let’s say, the Force
versus displacement also varies with temperature. Effectively, there are two
independent variables for the bushing force - Displacement and Temperature. Another
example is the Engine Pressure (or Force) versus the Crank angle map (popularly known
as P-Theta diagram). The P-theta map will vary at different engine speeds (or RPM).
Such a scenario can be modeled using Spline3D.

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Exercise
In this exercise, an engine mechanism is simulated where the combustion force that
varies with regard to the crank angle and engine speed is modeled using Spline3D.

Step 1: Reviewing the model.

1. Copy the files SingleCylEngine.mdl and FTheta.csv , located in the
mbd_modeling\interactive\spline3d folder, to your <working directory>.

2. Start a new MotionView session.

3. Open the SingleCylEngine.mdl model file.

4. Review the model.

− The model is a piston cylinder mechanism with a flywheel.

− The model has two systems: System Cyl1 and System Flywheel.

− In the System Flywheel, the Flywheel (fixed to Crank) is driven by a velocity

based Motion between markers which refers to a curve (Crank_RPM) for inputs.

Motion Panel - Connectivity Tab

Motion Panel - Properties Tab (with Expression referring to the Curve using AKISPL function)

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− The curve Crank_RPM indicates the time history of crank speed during the
simulation. The speed ramps up to 500 RPM and then to 1000, 1500, and 2000
RPM.

Curve Crank_RPM

− Two Solver Variables: Crank_angle (deg) and Crank_RPM keep track of the
angular rotation (in degrees) and velocity (in RPM) of the crank respectively.

− Outputs are defined to measure the crank angle and RPM.

− In System Cyl1:

o The solver variables in System Flywheel are passed as attachments to this

system and carry the variable names arg_Crank_angle_SolVar and
arg_Crank_RPM_SolVar. These will be used in defining the independent
variables while defining the combustion force using Spline3D

o A Combustion_ref marker exists as a reference for a combustion force

whose Z axis is aligned along the direction of travel of the piston.

Next, a combustion force will be added on the piston using a Spline3D.

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Step 2: Adding a Spline3D entity.

1. Add a Spline3D using one of the following methods:

− From the Project Browser, right-click on System Cyl1 and select Add >
Reference Entity > Spline3D from the context menu.

OR

− Select System Cyl1 in the Project Browser and then right-click on the
Spline3D icon on the Reference Entity toolbar.

The Add Spline3D dialog is displayed.

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2. Enter F_ThetaSpline for the Label and spl3d_F_ThetaSpline for the Variable.

3. Click OK to close the dialog.

The Spline3D panel is displayed in the panel area with the Properties tab active.

4. Click on the Type drop-down menu and select Value.

The data for the spline can be defined using either the File or Value methods. For
the File type, a reference to an external file in .csv format must be provided. In
case of the Value type, the values can be imported from a .CSV file (using Import)
or they can be entered in manually. In this tutorial, we will import the values from
an external file.

5. Click the Import button to display the Import Values From File dialog.

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6. Browse to the FTheta.csv file in your <working directory> and click OK.

7. In the Warning dialog that appears, click Yes to continue.

The .csv file that is to be used as the source for Spline3D needs to be in the
following format:

• The first column must hold the X-axis values (shown in blue below) which is
the first independent variable.

• The top row holds the Z-axis values (shown in red below) which is the second
independent variable.

• The other columns must have the Y-axis values (shown in green below) with
each column belonging to the particular Z-axis values heading that column.

Note The same format is applicable when using the File input type.

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8. Once imported, the values are populated in the panel. You may review these by
clicking on the Expansion button in the panel to open the Spline Values
Table Data window.

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9. When manually keying in the values, context menus are available which allow you to
Insert/Delete/Append row and column data. You can access these menus by
right-clicking on any of the row or column headers. If the right-click is made on the
last row/column, an Append option will also be available.

Context Menu (Row)

Context Menu (Column)

10. Click Close to close the Spline Values Table Data table.

11. Activate the Linear Extrapolation check box. This will ensure that the values are
extrapolated if the Solver starts looking for values beyond the range of the user
provided data.

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12. To visualize the spline graphically, click on the Show Spline button to display the
Spline3D viewer dialog.

All three axes can be viewed in an isometric view in this window.

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13. Click Close to close the viewer.

The imported values are Combustion Force on Piston vs Theta (crank angle)
diagrams at different speeds (as shown below). The F-Theta profiles vary slightly at
different engine or crank speeds. The same plot was visualized in the previous
section in the Spline3D viewer by placing the four different plots along the Z-axis.

Input Data for Spline3D

Step 3: Adding a force using the Spline3D.

A force will now be added to represent the combustion in the cylinder. This force will be
mapped to the Spline3D added in the previous section.

1. Add a Force using one of the following methods:

− From the Project Browser, right-click on System Cyl1 and select Add > Force
Entity > Force from the context menu.

OR

− Select System Cyl1 in the Project Browser and then right-click on the Force
icon on the Force Entity toolbar.

The Add Force or ForcePair dialog is displayed.

2. Enter an appropriate Label and Variable name and click OK.

The Force panel is displayed in the panel area with the Connectivity tab active.

3. From the Connectivity tab, use the Force drop-down menu to change the type to
Action reaction.

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4. Resolve the connections as shown in the image below, either through picking in the
graphics area or using the model tree (by double clicking on the input collector).

Note The Body 2 reference to Ground Body is through an attachment to the

System Cyl1 system.

5. Go to Trans Properties tab and change the Fz type to Spline3D.

6. Double click on the Spline3D collector, , to display the Select a

Spline3D dialog.

7. Select System Cyl1 in the model tree and then navigate to and select the
F_ThetaSpline Spline3D (which will then be displayed in the right pane).

8. Click OK to close the window.

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9. In the Independent variable X field, enter in the following expression:

`MOD({arg_Crank_angle_SolVar.VARVAL}, 720)`.

10. In the Independent variable Z field, enter in the following expression:

`{arg_Crank_RPM_SolVar.VARVAL}`.

11. Click the Check Model button on the Model Check toolbar to check the model
for errors.

The completed panel is shown below:

Note The solver function MOD() used in Independent variable X refers to the
solver variable Crank_angle (deg) in System Flywheel (via attachment
arg_Crank_angle_SolVar to System Cyl1). This function calculates the
remainder of the division of first argument value (value of the solver
variable) by the second argument value (720); thereby resetting the
value of Independent variable X every 720 degrees.

12. Save the model with a different name (File > Save As > Model).

Step 4: Solving the model and post-processing.

The model is now complete and can be solved in MotionSolve.

1. To solve the model, invoke the Run panel using the Run Solver button on the
General Actions toolbar.

2. Since the crank RPM input data is for 40 seconds, enter 40 in the End time field and
change the Print interval to 0.001.

3. Assign a name and location for the MotionSolve XML file using the browser icon .

4. The Run panel with the inputs from the previous steps is shown below:

5. Click the Run button in the panel to invoke MotionSolve and solve the model.

6. Close the solver window after the job is completed.

7. Click the Animate button in the panel (now active) to load the animation results in
a HyperView window.

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8. From the Animation toolbar, use the Start/Pause Animation button to

animate the model.

9. Visualize forces on the Piston using the Vector panel (select the Piston graphics
for the Assemblies collector).

You may also set all graphics to be transparent for easy visualization using the
WireFrame/Transparent Elements and Feature Lines option located on the
Visualization toolbar.

10. From the Page Controls toolbar, click the Add Page icon to add a new page.

11. Use the Select application drop-down menu to change the client on the new page
to HyperGraph 2D.

12. From the Page Controls toolbar, click the arrow next to the Page Window Layout
button and select the three window layout .

13. From the Build Plots panel, use the Data file browser to load the .plt file from
the MotionSolve run.

14. In the first window (top left), plot the Crank_angle (deg) by selecting the
following:

− Y Type = User Defined

− Y Request = REQ/70000003 Crank_angle (deg)

− Y Component = f3

Selections for plotting Crank_angle (deg)

15. Next, click in the graphics area of the second window (top right) to make it the
active window and plot the CombustionForce in the Z direction:

− Y Type = Force

− Y Request = REQ/70000002 CombustionForce (ForceOnPiston)

− Y Component = Z

Selections for plotting CombustionForce

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16. Finally, we will plot the Force vs Theta plots at different speeds as applied on the
piston (this will demonstrate the usage of Spline3D input used in Step 2 of this
tutorial). Click in the graphics area of the third window (bottom) to make it the
active window.

17. Click on the Define Curves icon on the Curves toolbar.

18. Click the Add button to add a curve.

19. Click in the Curve field and rename the curve as 500 RPM.

20. Change the Source to Math.

21. Enter the expressions shown below to extract the data from the curve in the first
and the second window respectively between 6 and 7 seconds.

− x = p2w1c1.y[subrange(p2w1c1.x,6,7)]

− y = p2w2c1.y[subrange(p2w2c1.x,6,7)]

Panel entries for plotting Force vs Theta

22. Click Apply to plot.

Note p2w1c1 refers to the Curve 1 plotted on Page 2, Window 1. If for any
reason the page, window, or curve numbering is different, suitable
modifications should be made to the expression.

The subrange function returns the indices of the vector within a specified
range. For more information on the subrange function, please refer to the
Templex and Math Reference Guide.

23. Similarly, add three more plots for 1000, 1500, and 2000 RPM. Use time values
of: 16, 17; 26, 27; and 36, 37 respectively (in place of 6, 7 shown in the expression
above).

24. Assign different colors to these curves using the Curve Attributes panel , or by
selecting the curves in the Plot Browser and changing the color in the Properties
table.

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25. After completing the plots, compare them with the input data for the Spline3D plot
in Step 2. A comparison is shown below:

Validating the Spline3D used by the Solver

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MV-1020 Modeling 2D Rigid to Rigid Contact Simulation

In this tutorial, you will learn how to:

• Create Curve Entities using File, Math and Values options

• Create Curve Graphics using Marker and Body/Point option
• Use macro to create Curve Entity and Curve Graphics simultaneously
• Setup 2D rigid curve to curve contact

Introduction
This tutorial will guide you through the new 2D rigid body contact capabilities in
MotionSolve which can be used when contact occurs in a plane. In this tutorial, we will
model a roller type cam-follower mechanism with the help of 2D rigid to rigid contact as
there are no out-of-plane contact forces that are expected.

Exercise
Copy the files Cam_Follower_Input.mdl, CamProfile.h3d, Cam_Fixed.csv and
Cam_Variable.csv from the location
<installation_directory>\tutorials\mv_hv_hg\mbd_modeling\interactive\ to
your <Working directory>.

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Step 1: Review the partially setup model.

A partially setup model is available for you to open in MotionView. Except the 2D
contact, everything else has been setup. Let us review the same by running the model
using MotionSolve.

1. Launch MotionView.

2. From the HyperWorks-Standard toolbar, click the Open Model icon, .

Or

− Open the model by selecting File > Open > Model.

3. From the Open model dialog, select the file Cam_Follower_Input.mdl from your
working directory and click Open.

Once the model is loaded it will look as it does below. Review the model for its
bodies, graphics, markers, joints and motion.

4. In the Run panel , click the Save and run current model browser button

5. Click the Run button. Once the simulation is completed, close the solver window
and the Message Log.

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6. From the Run panel, review the results animation by clicking on Animate button.

Notice that the FollowerRoller is not in contact with the Cam since there is no
contact defined in the model.

7. Return to MotionView window using the Page Window Layout button

located on the HyperWorks Page Controls toolbar as shown below.

Step 2: Create Curve Entity and Curve Graphics for FollowerRoller.

Since the FollowerRoller profile is circular - it can be easily defined using mathematical
expressions. First, we will create a closed circular Curve Entity (using the Math option).
Then, we will create Curve Graphics to associate this Curve Entity with FollowerRoller
body so that it can be later used in setup the 2D Contact.

1. From the Project browser right-click on Model and select Add Reference Entity >
Curve (or right-click the Curves icon on the MotionView-Reference Entity
toolbar).

The Add Curve dialog is displayed.

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2. For Label, enter Roller_Curve. For Variable, enter crv_roller and click OK (as
shown in the image below).

3. From the Properties tab, use the first drop-down menu to change the curve from
2D Cartesian to 3D Cartesian.

Note Only 3D Cartesian types of Curve Entities are supported for the Curve
Graphics.

4. Use the fourth drop-down menu to change the curve from Open Curve to Closed
Curve.

5. From the Properties tab, click on the x radio button. Select Math from the second
drop-down menu on the left. Enter 5*SIN(2*PI*(0:1:0.01)) in the Expression
Builder and hit Enter on the keyboard.

6. Similarly enter 5*COS(2*PI*(0:1:0.01)) and 0.0*(0:1:0.01) as Math expressions

for y and z coordinates of the curve respectively. The panel should now look as
shown in the image below.

Note Now having created the Curve Entity, let us create a Curve Graphics to
graphically represent the FollowerRoller body on the screen and later use it to
define 2D Contact.

7. From the Project browser right-click on Model and select Add Reference Entity >
Graphic (or right-click the Graphic icon on the MotionView-Reference Entity
toolbar).

8. Choose Curve from the drop-down menu.

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9. For Label, enter Roller_Curve. For Variable, enter gcrv_roller and click OK (as
shown in the image below).

Note The Body/Point option (Parent type) has been selected by default on the
Connectivity tab.

10. From the Connectivity tab, double-click on the Body collector .

The Select a Body dialog is displayed.

− Select FollowerRoller from the tree.

11. Now the Point collector is highlighted by default , click once on the same.

The Select a Point dialog is displayed.

− Select FollowerRevJoint from the tree.

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12. Similarly choose Roller_Curve using the Curve collector . Leave the
rest of the options on the panel as default. The panel should look as shown in the
image below.

Note Curve Graphics representing the FollowerRoller should now be graphically

visible as shown in the image below.

Note At this point we can deactivate (or delete) the original cylinder graphics used to
represent FollowerRoller.

13. To deactivate the FollowerRoller graphics from the Project browser; right-click on
FollowerRoller > Deactivate as shown in the image below.

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Step 3: Create Curve Entity and Curve Graphics for Cam.

In the process of designing a cam, designers often like to determine the best shape of
the cam in order to achieve a specific displacement profile of the follower. To allow this,
let us divide the cam profile into two portions: Fixed and Variable, as show in the image
below.

The variable portion of cam will be controlled by the coordinates of some points in our
model.

Step 3a: Create fixed portion of Cam profile.

In this step we will learn how to use .csv File containing x,y and z coordinates of points
to create a Curve Entity.

1. Right-click the Curves icon to insert a new Curve Entity and provide
Cam_Fixed_Curve for the Label and crv_cam_fix for the Variable.

2. From the Properties tab, use the first drop-down menu to change the curve from
2D Cartesian to 3D Cartesian.

3. Retain the default selection for the fourth drop-down menu to Open Curve.

4. From the Properties tab, click on the x radio button. Retain the default File option
in the second drop-down menu on the left.

5. Click on the file browser icon and select Cam_Fixed.csv from the working
directory. Click Open.

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6. Select Column 1 for the Component. Retain all other options on the panel to its
default values. The panel should look like the image below:

7. Similarly click on the y radio button, the same file should be selected by default.
This time, select Column 2 for the Component.

8. Click on the z radio button, the same file should be selected by default. This time,
select Column 3 for the Component.

Note Now, having created the Curve Entity, let us create a Curve Graphics to just
graphically visualize and make sure that the imported data is located as per our
requirement.

9. Insert a new Curve Graphic by following Steps 7 - 13 of Step 2 of this tutorial with
input details as listed in the table below:

Variable Value

Label: Cam_Fixed_Curve

Variable: gcrv_cam_fix

Body: Cam

Origin Point: Global Origin

Curve: Cam_Fixed_Curve

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Note Curve Graphics representing the fixed portion of Cam should now be
graphically visible as shown in the image below.

Step 3b: Create variable portion of Cam profile.

In this step we will learn how to use a macro to automatically create both Curve Entity
and Curve Graphics using existing points in the model.

Firstly, let us create some points in the model using Menu > Macros > Create Points >
using Coordinates.

1. From Main menu, click Macros > Create Points > using Coordinates (or click

Create Points using Coordinates button from the MotionView Toolbar >
Point Macros toolbar).

The Parametric Points dialog box opens.

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2. Click on the file browser icon and select Cam_Variable.csv from the working
directory. Click Open. Click OK to create 10 points (Point 0 to Point 9).

Note The image below shows the newly created points.

Note Now that we have fixed portion Curve Graphics representing Cam, we can
deactivate (or delete) the original H3D file graphics used to represent Cam.

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3. To deactivate the Cam graphics, from the Project browser; right-click on Cam >
Deactivate as shown in the image below.

Now let us use the newly created points to create the variable portion of the cam profile
using the Create Curve from Points/Nodes macro.

4. From the Main menu, click Macros > Create Curve from Points/Nodes (or click

the Create Curve from Points/Nodes macro button from the MotionView
toolbar > Point Macros toolbar).

5. Double-click the Body collector and select the Cam body.

6. Edit the Labels prefix for the new Curve Entity as well as the Curve Graphics to be
created to Cam_Variable_Curve.

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7. Now, the Point/Node collector will be highlighted by default .

You can graphically pick Point 0 from the screen

OR

Click once on the Point/Node collector.

The Select a Point dialog is displayed.

− Double-click on Point 0 from the filtered list of points.

Note The selected Point 0 is highlighted in the graphics screen and also listed in
the panel.

8. Now repeat the above step to pick all the points from Point 1 to Point 9.

The panel should look like the image shown below.

Note A node associated with File graphic H3D can also be picked. However, the
curve created would not be parametrically linked with the node. Picking a
point retains the parametric relation between the point and the curve.

9. Click the Create button.

A new Curve Entity and a new Curve Graphics (Cam_Variable_Curve) has been
added to the model as shown in the image below.

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Note The newly created Curve Graphics representing the variable portion of Cam
should now be graphically visible as shown below.

Note Review the newly created Curve Entity by selecting it from the model tree
as shown in the image below. Notice (by clicking as shown in the image
below) how the X, Y and Z values in the panel are parametrically pointing to
the points selected while using the macro. Thus, by changing the
coordinates of these Points in the model, the curve can be modified.

Step 3c: Create merged curve of Cam profile for 2D Contact.

The fixed and variable Curve Graphics of Cam generated in Step 3a and Step 3b cannot
be used in setting up contact since they are using open Curve Entities. We generated
these in order to verify if the curve data is in the correct location. For a continuous
contact between FollowerRoller and Cam, we need closed curves. Thus, in this step we
will merge both fixed and variable portions of Cam and create a new closed curve to
setup the 2D Contact. In the process, we will learn how to use a mathematical function
(CAT) to concatenate two Curve Entities.

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1. Insert a new Curve Entity by following Steps 1 - 4 of Step 2 of this tutorial with
input details as listed in the table below:

Variable Value

Label: Cam_Curve

Variable: crv_cam

Curve 3D Cartesian
Type:

Open/Clos Closed
ed:

2. From the Properties tab, click on the x radio button. Select Math from the second
drop-down menu on the left. Enter {CAT(crv_cam_fix.x, crv_0.x)} in the
Expression Builder and hit Enter on the keyboard.

3. Similarly enter {CAT(crv_cam_fix.y, crv_0.y)} and {CAT(crv_cam_fix.z,

crv_0.z)} as Math expressions for y and z coordinates of the curve respectively.

Note By using CAT function, we are able to append the data-points of variable
portion of cam to the data-points of fixed portion of cam. The panel should
display merged data of both fixed and variable portions of cam profile as
shown in the image below.

Note Now having created the Curve Entity, let us create Curve Graphics to graphically
represent the Cam body on the screen and later use it to define 2D Contact.

4. From the Project browser right-click on Model and select Add Reference Entity >
Graphic (or right-click the Graphic icon on the MotionView-Reference Entity
toolbar).

5. Choose Curve from the drop-down menu.

6. For Label, enter Cam_Curve. For Variable, enter gcrv_cam and click OK.

Note The Body/Point option (Parent type) has been selected by default on the
Connectivity tab. This time, let us use the Marker option since we already have
a CamMarker in the model which is associated with Cam (Body) and PivotPoint
(Point).

7. From the Connectivity tab, select the drop-down menu of Parent and change it to
Marker.

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8. Now, double-click on the Marker collector.

The Select a Marker dialog is displayed.

− Select CamMarker from the tree and click OK.

9. Now the Curve collector is highlighted by default, click once on the

same.

The Select a Curve dialog is displayed.

− Double-click on Cam_Curve from the list of filtered curves.

Note The panel should now look like shown in the image below.

Note Curve Graphics representing the Cam should now be graphically visible on
screen as shown in the image below.

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Step 4: Set up 2D Contact.

In this step we will define a contact between Cam and FollowerRoller using their
respective Curve Graphics.

1. Right-click on the Contact button in the Force Entity toolbar.

The Add Contact dialog is displayed.

2. For Label, enter 2D Contact 0 and retain the default Variable.

3. Change the contact Type to 2D Rigid to Rigid and click OK.

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4. From the Connectivity tab, click the Body I collector once to activate it and then
select the Cam body from the screen by picking its Curve Graphics as shown in the
image below.

5. Next, the Body J collector will be highlighted automatically. Click once and select
the FollowerRoller body from the Select a Body dialog box.

Note The Contact panel should be displayed as shown below.

Note Fixed and Variable Curve Graphics are selected by default since they are
associated with Cam body. Let us remove the same from the contact
definition as they are not required.

6. Uncheck (or deselect) Cam_Fixed_Curve and Cam_Variable_Curve from the list

of Curves under Body I.

Now, let us review the side of selected curves that will be in contact.

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7. Click the Highlight contact side check box.

Note The arrow display indicates the inside of Cam and FollowerRoller as
contacting side. This needs to be corrected.

8. Click the Flip Contact Side check box for both Body I and Body J curves.

Note The highlighted contact side for both the bodies should now be as shown in
the image below.

9. Review the Properties tab, the default selections are fine for the model.

10. Review the Advanced tab, turn on the Find precise contact event and Change
simulation max step size options with its default values.

Step 5: Save and Run the model.

1. Click Save As > Model using the option located in the File menu.

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2. From the Save As Model dialog, browse to your working directory and specify the
File name: as Cam_Follower.mdl.

At this point, you are ready to run your model. We expect a lot quicker run using 2D
curve contact as compared to an equivalent model using 3D contact where the solver
has to work harder to determine contact for a 3D tessellated geometry.

3. Navigate to the Run panel by clicking on the Run button in the toolbar .

Note To obtain accurate results, a smaller step size and a finer print interval
have been selected in this model. You can review the same by checking
Simulation Settings… button.

4. Specify a new name for your results by clicking on file browser icon
Cam_Follower.xml and click the Save button as shown in the image below.

5. Click the Run button.

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Step 6: Post-processing the results

After the simulation is complete, MotionSolve prints out a summary table like for 3D
contact (both on screen-solver view window and in the log file generated) that lists the
contact pairs ordered by maximum penetration depth and by maximum contact force for
this simulation. The image below is an illustration of the same.

1. Click on the Animate button to review the graphical animation in HyperView.

2. Review contact force graphically in HyperView by selecting Vector plot, then

choosing the Result type to be Contact Force, click Apply and Start as shown in
the image below.

Note You can even plot the graph of FollowerShaft vertical displacement during the
entire simulation using HyperGraph. To do the same, follow the steps mentioned
below.

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3. In the MotionView window, from the Run panel click the Plot button.

Note This should open .abf file in HyperGraph.

4. Use the Build Plot tool and for Y Type (Axis) select Body, FollowerShaft, Y ,
and click Apply as shown in the image below.

Further Optional Exercise

Edit the coordinates of any/all points (Point 0 to Point 9) to get updated Cam profile and
re-run the model to investigate its effect on Contact Force on Cam or FollowerShaft
Displacement.

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MV-1023: Using Python Subroutines in MotionView Model

Building

The objective of this tutorial is to replace several entities in a MotionView model with
Python user subroutines. You will run a model initially, and then edit the file to
incorporate Python scripts in place of MotionView entities and compare the results from
each simulation.

In this tutorial, you will learn how:

• User subroutines are incorporated into MotionView

• User subroutines are useful in customizing models
• To create Python scripts that can be used to define these subroutines (and how
they are called by MotionView).
You must be familiar with the MotionView user interface and entities panel, as well as
have some experience defining and modifying entities. Some experience with the
Python programming language is necessary to fully understand the topics covered.

Exercise One - Introduction to User Subroutines

User subroutines are a useful tool to customize simulations and analyses. These
subroutines, or usersubs can be created using variety of programming languages like C,
Ruby, TCL, and Python. Subroutines created in programming languages like C, C++ and
FORTRAN etc. are compiled to create *.dll files using the MS UserSub Build Tool
(located in the MotionView Tools menu). These dlls are then used by the solver. In
older versions of MotionView only compiled usersubs (*.dll) were supported. Starting
with MotionView version 11.0, usersubs are enabled to use Python and Matlab scripts.
In this tutorial, we will be using Python to create usersubs. User subroutines can make
use of external Python scripts in order to define complex simulations, which cannot be
created through the MotionView GUI. With a basic knowledge of the Python
programming language, a user can easily generate intricate experiments to simulate any
complex mechanism.

This tutorial will show you how to replace five MotionView entities with their
corresponding usersubs.

Copy the model file required for this exercise, engine_baseline.mdl, along with all of
the H3D files located in the mbd_modeling\motionsolve\python_usersub folder to your
<working directory>.

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The single cylinder engine model

The model we are using is a single cylinder engine, and uses a curve, an output, a force,
and a motion entity. The system also uses default damping.

• The curve is read from a CSV file, and gives a force value based on the angular
displacement of the connecting rod.
• The output returns the displacement magnitude of the piston.
• The force entity uses the angle of the connecting rod and the curve to apply a
variable pressure force to the piston.
• The motion entity applies an angular motion to the Crank_Grnd revolute joint.
• The default damping of the system is 1, however it can be changed in the Bodies
panel.
The following is a list of the entities and usersubs we will be using in this tutorial, along
with a brief description of their usage:

Entity Usrsub Description

Curve SPLINE_READ Reads the curve data file.

Request REQSUB Outputs the requested values

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Entity Usrsub Description

Force GFOSUB Applies a force on the system.

Motion MOTSUB Applies a motion to the system.

Damping DMPSUB Defines the damping of a flexbody.

Step 1: Running the model.

1. Click the Run panel icon, , to access the Run panel.

2. Click on the folder icon located next to the Save and run current model option,
and browse to your <working directory>. Specify the name as
engine_baseline.xml for the MotionSolve input XML file.

3. Check your model for errors, and then click the Run button to run your model.

This will give you result files to compare with your usrsub results.

Exercise Two - Adding User Subroutines

Notes on using XML syntax in Python

Python can use many MotionSolve functions and inputs when certain syntax rules are
followed. When using a MotionSolve function such as AKISPL or SYSFNC, the string “py_”
must be added to the beginning. For example, “py_sysfnc(…” would be the correct
usage of SYSFNC in Python. When defining a usersub function in Python, the name of the
function and the inputs must match those outlined in the MotionSolve online help pages
exactly. When accessing model data in python through a function such as SYSFNC, use
the exact property name in quotations as the “id” input. Model properties that are
passed into Python in the function definition can be accessed throughout the script, and
do not need additional defining to use. An example of these syntax rules being used is
shown below:
def REQSUB(id, time, par, npar, iflag):
[A, errflg] = py_sysfnc(“DX”,[par[0],par[1]])
return A

Step 1: Using SPLINE_READ to Replace the Curve Entity.

The first user-subroutine we will implement uses the SPLINE_READ function to return the
curve from the included pressure_curve.csv file. SPLINE_READ is the usersub that
corresponds to the curve entity in MotionView. It uses data points in an external file to
create a curve, which can then be used by other entities.

Writing the Python script:

1. Open a new Python file, and define a function with the name SPLINE_READ using
“def SPLINE_READ():", giving the appropriate inputs and outputs. The inputs and
outputs used are: id, file_name, and block_name.

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2. Import the Python CSV package by including import csv after the function
definition.

3. Open pressure_curve.csv in the function, and read the file to your Python script as
a variable. This can be done with “variable = open(‘pressure_curve.csv’,
’r’)”.

4. Change the format of this variable from csv by defining a new variable, and using
csv.reader() to read your variable file.

5. Define an empty list, “L”, to store the pressure_curve data values. Iterate through
the list using “for item in curv:”. Append each item as a separate list value with
“L.append(item)”.

6. Remove the headers from the csv file by redefining the list from the second value till
the end of the list. This can be done with “L = L[1:]”.

7. Define a counter variable to be used later. Define two lists that are half the length of
“L”, and set them equal to zero. To do this, use “x = 16*[0.0]” twice; once with
the x value and once with the y value.

8. Create a while loop dependent on your counter variable being less than the length of
your list, minus one.

9. In each iteration of the loop, define your x and y data values for the index “i” as a
floating value of each half of your “L” data sets. This should look like “x[i] =
float(L[i][0])” and “y[i] = float(L[i][1])”. Increase your counter variable
by 1.

10. Define a z variable with a floating value of 0.0, and close the csv file. Defining a z
variable is necessary, as the next function we will use requires an x, y, and z
variable.

11. Use the put_spline MotionSolve function, and return the “id”, as well as the lists
containing the first and second column of values and the z variable. This should be
done with “errflg = py_put_spline(id,x,y,z)” followed by “return errflg”.

12. Save this file to your working directory as nonlin_spline.py.

Your nonlin_spline.py Python script should resemble the following:

def SPLINE_READ(id, file_name, block_name):

import csv
ifile= open('pressure_curve.csv','r') ## opens data file as
readable variable
curv = csv.reader(ifile) ## reads csv data, stores as
useable var.

L = [] ## creates empty list

for item in curv:
L.append(item) ## separates file values into list

L = L[1:] ## removes block names from list

i=0 ## creates counter

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x = 16*[0.0]
y = 16*[0.0] ## splits list into x and y lists
while i < (len(L)-1):
x[i] = float(L[i][0]) ## changes values from str to float
y[i] = float(L[i][1])
i+=1 ## counter increment

z = 0.0 ## defines z value

ifile.close() ## closes data file
errflg = py_put_spline(id,x,y,z) ## var to create MotionSolve
spline

return errflg ## returns var

Implementing the Python script:

1. In MotionView, go to the Curve panel , and locate the Force_Pressure curve in

the project directory tree to the left of the MotionView workspace.

2. From the Properties tab, check the box marked User-defined.

3. From the Attributes tab, make sure Linear extrapolation is checked.

4. Click on the User-Defined tab, and use the File name file browser to select the
pressure_curve.csv file.

5. Change the Function Type in the drop-down menu from DLL to Python, and
ensure the function name is SPLINE_READ. You do not need to enter anything for
the Block name, as it is not needed in this tutorial.

6. Check the box marked Use local file and function name. Use the Local File file
browser (the folder button to the right) to locate and select the nonlin_spline.py
file.

The curve panel using the SPLINE_READ usersub

Step 2: Using REQSUB to Request an Output.

The second user-subroutine will use Python to specify which values to return. In this
tutorial, the returned values will be the magnitude of displacement for the piston.

Writing the Python script:

1. Create another Python file, and define a function named REQSUB with the appropriate
inputs and outputs. The syntax for this is “def REQSUB(id, time, par, npar,
iflag)”.

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2. Use the sysfnc utility to implement the “DM” (or displacement magnitude) function
on the first and second input parameters, and define a variable and an error flag by
writing “[D, errflg] = py_sysfnc(“DM”,[par[0],par[1]])”.

3. Return a list of eight values, where the second value is your variable, and the rest
are equal to 0. This will be your result variable, and should look like “result =
[0,D,0,0,0,0,0,0]”.

4. Save this file to your working directory as req_nonlin.py.

Your req_nonlin.py Python script should resemble the following:

def REQSUB(id, time, par, npar, iflag):

[D, errflg] = py_sysfnc("DM",[par[0],par[1]]) ## sets "D" as piston

displacement mag
result = [0,D,0,0,0,0,0,0] ## lists results for output
return

return result ## sends list with results to motionsolve as

output

Implementing the Python script:

1. In MotionView, go to the Outputs panel , and locate the Output_Conrod_Length

output in the project directory tree to the left of the MotionView workspace.

The Outputs panel is displayed.

2. From the Properties tab, select User Defined from the first drop-down menu.

3. Click in the text field labeled Output, and then click on the button to open the
Expression Builder.

4. In the text field of the Expression Builder, click inside the parentheses and add
“{},{}”.

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5. From the Expression Builder, locate and select the j_0.i.idstring (located in the
Joints folder in the directory) and insert this id string into the expression by
positioning the cursor inside a set of braces and clicking the Add button. In
addition, add the j_1.i.idstring into the expression by repeating this same process.

Expression Builder dialog

6. Click OK to close the dialog.

7. Check the Use local file and function name box, and select Python from the
Function Type drop-down menu.

8. Use the Local File file browser to locate and select the req_nonlin.py script, and
make sure that the Function name text field reads REQSUB.

Outputs panel using REQSUB

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Step 3: Using GFOSUB to Replace the Force Entity.

The GFOSUB user subroutine replaces a force with a user defined Python script. The
GFOSUB used here will take the curve data defined with SPLINE_READ, and change
depending on the Conrod angle according to the curve.

Writing the Python script:

1. Open a new Python file, and define the function GFOSUB by typing “def GFOSUB(id,
time, par, npar, dflag, iflag):”.

2. Import "pi" from the Python “math” library using “from math import pi”.

3. Use the “AZ” function for angle in the z direction with the sysfnc command, to save
it as a variable. To do this, type “[A, errflg] =
py_sysfnc(“AZ”,[par[1],par[2]])”.

4. The angle will be measured in radians by default, so change the variable defined in
the previous step to degrees. As the model extends from the origin into the
negative y direction, you will need to multiply by -1. The method used in this
tutorial is “B = ((-1)*A*180)/pi”.

5. Define another variable using the “akispl” utility, which interpolates the force
values from the curve. You will need input arguments of your angle “B”, zero to
specify a two dimensional curve, and zero for the curve input and the order. This
line is written as “[C, errflg] = py_akispl(B,0,par[0],0)”.

6. Return a list three elements long, where the second element is the variable defined
with the Akima interpolation function. The data from interpolation is stored in the
first column, so use “return [0,C[0],0]”.

7. Save this file to your working directory as gfo_nonlin.py.

Your gfo_nonlin.py Python script should resemble the following:

def GFOSUB(id, time, par, npar, dflag, iflag):

from math import pi

[A, errflg] = py_sysfnc("AZ",[par[1],par[2]]) ## retreives conrod

angle
B = ((-1)*A*180)/pi ## converts radians
to degrees

[C, errflg] = py_akispl(B,0,par[0],0) ## interpolates data to fit

curve

return [0,C[0],0] ## returns C data as force values

Implementing the Python script:

1. In MotionView, go to the Forces panel , and locate the Force_Gas_Pressure

force in the project directory tree to the left of the MotionView workspace.

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2. From the Connectivity tab, check the User-defined properties box.

3. From the User-Defined tab, edit the Force value with the Expression Builder to
include the curve idstring, the ground marker idstring, and the crank marker
idstring.

4. Click OK to close the dialog.

5. Check the Use local file and function name box, and select Python from the
Function Type drop-down menu.

6. For Local File, select gfo_nonlin.py from your working directory.

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7. Make sure the Function name is set to GFOSUB.

Step 4: Using MOTSUB to Define a Motion.

Writing the Python script:

1. Open a new python file, and define the MOTSUB function, including the required
inputs. The correct syntax for this is “def MOTSUB(id, time, par, npar, iord,
iflag):”.

2. The MOTSUB user subroutine requires a function or expression, and its first and
second order derivatives. Create conditional statements using the function order
variable “iord” to define the function and its first and second derivatives with “if
iord==0:”, “elif iord==1:” and “else:”.

3. The function and its derivatives should be defined with the same variable name.
The function used in this tutorial is “A = 10.0461*time”. This makes the first
derivative equal to “A = 10.0461”, and the second derivative equal to “A = 0.0”.

4. Return the function variable with “return A”.

5. Save this file to your working directory as mot_nonlin.py.

Your mot_nonlin.py Python script should resemble the following:

def MOTSUB(id, time, par, npar, iord, iflag):

if iord==0: ## function
A = 10.0461*time
elif iord==1: ## first derivative
A = 10.0461
else: ## second derivative
A = 0.0
return A ## returns function based on iord input

Implementing the Python script:

1. In the directory tree on the left side of the HyperWorks desktop, locate the
Motion_Crank motion and click on it.

The Motions panel is displayed.

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2. In the Motions panel, check the User-defined properties box.

3. Click on the User-Defined tab.

Because we defined the function in the Python script, we do not need to modify
USER() text field.

4. Check the box labeled Use local file and function name, select Python from the
Function Type drop-down menu.

5. Use the Local File file browser to locate and select the mot_nonlin.py file.

Motions panel using MOTSUB

Step 5: Using DMPSUB to Add Custom Flexbody Damping.

Writing the Python script:

1. Open a new Python file and define the DMPSUB function with “def DMPSUB():”,
giving it the following inputs: “id, time, par, npar, freq, nmode, h”.

2. Define a list the length of “nmode” using “cratios = nmode*[0.0]”.

nmode is the number of modes in the flexbody.

3. Create an “if” statement to iterate along the list of modes in the flexbody. The
“xrange()” function can be used here, resulting in “for I in xrange(nmode):”.

4. In each iteration of the loop, set each index in your variable equal to 1 by adding
“cratios[i] = 1.0”.

5. At the end of your script, return the list variable with “return cratios”.

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6. Save your script as dmp_nonlin.py.

Your dmp_nonlin.py Python script should resemble the following:

def DMPSUB(id, time, par, npar, freq, nmode, h):

cratios = nmode*[0.0] ## makes preallocated list for markers

for i in xrange(nmode):
cratios[i] = 1.0 ## sets marker damping to 1

return cratios ## returns damping values

Implementing the Python script:

1. In the directory tree on the left side of the HyperWorks desktop, locate the Conrod
body and click on it (this is a flexbody in the model).

2. From the Properties tab, click on the Modes… button (located in the lower right
corner of the panel) to display the Modes dialog.

3. Use the drop-down menu to select the User Function Damping option.

Because we defined the damping in our dmp_nonlin.py script, we do not need to

change the USER() expression.

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4. Go to the Run panel .

5. Change the End time to 5.0, and the Print interval to 0.01.

6. Now, export the MotionSolve file using File > Export > Solver Deck.
Note Currently there is no GUI option available to specify the DAMPSUB file defining
flexbody damping, therefore the dmp_nonlin.py must be manually added to the
MotionSolve file (*.xml) by adding following statements to the flexbody
definition:
is_user_damp = "TRUE"
usrsub_param_string = "USER()"
interpreter = "Python"
script_name = "dmp_nonlin.py"
usrsub_fnc_name = "DMPSUB"

Your flexbody definition should look like below:

<Body_Flexible
id = "30104"
lprf_id = "30104002"
mass = "7.424574879203591E-02"
inertia_xx = "1.471824534365642E+02"
inertia_yy = "4.505004745855096E+00"
inertia_zz = "1.501914135052064E+02"
inertia_xy = "-5.546373592613223E-03"
inertia_yz = "-1.984540442733755E-03"
inertia_xz = "1.557626595859531E-03"
cm_x = "1.191728011928773E-03"
cm_y = "-2.225471002399553E+01"
cm_z = "5.469513396916666E-05"
h3d_file = "conrod.h3d"
is_user_damp = "TRUE"
usrsub_param_string = "USER()"
interpreter = "Python"
script_name = "dmp_nonlin.py"

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usrsub_fnc_name = "DMPSUB"
flexdata_id = "30104"
animation_scale = "1."
/>

Exercise Three - Running Your Simulation with Usersubs

Now that all the user subroutines have been implemented, run your model, and compare
your results to those from your initial test.

Step 1: Using the Run Solver Panel to Run Your Model.

1. Go to the Run panel , click on/activate the Run MotionSolve file radio button.

2. Now browse to the *.xml file saved in previous step.

3. Click the Run button.

Exercise Four - Comparing Your Results

Now that we have results for both the initial model and the model using user
subroutines, we will compare the data to ensure accuracy. We will do this using
HyperGraph and Hyperview to compare the outputs and deformations of the system.

Step 1: Using HyperGraph to Plot the Displacement Magnitudes.

Using the outputs from both simulations, we will compare the displacement magnitude of
the piston. A correct result from the usersub run will match the results from the initial
run.

1. Begin by opening a new window by clicking the Add Page button .

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2. Switch the application from MotionView to HyperGraph 2D by selecting it from

the Client Selector drop-down menu (located on the left-most end of the
Client Selector toolbar).

3. In HyperGraph, click the Build Plots panel button on the Curves toolbar.

4. In the Build Plots panel, locate your baseline results from your working directory
using the Data file file browser. Select the file baseline.abf, and click Open.

5. The x and y axes options are be shown below. The default x variable is Time. For
the y variable: select Marker Displacement for Y Type, leave the default for Y
Request, and select DM for Y Component.

6. Click the Apply button (located on the far right side of the panel).

7. For your usersub results, repeat steps 4 through 6, using REQSUB and RESULT(2)
for Y Type and Y Component respectively.

8. Click Apply.

Comparison of output results from both model simulations

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Step 2: Using HyperView to Compare Flexbody Stresses.

Using HyperView, you can view the stresses and deformations on the flexbody. The
results between the two simulations should be the same.

1. Add a new window by clicking the Add Page button .

2. Switch the application from HyperGraph 2D to HyperView using the Client Selector
drop-down menu.

3. Click the Load Results button on the Standard toolbar.

4. Locate your baseline.h3d results file in your working directory, and click Open.

5. Click Apply.

6. Open the Entity Attributes panel , and click the Off button next to the Display
option. Make sure that the Auto apply mode check box is checked.

7. In the model window, click on the piston head, and both crank components.

Only the flexbody component should be displayed.

8. Click the Contour panel button located on the Results toolbar.

The Contour panel is displayed.

9. Set Result type to Deformation->Displacement (v), and click on the flexbody in

the model window.

10. Click the Apply button (located in the lower middle portion of the panel).

11. Next, click on the Tracking Systems panel button located on the Results
toolbar.

12. From the Track drop-down menu, select Component, then click on the flexbody in
your model window.

13. Separate your model window into two halves using the Page Window Layout drop-

down menu (located on the Page Controls toolbar).

14. In the blank model window, repeat steps 3 through 12 for your usersub h3d file.

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15. Click on the Start/Pause button on the Animation toolbar to animate your
models.

Comparison of flexbody deformation in HyperView

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MV-1025: Modeling Point-to-Curve (PTCV) Higher-Pair

Constraint

In this tutorial, you will learn how to:

• Model a PTCV (point-to-curve) joint

A PTCV (point-to-curve) joint is a higher pair constraint. This constraint restricts a
specified point on a body to move along a specified curve on another body. The curve
may be open or closed, planar or in 3-d space. The point may belong to a rigid, flexible
or point body. This constraint can help avoid modeling contact in some systems. It may
prove advantageous since proper contact modeling (refer tutorial MV-1010) in many
cases involves fine-tuning of contact parameters. One good example for such a system is
a knife-edge cam follower mechanism. One can avoid modeling the contact between the
cam and follower by defining a PTCV joint: the curve being the cam profile and the point
being the tip of the follower.

A Knife-edge Cam Follower Mechanism

In this tutorial, we will model a knife-edge cam follower mechanism with the help of a
PTCV joint.

Exercise
Copy all the files from the mbd_modeling\interactive folder to your <Working
directory>.

Step 1: Creating Points.

Let’s start with creating points that will help us locate the bodies and joints as required.
We will define points for center of mass of the bodies and joint locations.

1. Start a new MotionView Session. We will work with the default units (kg, mm, s, N).

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2. From the Project Browser right-click on Model and select Add Reference Entity
> Point (or right-click the Points icon on the Model-Reference toolbar).

The Add Point or PointPair dialog is displayed.

3. For Label, enter PivotPoint.

4. Accept the default Variable name and click OK.

5. Click on the Properties tab and specify the coordinates as X = 0.0 , Y = 0.0, and Z
= 0.0.

6. Follow the same procedure and create the points specified in the following table:

Point X Y Z

FollowerCM 0.0 65.557 0.0

FollowerPoint 0.0 25.0 0.0

FollowerJoint 0.0 85.0 0.0

CamCM 0.0 -14.1604 0.0

Step 2: Creating Bodies.

We will have two bodies apart from the ground body in our model visualization; the cam
and the follower. Pre-specified inertia properties will be used to define the bodies.

1. From the Project Browser right-click on Model and select Add Reference Entity
> Body (or right-click the Body icon on the Model-Reference toolbar).

The Add Body or BodyPair dialog is displayed.

2. For Label, enter Cam and click OK.

3. From the Project Browser right-click on Model and select Add Reference Entity
> Body (or right-click the Body icon on the Model-Reference toolbar).

The Add Body or BodyPair dialog is displayed.

4. For Label, enter Follower and click OK.

5. From the Properties tab, specify the following for the two bodies:

Body Mass Ixx Iyy Izz Ixy Iyz Izx

Cam 0.174526 60.3623 63.699 123.276 0.0 0.0 0.0

Follower 0.0228149 7.10381 0.219116 7.22026 0.0 0.0 0.0

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6. For the Cam body, under the CM Coordinates tab, check the Use center of mass
coordinate system box.

7. Double click on Point.

The Select a Point dialog is displayed. Choose CamCM and click OK.

8. Accept defaults for axes orientation properties.

9. For the Follower body, under the CM Coordinates tab, check the Use CM
Coordsys box.

10. Double click on Point.

The Select a Point dialog is displayed. Choose FollowerCM and click OK.

11. Accept defaults for axes orientation properties.

Step 3: Creating Joints.

Here, we will define all the necessary joints except the PTCV joint which will be defined
as an advanced joint later. We require two joints for the model. The first of them is the
revolute joint between the cam and ground body. The second joint we need is a
translational joint between the follower and ground body.

1. From the Project Browser right-click on Model and select Add Constraint >
Joint (or right-click the Joints icon on the Model-Constraint toolbar).

The Add Joint or JointPair dialog is displayed.

2. For Label, enter CamPivot.

3. Select Revolute Joint as the Type and click OK.

4. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog is displayed. Choose Cam and click OK.

5. From the Connectivity tab, double-click on Body 2.

The Select a Body dialog is displayed. Choose Ground Body and click OK.

6. From the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed. Choose PivotPoint and click OK.

7. For Axis click on the arrow and choose Vector. Now click on Vector.

The Select a Vector dialog is displayed. Choose Global Z and click OK.

8. From the Project Browser right-click on Model and select Add Constraint >

Joint (or right-click the Joints icon on the Model-Constraint toolbar).

The Add Joint or JointPair dialog is displayed.

9. For Label, enter FollowerJoint.

10. Select Translational Joint as the Type and click OK.

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11. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog is displayed. Choose Follower and click OK.

12. From the Connectivity tab, double-click on Body 2.

The Select a Body dialog is displayed. Choose Ground Body and click OK.

13. From the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed. Choose FollowerJoint and click OK.

14. For Axis click on the arrow and choose Vector. Now click on Vector.

The Select a Vector dialog is displayed. Choose Global Y and click OK.

Step 4: Creating Markers.

Now, we will define some markers required for the definition of the PTCV joint. We need
two markers, one associated with the cam (for the curve) and the other associated with
the follower (for the point).

1. From the Project Browser right-click on Model and select Add Reference Entity
> Marker (or right-click the Markers icon on the Model-Reference toolbar).

The Add Marker or MarkerPair dialog is displayed.

2. For Label, enter CamMarker and click OK.

3. From the Properties tab, double-click on Body.

4. The Select a Body dialog is displayed. Choose Cam and click OK.

5. From the Properties tab, double-click on Point.

6. The Select a Point dialog is displayed. Choose PivotPoint and click OK.

7. Accept the defaults for axes orientation.

8. Add another marker by right-clicking on Model in the Project Browser and

selecting Add Reference Entity > Marker (or right-click the Markers icon on
the Model-Reference toolbar).

The Add Marker or MarkerPair dialog is displayed.

9. For Label, enter FollowerMarker and click OK.

10. From the Properties tab, double-click on Body.

11. The Select a Body dialog is displayed. Choose Follower and click OK.

12. From the Properties tab, double-click on Point.

13. The Select a Point dialog is displayed. Choose FollowerPoint and click OK.

14. Accept the defaults for axes orientation.

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Step 5: Creating Graphics.

Graphics for the cam and follower have been provided as h3d files. We need to associate
the h3ds with bodies defined in our model. To make visualization better, we will also
create some graphics for the joints.

1. From the Project Browser right-click on Model and select Add Reference Entity
> Graphic (or right-click the Graphics icon on the Model-Reference toolbar).

The Add Graphics or GraphicPair dialog is displayed.

2. For Label, enter Cam.

3. Choose File from the drop-down menu.

4. Click on the file browser icon and select CamProfile.h3d from the model folder.

5. Click Open and then OK.

6. From the Connectivity tab, double-click on Body.

The Select a Body dialog gets displayed. Choose Cam and click OK.

7. Add another graphic by right-clicking on Model in the Project Browser and

selecting Add Reference Entity > Graphics (or right-click the Graphics icon
on the Model-Reference toolbar).

The Add Graphics or GraphicPair dialog is displayed.

8. For Label, enter Follower.

9. Choose File from the drop-down menu and click OK.

10. Click on the browser icon and select FollowerProfile.h3d from the model folder.

11. Click Open.

12. Under the Connectivity tab, double-click on Body.

The Select a Body dialog gets displayed. Choose Follower and click OK.

Next, we will add some joint graphics for better visualization and aesthetics.

1. From the Project Browser right-click on Model and select Add Reference Entity

> Graphic (or right-click the Graphics icon on the Model-Reference toolbar).

The Add Graphics or GraphicPair dialog is displayed.

2. For Label, enter PivotGraphicOne (the first graphic to show the cam pivot).

3. Choose Cylinder from the drop-down menu and click OK.

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4. From the Connectivity tab, double-click on Body.

The Select a Body dialog gets displayed. Choose Ground Body and click OK.

5. Double click on Point.

The Select a Point dialog is displayed. Choose PivotPoint and click OK.

6. Click on the arrow below Direction and select the Vector option.

7. Click on Vector.

The Select a Vector dialog is displayed. Choose Global Z and click OK.

8. From the Properties tab, specify the following values:

Property Value

Length 7.5

Offset -3.75

Radius 1 4.000

Radius 2 4.000

9. For the Cap properties, choose Cap Both Ends.

10. Add another graphic by right-clicking on Model in the Project Browser and
selecting Add Reference Entity > Graphics (or right-click the Graphics icon on
the Model-Reference toolbar).

The Add Graphics or GraphicPair dialog is displayed.

11. For Label, enter PivotGraphicTwo (the second graphic to show the cam pivot).

12. Choose Cylinder from the drop-down menu and click OK.

13. Under the Connectivity tab, double-click on Body.

The Select a Body dialog gets displayed. Choose Cam and click OK.

14. Double click on Point.

The Select a Point dialog is displayed. Choose PivotPoint and click OK.

15. Click on the arrow below Direction and select the Vector option.

16. Click on Vector.

The Select a Vector dialog is displayed. Choose Global Z and click OK.

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17. From the Properties tab, specify the following values:

Propert Value
y

Length 7.6

Offset -3.8

Radius 1 2.000

Radius 2 2.000

18. For the Cap properties, choose Cap Both Ends.

19. Add another graphic by right-clicking on Model in the Project Browser and

selecting Add Reference Entity > Graphics (or right-click the Graphics icon
on the Model-Reference toolbar). Add.

The Add Graphics or GraphicPair dialog is displayed.

20. For Label, enter FollowerJointGraphic (the graphic for the follower translational
joint).

21. Choose Box from the drop-down menu and click OK.

22. From the Connectivity tab, double-click on Body.

The Select a Body dialog gets displayed. Choose Ground Body and click OK.

23. For Type, choose Center from the drop-down menu.

24. Double-click on Point.

The Select a Point dialog gets displayed. Choose FollowerJoint and click OK.

25. For axis orientation, use the vector Global Z as the Z-axis and the vector Global X,
to define the ZX plane.

26. From the Properties tab, specify the following properties:

Property Value

Length X 15

Length Y 10

Length Z 10

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At the end of this step, your model should look like the one shown in the figure
below:

A Knife-edge Cam Follower Mechanism in MotionView

Step 6: Creating the Curve.

The curve that we will use here is the curve that defines the profile of the cam. The data
for this curve has been provided in .csv format. We need to define the curve using the
data in the given file.

1. From the Project Browser right-click on Model and select Add Reference Entity
> Curve (or right-click the Curves icon on the Model-Reference toolbar).

The Add Curve dialog is displayed.

2. For Label, enter CamProfile and click OK.

3. From the Properties tab, use the first drop-down menu to change the curve from
2D Cartesian to 3D Cartesian.

4. From the Properties tab, click on the x radio button.

5. Click on the file browser icon and select CamProfile.csv. Click Open.

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6. Choose the properties of the curve as shown in the figure below:

7. From the Properties tab, click on the y radio button.

8. Click on the file browser icon and select CamProfile.csv. Click Open.

9. Choose the properties of the curve as shown in the figure below:

10. From the Properties tab, click on the z radio button.

11. Click on the file browser icon and select CamProfile.csv. Click Open.

12. Choose the properties of the curve as shown in the figure below:

Notice the different column numbers used for x, y, and z properties.

13. From the Properties tab, use the fourth drop-down menu to set the curve type to
Closed Curve.

Step 7: Creating the PTCV Joint.

Now, we will create the PTCV joint.

1. From the Project Browser right-click on Model and select Add Constraint >
Advanced Joint (or right-click the Advanced Joints icon on the Model-
Constraint toolbar).

The Add AdvJoint dialog is displayed.

2. For Label, enter PTCV.

3. Choose PointToCurveJoint from the drop-down menu and click OK.

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4. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog gets displayed. Choose Follower and click OK.

5. From the Connectivity tab, double-click on Point.

The Select a Point dialog gets displayed. Choose FollowerPoint and click OK.

6. From the Connectivity tab, double-click on Curve.

The Select a Curve dialog gets displayed. Choose CamProfile and click OK.

7. From the Connectivity tab, double-click on Ref Marker.

The Select a Marker dialog gets displayed. Choose CamMarker and click OK.

Step 8: Specifying the Cam Motion.

After we have the topology and constraints specified, we need to provide the cam
motion. The most natural choice here is a uniform motion imposed on the revolute joint.

1. From the Project Browser right-click on Model and select Add Constraint >
Motions (or right-click the Motions icon on the Model-Constraint toolbar).

The Add Motion or MotionPair dialog is displayed.

2. For Label, enter CamMotion and click OK.

3. From the Connectivity tab, double-click on Joint. Choose CamPivot and click OK.

4. From the Properties tab, specify the properties as `10*TIME`.

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Step 9: Specifying Gravity.

Since our shaft is along the Y-axis, we want the gravity to be in the negative Y direction.
To specify this:

1. Click the Forms icon on the Model-General toolbar.

The Forms panel is displayed.

2. Select Gravity and specify the following values:

Direction Value

X 0

Y -9810

Z 0

Step 10: Specifying Output Requests.

We would like to monitor the reaction on PTCV joint since it can help us verify the
correctness of our results. This will be discussed in detail towards the end of the tutorial
when the topic of 'lift-offs' will be discussed.

1. From the Project Browser right-click on Model and select Add General MDL
Entity > Output (or right-click the Outputs icon on the Model-General
toolbar).

The Add Output dialog is displayed.

2. For Label, enter PTCV Reaction and click OK.

3. From the Properties tab, choose Expressions from the drop-down menu.

4. Click in the F2 expression box.

5. Click on the button.

The Expression Builder dialog is displayed.

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6. Populate the expression as 'PTCV({aj_0.idstring},0,2,0)'.

7. Click OK.

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8. Repeat the process for F3, F4, F6, F7, and F8 by changing the 3rd parameter to 3,
4, 6, 7, and 8 accordingly.

The PTCV(id, jflag, comp, ref_marker) function returns the reaction on the PTCV
joint:

id ID of the PTCV joint

jflag 0 gives reaction on the I-marker and 1 on J-marker

comp component of the reaction

ref_marker reference marker (0 implies Global Frame)

Step 11: Running the Model.

We now have the model defined completely and it is ready to run.

1. Click the Run icon on the toolbar.

The Run panel is displayed.

2. From the Main tab, specify values as shown below:

3. Choose the Save and run current model radio button.

4. Click on the browser icon and specify a file name of your choice.

5. Click Save.

6. Click Check Model button on the Model Check toolbar to check the model for
errors.

7. To run the model, click the Run button on the panel.

The solver will get invoked here.

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Step 12: Viewing the Results.

1. Once the solver has finished its job, the Animate button will be active. Click on
Animate.

The icon can be used to start the animation, and the icon can be used to
stop/pause the animation.

One would also like to inspect the displacement profile of the follower in this
mechanism. For this, we will plot the Y position of the center of mass of the follower.

2. Use the Page Layout drop-down menu on the Page Controls toolbar to

select the three-window layout .

3. Highlight the lower right window and use the Select application drop-down menu
to change the application from MotionView to HyperGraph 2D .

4. Click the Build Plots icon on the Curves toolbar.

5. Click on the browser icon and load the result.abf file.

6. Make selections for the plot as shown below:

We are plotting the Y profile of the center of mass of the follower.

7. Click Apply.

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8. The profile for the Y-displacement of the follower should look like the one shown
below:

9. If we set the X-axis properties to zoom in on one cycle, the profile looks as shown
below:

The profile of the cam has been designed to obtain the above Y-profile for the
follower.

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Now, we come to the discussion regarding ‘lift-offs’. In some cases, the dynamics of the
system may cause the follower to lose contact with the cam. This is called ‘lift-off’. In
such cases, modeling the system using a PTCV joint will give us incorrect results. This is
because the PTCV joint constrains the follower point to be always on the curve and
hence cannot model lift-offs. For such cases, contact modeling has to be used (refer
tutorial MV-1010 for contact modeling). However, one would like to start with a PTCV
model since modeling a PTCV joint is a lot easier than modeling contact. Given this
scenario, the following modeling steps should be followed:

1. Model the system using a PTCV joint.

2. Monitor the PTCV joint reaction. If the reaction on the follower is a ‘pulling’ reaction,
it means lift-off would have occurred and one needs to go for a contact model.
Otherwise, the PTCV model is good enough.

Now, let’s check if our PTCV model is good enough. For this, we need to plot the
reaction profile on the follower. Since the follower is moving along the Y-axis, any
negative reaction along the Y-axis is a ‘pulling’ reaction. So, let’s plot the Y-reaction
on the follower. For this:

3. Add a new page to the session by clicking on the Add Page icon .

4. Choose HyperGraph 2D and click on Build Plots .

5. Click on the browser icon and load the result.abf file.

6. Make selections for the plot as shown below:

We are plotting the Y profile of the PTCV reaction on the follower.

7. Click Apply.

The profile should look like the one shown below:

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If we zoom in on one cycle by scaling the X-axis, the profile looks like this:

We see that the Y component of the PTCV reaction on the follower is always positive
and hence it is never a ‘pulling’ reaction. Thus, our PTCV model is good enough to
model the dynamics since there is no expected lift-off.

In this tutorial, we learned how to model a PTCV joint and use it to model a cam-follower
mechanism. We also discussed lift-offs and ways of verifying the suitability of a PTCV
joint model for modeling the dynamics of a particular system.

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MV-1026: Modeling Curve-to-Curve (CVCV) Higher-Pair

Constraint

In this tutorial, you will learn how to:

• Model a CVCV (curve-to-curve) joint

A CVCV (curve-to-curve) joint is a higher pair constraint. The constraint consists of a
planar curve on one body rolling and sliding on a planar curve on a second body. The
curves are required to be co-planar. This constraint can act as a substitute to contact
modeling in many cases where the contact occurs in a plane. One such case is the cam-
follower system, in which the follower is in the form of a roller. Instead of modeling the
contact between the cam and the follower, we can specify a CVCV constraint between
their profiles.

A cam roller mechanism

In this tutorial, we will model a roller type cam-follower mechanism with the help of a
CVCV constraint.

Exercise
Copy the files CamProfile.h3d and CamProfile.csv , located in the
mbd_modeling\interactive folder, to your <Working directory>.

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Step 1: Creating points.

Let’s start with creating points that will help us locate the bodies and joints that we
would like to. We will define points for center of mass of the bodies and joint locations.

1. Start a new MotionView Session. We will work in the default units (kg, mm, s, N).

2. From the Project Browser right-click on Model and select Add Reference Entity
> Point (or right-click the Points icon on the Model-Reference toolbar).

The Add Point or PointPair dialog is displayed.

3. For Label, enter PivotPoint.

4. Accept the default variable name and click OK.

5. Click on the Properties tab and specify the coordinates as X = 0.0 , Y, = 0.0, and Z
= 0.0

6. Follow the same procedure for the points specified in the following table:

Point X Y Z

FollowerShaftCM 0.0 67.5 0.0

FollowerTransJoint 0.0 85.0 0.0

FollowerRevJoint 0.0 30.0 0.0

CamCM 0.0 -14.1604 0.0

Step 2: Creating Bodies.

We will have three bodies apart from the ground body in our model visualization: the
cam, the follower shaft and the follower roller. Pre-specified inertia properties will be
used to define the bodies.

1. From the Project Browser right-click on Model and select Add Reference Entity
> Body (or right-click the Body icon on the Model-Reference toolbar).

The Add Body or BodyPair dialog is displayed.

2. For Label, enter Cam and click OK.

3. Right-click on Bodies in the Project Browser and select Add Body to define a
second body.

The Add Body or BodyPair dialog is displayed.

4. For Label, enter FollowerShaft and click OK.

5. Right-click on Bodies in the Project Browser and select Add Body to define a
third body.

The Add Body or BodyPair dialog is displayed.

6. For Label, enter FollowerRoller and click OK.

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7. From the Properties tab, specify the following for the three bodies:

Body Mass Ixx Iyy Izz Ixy Iyz Izx

Cam 0.1724 59.339 62.6192 121.240 0.0 0.0 0.0

FollowerShaft 0.0072 3.4270 0.0144 3.4270 0.0 0.0 0.0

FollowerRoller 0.0030 0.0251 0.0251 0.0375 0.0 0.0 0.0

8. For the Cam body, under the CM Coordinates tab, check the Use CM Coordsys
box.

9. Double click on Point.

The Select a Point dialog is displayed.

− Choose CamCM and click OK.

10. Accept defaults for axes orientation properties.

11. For the FollowerShaft body, under the CM Coordinates tab, check the Use CM
Coordsys box.

12. Double click on Point.

The Select a Point dialog is displayed.

− Choose FollowerShaftCM and click OK.

13. Accept defaults for axes orientation properties.

14. For the FollowerRoller body, under the CM Coordinates tab, check the Use CM
Coordsys box.

15. Double click on Point.

The Select a Point dialog is displayed.

− Choose FollowerRevJoint and click OK.

16. Accept defaults for axes orientation properties.

Step 3: Creating Joints.

Here, we will define all the necessary joints except the CVCV joint which will be defined
as a advanced joint later. We require three joints for the model. The first of them is the
revolute joint between the cam and ground body. The second joint we need is a
translational joint between the follower shaft and ground body and the third joint is the
revolute joint that connects the roller to the shaft.

1. From the Project Browser right-click on Model and select Add Constraint >

Joint (or right-click the Joints icon on the Model-Constraint toolbar).

The Add Joint or JointPair dialog is displayed.

2. For Label, enter CamPivot.

3. Select Revolute Joint as the type and click OK.

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4. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog is displayed.

− Choose Cam and click OK.

5. From the Connectivity tab, double-click on Body 2.

The Select a Body dialog is displayed.

− Choose Ground Body and click OK.

6. Again from the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed.

− Choose PivotPoint and click OK.

7. For Axis click on the arrow and choose Vector. Now click on Vector.

The Select a Vector dialog is displayed.

− Choose Global Z and click OK.

8. Right-click on Joints in the Project Browser and select Add Joint to define a
second joint.

The Add Joint or JointPair dialog is displayed.

9. For Label, enter FollowerTransJoint.

10. Select Translational Joint as the type and click OK.

11. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog is displayed.

− Choose FollowerShaft and click OK.

12. From the Connectivity tab, double-click on Body 2.

The Select a Body dialog is displayed.

− Choose Ground Body and click OK.

13. Again from the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed.

− Choose FollowerTransJoint and click OK.

14. For Axis, click on the arrow and choose Vector. Now click on Vector.

The Select a Vector dialog is displayed.

− Choose Global Y and click OK.

15. Right-click on Joints in the Project Browser and select Add Joint to define a third
joint.

The Add Joint or JointPair dialog is displayed.

16. For Label, enter FollowerRollerJoint.

17. Select Revolute Joint as the type and click OK.

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18. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog is displayed.

− Choose FollowerRoller and click OK.

19. From the Connectivity tab, double-click on Body 2.

The Select a Body dialog is displayed.

− Choose FollowerShaft and click OK.

20. Again from the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed.

− Choose FollowerRevJoint and click OK.

21. For Axis click on the arrow and choose Vector. Now click on Vector.

The Select a Vector dialog is displayed.

− Choose Global Z and click OK.

Step 4: Creating Markers.

Now, we will define markers required for the definition of the CVCV joint. We need two
markers, one associated with the cam and the other associated with the follower roller.

1. From the Project Browser right-click on Model and select Add Reference Entity

> Marker (or right-click the Markers icon on the Model-Reference toolbar).

2. For Label, enter CamMarker and click OK.

3. From the Properties tab, double-click on Body.

The Select a Body dialog is displayed.

− Choose Cam and click OK.

4. From the Properties tab, double-click on Point.

The Select a Point dialog is displayed.

− Choose PivotPoint and click OK.

5. Accept the defaults for axes orientation.

6. Right-click on Markers in the Project Browser and select Add Marker to define a
second marker.

The Add Marker or MarkerPair dialog is displayed.

7. For Label, enter FollowerMarker and click OK.

8. From the Properties tab, double-click on Body.

The Select a Body dialog is displayed.

− Choose FollowerRoller and click OK.

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9. From the Properties tab, double-click on Point.

The Select a Point dialog is displayed.

− Choose FollowerRevJoint and click OK.

10. Accept the defaults for axes orientation.

Step 5: Creating Graphics.

Graphics for the cam have been provided as an h3d file. We need to associate the h3d
with the cam body defined in our model. The follower shaft and roller can be
represented using primitive graphics. To make the visualization better, we will also
create some graphics for the joints.

1. From the Project Browser right-click on Model and select Add Reference Entity

> Graphic (or right-click the Graphics icon on the Model-Reference toolbar).

The Add Graphics or GraphicPair dialog is displayed.

2. For Label, enter Cam.

3. Choose File from the drop-down menu.

4. Click on the browser icon and select CamProfile.h3d from the model folder.

5. Click Open and then OK.

6. From the Connectivity tab, double-click on Body.

The Select a Body dialog is displayed.

− Choose Cam and click OK.

7. Right-click on Graphics in the Project Browser and select Add Graphic to define
a second graphic.

The Add Graphics or GraphicPair dialog is displayed.

8. For Label, enter FollowerShaft.

9. Choose Cylinder from the drop-down menu and click OK.

10. From the Connectivity tab, double-click on Body.

The Select a Body dialog is displayed.

− Choose FollowerShaft and click OK.

11. Double click on Point.

The Select a Point dialog is displayed.

− Choose FollowerShaftCM and click OK.

12. Click on the arrow below Direction and select the Vector option.

13. Click on Vector.

The Select a Vector dialog is displayed.

− Choose Global Y and click OK.

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14. From the Properties tab, specify the following values:

Property Value

Length 75

Offset -37.5

Radius 1 2.000

Radius 2 2.000

15. For the Cap properties, choose Cap Both Ends.

16. Right-click on Graphics in the Project Browser and select Add Graphic to define
a third graphic.

The Add Graphics or GraphicPair dialog is displayed.

17. For Label, enter FollowerRoller.

18. Choose Cylinder from the drop-down menu and click OK.

19. From the Connectivity tab, double-click on Body.

The Select a Body dialog is displayed.

− Choose FollowerRoller and click OK.

20. Double click on Point.

The Select a Point dialog is displayed.

− Choose FollowerRevJoint and click OK.

21. Click on the arrow below Direction and select the Vector option.

22. Click on Vector.

The Select a Vector dialog is displayed.

− Choose Global Z and click OK.

23. From the Properties tab, specify the following values:

Property Value

Length 5.0

Offset -2.5

Radius 1 5.000

Radius 2 5.000

24. For the Cap properties, choose Cap Both Ends.

Next, we will add some joint graphics for better visualization and aesthetics.

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1. Right-click on Graphics in the Project Browser and select Add Graphic to define
another graphic.

The Add Graphics or GraphicPair dialog is displayed.

2. For Label, enter CamPivotGraphicOne (first graphic to show the cam pivot).

3. Choose Cylinder from the drop-down menu and click OK.

4. From the Connectivity tab, double-click on Body.

The Select a Body dialog is displayed.

− Choose Ground Body and click OK.

5. Double click on Point.

The Select a Point dialog is displayed.

− Choose PivotPoint and click OK.

6. Click on the arrow below Direction and select the Vector option.

7. Click on Vector.

The Select a Vector dialog is displayed.

− Choose Global Z and click OK.

8. From the Properties tab, specify the following values:

Property Value

Length 7.5

Offset -3.75

Radius 1 4.000

Radius 2 4.000

9. For the Cap properties, choose Cap Both Ends.

10. Right-click on Graphics in the Project Browser and select Add Graphic to define
another graphic.

The Add Graphics or GraphicPair dialog is displayed.

11. For Label, enter CamPivotGraphicTwo (second graphic to show the cam pivot).

12. Choose Cylinder from the drop-down menu and click OK.

13. From the Connectivity tab, double-click on Body.

The Select a Body dialog is displayed.

− Choose Cam and click OK.

14. Double click on Point.

The Select a Point dialog is displayed.

− Choose PivotPoint and click OK.

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15. Click on the arrow below Direction and select the Vector option.

16. Click on Vector.

The Select a Vector dialog is displayed.

− Choose Global Z and click OK.

17. From the Properties tab, specify the following values:

Property Value

Length 7.6

Offset -3.8

Radius 1 2.000

Radius 2 2.000

18. For the Cap properties, choose Cap Both Ends.

Repeat this process for the FollowerRevJoint and label the graphics as:

− RollerPivotGraphicOne on FollowShaft with a length of 7.5 and radius of 2.

and

− RollerPivotGraphicTwo on FollowRoller with a length of 7.6 and radius of 1.

19. Right-click on Graphics in the Project Browser and select Add Graphic to define
another graphic.

The Add Graphics or GraphicPair dialog is displayed.

20. For Label, enter FollowerTransJointGraphic (the graphic for the translational
joint).

21. Choose Box from the drop-down menu and click OK.

22. From the Connectivity tab, double-click on Body.

The Select a Body dialog is displayed.

− Choose Ground Body and click OK.

23. For Type, choose Center from the drop-down menu.

24. Double-click on Point.

The Select a Point dialog is displayed.

− Choose FollowerTransJoint and click OK.

25. For axis orientation, use the vector Global Z as the Z-axis and the vector Global X
to define the ZX plane.

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26. From the Properties tab, specify the following properties:

Property Value

Length X 15

Length Y 10

Length Z 10

At the end of this step, your model should look like the one shown in the figure
below:

Step 6: Creating the Curves.

The curves that we will use here are the curves that define the profile of the cam and the
roller. The data for the cam profile curve has been provided in csv format. Since the
roller profile is circular - it can be defined using mathematical expressions.

1. From the Project Browser right-click on Model and select Add Reference Entity
> Curve (or right-click the Curves icon on the Model-Reference toolbar).

The Add Curve dialog is displayed.

2. For Label, enter CamProfile and click OK.

3. From the Properties tab, use the first drop-down menu to change the curve from
2D Cartesian to 3D Cartesian.

4. From the Properties tab, click on the x radio button.

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5. Click on the file browser icon and select CamProfile.csv. Click Open.

6. Choose the properties of the curve as shown in the figure below:

7. From the Properties tab, click on the y radio button.

8. Click on the file browser icon and select CamProfile.csv. Click Open.

9. Choose the properties of the curve as shown in the figure below:

10. From the Properties tab, click on the z radio button.

11. Click on the file browser icon and select CamProfile.csv. Click Open.

12. Choose the properties of the curve as shown in the figure below:

Notice the different column numbers used for the x, y and z properties.

13. From the Properties tab, use the fourth drop-down menu to set the curve type to
Closed Curve.

14. Right-click on Curves in the Project Browser and select Add Curve to define
another curve.

The Add Curve dialog is displayed.

15. For Label, enter FollowerRollerProfile and click OK.

16. From the Properties tab, use the first drop-down menu to change the curve from
2D Cartesian to 3D Cartesian.

17. From the Properties tab, click on the x radio button.

18. Select Math from the second drop-down menu on the left.

19. Enter 5*sin(2*PI*(0:1:0.01)) in the Expression Builder.

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20. From the Properties tab, click on the y radio button.

21. Select Math from the second drop-down menu on the left.

22. Enter 5*cos(2*PI*(0:1:0.01)) in the Expression Builder.

23. From the Properties tab, click on the z radio button.

24. Select Math from the second drop-down menu at the left.

25. Enter 0.0*(0:1:0.01) in the Expression Builder.

26. From the Properties tab, use the fourth drop-down menu to change the curve from
Open Curve to Closed Curve.

We now have both of the curves defined.

Step 7: Creating the CVCV Joint.

Now, we will create the CVCV joint.

1. From the Project Browser right-click on Model and select Add Constraint >

Advanced Joint (or right-click the Advanced Joints icon on the Model-
Constraint toolbar).

The Add AdvJoint dialog is displayed.

2. For Label, enter CVCV.

3. Choose CurveToCurveJoint from the drop-down menu and click OK.

4. From the Connectivity tab, double-click on Curve 1.

The Select a Curve dialog is displayed.

− Choose CamProfile and click OK.

5. From the Connectivity tab, double-click on Curve 2.

The Select a Curve dialog is displayed.

− Choose FollowerRollerProfile and click OK.

6. From the Connectivity tab, double-click on Ref Marker 1.

The Select a Marker dialog is displayed.

− Choose CamMarker and click OK.

7. Again from the Connectivity tab, double-click on Ref Marker 2.

The Select a Marker dialog is displayed.

− Choose FollowerMarker and click OK.

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Step 8: Specifying the Cam Motion.

After we have the topology and constraints specified, we need to provide the cam
motion. The most natural choice here is a uniform motion imposed on the revolute joint.

1. Click the Project Browser right-click on Model and select Add Constraint >

Motions (or right-click the Motions icon on the Model-Constraint toolbar).

The Add Motion or MotionPair dialog is displayed.

2. For Label, enter CamMotion and click OK.

3. From the Connectivity tab, double-click on Joint. Choose CamPivot and click OK.

4. From the Properties tab, specify the properties as `10*TIME`.

Step 9: Specifying Gravity.

Since our shaft is along the Y-axis, we want the gravity to be in the negative Y direction.
To specify this:

1. Click the Forms icon on the Model-General toolbar.

The Forms panel is displayed.

2. Select Gravity and specify the following values:

Direction Value

X 0

Y -9810

Z 0

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Step 10: Specifying Output Requests.

We would like to monitor the reaction on CVCV joint since it can help us verify the
correctness of our results. This will be discussed in detail towards the end of the tutorial
where we will also discuss lift-offs.

1. From the Project Browser right-click on Model and select Add General MDL

Entity > Output (or right-click the Outputs icon on the Model-General
toolbar).

The Add Output dialog is displayed.

2. For Label, enter CVCV Reaction and click OK.

3. From the Properties tab, choose Expressions from the drop-down menu.

4. Click in the F2 expression box.

5. Click on the button.

The Expression Builder dialog is displayed.

6. Populate the expression as 'CVCV({aj_0.idstring},1,2,0)'.

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7. Click OK.

8. Repeat the process for F3, F4, F6, F7, F8 by changing the third parameter to 3, 4,
6, 7, and 8 accordingly.

The CVCV (id, jflag, comp, ref_marker) function returns the reaction on the
CVCV joint:

id ID of the CVCV joint

jflag 0 gives reaction on the I-marker and 1 on J-

marker

comp component of the reaction

ref_marker reference marker (0 implies Global Frame)

Step 11: Running the Model.

We have the model defined completely and it is now ready to run.

1. Click the Run icon on the Model-Main toolbar.

The Run panel is displayed.

2. From the Main tab, specify values as shown below:

3. Choose the Save and run current model radio button.

4. Click on the browser icon and specify a file name of your choice.

5. Click Save.

6. Click the Check Model button on the Model Check toolbar to check the model
for errors.

7. To run the model, click the Run button on the panel.

The solver will get invoked here.

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Step 12: Viewing the Results.

1. Once the solver has finished its job, the Animate button will be active. Click on
Animate.

The icon can be used to start the animation, and the icon can be used to
stop/pause the animation.

One would also like to inspect the displacement profile of the follower in this
mechanism. For this, we will plot the Y position of the center of mass of the
follower.

2. Use the Page Layout drop-down menu on the Page Controls toolbar to
select the three-window layout .

3. Highlight the lower right window and use the Select application drop-down menu
to change the application from MotionView to HyperGraph 2D .

4. Click the Build Plots icon on the Curves toolbar.

5. Click on the browser icon and load the result.abf file.

6. Make selections for the plot as shown below:

We are plotting the Y profile of the center of mass of the follower.

7. Click Apply.

The profile for the Y-displacement of the follower should look like the one shown
below:

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If we set the X-axis properties to zoom in on one cycle, the profile will look as shown
below:

The profile of the cam has been designed to obtain the above Y-profile for the
follower.

Now, we come to the discussion on ‘lift-offs’. In some cases, the dynamics of the
system may cause the follower to lose contact with the cam - this is called ‘lift-off’. In
such cases, modeling the system using a CVCV joint will give us incorrect results. This is
because the CVCV joint constrains the follower point to be always on the curve. For
such cases, contact modeling has to be used. However one would like to start with a
CVCV model whenever applicable, since modeling a CVCV joint is a lot easier than
modeling contact. Given this scenario, the following modeling steps should be followed:

1. Model the system using a CVCV joint.

2. Monitor the CVCV joint reaction. If the reaction on the follower is a ‘pulling’
reaction, it means that 'lift-off' would have occurred and one needs to go for a
contact model. Otherwise, the CVCV model is good enough.

Now, let’s check if our CVCV model is good enough. For this, we need to plot the
reaction profile on the follower roller. Since the follower is moving along the Y-axis,
any negative reaction along the Y-axis is a ‘pulling’ reaction. So, let’s plot the Y-
reaction on the follower roller. For this:

3. Add a new page to the session by clicking on the Add Page icon .

4. Choose HyperGraph 2D and click on Build Plots .

5. Click on the browser icon and load the result.abf file.

6. Make selections for the plot as shown below:

We are plotting the Y profile of the CVCV reaction on the follower roller.

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7. Click Apply.

The profile should look like the one shown below:

If we zoom in on one cycle by scaling the X-axis, the profile looks like this:

We see that the Y component of the CVCV reaction on the follower is always
positive, and hence it is never a ‘pulling’ reaction. Thus, our CVCV model is good
enough to model the dynamics since there is no expected lift-off.

In this tutorial, we learned how to model a CVCV joint and use it to model a cam-
follower mechanism. We also discussed 'lift-offs' and ways of verifying the suitability of
a CVCV joint model for modeling the dynamics of a particular system.

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MV-1027: Modeling Point-to-Deformable-Curve (PTdCV)

Higher-Pair Constraint

In this tutorial, you will learn how to:

• Model a PTdCV (point-to-deformable-curve) joint

A PTdCV (point-to-deformable-curve) joint is a higher pair constraint. This constraint

restricts a specified point on a body to move along a specified deformable curve on
another body. The curve may be open or closed, planar or in 3-d space. The point may
belong to a rigid, flexible or a point mass. For this, we define a deformable curve on a
beam supported at its ends by revolute joints. A mass is constrained to move along the
curve with a PTdCV constraint.

Exercise
Copy the file KG_N_MM_S_50elems2.h3d, located in the mbd_modeling\interactive
folder, to your <working directory>.

Step 1: Creating points.

Let’s start with creating points that will help us locate the bodies and joints as required.
We will define points for center of mass of the bodies and joint locations.

1. Start a new MotionView Session. We will work with the default units (kg, mm, s, N).

2. From the Project Browser right-click on Model and select Add Reference Entity

> Point (or right-click the Points icon on the Model-Reference toolbar).

The Add Point or PointPair dialog is displayed.

3. For Label, enter PointbeamInterface1.

4. Accept the default variable name and click OK.

5. Click on the Properties tab and specify the coordinates as X = 152.4, Y, = 0.0,
and Z = 0.0.

6. Follow the same procedure for the other points specified in the table below:

Point X Y Z

PointbeamInterface2 460.80 0.0 0.0

Point0 183.24 0.0 0.0

Point1 214.08 0.0 0.0

Point2 244.92 0.0 0.0

Point3 275.76 0.0 0.0

Point4 306.60 0.0 0.0

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Point X Y Z

Point5 337.44 0.0 0.0

Point6 368.28 0.0 0.0

Point7 399.12 0.0 0.0

Point8 429.96 0.0 0.0

Step 2: Creating Bodies.

We will have two bodies apart from the ground body in our model visualization: the
beam and the ball. Pre-specified inertia properties will be used to define the ball.

1. From the Project Browser right-click on Model and select Add Reference Entity
> Body (or right-click the Body icon on the Model-Reference toolbar).

The Add Body or BodyPair dialog is displayed.

2. For Label, enter Beam and click OK.

3. Accept the default variable name and click OK.

For the remainder of this tutorial - accept the default names that are provided for
the rest of the variables that you will be asked for.

4. From the Properties tab, check the Deformable box.

5. Click on the Graphic file browser icon , select KG_N_MM_S_50elems2.h3d from the
<working directory> and click Open.

The same path will automatically appear next to the H3D file browser icon .

6. Right-click on Bodies in the Project Browser and select Add Body.

The Add Body or BodyPair dialog is displayed.

7. For Label, enter Ball and click OK.

8. From the Properties tab, specify the following for the Ball:

Body Mass Ixx Iyy Izz Ixy Iyz Izx

Ball 100 1e6 1e6 1e6 0.0 0.0 0.0

9. For the Ball body, under the CM Coordinates tab, check the Use center of mass
coordinate system box.

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10. Double click on Point.

The Select a Point dialog is displayed.

11. Choose Point4 and click OK.

12. Accept defaults for axes orientation properties.

13. For the Ball body, from the Initial Conditions tab - check the Vx box under
Translational velocity and enter a value of 100 into the text box.

This sets a value of 100 for the translational velocity of the ball in the X-direction. A
somewhat high value of Vx is introduced to make the motion of the ball clearly
visible in the animation.

14. Accept all the other default values.

Step 3: Creating Markers.

Now, we will define some markers required for the beam. We will totally define eleven
markers here at equal distances along the span of the beam.

1. From the Project Browser right-click on Model and select Add Reference Entity

> Marker (or right-click the Markers icon on the Model-Reference toolbar).

The Add Marker or MarkerPair dialog is displayed.

2. For Label, enter Marker0 and click OK.

3. Under the Properties tab, double-click on Body.

The Select a Body dialog is displayed.

4. Choose Beam and click OK.

5. Under the Properties tab, double-click on Point.

The Select a Point dialog is displayed.

6. Choose PointbeamInterface1 and click OK.

Accept the defaults for axes orientation.

7. Right-click on Markers in the Project Browser and select Add Marker to define a
second marker. Continue adding markers until Marker10 is reached.

8. For subsequent labels; enter Marker1, Marker2, etc. until Marker10 is reached.

9. From the Properties tab, always select the Beam (after double-clicking on Body
each time).

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10. From the Properties tab, select Point0 through Point8, and finally
PointbeamInterface2 for Marker10 (by double-clicking on Point every time).

Always accept the defaults for axes orientation.

A table is provided below for reference:

Marker No. Body Point

0 Beam PointbeamInterface1

1 Beam Point0

2 Beam Point1

3 Beam Point2

4 Beam Point3

5 Beam Point4

6 Beam Point5

7 Beam Point6

8 Beam Point7

9 Beam Point8

10 Beam PointbeamInterface2

Step 4: Creating Joints.

Here, we will define all the necessary joints except for the PTdCV joint, which will be
defined as an advanced joint later. We require two joints for the model, both of them
being fixed joints between the beam and ground body.

1. From the Project Browser right-click on Model and select Add Constraint >
Joint (or right-click the Joints icon on the Model-Constraint toolbar).

The Add Joint or JointPair dialog is displayed.

2. For Label, enter Joint0.

3. Select Fixed Joint as the type and click OK.

4. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog is displayed.

5. Choose Beam and click OK.

6. Under the Connectivity tab, double-click on Body 2.

The Select a Body dialog is displayed.

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7. Choose Ground Body and click OK.

8. From the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed.

9. Choose PointbeamInterface1 and click OK.

10. Right-click on Joints in the Project Browser and select Add Joint to define a
second joint.

The Add Joint or JointPair dialog is displayed.

11. For Label, enter Joint1.

12. Select Fixed Joint as the type and click OK.

13. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog is displayed.

14. Choose Beam and click OK.

15. From the Connectivity tab, double-click on Body 2.

The Select a Body dialog is displayed.

16. Choose Ground Body and click OK.

17. From the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed.

18. Choose PointbeamInterface2 and click OK.

Step 5: Creating Deformable Curves.

Here we will now define the deformable curve on the surface of the beam. The ball is
constrained to move along this curve.

1. Click the Project Browser tab, right-click on Model and select Add Reference
Entity > Deformable Curve (or right-click the Deformable Curves icon on the
Model-Reference toolbar).

The Add DeformableCurve dialog is displayed.

2. For Label, enter DeformableCurve0, and click OK.

3. From the Properties tab, select Marker for Data type, and NATURAL for Left
end type and Right end type.

4. Check the box just to the left of the Marker collector (which situated to the far right
of Data Type).

The intermediate Add button is changed to an Insert button.

5. Enter 10 into the text box located just to the right of the Insert button, and then
click on the Insert button.

Eleven Marker collectors are displayed.

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6. Click on the individual collectors.

The Select a Marker dialog is displayed.

7. Select all the markers one by one, starting from Marker 0 to Marker 10.

Step 6: Creating Advanced Joints.

Now we will define the advanced PTdCV joint.

1. From the Project Browser right-click on Model and select Add Constraint >
Advanced Joint (or right-click the Advanced Joints icon on the Model-
Constraint toolbar).

The Add AdvJoint dialog is displayed.

2. For Label, enter AdvancedJoint 0.

3. From the Connectivity tab select: PointToDeformableCurveJoint, Ball for

Body, Point4 for Point, and DeformableCurve 0 for DeformableCurve.

Step 7:Creating Graphics.

Graphics for the ball will now be built here.

1. Click the Project Browser tab, right-click on Model and select Add Reference
Entity > Graphic (or right-click the Graphics icon on the Model-Reference
toolbar).

The Add Graphics or GraphicPair dialog is displayed.

2. For Label, enter Graphic0.

3. For Type, choose Sphere from the drop-down menu and click OK.

4. From the Connectivity tab, double-click on Body.

The Select a Body dialog is displayed.

5. Choose Ball and click OK.

6. Again from the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed.

7. Choose Point4 and click OK.

8. From the Properties tab, enter 2.0 as the radius of the Ball.

9. From the Visualization tab, select a color for the Ball.

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Step 8: Return to the Bodies Panel.

1. Click the Body icon on the Model-Reference toolbar.

2. For the beam which has already been defined, click on the Nodes button.

The Nodes dialog is displayed.

3. Uncheck the Only search interface nodes box and then click on Find All.

4. Close the Nodes dialog.

At the end of these steps your model should look like the one shown in the figure
below:

One final comment before running the model:

This type of constraint does not ensure that the contact point will stay within
the range of data specified for the curve. Additional forces at the end need to
be defined by the user to satisfy this requirement. If the contact point goes out
of range of the data specified for this curve, the solver encounters an error
(unless additional forces are defined to satisfy this). In that case, one has to
change the initial velocities for the ball, or increase the range of data specified
for the curve, or run the simulation for a shorter interval of time.

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Step 9: Running the Model.

We now have the model defined completely and it is ready to run.

1. Click the Run icon on the Model-Main toolbar.

The Run panel is displayed.

2. From the Main tab, specify values as shown below:

3. Choose the Save and run current model radio button.

4. Click on the browser icon and save the file as result.xml.

5. Click Save.

6. Click the Check Model button on the Model Check toolbar to check the model
for errors.

7. To run the model, click the Run button on the panel.

The solver will get invoked here.

Step 10: Viewing the Results.

1. Once the solver has finished its job, the Animate button will be active. Click on
Animate.

The icon can be used to start the animation, and the icon can be used to
stop/pause the animation.

One would also like to inspect the displacement profile of the beam and the ball. For
this, we will plot the Z position of the center of mass of the ball.

2. Click on the Add Page icon and add a new page.

3. Use the Select application drop-down menu to change the application from
MotionView to HyperGraph 2D .

4. Click the Build Plots icon on the Curves toolbar.

5. Click on the browser icon and load the result.abf file.

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6. Make selections for the plot as shown below:

We are plotting the Z position of the center of mass of the ball.

7. Click Apply.

The profile for the Z-displacement of the ball should look like the one shown below:

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MV-1028: Modeling Point-to-Deformable-Surface (PTdSF)

Higher-Pair Constraint

In this tutorial, you will learn how to:

• Model a PTdSF (point-to-deformable-surface) joint

A PTdSF (point-to-deformable-surface) joint is a higher pair constraint. This constraint

restricts a specified point on a body to move along a specified deformable surface on
another body. The point may belong to a rigid, flexible, or point body. The deformable
surface for this tutorial is defined on a rigidly supported plate. A mass is constrained to
move on the surface with a PTdSF constraint.

Exercise
Copy the files membrane.h3d and membrane.fem, located in the
mbd_modeling\interactive folder, to your <working directory>.

Step 1: Creating points.

Let’s start with creating points that will help us locate the bodies and joints as required.
We will define points for center of mass of the bodies and joint locations.

1. Start a new MotionView Session. We will work with the default units (kg, mm, s, N).

2. Click the Project Browser tab, right-click on Model and select Add Reference
Entity > Point (or right-click the Points icon on the Model-Reference
toolbar).

The Add Point or PointPair dialog is displayed.

3. For Label, enter BallCM.

4. Accept the default variable name and click OK.

5. Click on the Properties tab and specify the coordinates as X = 0.0, Y = 0.0, and Z
= 0.0.

6. Follow the same procedure for the other points specified in the following table:

Point X Y Z

PointMembInterface39 -55.00 -55.00 0.0

PointMembInterface40 55.00 -55.00 0.0

PointMembInterface41 55.00 55.00 0.0

PointMembInterface42 -55.00 55.00 0.0

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Step 2: Creating Bodies.

We will have two bodies apart from the ground body in our model visualization: the
membrane and the ball. Pre-specified inertia properties will be used to define the ball.

1. From the Project Browser, right-click on Model and select Add Reference Entity
> Body (or right-click the Body icon on the Model-Reference toolbar).

The Add Body or BodyPair dialog is displayed.

2. For Label, enter Membrane.

3. Accept the default variable name and click OK.

For the remainder of this tutorial - accept the default names for the rest of the
variables that you will be asked for.

4. From the Properties tab, check the Deformable box.

5. Click on the Graphic file browser icon and select membrane.h3d from the
<working directory>.

The same path will automatically appear next to the H3D file browser icon .

6. Right-click on Bodies in the Project Browser and select Add Body to define a
second body.

The Add Body or BodyPair dialog is displayed.

7. For Label, enter Ball and click OK.

8. From the Properties tab, specify the following for the Ball:

Body Mass Ixx Iyy Izz Ixy Iyz Izx

Ball 1.00 4000.00 4000.00 4000.00 0.0 0.0 0.0

9. For the Ball body, under the CM Coordinates tab, check the Use center of mass
coordinate system box.

10. Double click on Point.

The Select a Point dialog is displayed.

11. Choose BallCM and click OK.

12. Accept defaults for axes orientation properties.

13. For the Ball body, from the Initial Conditions tab - check the Vx box under
Translational velocity and enter a value of 1 into the text box.

This sets a value of 1 for the translational velocity of the ball in the X direction.

14. Repeat the same for Vy.

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Step 3: Creating Markers and a Deformable Surface.

Now, we will define some markers required for the membrane.

1. From the Macros menu, select Create Markers For Deformable Surface.

The Create Markers For Deformable Surface utility is displayed at the bottom of
the screen.

2. For Select the body, use the Body input collector to select Membrane.

3. Click on the Select the FEM file file browser icon and select the membrane.fem file.

4. Use the default values for the Maximum number of marker rows and Maximum
number of marker columns.

5. Click Generate Surface.

The Markers and Deformable Surface are created.

Step 4: Creating Joints.

Here, we will define all the necessary joints except the PTdSF joint, which will be defined
as an advanced joint later. We require four joints for the model, all of them being fixed
joints between the membrane and the ground.

1. From the Project Browser, right-click on Model and select Add Constraint >
Joint (or right-click the Joints icon on the Model-Constraint toolbar).

The Add Joint or JointPair dialog is displayed.

2. For Label, enter Joint 1.

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3. Select Fixed Joint as the type and click OK.

4. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog is displayed.

5. Choose Membrane and click OK.

6. From the Connectivity tab, double-click on Body 2.

The Select a Body dialog is displayed.

7. Choose Ground Body and click OK.

8. From the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed.

9. Choose PointMembInterface39 and click OK.

10. Repeat the same procedure for the other three joints.

A table is provided below for your convenience:

Label Type of Body 1 Body 2 Point

Joint

Joint 2 Fixed Membrane Ground Body PointMembInterface40

Joint 3 Fixed Membrane Ground Body PointMembInterface41

Joint 4 Fixed Membrane Ground Body PointMembInterface42

Step 5: Creating Advanced Joints.

Now we will define the advanced PTdSF joint.

1. From the Project Browser, right-click on Model and select Add Constraint >
Advanced Joint (or right-click the Advanced Joints icon on the Model-
Constraint toolbar).

The Add AdvJoint dialog is displayed.

2. For Label, enter AdvancedJoint 0.

3. Accept the default variable name and click OK.

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4. From the Connectivity tab, select:

− PointToDeformableSurface Joint

− Ball for Body

− BallCM for Point

− DeformableSurface 1 for DeformableSurface.

Step 6: Creating Graphics.

Graphics for the ball will now be built here.

1. From the Project Browser, right-click on Model and select Add Reference Entity
> Graphic (or right-click the Graphics icon on the Model-Reference toolbar).

The Add Graphics or GraphicPair dialog is displayed.

2. For Label, enter Ball.

3. For Type, choose Sphere from the drop-down menu and click OK.

4. Under the Connectivity tab, double-click on Body.

The Select a Body dialog gets displayed.

5. Choose Ball and click OK.

6. Again under the Connectivity tab, double-click on Point.

The Select a Point dialog gets displayed.

7. Choose BallCM and click OK.

8. Under the Properties tab, enter 1.0 as the radius of the Ball.

9. Under the Visualization tab, select a color for the Ball.

Step 7: Return to the Bodies Panel.

1. Click the Body icon on the Model-Reference toolbar.

2. For the membrane which has already been defined, click on the Nodes button.

The Nodes dialog is displayed.

3. Uncheck the Only search interface nodes box and then click on Find All.

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4. Close the the Nodes dialog.

At the end of these steps your model should look like the one shown in the figure
below:

One final comment before running the model:

This type of constraint does not ensure that the contact point will stay within
the range of data specified for the surface. Additional forces at the end need to
be defined by the user to satisfy this requirement. If the contact point goes out
of range of the data specified for this curve, the solver encounters an error
(unless additional forces are defined to satisfy this). In that case, one has to
change the initial velocities for the ball, or increase the range of data specified
for the curve, or run the simulation for a shorter interval of time.

Step 8: Running the Model.

Now we have the model defined completely and it is ready to run.

1. Click the Run icon on the Model-Main toolbar.

The Run panel is displayed.

2. From the Main tab, specify values as shown below:

− End time = 2.000

− Print interval = 0.0100

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3. Click on the Simulation Settings button.

The Simulation Settings dialog is displayed.

4. Click the Transient tab and as specify the Maximum step size as 0.001 (as the
solution is not converged for the default step size of 0.01):

5. Click Close to close the dialog.

6. Verify that the Save and run current model radio button is selected.

7. Click on the browser icon and save the file as result.xml in the <working
directory>.

8. Click Save.

9. Click the Check Model button on the Model Check toolbar to check the model
for errors.

10. To run the model, click the Run button on the panel.

The solver will get invoked here.

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Step 9: Viewing the Results.

1. Once the solver has finished its job, the Animate button will be active. Click on
Animate.

The icon can be used to start the animation, and the icon can be used to
stop/pause the animation.

One would also like to inspect the displacement profile of the beam and the ball. For
this, we will plot the Z position of the center of mass of the ball.

2. Click on the Add Page icon and add a new page.

3. Use the Select application drop-down menu to change the application from
MotionView to HyperGraph 2D .

4. Click the Build Plots icon on the Curves toolbar.

5. Click on the browser icon and load the result.abf file from the <working
directory>.

6. Make selections for the plot as shown below:

We are plotting the Z position of the center of mass of the ball.

7. Click Apply.

The profile for the Z-displacement of the ball should look like the one shown below:

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MV-1029: Modeling Point-to-Deformable-Surface Force

(PTdSF)

In this tutorial, you will learn how to:

• Model a PTdSFforce (point-to-deformable-surface) joint with a contact force

A PTdSFforce (point-to-deformable-surface) joint is a higher pair constraint with an

added contact force. The force is either modeled as a linear one or a Poisson type here.
This constraint restricts a specified point on a body to move along a specified deformable
surface on another body. The point may belong to a rigid, flexible or point body. The
deformable surface for this tutorial is defined on a rigidly supported plate. A mass is
constrained to move on the surface with a PTdSFforce constraint. The added feature
here is that a flexible contact force acts at the center of mass of the ball between it and
the deformable surface. In this tutorial we will take up the case of the linear force
model.

Exercise
Copy the following files Plate.h3d and membrane.fem, located in the
mbd_modeling\interactive folder, to your <working directory>.

Step 1: Creating points.

Let’s start with creating points that will help us locate the bodies and joints as required.
We will define points for center of mass of the bodies and joint locations.

1. Start a new MotionView Session. We will work with the default units (kg, mm, s, N).

2. From the Project Browser right-click on Model and select Add Reference Entity
> Point (or right-click the Points icon on the Model-Reference toolbar).

The Add Point or PointPair dialog is displayed.

3. For Label, enter BallCM.

4. Accept the default variable name and click OK.

5. Click on the Properties tab and specify the coordinates as X = 0.0, Y = 0.0, and Z
= 50.0.

6. Follow the same procedure for the other points specified in the following table:

Point X Y Z

PointMembInterface39 -55.00 -55.00 0.0

PointMembInterface40 55.00 -55.00 0.0

PointMembInterface41 55.00 55.00 0.0

PointMembInterface42 -55.00 55.00 0.0

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Step 2: Creating Bodies.

We will have two bodies apart from the ground body in our model visualization: the
membrane and the ball. Pre-specified inertia properties will be used to define the ball.

1. From the Project Browser right-click on Model and select Add Reference Entity
> Body (or right-click the Body icon on the Model-Reference toolbar).

The Add Body or BodyPair dialog is displayed.

2. For Label, enter Membrane and click OK.

3. Accept the default variable name and click OK.

For the remainder of this tutorial - accept the default names that are provided for
the rest of the variables that you will be asked for.

4. From the Properties tab, check the Flex Body (CMS) box.

5. Click on the Graphic file browser icon and select Plate.h3d from the <working
directory>.

The same path will automatically appear next to the H3D file browser icon .

6. Right-click on Bodies in the Project Browser and select Add Body.

The Add Body or BodyPair dialog is displayed.

7. For Label, enter Ball and click OK.

8. From the Properties tab, specify the following for the Ball:

Body Mass Ixx Iyy Izz Ixy Iyz Izx

Ball 1.00 40000.00 40000.00 40000.00 0.0 0.0 0.0

9. For the Ball body, under the CM Coordinates tab, check the Use center of mass
coordinate system box.

10. Double click on Point.

The Select a Point dialog is displayed.

11. Choose BallCM and click OK.

12. Accept defaults for axes orientation properties.

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Step 3: Creating Markers and a Deformable Surface.

Now, we will define some markers required for the membrane.

1. From the Macros menu, select Create Deformable Surface From FEM.

The Deformable Surface From FEM panel is displayed.

2. For Select the Body, use the Body input collector to select Membrane.

3. Click on the Select the FEM file file browser icon and select the membrane.fem file.

4. For Create entity in, double click on the System collector and select the Model
system.

5. Use the default values for the Maximum number of marker rows and Maximum
number of marker columns.

6. Click Generate Surface.

The Markers and Deformable Surface are created.

Step 4: Creating Joints.

Here, we will define all the necessary joints. We require four joints for the model, all of
them being fixed joints between the membrane and the ground.

1. From the Project Browser right-click on Model and select Add Constraint >

Joint (or right-click the Joints icon on the Model-Constraint toolbar).

The Add Joint or JointPair dialog is displayed.

2. For Label, enter Joint 1.

3. Select Fixed Joint as the type and click OK.

4. From the Connectivity tab, double-click on Body 1.

The Select a Body dialog is displayed.

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5. Choose Membrane and click OK.

6. From the Connectivity tab, double-click on Body 2.

The Select a Body dialog is displayed.

7. Choose Ground Body and click OK.

8. From the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed.

9. Choose PointMembInterface39 and click OK.

10. Repeat the same procedure for the other three joints.

A table is provided below for your convenience:

Label Type of Body 1 Body 2 Point

Joint

Joint 2 Fixed Membrane Ground Body PointMembInterface40

Joint 3 Fixed Membrane Ground Body PointMembInterface41

Joint 4 Fixed Membrane Ground Body PointMembInterface42

Step 5: Creating Contacts.

Here we will define the contact force between the deformable membrane and the ball.

1. From the Project Browser right-click on Model and select Add Force Entity >

Contact (or right-click the Contacts icon on the Model-Force toolbar).

The Add Contact dialog is displayed.

2. For Label, enter Contact 0.

3. Select PointToDeformableSurfaceContact for the type of contact and click OK.

4. From the Connectivity tab; select Ball for Body, BallCM for Point, and
DeformableSurface 1 for DeformableSurface.

5. Click on the Properties tab and enter 10 for Radius, 1000 for Stiffness, and 0.2 for
Damping.

6. Uncheck the Flip normal check box.

Step 6: Creating Graphics.

Graphics for the ball will now be built here.

1. From the Project Browser right-click on Model and select Add Reference Entity

> Graphic (or right-click the Graphics icon on the Model-Reference toolbar).

The Add Graphics or GraphicPair dialog is displayed.

2. For Label, enter Ball.

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3. For Type, choose Sphere from the drop-down menu and click OK.

4. From the Connectivity tab, double-click on Body.

The Select a Body dialog is displayed.

5. Choose Ball and click OK.

6. Again from the Connectivity tab, double-click on Point.

The Select a Point dialog is displayed.

7. Choose BallCM and click OK.

8. From the Properties tab, enter 10 as the radius of the Ball.

9. From the Visualization tab, select a color for the Ball.

Step 7: Return to the Bodies Panel.

1. Click the Body icon on the Model-Reference toolbar.

2. Select the Membrane Body from the graphics area.

The panel is displayed.

3. Click on the Nodes button.

The Nodes dialog is displayed.

4. Uncheck the Only search interface nodes box and then click on Find All.

5. Close the Nodes dialog.

At the end of these steps your model should look like the one shown in the figure
below:

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6. Save the model as ptdsf_contact.mdl.

Step 8: Running the Model.

Now we have the model defined completely and it is ready to run.

1. Click the Run icon on the Model-Main toolbar.

The Run panel gets displayed.

2. From the Main tab, specify values as shown below:

3. Choose the Save and run current model radio button.

4. Click on the browser icon and save the file as result.xml in the <working
directory>.

5. Click Save.

6. Click the Check Model button on the Model Check toolbar to check the model
for errors.

7. To run the model, click the Run button on the panel.

The solver is invoked.

8. Once the run is complete, Close the solver window and Clear the Message Log.

Step 9: Viewing the Results.

1. Once the solver has finished its job, the Animate button will be active. Click on
Animate.

The can be used to start the animation, and the icon can be used to
stop/pause the animation.

One would also like to inspect the displacement profile of the membrane and the
ball. For this, we will plot the Z position of the center of mass of the ball.

2. Return to the MotionView window and click on the Plot button in the Run panel.

A HyperGraph window is added and the result file is loaded.

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3. Click Apply.

The profile for the Z-displacement of the ball should look like the one shown below:

We can also plot the penetration distance for this flexible contact.

4. Add a page to the session .

5. Make selections for the plot as shown below:

6. Click Apply.

7. The penetration profile as a function of time looks like the one shown below:

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MV-1030: Creating a System Definition Using the

MotionView GUI

In the earlier exercise, you learned about MDL and authoring a definition using the MDL
language through a text editor. In general, many of the definitions (such as systems,
datasets, and analyses) are created using the MotionView graphical user interface. This
tutorial demonstrates how to create a system using the GUI and save its definition to a
file, which is an alternate way of creating a definition other than using the text editor.

Exercise: Creating a System Definition Using the GUI.

This exercise will help you learn to:

• Create systems using the MotionView graphical user interface

• Export a system definition to a file
• Reuse the saved definition by instantiating it in the model

Step 1: Creating a system instance.

1. To create a system, right-click on Model in the Project Browser and select Add >
System/Assembly.

OR

− Right-click on the System/Assembly panel button on the Container Entity

toolbar.

The Add System/Assembly dialog is displayed.

2. Select the System radio button and click Next.

The Add System dialog is displayed.

3. Specify sys_pendu as the Variable, Pendulum as the Label, and def_sys_pendu as

the Definition Name.

4. Click OK.

The Pendulum system is added to the model and its corresponding panel is
displayed.

Step 2: Adding attachments to the system.

1. From the Attachments tab, click on the Add button (located in the middle of the
panel).

The Add an Attachment dialog is displayed.

2. Specify the Label as Attachment Point and arg_p for the Variable, select Point
(from the drop-down menu), and verify that the Type is set to Single only.

3. Click OK.

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4. Add another attachment with the Label as Attachment Body and Variable as
arg_b, select Body from the drop-down menu, and specify the Type as Single
only.

We have created two attachments to the Pendulum system which will be used to
attach this system to other entities of a model.

Notice that the both of the newly created attachments are Unresolved, which
means that the attachments are not yet referring to another entity in the model.

5. Double click on the collector.

The Select a Point dialog is displayed.

6. Select Global Origin from the list on the right side of the dialog and click OK.

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7. Similarly, click the collector, select Ground Body from the model
tree, and click OK.

Step 3: Adding entities to the system.

1. Select Pendulum in the Project Browser.

2. Right-click and select Add > Reference Entity > Point.

OR

− Right-click on the Points panel button on the Reference Entity toolbar).

The Add Point or PointPair dialog is displayed.

3. Specify the Label as Mass CG, Variable as p_cg, and the Type as Single.

4. Click OK.

The Points panel is displayed with the properties of Mass CG.

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5. From the Properties tab, click in the X Coordinate field and click on the button
on the Expression bar.
The Expression Builder is displayed.

6. Delete 0.0 from the Expression area (located at the top of the dialog).

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7. From the model tree, expand the Pendulum > Attachments > Attachment Point
folders and select x (x is one of the property attributes of the point entity
Attachment point).

8. Click the Add button (located in the middle of the dialog).

arg_p.x is automatically filled in the Expression area.

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9. Append +50 to this expression.

The complete expression should now read: arg_p.x+50.

10. Click OK to close the dialog.

Through the above steps the point Mass CG is parameterized with regard to the X
coordinate of the point Attachment Point and is placed at a distance of 50 length
units in the X direction.

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11. Repeat the above steps for the Y and Z Coordinates, by selecting attribute y and z
respectively in the expression bar. Specify the expression for the Y Coordinate as
arg_p.y and arg_p.z+100 for the Z Coordinate.

Alternatively, the expressions in Y and Z can be filled by copying the arg_p.x+50

expression from X Coordinate and editing it.

Note The background color of the field changes for parametric expressions.

12. Right-click on the Pendulum system in the Project Browser and select Add >
Reference Entity > Body.

The Add Body or BodyPair dialog is displayed.

13. Enter Mass for the Label and b_mass for the Variable, and click OK.

14. From the Properties tab specify the Mass as 1 and the Inertia properties as 1000
for Ixx, Iyy and Izz respectively.

15. Click on the CM Coordinates tab and check the Use center of mass coordinate
system option. Pick the point Mass CG as the Origin.

16. Right-click on the Pendulum system in the Project Browser and select Add >
Reference Entity > Graphic.

The Add "Graphic" dialog is displayed.

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17. Specify the Label as Rod, the Variable as gcyl_rod, the Type as Cylinder, and
click OK.

The Graphics panel is displayed.

18. From the Connectivity tab; double click on the Body collector for Parent and pick
Mass in the Pendulum system, click on the Point collector and pick Mass CG as
Origin, and for Direction double click the Point collector and select the attachment
to the system Attachment Point.

19. Go to the Properties tab and change the value of Radius 1 to 2.

20. Next, add a Sphere graphic by right-clicking on the Pendulum system in the
Project Browser and selecting Add > Reference Entity > Graphic.

21. Specify the Label as Mass, the Variable as gsph_mass, the Type as Sphere, and
click OK.

22. Pick Mass for the Parent body and Mass CG as the Origin.

23. From the Properties tab, specify 25 for the Radius.

24. Right-click on the Pendulum system in the Project Browser and select Add >
Constraint > Joint.

The Add Joint or JointPair dialog is displayed.

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25. Select Revolute Joint from the drop-down menu, specify the Label as Pivot, the
Variable as j_pivot, the Type as Single, and click OK.

The Joints panel is displayed.

26. From the Connectivity tab, double click on and select Mass from the

Select a Body dialog (model tree). For the second body, click on the
collector and browse through the model tree (Model > Pendulum > Attachments)
and select Attachment Body.

Note Alternatively, you can click on the Global Triad (at the bottom left of the
triad) to pick Ground Body via the Attachment Body.

27. Similarly, for Origin select Attachment Point (located under Model > Pendulum
> Attachments). Use the Alignment axis drop-down menu to change from Point
to Vector and select Global Y for the Alignment axis.

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28. Save the model to your <working directory> as pend_gui.mdl.

Step 4: Exporting the system definition.

1. Select the Pendulum system in the Project Browser and click on the
Import/Export tab in the Systems/Assembly panel.

2. Select the Export option.

3. Click on the Select file file browser and browse to your <working directory>.

4. Specify the name of the file as sys_pend_gui.mdl by clicking on the folder icon and
clicking on Save.

5. Open the above file in a text editor.

The system definition content will look as displayed below:

*DefineSystem( def_sys_pendu, arg_p, arg_b )
*Attachment( arg_p, "Attachment Point", Point, "Select attachment.",
P_Global_Origin, )
*Attachment( arg_b, "Attachment Body", Body, "Select attachment.",
B_Ground, )
*SetDefaultSystemInstance( sys_pendu, "Pendulum" )
*Point( p_cg, "Mass CG" )
*Body( b_mass, "Mass", p_cg, , , , )
*Graphic( gcyl_rod, "Rod", CYLINDER, b_mass, p_cg, POINT, arg_p, 2.0,
gcyl_rod.r1, , 0.0, CAPBOTH )
*Graphic( gsph_mass, "Mass", SPHERE, b_mass, p_cg, 25.0 )
*RevJoint( j_pivot, "Pivot", b_mass, arg_b, arg_p, VECTOR, V_Global_Y
)
*SetPoint( p_cg, arg_p.x+50, arg_p.y,
arg_p.z+100 )
*SetBodyInertia( b_mass, 1.0, 1000.0, 1000.0,
1000.0, 0.0, 0.0, 0.0 )
*Set( b_mass.usecm, true )
*EndDefine()

Note The Export option is only available for Systems and Analyses. For other
definitions like Datasets or Templates, the definition can be copied from the
model .mdl file.

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Step 5: Instantiating the system definition.

1. Select the Model system in the Project Browser.

2. Click the Import/Export tab in the Systems/Assembly panel.

3. Click on the Select file file browser and browse to your <working directory>.

4. Select the sys_pend_gui.mdl file and click Open.

5. Click the Import button.

The Import System/Analysis Definition dialog is displayed.

6. Select def_sys_pendu.

7. Change the Label to Pendulum 2 and the Variable to sys_pendu_2.

8. Click OK.

The system definition is instantiated.

9. Select the Pendulum 2 system in the Project Browser.

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10. Go to the Attachments tab and resolve the attachments in the following manner:

− Double click on the collector. In the model tree that appears,

click on the Pendulum system, select Mass CG from the list on the right, and
click OK.

− Click on the collector. In the model tree that appears, click on

the Pendulum system, select Mass from the list on the right, and click OK.

11. Save the model to your <working directory> as pend_2_gui.mdl.

The same system definition can be reused to instantiate several times either within
the same model or in a different model.

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MV-1032: Model Building and Simulation using Wizards

In this tutorial, you will learn:

• About the Assembly and Task Wizards in MotionView

• How to build a model using the Assembly and Task Wizards
• How to view a standard report
• How to modify a model and compare results using the Report Template
Model Wizards are powerful tools in MotionView that can be used to quickly build models
with standard topology that is used repeatedly. There are two standard wizards
available: the Assembly Wizard and the Task Wizard (which work in conjunction with
one another). Both of these wizards rely on a library of pre-saved system, analysis, and
report definition files to automate the processes of building models, analyzing them, and
post-processing the results. The wizard mechanics are shown in the flowchart below:

• A collection of systems and analyses are stored as a library.

• The Assembly Wizard presents the user with various options to select systems
to instantiate (in the form of a series of panels).
• The systems selected by the user in the panels are instantiated using the system
definitions contained in the MotionView client library, thereby assembling the
model comprised of different systems. An Attachment Wizard follows, which is
used to select possible attachment options for each system that is instantiated.
• On the model is built, the Task Wizard is invoked in order to attach applicable
events to the model. The selected analysis is instantiated using the analysis
definition stored in the library.

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Exercise: Automated Modeling and Analysis Using

Wizards
In this exercise, we will build a suspension model of a vehicle using the standard wizard
library available in MotionView. A static ride event will be attached to this model using
the Task Wizard. The model will then be solved in MotionSolve and an automated
report will be generated.

Step 1: Building a front suspension model using the Assembly

Wizard.
1. Start a new session in MotionView.

2. On the Model menu, click Assembly Wizard.

The Assembly Wizard dialog is displayed.

3. For Model type, select Front end of vehicle.

4. Click Next.

5. For Drive type, select Front Wheel Drive.

6. Click Next.

7. From the Primary Systems for Front end of vehicle dialog, specify the following:

− Vehicle body = Body fixed to ground

− Front subframe = None

− Front suspension = Front SLA susp (1 pc. LCA)

− Steering linkage = Rackpin steering

− Powertrain = None

8. Click Next.

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9. From the Select steering subsystems dialog, specify the following:

− Steering Column = Steering column 1 (not for abaqus)

− Steering Boost = None

10. Click Next.

11. From the Select springs, dampers and stabilizer bars dialog, select the
following:

− Front shocks = Frnt shock absorber (with inline jts)

− Front stabilizer bars = None

12. Click Next.

13. From the Select jounce and rebound bumpers dialog, set the options to None,
and click Next.

14. From the Select Driveline Systems dialog, set the Front Driveline to
Independent Forward, and click Next.

All of the required systems that are necessary to build a front suspension model
have now been selected.

15. Click Next to load the assembled model and bring up the Attachment Wizard.

The Attachment Wizard shows the attachment choices which are available for
each sub-system. In this exercise, we will simply review the options in each sub-
system and accept the default selections.

16. From the Attachment Wizard, review the choices for each sub-system and click
Next until the last page of the dialog is reached.

17. Click Finish.

Your model should look as follows:

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A brief description of the model:

This model represents a front end suspension of a vehicle with a Short Long Arm type
(also known as Wishbone) of suspension and a steering system. The vehicle body is
fixed to ground. The upper and lower control arms of the suspension are attached to the
vehicle body at one end through bushings, while they are connected to a knuckle on the
other end through ball joints. A wheel hub (no graphics for this body are in the model)
is mounted on the knuckle through a revolute joint. The wheel is fixed to the wheel hub.

The steering system consists of a rack with a translation joint with a rack housing
(through a dummy body). The ends of the rack are connected to a tie rod at each end
through ball joints and the other end of the tie rod is connected to the steer arm of the
knuckle through ball joints. The rack gets its movement from the steering column
through a coupler constraint between the rack and the pinion.

Step 2: Adding a static ride analysis task using the Task Wizard.
The Analysis Task Wizard allows you to assign an event analysis to the model using a
wizard. This default suspension wizard is configured such that the available analyses
choices are dependent on the system selections made in the Assembly Wizard. Since
this is a half-vehicle model, only events that are applicable for a half-vehicle model are
available. A full vehicle model would contain a different set of analysis events.

In this step, we will add a static ride analysis for the suspension assembly. Through this
analysis, the kinematic characteristic of the suspension can be studied for varying
vertical positions of the wheels. Both wheels are exercised such that they move
vertically along the same direction.

1. On the Analysis menu, click Task Wizard.

2. In the Task Wizards – Front end tasks dialog select the Front end task as
Static Ride Analysis from the pull down menu.

3. Click Next.

4. Read the information in the dialog box.

5. Click Finish.

The Vehicle parameters dialog is displayed. Vehicle parameters such as

wheelbase, jounce, and rebound distances can be changed in this dialog.

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6. Retain the current parameters and click Finish.

Your model should look as follows:

The static ride analysis event consists of a pair of jacks that are attached to the
wheels at the tire contact patch location. The jacks are actuated through Actuator
Forces that exercises them in the vertical direction in a sinusoidal fashion.

The model tree in the Project Browser now includes an analysis called Static ride
analysis. It is possible to add many different analysis tasks to the same model,
however only one analysis task may be active at one time.

7. Go to the Project Browser, right-click on Model and select Rename (or left click
on Model and press F2 on the keyboard).

8. Rename the Model label to My Front SLA Suspension.

9. Expand the Static ride analysis folder and also the Forms folder (located
underneath) by clicking the + sign next to each folder in the Project Browser.

10. Select the Static Ride Parameters Form.

The Forms panel is displayed.

11. Change the values for Jounce travel (mm) and Rebound travel (mm) to 50.0.

12. Click and save the model as sla_ride.mdl in your <working directory>.

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Step 3: Running the simulation and viewing a report.

The static ride simulation is a 10 second quasi-static run. Within the 10 seconds the jack
moves in jounce (vertically upwards), then moves down until the rebound position is
reached (distance from the initial position downwards), and then back to its initial
position. The amount of travel is as per the distance specified in the Static Ride
parameters form.

1. Click the Run icon, , on the General Actions toolbar.

2. Save your model as sla_rigid.xml in your <working directory>.

3. Click on the Run button to submit the simulation job to MotionSolve.

4. After the job is completed, close the Run window and the Message Log.

5. From the Analysis menu, click View Reports.

The View Reports dialog is displayed.

6. Select Front Ride-MSolve SDF based Report My Front SLA Supsension and
click OK.

This analysis comes with a Standard Report Template that plots the results and
loads the animation in subsequent pages.

7. Once the process of adding the pages is complete, use the Previous Page/Next

Page buttons (located at the upper right corner of the window, below the
menu bar area and above the graphics area) to navigate and review the plots and
animation pages.

8. The last page is the TextView client with an open Suspension Design Factors (SDF)
report. This report lists the suspension factors at each time interval of the
simulation.

How does viewing pre-specified results work?

A report that refers to a report template file (a template that contains plot and animation
definitions) can be defined in the MotionView model using the *Report() MDL
statement. Whenever a model containing such a report definition is submitted to a
solver, MotionView writes a record of the report into a log file named .reports. You can
specify the location of this file with the preference file statement
*RegisterReportsLog(path). The default location of the .reports file is:

UNIX - <user home>

PC - C:\Documents and Settings\<user>

The path to the .reports file can also be set by selecting the Set Wizard path option
under the Model menu.

When View Reports from the Analysis menu is selected, MotionView displays the
contents of the .reports file in the Reports dialog. When you select a report from the
dialog, MotionView loads the requested report definition file into your session.

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Below is a sample entry from the .reports log file:

Front Ride - MSolve Report Front Static Ride
02/10/XX 06:07:58

E:/Altair/hw/mdl/mdllib/Libs/Tasks/adams/Front/Ride/ms_rep_kc_front.tpl

*Report(rep_kc_frnt_mc, Front Ride - MSolve Report, repdef_kc_frnt,

"E:/Temp/sla_rigid.h3d", "E:/Temp/sla_rigid.h3d", "E:/Temp/sla_rigid.plt")

The first line contains the report label, model label, and the date and time when the
solver input files were saved. This information is contained in the Reports dialog. It is
recommended that you give your models specific names, otherwise they will be labeled
Model.

Line 2 contains the name of the report definition file that the report is to be derived
from.

Line 3 contains an MDL statement called *Report(). This statement specifies the report
definition variable name along with the required parameters. Refer to the MDL online
help for more information.

Step 4: Modifying model parameters and comparing the results.

Next, we will modify the suspension parameters. After the simulation is run again, the
results can then be compared.

1. Return to the MotionView client page.

2. Right-click on Frnt SLA susp (1 pc. LCA) in the Project Browser and select Data
Summary.

The Data Summary dialog is displayed.

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3. Change the X and Y coordinates of LCA frnt bush by -5 and +5 respectively (for
example, if the existing value of X is 932.15, append -5 to it so that the expression
is 932.15-5).

4. Similarly, change the X and Y coordinates of UCA rear bush by +3 and -5

respectively. In addition, change the Z coordinate of Lwr ball jt by +10.

5. Click on the Bushings tab and change the KZ values of LCA frnt bush and UCA
frnt bush by -200 and +200 respectively.

6. Click the Close button to close the Data Summary dialog.

7. Go to the Run panel , and specify sla_ride_change.xml as the new file name
for the xml file.

8. Click the Run button.

9. After the job is completed, close the Run window and the Message Log.

10. From the Analysis menu, click View Reports.

11. Select the latest report (the report located at the top of the list) and click OK.

The results from the latest run will be overlayed in the plot and animation windows.
Compare the plots.

12. In the Hyperview client (page 17 of the session), use the Change Model drop-
down menu (located in the Results Browser) to change the active result to
sla_ride_baseline.h3d as shown below:

13. Click the Entity Attributes panel button on the Visualization toolbar to enter
the Entity Attributes panel.

14. Activate the Auto apply mode check box (located in the middle portion of the
panel).

15. Select a color from the color palette and click the All button.

All graphics belonging to the active result will change to the selected color.

16. Repeat steps 12 to 14 for sla_ride_change.h3d, however be sure to select a

different color from the color palette.

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17. From the Animation toolbar, click the Start/Pause Animation button to
animate the results.

View the animation and observe the differences between the two overlayed models.

18. Navigate back to the MotionView page and save the model .

19. Click the Save Session icon on the Standard toolbar and save your session as
my_susp_analysis.mvw in your working directory.

The model, plot, and animation information is saved in the session file.

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MV-1040: Model Building using Tcl

In this tutorial you will:

• Learn the advantages of using Tcl programming to save time and effort in MBD
model building with MotionView
• Work with the HyperWorks Desktop – Tcl interface
• Build a simple model using Tcl commands

About Tcl
Tool Command Language or Tcl (typically pronounced as "tickle" or "tee-see-ell") is a
scripting language that is commonly used for quick prototyping, scripted applications,
GUIs, and testing.

More About Tcl/Tk

• Tcl has a simple and programmable syntax.
• Tcl is open source.
• HyperWorks has an inbuilt Tcl interpreter which has libraries to help end users.
• Tcl can be used as a standalone or embedded in applications like HyperWorks
Desktop (including MotionView).
• Unlike C which is a complied language, TCL is interpreted. Tcl programs are
simple scripts consisting of Tcl commands that are processed by a Tcl interpreter.
• Tcl is extensible. New Tcl commands can be implemented using C language and
integrated easily. Many people have written extension packages for common
tasks and are freely available on the internet.
• Engineering teams use different resources and application. Tcl can be used to
glue those resources together. This greatly helps in automating the work flow.
• Tk is a Graphical User Interface toolkit that makes it possible to quickly create
powerful GUIs.
• Tcl/Tk is highly portable, and runs on different flavors of UNIX, windows,
Macintosh and more. This proves useful to those who work on various platforms.

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Tcl with MotionView

• When building huge multibody models in MotionView, you will come across cases
where the same steps are repeated multiple times. Such steps, or the set of
steps, can be automated suing Tcl in order to save time and effort wasted in
performing repetitive and time consuming tasks.
• Like all of the HyperWorks Desktop applications, MotionView has Tcl command
layers which help in accessing the various functionalities of the product and
utilizing them to write scripts to automate processes.
• The Tcl scripts can be called by Tk applications or tied in to a process manager.
• Tcl scripts can be registered in a preference file and be made a part of product
with Menu shortcuts.
The HyperWorks Desktop handles and the HyperWorks database consists of a
hierarchy of objects, the root of which is the hwi object which is automatically created.
The hwi provides access to the hwiSession object and a few high level utilities.
Currently, HyperWorks supports only one session per run. The session object can be
retrieved by issuing the following command at the Tcl command prompt:

• (System32) 1 % hwi GetSessionHandle sess1

Once the session handle is retrieved, it can be used to access all objects in the
HyperWorks database as shown below:

• (System32) 2 % sess1 GetProjectHandle proj1

• (System32) 3 % proj1 GetPageHandle page1 1

Windows are retrieved as shown below. Windows are assigned a client type, which can
be modified.

• (System32) 4 % page1 GetWindowHandle win1 1

• (System32) 5 % win1 SetClientType "Animation"

• (System32) 6 % win1 GetClientHandle post1

A window's client type cannot be changed after the client handle has been retrieved. The
client handle must be released and retrieved again if the window's client type is
changed.

Every HyperWorks command object supports the following utility commands:

• ListMethods: Displays the method commands which can be performed on an

object.
• ListHandles: Lists the names of all command objects of the same type.
• ReleaseHandle: Releases the command object.

The top level hwi command object supports the following utility commands:

• ListAllHandles: Displays all command objects currently in use.

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Exercise: Model Building using Tcl

Step 1: Building a Simple Pendulum through Tcl commands.

In this exercise you will write a simple Tcl script to build a simple pendulum model.

Note Putting a ‘#’ character in the beginning of any line makes it a comment and that
line is not evaluated. In addition, all HyperWorks Tcl commands are case
sensitive.

The structure of every Tcl script created for HyperWorks Desktop products
should follow the following structure:

hwi OpenStack
Obtain All necessary handles
Perform some function
Release All obtained handles individually
hwi CloseStack

1. Open a new MotionView session.

2. Go to View menu, and click on Command Window.

3. A TkCon window opens up and displays the version of Tcl and Tk installed with
Hyperworks.

4. In the Command Prompt type:

hwi GetSessionHandle sess

The prompt prints sess as the command output if the command is successful. This
command assigns the Session Handle to the variable "sess".

5. To view all the option/commands available with the hwi class type in hwi
ListMethods at the command prompt. This will list all the options available under
hwi.

6. Now, type:
sess GetProjectHandle proj

This command will assign the Project handle to the variable "proj".

7. The next step is to obtain the Page handle, the command for it is:
proj GetPageHandle page 1

The variable "page" now points to the page handle of the first page of the session.

Note Please refer the "Programming with Tcl/Tk Commands" online help under the
"HyperView, MotionView and HyperGraph" Reference Guide for the explanation
on the syntax of these commands.

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8. To get the control of the window we need to get the window handle the command
for that is:
page GetWindowHandle win 1

This assigns the window handle of the first window to the variable "win".

9. Now to get the client handle type in:

win GetClientHandle mc

Note A HyperWorks session has multiple clients (HyperView, MotionView, HyperGraph

2D, etc). When MotionView is invoked, the default client is MotionView. The
GetClientHandle command gets you the access to the MotionView model object
through the Client Handle.

10. To be able to set different views and fit the model in the graphics window the view
control handle is required, the command to get view control handle is:
win GetViewControlHandle vch

11. To start with a new blank model we will run the command:
mc CreateBlankModel

12. To obtain the handle of the model just created in the previous step type in the
command:
mc GetModelHandle m

Note Once the model handle is obtained we can now start creating entities using the
InterpretEntity and InterpretSet statements.

To build a simple pendulum we will be using 2 points, 1 body, 3 graphic entities,

and 1 revolute joint.

The syntax for the InterpretEntity command is given below:

modelHandle InterpretEntity EntityHandle Entitytype
EntityVariableName EntityLabel <Parameters>

Where:

EntityHandle - The handle for the entity.

Entitytype - The type of entity to create (Point, Body, Graphic, etc.).

EntityVariableName – The variable name for the entity to view in

MotionView.

EntityLabel – The label for entity to view in MotionView.

Parameters – The parameters which are required to create the respective

entity (for example, CM point for Body).

13. To start with Add a point for the pendulum pivot with variable p_0 and label Pivot
with a command:
m InterpretEntity p Point p_0 "\"Pivot\""

14. Now to set the properties of the point just created, the command is:
m InterpretSet SetPoint p_0 0.0 0.0 0.0

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15. p is the Point handle for Tcl and is released with p ReleaseHandle command:
p ReleaseHandle

16. To create a point for the location of the pendulum mass and set the property for it,
the set of commands are:
m InterpretEntity p Point p_1 "\"Mass\""
m InterpretSet SetPoint p_1 p_0.x+100 p_0.y p_0.z
p ReleaseHandle

17. Add the pendulum body and set its mass and inertia properties type in the following
commands:
m InterpretEntity b Body b_0 "\"Pendulum\"" p_1
m InterpretSet SetBodyInertia b_0 0.5 100 100 100
m InterpretSet SetOrientation b_0.cm TWOAXES ZX
b ReleaseHandle

18. To add the graphics on the body for visualization the three graphic entities are
added using the commands:
m InterpretEntity g Graphic gra_0 "\"Graphic_Pivot\"" CYLINDER B_Ground
p_0 V_Global_Y 1 1 10 -5 CAPBOTH
g ReleaseHandle
m InterpretEntity g Graphic gra_1 "\"Graphic_Pendulum_Cylinder\""
CYLINDER b_0 p_0 p_1 1 CAPBOTH
g ReleaseHandle
m InterpretEntity g Graphic gra_2 "\"GraphicMass_Cylinder\"" CYLINDER
b_0 p_1 V_Global_Y 5 5 3 -2 CAPBOTH
g ReleaseHandle

19. The pendulum will need to be connected to the ground with a revolute:
m InterpretEntity j RevJoint j_0 "\"Joint_Pivot_Rev\"" B_Ground b_0 p_0
V_Global_Y
j ReleaseHandle

20. After adding any entity to the model the database has to be updated by using the
evaluate command:
m Evaluate

21. To the fit model in the graphics window:

vch Fit

22. The model is ready to be run. Go to the Run panel, specify a name for the result file
and click on the Run button to run the model using MotionSolve. Use the Animate
button to view the animation.

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23. The handles obtained through the commands in the above steps now have to be
released using the ReleaseHandle command. Type in the following:
m ReleaseHandle;
mc ReleaseHandle;
win ReleaseHandle;
page ReleaseHandle;
proj ReleaseHandle;
sess ReleaseHandle;

24. In a text editor paste all the above Tcl commands and save the file as pendulum.tcl
in the working directory. This file can be "sourced" and the model can be built in one
step. The complete script is given below for your reference (please see the bottom
of the tutorial).

Note You can also use the file pendulum.tcl located in the automation folder.

Copy this file to your <working directory>.

Step 2: Sourcing the Tcl file.

1. Start a new MotionView session.

2. Go to the View menu from the menu bar.

3. Click on Command Window. A TkCon window opens up at the bottom of the

screen.

4. Change the directory to current working directory by using the cd command.

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5. To invoke a Tcl script, use the command source pendulum.tcl, where

pendulum.tcl is the file that you saved in the previous step.

6. This will build the complete model by sequentially running the commands in the file
line by line.

Step 3: Registering the Tcl in the preference file.

1. Open a text editor with a new file.

2. Write the following statements:

*Id("HyperWorks vXX.X")
*BeginModelDefaults()
*BeginMenu(scripts, "My Scripts")
*MenuItem(flexprep, "Build Simple Pendulum", Tcl, "<working
directory>/pendulum.tcl")
*EndMenu()
*EndModelDefaults()

Note Please refer to online help if you need to know more about the syntax.

Replace <working_directory> with the actual path on your machine to the

working directory, using forward slashes for the path, if necessary.

3. Save the file as mypreference.mvw in the <working directory>.

4. Start a new MotionView session.

5. From File menu select Load > Preference File.

The Preferences dialog is displayed.

6. Click Register.

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7. Select the file mypreference.mvw you created.

A new registered preference is added to the list.

8. Select the new preference and click Load.

9. Close the session and start a new one.

10. You should see a new menu My Scripts in the modeling client. This should be
available every time you open the MotionView session as long you have the
preference file registered.

11. Click on My Scripts -> Build Simple Pendulum menu and run the script.

The complete script is given below for your reference:

## Macro to Build a Simple Model in MotionView ##

## Requesting for the Handles required to Use MotionView ##

hwi OpenStack
hwi GetSessionHandle sess
sess GetProjectHandle proj
proj GetPageHandle page [proj GetActivePage]
page GetWindowHandle win [page GetActiveWindow]
win GetClientHandle mc
win GetViewControlHandle vch
mc CreateBlankModel
mc GetModelHandle m

## Building the Model using the InterpretEntity statements ##

m InterpretEntity p Point p_0 "\"Pivot\""
m InterpretSet SetPoint p_0 0.0 0.0 0.0
p ReleaseHandle
m InterpretEntity p Point p_1 "\"Mass\""
m InterpretSet SetPoint p_1 p_0.x+100 p_0.y p_0.z
p ReleaseHandle
m InterpretEntity b Body b_0 "\"Pendulum\"" p_1
m InterpretSet SetBodyInertia b_0 0.5 100 100 100
m InterpretSet SetOrientation b_0.cm TWOAXES ZX
b ReleaseHandle

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## Adding graphics to the pendulum and the Ground to improve result

visualization
m InterpretEntity g Graphic gra_0 "\"Graphic_Pivot\"" CYLINDER
B_Ground p_0 V_Global_Y 1 1 10 -5 CAPBOTH
g ReleaseHandle
m InterpretEntity g Graphic gra_1 "\"Graphic_Pendulum_Cylinder\""
CYLINDER b_0 p_0 p_1 1 CAPBOTH
g ReleaseHandle
m InterpretEntity g Graphic gra_2 "\"GraphicMass_Cylinder\"" CYLINDER
b_0 p_1 V_Global_Y 5 5 3 -2 CAPBOTH
g ReleaseHandle

## Adding the Revolute joint between the Ground and the pendulum body
m InterpretEntity j RevJoint j_0 "\"Joint_Pivot_Rev\"" B_Ground b_0
p_0 V_Global_Y
j ReleaseHandle

m Evaluate
vch Fit

after 1000

## Running the Model ##

mc ExportModel simple_pendu.xml
mc RunSolverScript simple_pendu.xml

## Releasing All the Handles

m ReleaseHandle;
mc ReleaseHandle;
win ReleaseHandle;
page ReleaseHandle;
proj ReleaseHandle;
sess ReleaseHandle;
hwi CloseStack;

## End of Script

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MV-1050: Automation Using TCL

In this tutorial, you will:

• Invoke a TCL script from MotionView. The TCL script automates the model
building, solver runs and post processing in MotionView.
• Link the script to a Menu Item on the menu bar in MotionView.

Exercise: Automation using TCL

Step 1: Running the Script manually.

1. Start a new session.

2. From the View menu, click on Command Window.

A TkCon window opens up at the bottom of the screen.

The Command Window

3. Right-click in the Command Window and select File > Load File.

The Source File dialog is displayed.

4. Select the file simple_auto.tcl located in the automation folder.

5. Click Open.

Note The script does the following:

• Builds a Simple Pendulum model.

• Runs the model through the MotionSolve Solver (the pendulum is modeled to
just swing under gravity).
• Creates new windows for Animation and Plotting and loads the animation
results and the plotting results in these windows.

Note You can also invoke the script by using the following steps:

− In the Tk Console type cd

<installation_directory>/tutorials/mv_hv_hg/mbd_modeling/automatio
n.

The Command Window acts like a UNIX shell.

− Type in Source simple_auto.tcl and press Enter.

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Step 2: Creating a Menu Item that invokes the script

automatically.
The TCL-script simple_auto.tcl that was discussed in Step 1 can be linked to a Menu
Item on the MotionView Menu bar.

1. Open a new text file in a text editor.

2. Type in the following lines in the text file:

*Id("MotionView v12.0")
*BeginModelDefaults()
*BeginMenu(fut_mv_1050, "MotionView Tutorial Script")
*MenuItem(automation_tutorial, "Tutorial Script", TCL, {
getenv("ALTAIR_HOME") +
"/tutorials/mv_hv_hg/mbd_modeling/automation/simple_auto.tcl"
} )
*EndMenu()
*EndModelDefaults()

3. Save the file as script_invoke_menu.mvw and place at any convenient location on

your machine.

Note The script_invoke_menu.mvw file is a preference file.

A preference file is a special script file that is read each time the program is
started. It specifies default user settings such as the order in which colors are
assigned, the default printer, default page layout, the autosave interval, and so
on. Custom menu options in MotionView can be added using a preference file.
To learn more about the preference file, type ‘preference file’ under the Index
tab under the Help menu.
To learn more about the preference file statements, type ‘preference
statements’ under the Index tab under the Help menu.

4. In MotionView, go to the File menu and select Load > Preference File.

The Preferences dialog is displayed.

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5. Click Register.

6. Open the script_invoke_menu.mvw that you created.

A new registered preference is added to the list.

7. Select the new preference and click Load.

8. A menu called MotionView Tutorial Script is added to the Menu bar, under which
you will find the Menu item Tutorial Script.

New menu item in HyperWorks Desktop - MotionView

9. Once this preference file is set, the new menu will appear every time HyperWorks
Desktop is invoked.

10. Start a new session of HyperWorks Desktop by pressing the SHIFT + F9 on your
keyboard.

11. Check to make sure that the application is set to MotionView.

12. Click the Tutorial Script under MotionView Tutorial Script menu to invoke the
script simple_auto.tcl which in turn will make MotionView to perform the
scripted operations.
Note If you no longer want your new menu item to appear on the menu bar, you can
un-set the preference file by going to the File menu and selecting Load >
Preference File. From the Preferences dialog, select
script_invoke_menu.mvw and click on the Unregister button. This will make
MotionView unload the preference file.

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MV-1060: Introduction to MDL

In this tutorial, you will learn how to:

• Create a model using the Model Definition Language (MDL).

• Run a dynamic simulation of this model for a time of 2 seconds and 500 steps.
• Plot the rotation of the pendulum about the global X-axis and view the animation.
MDL stands for Model Definition Language. A MotionView model is an object that holds
the information in the form of this language which is required to describe a mechanical
system. The complete information about the model is stored in the MDL format. MDL is
an ASCII programmable language.

Some benefits of MDL include:

• Opening and editing in any text editor

• Assisting with model debugging
• Using conditional statements "if" for custom modeling requirements
• Building modular and reusable models
• Parameterizing the models
• Use modeling entities which are not available through GUI (for example,
CommandSets)

Section 1: Entities in MDL

A modeling entity is saved to MDL in the form of MDL statements. All MDL statements
begin with an asterisk (*).

There are two types of entities:

• General Entities
• Definition Based Entities
General Entities

• Have one statement to define the entity. They may have one or more statements
to set their properties.
• Some examples include points, bodies, joints, etc.
• Each general entity has certain properties consistent with its type. For example,
a point has the properties x-coordinate, y-coordinate, z-coordinate, label, state,
and varname (variable name).
Definition Based Entities
• Are defined through a block statement, called definition, and its instance is
created in a model by an instantiation statement.
• The block generally begins with a *Define() statement and end with a
*EndDefine() statement.

• The entity (or block) is comprised of a series of other MDL entities or members.
• These entities are reusable. Once defined, the same entity-definition may be
instantiated several times within the same model or different model files.

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Some of the commonly used user-defined entities are outlined in the table below:

Entity Description

System A system entity defines a collection of modeling entities. These

definitions may be used repeatedly within the same model or different
MDL model files. A model can be organized into different systems.
Examples of system entities include SLA suspension system, wiper
blade system, and power-train system. Systems can be hierarchical in
nature (for example, a system can be a child of another system).

Assembly An assembly is similar to a system entity, except that the definition

resides in a separate file than the model file.

Analysis An analysis is a collection of entities (bodies, joints, etc.) describing a

particular analysis task or event applied to a model. For example, a
static ride analysis is one of the analysis that can be applied to a model.
An analysis can only be instantiated under Model (the top level root
system). A system can be a child of an analysis, however the reverse
is not true.

Dataset A dataset is a collection of user-defined variables of type integer, real,

string, Boolean, or filename. These variables can be referred or
parameterized to other entity properties. Datasets are displayed in a
tabular form, thereby offering a single window to modify a model.
Generally, design variables are collectively defined in the form of a
dataset. A dataset can be instantiated within a system or an analysis.

Template A template is a utility that uses the Templex program in HyperWorks.

It can be used to create user-defined calculations and codes
embedded into the model. The output of such code can be written out
to solver deck or execute another program. Another use is to
implement solver statements and commands not supported by MDL
and to generate text reports.

Note The system, assembly, and analysis are together referred to as container entities
(or simply containers).

Section 2: Properties of Entities

• Each entity has variable, label, and other properties associated with it.
• Each entity should have a unique variable name.
• Following is the recommended convention for variable names which allows the
user to identify the modeling entity during debugging. You are not restricted to
this nomenclature, however you are encouraged to adopt it.

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This list of entities and their properties is not comprehensive. For a complete list, refer
to the MDL Language Reference on-line help.

General Entities Naming Properties

Convention

Point p_ x, y, z, label, state, varname

mass, IXX, IYY, IZZ, IXY, IYZ, IXZ, cg,

Body b_
cm, im, lprf, label, state, varname

RevJoint j_ b1, b2, i, j, id

Vector v_ x, y, z, label, state, varname

Marker m_ body, flt, x-axis, y-axis, z-axis, origin

ActionReactionForce frc_ b1, b2, fx, fy, fz, id, tx, ty, tz

General entities, their naming conventions, and properties

Definition Based Entities Naming Convention Properties

System sys_ Label, varname, state

Analysis ana_ Label, varname, state

Dataset ds_ Label, varname, state

Template tmplt_ Label, varname, state

User-defined entities, their naming conventions, and properties

To access entity properties; use the entity varname, followed by a dot separator,
followed by the property. Below are some examples:

Entity Varname Varname Represents

b_knuckle A body representing the knuckle in the mechanical system.
p_knuckle_cg A point representing the center of mass point for the knuckle body.

Entity Property Name Property Accessed

b_knuckle.cm The center of mass marker of the knuckle body, b_knuckle.

The ID of the center of mass marker of the knuckle body,

b_knuckle.cm.id
b_knuckle.

p_knuckle_cg.x The x coordinate of p_knuckle_cg.

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Section 3: Global Variables

MotionView comes with Global Variables, by default, which are available for use
anywhere in the model. These variables are case sensitive.

The table below lists some commonly used keywords and what they represent:

Keyword Refers to

B_Ground Ground body

P_Global_Origin Global Origin

V_Global_X, V_Global_Y, V_Global_Z Vectors along the global XYZ axes

Global_Frame Global reference marker

MODEL Reference to the top level system of the

model
Common keywords in MotionView

Section 4: MDL Statement Classification

Topology statements

These are statements that define an entity and establish topological relation between
one entity and the other. For example, *Body(b_body, “Body”, p_cg). In this example,
the *Body statement defines a body having its CG at point p_cg. Through this statement
the body (b_body) is topologically connected to point p_cg.

Property or Set Statements

These statements assign properties to the entities created by topological entities. For
example, *SetBody() is a property statement that assign mass and inertia properties to
a body defined using *Body(). Since most of the property statements begin with “*Set”,
they are generally referred as Set statements.

Definition and Data

Building upon the concept of a definition block, these terminologies are used specifically
with regard to container entities such as Systems, Assembly, and Analysis.

The block of statements when contained within a *Define() block are termed as a
Definition. The statements within the block may include:

1. Topology statements that define entities.

2. Set statements that assign properties. These Set statements within a definition
block are called "Default Sets", as they are considered as default values for the
entities in the definition.

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Any statements or block that resides outside the context of *Define() block are termed
as Data. These include:

1. Set statements within a *BeginContext() block that relate to entities within a

system, assembly, or analysis definition.

2. Some of the *Begin statements, such as *BeginAssemblySelection and

*BeginAnalysis.

Section 5: MDL Model File Overview

• MDL model file is an ASCII file; it can be edited using any text editor.
• All statements in a model are contained within a *BeginMDL() - *EndMDL() block.

• The syntax of the MDL statement is an asterisk (*) followed by a valid statement
with its arguments defined.
• Statements without a leading asterisk (*) are considered comments. In this
tutorial, comment statements are preceded by // to improve readability. The
comments are not read in by the MotionView graphical user interface and are
removed if the model MDL is saved back or saved to a different file.
MDL accepts statements in any order, with a few exceptions.

To help you learn this language, the code in the tutorial examples will follow this
structure:
//comments about the MDL file
*BeginMDL(argument list)
//Topology section
*Point…
*Body…
*System(…)
// definitions sub-section
*DefineSystem(..)…
..
.*EndDefine()
//Property of entities directly in *BeginMDL()//Property section for
entities within Systems and analysis
*BeginContext()
..
..
*EndContext()
.
*EndMDL

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Exercise: Build a Pendulum Model using MDL Statements

The figure below shows the schematic diagram of a pendulum. The pendulum is
connected to the ground through a revolute joint at the global origin. The pendulum falls
freely under gravity, which acts in the negative global-Z direction. Geometry and inertia
properties are shown in the figure. The center of mass of the pendulum is located at (0,
10, 10).

Schematic representation of the pendulum

The following MDL statements are used in this exercise:

• *BeginMdl()

• *EndMdl()

• *Point()

• *Body()

• *Graphic() - cylinder

• *Graphic() - sphere

• *RevJoint()

• *Output() - output on entities

• *SetPoint()

• *SetBody()

Step 1: Create an MDL model file.

1. In a text editor, create the following comment statements describing the purpose of
the MDL model file:
//Pendulum falling under gravity
//date

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2. Create a *BeginMdl() - *EndMdl() block to signify the beginning and end of the
MDL model file. Create all other MDL model file statements between these block
statements:

The syntax for the *BeginMdl() statement is:

*BeginMdl(model_name, "model_label")

where

model_name The variable name of the model.

model_label The descriptive label of the model.

For this model, use:

*BeginMdl(pendulum, "Pendulum Model")
*EndMdl()

It is strongly recommended that you look for the syntax of the corresponding
statements by invoking the online Help and typing the statement in the Index. In
MDL statements, only the keywords are case sensitive.

Step 2: Create the entity declarations required for the problem.

1. Create a point where the pendulum pivot would be placed using a *Point()
statement. The syntax is:
*Point(point_name, "point_label", [point_num])

where:

point_name The variable name of the point.

point_labe The descriptive label of the point.

l

point_num An optional integer argument assigned to the

point as its entity number.

For this problem, you will need point_name and point_label.

//Points
*Point(p_pendu_pivot, "Pivot Point")

2. Using the same *Point statement create another point which would be pendulum
center of mass:
*Point(p_pendu_cm, "Pendulum CM")

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3. Use the *Body() statement to define the ball’s body. The syntax is:
*Body(body_name, "body_label", [cm_origin], [im_origin], [lprf_origin],
[body_num])

where:

body_name The variable name of the body.

body_label The descriptive label of the body appearing in the

graphical display of the body.

cm_origin An optional argument for the center of mass point of

the body.

im_origin An optional argument for the origin point of the inertia

marker of the body.

lprf_origin An optional argument for the origin point of the local

part reference frame of the body.

body_num An optional integer argument assigned to the body as

its entity number.

Square brackets,[ ], in the description of any statement syntax means that an

argument is optional.

This problem requires body_name, body_label, and cm_origin.

//Bodies
*Body(b_link, "Ball", p_pendu_cm)

4. Define the graphics for the body for visualization. To attach graphics to the body,
use the *Graphic() statement for spheres and cylinder to display the link and the
sphere.

Statement syntax for sphere graphics:

*Graphic(gr_name, "gr_label", SPHERE, body, origin, radius)

where:

gr_name The variable name of the graphic.

gr_labe The descriptive label of the graphic.

l

SPHERE This argument indicates that the graphic is a

sphere.

body The body associated with the graphic.

origin The location of center point of the sphere.

radius The radius of the sphere.

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For this exercise, use all of the arguments. The statement is:
//Graphics for sphere
*Graphic(gr_sphere, "pendulum sphere graphic", SPHERE, b_link,
p_pendu_cm, 1)

Statement syntax for cylinder graphics:

*Graphic(gr_name, "gr_label", CYLINDER, body, point_1, POINT|VECTOR,
orient_entity, radius, [CAPBOTH|CAPBEGIN|CAPEND])
where

gr_name The variable name of the graphic.

gr_label The descriptive label of the graphic.

CYLINDER This argument indicates that the graphic is a cylinder.

body The body associated with the graphic.

Point1 The location of one end of the cylinder.

POINT|VECTOR Keyword to indicate the type of entity used to orient the

cylinder. If POINT is used, the following argument should resolve
to a point, otherwise it should resolve to a vector.

orient_entity The variable name of the entity for orienting the cylinder.

radius The radius of the cylinder.

[CAPBOTH| An optional argument that identifies if either or both cylinder
CAPBEGIN| ends should be capped (closed).

CAPEND]

For this exercise, use all of the arguments. The statement is:
//Graphics for cylinder
*Graphic(gr_link, "pendulum link graphic", CYLINDER, b_link
p_pendu_pivot, POINT, p_pendu_cm, 0.5, CAPBOTH )

5. Create a revolute joint at the pivot point. The syntax is:

*RevJoint(joint_name, "joint_label", body_1,body_2, origin,
POINT|VECTOR, point|vector, [ALLOW_COMPLIANCE])

where:

joint_name The variable name of the joint.

joint label The descriptive label of the revolute joint.

body 1 The first body constrained by the revolute joint.

body 2 The second body constrained by the revolute joint.

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origin The locations of revolute joint.

POINT|VECTO Keyword to suggest the method of orientation for the joint using a
R point or vector.

point|vecto A point or vector that defines the rotational axis of the revolute
r joint.

[ALLOW An optional argument that indicates the joint can be made

COMPLIANCE] compliant (a joint that is compliant is treated like a bushing and
can be toggled between compliant and non-compliant).

For this problem, you will use the following statement:

//Revolute Joint
*RevJoint(j_joint, "New Joint", B_Ground, b_link, p_pendu_pivot, VECTOR,
V_Global_X)

6. Create an entity output statement. The syntax for *Output - output on entities
is:
*Output(out_name, "out_label", DISP|VEL|ACCL|FORCE, entity_type,
ent_name, [ref_marker], [I_MARKER|J_MARKER|BOTH_MARKERS])

where:

out_name The variable name of the output.

out_label The descriptive label of the output.

DISP|VEL|ACCL|FORCE An argument that indicates whether the output type is

displacement, velocity, acceleration, or force.

entity_type Keyword to indicate the type of entity on which the

output is being requested. Valid values are:
BODY|JOINT|BEAM|BUSHING|FORCE|SPRINGDAMPER

ent_name The entity on which output is requested.

ref_marker An optional argument for the reference marker in which

the output is requested.

I_MARKER|J_MARKER| Keyword to indicate the capture of output on the I

BOTH_MARKERS marker, J Marker or both markers. The default is both
markers.

In order to obtain the displacement versus time output of the falling ball, you will
use the *Output() statement as follows.
//Output
*Output(o_pendu, "Disp Output", DISP, BODY, b_link)

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7. Set property values for the entities you created in your MDL model file. This is done
in the property data section of the MDL model file. For this problem, use the
*SetSystem(), *SetPoint(), and *SetBody() statements.
//Property data section
*SetPoint(p_pendu_pivot, 0, 5, 5)
*SetPoint(p_pendu_cm, 0, 10, 10)
*SetBody(b_link, 1, 1000, 1000, 1000, 0, 0, 0)

8. Save the model as pendulum.mdl.

Your MDL model file will look like the file below (it summarizes the key sections of
the MDL model file for this exercise):
//Pendulum Model
//05/31/XX
*BeginMDL(pendulum, "Pendulum Model")

//Topology information
//declaration of entities

//Points
*Point(p_pendu_pivot, "Pivot Point")

*Point( p_pendu_cm, "Pendulum CM")

//Bodies
*Body(b_link, "Ball", p_pendu_cm)

//Graphics
*Graphic(gr_sphere, "pendulum sphere graphic", SPHERE, b_link,
p_pendu_cm, 1)
*Graphic(gr_link, "pendulum link graphic", CYLINDER, b_link,
p_pendu_pivot, p_pendu_cm, 0.5, CAPBOTH)

//Revolute Joint
*RevJoint(j_joint, "New Joint", B_Ground, b_link, p_pendu_pivot, VECTOR,
V_Global_X)

//Output
*Output(o_pendu, "Disp Output", DISP, BODY, b_link)
//End Topology
// Property Information
*SetPoint(p_pendu_pivot, 0, 5, 5)

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*SetPoint(p_pendu_cm, 0, 10, 10)

*SetBody( b_link, 1, 1000, 1000, 1000, 0, 0, 0)
*EndMDL()

Step 3: Load and run the MDL model file.

1. Launch MotionView .

2. Click the Open Model icon, , on the Standard toolbar.

OR

− From the File menu, select Open > Model.

4. From the Open Model dialog, locate and select the file pendulum.mdl.

5. Click Open.

6. Observe and review the model in the graphics area.

7. From the Standard View toolbar, click the YZ Rear Plane View button.

The model is seen as shown in the image below:

8. Use the Project Browser to view the model entities and verify their properties.

9. Go to the Tools menu and click on Check Model to check for any modeling errors.

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10. Perform the following steps to run MotionSolve:

− Go to the Run panel and select Transient as the Simulation Type: option.

− Set the End time as 2 seconds.

− Click on the Simulation Settings button.

The Simulation Settings dialog is displayed.

− Click on the Transient tab and review the integrator parameters.

− Click Close to close the dialog.

− From the Main tab, use the Save and run current model file browser, and
enter pendulum for the xml.

− Click Run.

− Upon completion of the run, close the solver window and clear the message log.

Step 4: Animate and plot the results.

1. Click Animate.

2. The animation file pendulum.h3d will be loaded in the adjacent window. Click on
that window to activate it.

3. Click the Start/Pause Animation icon on the Animation toolbar to start the
animation, and click the Start/Pause Animation icon again to pause the
animation.

4. Right-click on the Fit Model/Fit All Frames icon icon on the Standard Views
toolbar to fit the visualization in all frames of the animation.

5. Click on the MotionView window to make it active.

6. From the Run panel, click Plot.

7. The plot window will be added, with the pendulum.abf loaded.

8. Select Y Type as Marker Displacement, Y Request as REQ/70000000 Disp

Output – (on Ball), and Y component as DZ.

9. Click Apply.

The plot for the displacement of the pendulum in the Z direction is shown.

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10. Click the Start/Pause Animation icon, , to review the plot and animation
together. Click , to pause the animation.

Your session page should look similar to the image below:

11. Close the session using the File menu (File > Exit).

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MV-1070: Creating a Simple Pendulum System using MDL

In this tutorial, you will learn how to create a definition based entity (such as a system)
using MDL.

Using systems allows you to:

• Organize your model file modularly

• Reuse system definition files
• Easily debug and maintain your files
• Create a library of modeling components
• Perform certain operations on the entire system at once (for example; turning
systems on/off, making the whole system compliant/rigid, translation, etc.). An
operation, such as translation on a system, is automatically performed on all the
subsystems within that system.
The concept of system definition is analogous to the procedures/subroutines in a
programming language.

Analogy between programming and MDL approach

A procedure is a program that needs information from the main program. The
procedure can be called /instantiated any number of times. A procedure is a part of
main program, but can be maintained separately.

Similarly, a system definition is a model aggregate which needs information from the
main model. It can be called/instantiated any number of times. A system definition
is a part of the main model which can be maintained separately.

Use of system definition is two-step process:

1. Defining the system

2. Instantiation of the system definition in the model

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Section 1: System Definitions

A system definition is a reusable system model that can be a part of any model as long
all the attachment requirements are satisfied.

A system definition is represented by a *DefineSystem() block. This block should end

with a *EndDefine() statement that indicates the end of a definition block. All entities
defined within this block are considered to be part of the system definition.

A typical system definition example is shown below:

*DefineSystem(def_sys, att_1, att_2…att_n)

In the system definition example above:

− def_sys is the variable name of the system definition and will be used while
instantiating this system.

− att_1, att_2, … att_n is a list of arguments that act as attachments to the

system.

A system definition can be created in two ways:

1. Using the text editor.

2. Created from graphical user interface. This requires minimal text editing. Refer
to tutorial MV-1030.
Note This tutorial covers Method 1, as it covers all the details of the system definition.

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Section 2: System Attachments

The picture above shows a system definition of an SLA suspension. It is an incomplete

system which needs information about the attachment bodies and points to get
connected to.

Excluding the *Attachment() statement, other entities in a system definition are similar
to an MDL model file.

The general structure of a system definition is:

• A system receives information about entities external to the system via

attachments.
• Any MDL entity can be passed to a system as an attachment.
• The *Attachment() statement inside the system definition declares the
arguments in the *DefineSystem block as an attachment, along with assigning
what type of entity the attachment is going to be.
• The same variable name as the attachment should be referred within the
definition when defining an entity that depends on the external entity.
• Refer to the entries in bold in the example below. Reference line numbers are for
reference only and are not part of the MDL file.
o Line 2 - defines a system with a variable name sys_definition and has
one argument b_body_att as an attachment.

o Line 4 - declares b_body_att as an attachment with the entity type as

Body.

o Line 7 - creates a revolute joint between b_sys_body which is a body

defined within this system (not shown) and b_body_att which is a body
that is an attachment to this system.

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Note An attachment entity need not serve as a physical attachment to entities

inside the system definition. It may be used to represent external variables
being passed into the system definition. For example, datasets may also
serve as attachments.

Section 3: Instantiating a System

• Instantiating a system means creating an instance of a system definition. A
system is instantiated using a *System() MDL statement, which has the following
syntax:
o *System(varname, “label”, def_varname, arg_1, arg_2, …, arg_n)
where,

▪ varname – variable name of the system instance.

▪ label – descriptive label for the system.

▪ def_varname – variable name of the system definition being

instantiated.

▪ arg_1, arg_2,… arg,_n – entity variable names that act as

attachment to the system. The number of arguments should
match the number of attachments listed and declared in the
system definition.

• A definition can be instantiated multiple times. For example, a single system

definition file for an SLA suspension can be used to create multiple SLA
suspension systems within one or more vehicle model files.
• The following example illustrates a system definition and its instantiation within
an MDL model file. Some of the terms in the example below are in bold to
highlight a few key relationships between a system definition and its instantiation.
Reference numbers are for the example only, and are not contained in an MDL
file.
o A system instance with variable name system1 is created in line 2, that
refers to the definition sys_definition. B_Ground (Ground Body) which
is passed as an argument for the attachment.

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o The system definition is described within the *DefineSystem() and

*EndDefine() block between line 3 and line 7. Attachment b_att gets
resolved to B_Ground.

Reference System Instantiation with Definition

Numbers

// Model : Body.mdl
1
*BeginMDL(base_model, "Base Model")

//Instantiate the system definition sys_definition

2 *System(system1, "First System", sys_definition,
B_Ground)

//Begin System Defintion Block

3
*DefineSystem(sys_definition, b_att)

//Declare a body attachment to the system

4 *Attachment(b_att, "Body Attachment", Body, "Add an
body external to this system")

//Entities within the system

5 *Point(p_sys, "Point in the system")

*Body(b_sys, "Body in the system")

//Define a joint with the body b_sys and the body

attachment b_att
6
*RevJoint(j_rev, "Revolute Joint", b_sys, b_att,
p_sys, VECTOR, V_Global_X)

7 *EndDefine() //End Definition Block

8 *EndMDL()

You can instantiate systems within your model in one of three ways:

1. Manually author the MDL file as shown in the example above.

2. Import a system from the System/Assembly panel in the MotionView MBD

Model window.

3. Use the Assembly Wizard in the MotionView MBD Model window.

The exercises that follow explain the first two methods; the third is covered in a separate
tutorial.

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Exercise 1: Creating and Using System Definitions

The following exercise illustrates how system definition can be generated from the
original system MDL file. The later part of the exercise shows two different ways of
system instantiation.

The following MDL statements are used in this exercise:

*DefineSystem()
*System()
*SetSystem()
*Attachment()

Problem
In Steps 1 and step 2:

• Modify the pendulum model from tutorial MV-1060 to create a pendulum system
definition file called sys_pendu.mdl.

• Use this system definition to add another pendulum to the pendulum model from
the tutorial MV-1060 to obtain the double pendulum model shown in the figure
below.
• Save your base model file as doublependulum.mdl.

• Perform a dynamic simulation of the transient response and view the animation.

Schematic representation of the double pendulum

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Properties table for the double pendulum

Step 1: Create a system definition.

The structure of a system definition is similar to an MDL model file. You can reuse the
pendulum model file you created in the previous exercise to generate a more generalized
system definition.

1. Copy the pendulum.mdl file, located in the mbd_modeling\mdl folder, to your

<working directory>.

Below is a sample MDL file for the pendulum model in tutorial MV-1060.
//Pendulum Model
//05/31/XX
*BeginMDL(pendulum, "Pendulum Model")
//Topology information

//declaration of entities
//Points
*Point(p_pendu_pivot, "Pivot Point")
*Point( p_pendu_cm, "Pendulum CM")

//Bodies
*Body(b_link, "Ball", p_pendu_cm)

//Graphics
*Graphic(gr_sphere, "pendulum sphere graphic", SPHERE, b_link,
p_pendu_cm, 1)
*Graphic(gr_link, "pendulum link graphic", CYLINDER, b_link,
p_pendu_pivot, POINT, p_pendu_cm, 0.5, CAPBOTH)

//Revolute Joint
*RevJoint(j_joint, "New Joint", B_Ground, b_link, p_pendu_pivot,
VECTOR, V_Global_X)

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//Output
*Output(o_pendu, "Disp Output", DISP, BODY, b_link)

//End Topology

// Property Information
*SetPoint(p_pendu_pivot, 0, 5, 5)
*SetPoint(p_pendu_cm, 0, 10, 10)
*SetBody( b_link, 1, 1000, 1000, 1000, 0, 0, 0)
*EndMDL()

You can convert the above MDL file into a system definition by making small
changes to your MDL file. It is important to note that this conversion is not
applicable in all cases, and some of the conditions that need to be taken care are
described later in this tutorial.

2. Replace the *BeginMDL() and *EndMDL() statements with the *DefineSystem() and
*EndDefine() statements, respectively. Specify an appropriate variable name for
the system definition.

3. The pendulum system definition would need information about:

− Where to connect (attachment point or pivot point)

− What body to connect to (attachment body)

Let’s use att_point and att_body as the attachment entities.

4. Use these variables in the *DefineSystem () statement:

*DefineSystem (sys_def_pendulum, att_point, att_body)

Note As mentioned earlier, the attachment entity can be any MDL entity.
Therefore one needs to specify the entity type that the variable represents
(for example, att_point represents the POINT entity).

5. Use *Attachment statement to specify the entity type that each variable represents.
*Attachment (att_point, "Pivot Point", POINT, "Attachment point where
the pendulum definition gets attached")
*Attachment (att_body, "Attachment body" , BODY, " Any body to which the
pendulum definition gets attached")

Note In the original model variable p_pendu_pivot was representing the pivot
point. While converting the pendulum model to pendulum system definition,
this pivot point would be provided by the attachment point.

6. The point p_pendu_pivot is now passed as an attachment, therefore we do not need

to define the pivot point. Delete the statement *Point (p_pendu_pivot, "Pivot
Point").

7. Retain pendulum CM point as it is.

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8. Retain the *Body() statement to create the pendulum body.

The *RevJoint() statement refers to the B_Ground and p_pendu_pivot. Replace

B_Ground with the att_body and p_pendu_pivot with att_point.

9. Retain the sphere *Graphic() statement.

The *Graphic() statement for the cylinder refers to the variable p_pendu_pivot.
Replace the variable p_pendu_pivot with att_point.

Note All of these variable replacements show that wherever applicable, the
attachment variables should replace the original variables.

10. Retain the *Output() statement. This allows you to obtain displacement outputs on
each pendulum body in your model.

11. Remove *setpoint(p_pendu_pivot, 0, 5, 5).

12. Parameterize the points in the system so that they are positioned with respect to
each other in a certain way. In this case, you can set the CM point to be 5 units
away from the attachment point in the y and z direction (att_point.y+5,
att_point.z+5).

13. The following file shows a sample system definition (system.mdl):

// system.mdl
// created on:
*DefineSystem(sys_def_pendulum, att_point, att_body)
//Topology Data
// Declaration of Entities
//Attachments
*Attachment (att_point, "Pivot Point", Point, "Attachment
point where the pendulum definition gets attached")
*Attachment (att_body, "Attachment body" , Body, " Any body
to which the pendulum definition gets attached")

//Points
*Point( p_pendu_cm, "Pendulum CM")
//Bodies
*Body(b_link, "Ball", p_pendu_cm)
//Joints
*RevJoint(j_joint, "New Joint", att_body, b_link, att_point,
VECTOR, V_Global_X)
//Output
*Output(o_pendu, "Disp Output", DISP, BODY, b_link)
//Graphics
*Graphic(gr_sphere, "pendulum sphere graphic", SPHERE,
b_link, p_pendu_cm, 1 )

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*Graphic(gr_link, "pendulum link graphic", CYLINDER, b_link,

att_point, POINT, p_pendu_cm, 0.5, CAPBOTH )

// Property Data
*SetPoint(p_pendu_cm, 0, att_point.y+5, att_point.z+5)
*SetBody(b_link, 1, 1000, 1000, 1000, 0, 0, 0)
*EndDefine()

14. Save the file as sys_pendu.mdl.

Step 2: Add a system definition by manually authoring your MDL

file.
In step 1, you created a reusable system definition. In this step, you will instantiate this
system definition in your model file. In the manual approach, you will write an MDL file
which includes the system definition and instantiates it several times.

1. Create a new empty file in a text editor.

2. Begin the model file with a *BeginMDL() statement.

3. Copy the content in the sys_pendu.mdl file from*DefineSystem() to *EndDefine()

after the *BeginMDL() statement.

4. Instantiate the first pendulum system using the *System() statement. Refer to the
MDL Language Reference online help for syntax. For example:
*System(system1, "First Pendulum System", sys_def_pendulum,
P_Global_Origin, B_Ground)

When you instantiate a system, remember:

• Reference the system definition used by the system by specifying its variable
name as the third argument in the *System() statement. The variable name of
the system definition should be the same as you specified in the corresponding
*DefineSystem() statement. In the above example, system1 uses the system
definition sys_def_pendulum.

• If the system definition contains attachments, resolve those attachments when

you instantiate the system. For example, sys_def_pendulum has an attachment,
att_body, to reference body_2 in the *RevJoint() statement. In system1, the
pendulum body, b_link, should be connected to the ground body, B_Ground.
Therefore, B_Ground is specified as the attachment body in the *System()
statement.
• It is recommended to add the *System() statement before *DefineSystem(),
although this not mandatory.

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5. Repeat Step 4 with appropriate modifications, to create the second pendulum

system using the *System() statement again.

• Provide a different variable name, system2, for the system instance.

• Use Pendulum CM (p_pendu_cm) and the Pendulum Body (b_link) from the
first system as the attachment.
The exact statement that you should use is shown below:
*System(system2, "Second Pendulum System", sys_def_pendulum,
system1.p_pendu_cm, system1.b_link )

6. Close the MDL file with the *EndMDL() statement.

A sample MDL file is provided below:

*BeginMDL(model, "MODEL")
*System(system1, "First Pendulum System", sys_def_pendulum,
P_Global_Origin, B_Ground)
*System(system2, "Second Pendulum System", sys_def_pendulum,
system1.p_pendu_cm, system1.b_link )
*DefineSystem(sys_def_pendulum, att_point, att_body)
//Topology Data
// Declaration of Entities
//Attachments
*Attachment (att_point, "Pivot Point", Point, "Attachment point
where the pendulum definition gets attached")
*Attachment (att_body, "Attachment body" , Body, " Any body to which
the pendulum definition gets attached")
//Points
*Point( p_pendu_cm, "Pendulum CM")
//Bodies
*Body(b_link, "Pendulum Body", p_pendu_cm)
//Joints
*RevJoint(j_pivot, " Revolute Joint at Pivot Point ", b_link,
att_body, att_point, VECTOR, V_Global_X)
//Output
*Output(o_pendu, "Disp Output", DISP, BODY, b_link)
//Graphics
*Graphic(gr_sphere, "pendulum sphere graphic", SPHERE, b_link,
p_pendu_cm, 1 )
*Graphic(gr_link, "pendulum link graphic", CYLINDER, b_link,
att_point, POINT, p_pendu_cm, 0.5, CAPBOTH )
// Property Data
*SetPoint(p_pendu_cm, 0, att_point.y+5, att_point.z+5)

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*SetBody(b_link, 1, 1000, 1000, 1000, 0, 0, 0)

*EndDefine()

*EndMDL()

7. Save the model as doublependulum.mdl.

8. Open the MDL file in MotionView and review the model.

9. Take a close look at items listed in the Project Browser. You will now notice a
'hand' under the System icon for the First Pendulum System and the Second
Pendulum System. This indicates that both of these systems share a single
definition. This feature is called a Shared Definition.

10. When a System definition is shared among different instances, any modifications to
one of those instances can be made to reflect in all of the instances. This can be
achieved as follows:

− From the Tools menu, select Options.

The Options dialog is displayed.

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− Click on the Build Model option (located near the bottom of the tree).

11. Under Legacy Support, uncheck the Create a separate definition when
modifying a shared instance option. This will ensure that when entities in a
shared instance are modified, the changes will be reflected across all of the
instances without creating a separate definition.

12. Click OK to close the dialog.

13. Run the MotionSolve simulation and post-process the results. From the Main tab of
the Run Panel , specify the End time as 1.0 and the Print interval as 0.01.

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Exercise 2: Adding Systems from the Systems/Assembly

Panel
This exercise demonstrates how to instantiate a system from the MotionView graphical
user interface using the Systems/Assembly panel.

Problem
In this exercise:

• Use MotionView to add another pendulum link to your double pendulum model to
obtain the triple pendulum shown in the image below.
• Solve and view the animation.

The triple pendulum

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Properties table for the triple pendulum

Step 1: Add the system definition from MotionView.

Adding system definitions to a model is similar to adding other entities except the
system definitions are loaded from a file.

1. Start MotionView and open the pendulum model file from Exercise 1 (the previous
exercise) in the MBD Model window.

2. From the Project Browser, click Model.

The Systems/Assembly panel is displayed.

3. Click the Import/Export tab.

4. Using the Select File: file browser , pick the system definition you just created,
sys_pendu.mdl.

5. Click Import.

The Specify entity details dialog is displayed.

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6. Under Select a definition, select sys_def_pendulum.

7. Under Label, remove the default label and enter Third Pendulum System as the
new label.

8. Under Variable, remove the default variable and enter system3 as the new variable.

9. Click OK.

Step 2: Resolve attachments and update points.

1. Select the newly added system from the Project Browser.

The *Attachment() line added to the system definition now appears in the
Attachments tab for the system folder of the newly added system. Attach the third
link of the pendulum to the second link in the pendulum system.

2. From the Attachments tab, activate the collector for Attachment body to
select a body attachment.

The Select a Body dialog is displayed.

3. Expand the Bodies folder in the second pendulum system and pick the Pendulum
Body (which belongs to system2).

4. Click OK.

5. Next, activate the collector for Pivot Point to select a point attachment.

The Select a Point dialog is displayed

6. Expand the Points folder under the second pendulum system and select the
Pendulum CM point.

7. Click OK.

The third pendulum system should be visible in the graphics area.

8. Save the model as triplependulum.mdl for future use.

9. Run MotionSolve and view the results.

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Important Note Regarding Definitions:

One important aspect of definitions is that they need to be independent, therefore

a *DefineXXX block should not contain another *DefineXXX block within them. For
example, the figure on the left (below) shows a *Define block inside another
*Define block. Such definitions are referred as nested definitions and may result
in MotionView giving errors while reading such definitions. The figure on the right
shows the correct way of placing definitions.

In Exercise 1, the method to author a system definition is described by modifying

an existing model MDL, in other words replacing *BeginMDL() and *EndMDL()
with *DefineSystem() and *EndDefine(). While this method can be employed
in many cases, care should be taken so that any existing definition block within
the *BeginMDL block should not end up being nested as described above. Such a
definition block must be moved out of the block so that the definition blocks are
independent with regard to each other.

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MV-1080: Creating an Analysis using MDL

In this tutorial, you will learn how to create an analysis definition and instantiate it in an
MDL file.

An analysis is a collection of loads, motions, output requests, and entities (bodies, joints,
etc.) describing a particular event applied to a model. For example, an analysis to
determine the kinematics of a four-bar mechanism can be described in one analysis,
while another analysis can be used to study a dynamic behavior. In both cases, while
the overall model is the same, the analysis container may contain different entities that
form the event. The kinematic analysis can contain motion and related outputs, while
the dynamic analysis may contain forces and its corresponding outputs.

• An analysis definition is similar to a system definition in syntax and usage,

except:
o Analysis definitions use *DefineAnalysis(), while system definitions use
*DefineSystem().

o Analysis can be instantiated under the top level Model only.

o Only one analysis can be active in the model at a given instance.

• A analysis definition block begins with *DefineAnalysis() and ends with

*EndDefine(). All entities defined within this block are considered to be part of
the analysis definition.
The syntax of *DefineAnalysis() is as follows:
*DefineAnalysis(ana_def_name, arg_1,arg_2, ..., arg_n)

Where;

− ana_def_name is the variable name of the analysis definition and will be

used while instantiating the analysis.

− arg_1,arg_2..arg_n are a list of arguments passed to the analysis

definition as attachments.

• The following table illustrates an analysis definition and its subsequent

instantiation within an MDL file. Two files, an analysis definition file and the
model file, work together when instantiating a particular analysis under study.
Some of the terms in the example below are in bold to highlight a few key
relationships between the files.

Reference System Instantiation with Definition

Numbers

// Model : Body.mdl
1
*BeginMDL(base_model, "Base Model")

//Instantiate the analysis definition ana_def

2
*Analysis(ana1, "Analysis 1", ana_def, j_rev)

//Begin Analysis Defintion Block

3
*DefineAnalysis(ana_def,j_joint_att)

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Reference System Instantiation with Definition

Numbers

//Declare a joint attachment to the analysis

4 *Attachment(j__joint_att, "Joint Attachment", Joint,

"Add an joint external to this analysis to apply
motion/force")

//Entities within the analysis

5 *Point(p_1, "Point in the analysis")

*Body(b_1, "Body in the analysis")

//Define a joint with the body b_sys and the body

attachment b_att
6
*Motion(mot, "Joint Motion", JOINT, j_joint_att,
ROT)

7 *EndDefine() //End Definition Block

8 *EndMDL()

• The following table details the relationships between the analysis definition and
its instantiation in the MDL Model file.

Variable Relationship

j_joint_att The varname of the attachment, declared in the

*Attachment() statement (line 4) in the analysis definition
file, appears as an argument in the *DefineAnalysis()
statement (line 3). A motion is applied on this joint using
the *Motion() statement (line 6).

ana_def The varname of the analysis definition is specified in the

*DefineAnalysis() statement (line 3). The analysis
definition is used by ana1 in the *Analysis() statement
(line 2).
Defining relationships between the analysis definition and MDL model files

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Exercise: Creating an Analysis Definition

An experimental technique for estimating the natural frequencies of structures is to
measure the response to an impulsive force or torque, then look at the response in the
frequency domain via a Fourier Transform. The peaks in the frequency response indicate
the natural frequencies. In this tutorial, we will create an analysis to simulate this test
procedure. The analysis applies an impulsive torque to the system and measures the
response.

1. Use the following function expression to create the impulse torque about the x axis.
Tx = step(TIME,.3, 0, .31, 10) + step(TIME, .31, 0, .32, -10)

2. Apply this torque to estimate the natural frequencies of the triple pendulum model
shown in the image below:

Schematic representation of a triple pendulum in stable equilibrium

Your analysis applies to a pendulum with any number of links or to more general
systems.

Properties table for the triple pendulum

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The following MDL statements are used in this exercise:

*Attachment()
*ActionReactionForce()
*SetForce()
*Output()

Note Refer to the MotionView Reference Guide (located in the HyperWorks Desktop
Reference Guide) for the syntax of the above MDL statements.

Step 1: Create the analysis definition file.

1. Open an empty file in a text editor.

2. Create the *DefineAnalysis() and *EndDefine() block. All other statements will
be added between this block.

• In the text editor, define an analysis with a variable name of def_ana_0 and one
argument j_att as an attachment.
*DefineAnalysis(def_ana_0, j_att)

3. The torque may be applied between two bodies connected by a revolute joint, with
the origin of the revolute joint taken as the point of application of the force. This
allows you to have only one attachment; the revolute joint.

• Create an *Attachment() statement which defines j_att as the attachment and

Joint as the entity type. Make sure that the variable name used in the statement is
the same as is used in the *DefineAnalysis() statement.
*Attachment(j_att, “Joint Attachment”, Joint, “Select joint to apply
torque”)

4. Use the *ActionReactionForce() statement to define an applied torque. Please

note to reference the correct properties of the attachment joint to reach the bodies
involved in the joint.

Note Refer to the description of the dot separator in MDL. You can access
properties of an entity by using the dot separator.

For example, bodies attached to the revolute joint can be accessed as:
<joint variable name>.b1 and as <joint variable name>.b2.

• Create an *ActionReactionForce() statement with the following:

− Variable name of force_1.

− Force type as ROT (rotational).

− Body 1 as j_att.b1 (attachment joint body 1).

− Body 2 as j_att.b2 (attachment joint body 2).

− Force application point as j_att_i.origin (the attachment joint origin).

− Reference frame as Global_Frame (global).

*ActionReactionForce( force_1, "Torque", ROT, j_att.b1, j_att.b2,
j_att.origin, Global_Frame )

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5. Use the *SetForce() statement to set the value to the force defined in the previous
step.

• Create a *SetForce() statement with a variable name of force_1 (the existing

force) and the following torque values:
TX = step(TIME,.3,0,.31,10) + step(TIME,.31,0,.32,-10),TY = 0,TZ = 0

6. Use an *Output() statement to output the applied force.

• Define an *Output() statement with the following:

− Variable name of o_force.

− Output type as FORCE.

− Entity type as FORCE.

− Variable name of force_1 (the action-reaction force created in Step 3 above).

− Reference frame as Global_Frame (global).

*Output( o_force, "Input Torque", FORCE, FORCE, force_1, Global_Frame)

7. Save the analysis definition as analysis.mdl.

The saved file analysis.mdl will look like this:

*DefineAnalysis( def_ana_0,j_att )
*Attachment(j_att, “Joint Attachment”, Joint, “Select joint to apply
torque”)

*ActionReactionForce( force_1, "Torque", ROT, j_att.b1, j_att.b2,

j_att.origin, Global_Frame )

*SetForce( force_1, EXPR, `step(TIME,.3,0,.31,10) +

step(TIME,.31,0,.32,-10)`)

*Output( o_force, "Input Torque", FORCE, FORCE, force_1, Global_Frame)

*EndDefine()

Step 2: Instantiate the analysis in a model.

1. Start MotionView and open the triplependulum.mdl file, located in the mdl folder.

2. From the Project Browser, click Model.

The Systems/Assembly panel is displayed.

3. Click the Import/Export tab.

4. Using the Select File: file browser , pick the analysis definition you just created,
analysis.mdl.

5. Click Import.

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6. Make sure that the Select a definition drop-down menu is set to Analysis.

7. Click OK.

8. Select the newly added analysis by clicking on Analysis 0 in the Project Browser,
and resolve the joint attachment by selecting any one of the pivot joints of the triple
pendulum:

− From the Attachments tab, select the Joint Attachment.

− Select any pivot joint of the triple pendulum.

9. Save your model as new_triplependulum.mdl.

10. Solve the model. From the Main tab of the Run panel , specify the End time as
1.0 and the Print interval as 0.01.

11. View the animation .

12. Plot the output "Input Torque" using the .abf file from the solution.

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MV-1090: Creating a Dataset using MDL

In this tutorial, you will learn how to:

• Create a dataset to specify the start time, mid time, end time, and the force
magnitude
• Include dataset definition in the analysis definition
• Vary the magnitude and time of the impulse torque
In many occasions, it is convenient to provide inputs or change the design variables of a
model through a single interface. The variables could be in the form of real numbers,
integers, or strings. Or it could also be the name of a file. Having a dataset enables
such a modeling scenario.

A dataset is a collection of user-defined variables whose values are used or referred by

another entity within MDL. Datasets are either created using the MDL language or the
graphical user interface.

This exercise will focus on creating a dataset using MDL. A dataset is defined using a
*DefineDataSet() - *EndDefine() block, which is similar to other definition based
entities such as Systems and Analyses. The definition is then instantiated using the
*DataSet() statement.

Exercise: Defining a Dataset

Step 1: Create a dataset definition.

The following steps illustrate how to create a dataset definition.

Refer to the MDL Language Reference online help for the correct syntax for the MDL
statements you choose to use.

1. In a new document in a text editor, create the *DefineDataSet() and

*EndDefine() block. You will create data members belonging to the dataset
between these statements.

The data members that you need to define in the dataset are:

• Starting time

• Mid time

• End time

• Force magnitude

As all the data members are real numbers, we will use *Real() to define them.

Use one *Real() statement to define one data member.

You can also define other types of members such as: integers, strings, options, or a
file (as applicable to your model).

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2. Save the file in the working directory as dataset.mdl. Your file should look like
this:
*DefineDataSet(ds_def_force)
*Real(start_time, "Starting Time")
*Real(mid_time, "Mid Time")
*Real(end_time, "End Time")
*Real(force_magnitude, "Force Magnitude")
*EndDefine()

Step 2: Include the dataset in the analysis definition and

instantiate.
The dataset will be included in the analysis definition by using the *Include()
statement. The dataset entities will be incorporated in the expression for torque.

1. In a text editor, open the analysis definition file created in tutorial MV-1080. Include
the dataset definition in it by using the *Include() statement before the
*DefineAnalysis() statement.

The syntax is:

*Include("dataset.mdl")

2. Instantiate this dataset definition using the *DataSet() statement within the
*DefineAnalysis() block and after the *Attachment() statement.

The syntax for the *DataSet() statement is:

*DataSet(ds_name, "ds_label", ds_def, [optional arguments])

where

− ds_name is the variable name of the dataset.

− ds_label is the label of the dataset.

− ds_def is the variable name of the existing dataset definition.

− optional arguments are arguments that are passed as attachments (if any)

Instantiate the dataset by choosing a suitable variable name and label. The ds_def
should be the same as the variable of the dataset definition used in the
*DefineDataset() statement.
*DataSet(ds_force, “Force Data”, ds_def_force)

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3. Set the default values of the data members in the dataset by using the *SetReal()
statement within the *DefineAnalysis() block.

The syntax for the *SetReal() statement is:

*SetReal(real_name, real_value)

where

− real_name is the variable name of the data member for which the value is
being set.

− real_value is the value of the data member.

As the data member is a part of the dataset, the correct form of referring to the
variable name of the real entity is ds_name.real_name.

For example, the *SetReal() statement for start time would be:
*SetReal(ds_force.start_time, 0.3)

4. Set the default values of all the data members used in the dataset definition.

Include the lines below after the *DataSet() statement:

*SetReal(ds_force.start_time, 0.3)
*SetReal(ds_force.mid_time, 0.31)
*SetReal(ds_force.end_time, 0.32)
*SetReal(ds_force.force_magnitude, 10)

5. The *SetForce() statement in the analysis definition looks like:

*SetForce( force_1, EXPR, `step(TIME,.3,0,.31,10) +
step(TIME,.31,0,.32,-10)`)

6. Change the appropriate values in the *SetForce() statement by incorporating the

dataset members. The idea is to use the dot operator to browse through the model
hierarchy and access the dataset values (for example, use
ds_force.start_time.value to access the start time value from the dataset). This
is illustrated in the following statement:
*SetForce(force_1, EXPR, `step(TIME, {ds_force.start_time.value}, 0,
{ds_force.mid_time.value},
{ds_force.force_magnitude.value}) + step(TIME,
{ds_force.mid_time.value}, 0, {ds_force.end_time.value}, -
{ds_force.force_magnitude.value})`,0,0)

The expressions within the curly braces ({}) get processed by Templex in
MotionView and get evaluated to the appropriate values defined in the dataset.

The analysis definition file should look as below:

*Include(“dataset.mdl”)
*DefineAnalysis( def_ana_0,j_att )
*Attachment(j_att, “Joint Attachment”, Joint, “Select joint to apply
torque”)

*DataSet(ds_force, “Force Data”, ds_def_force)

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*SetReal(ds_force.start_time, 0.3)
*SetReal(ds_force.mid_time, 0.31)
*SetReal(ds_force.end_time, 0.32)
*SetReal(ds_force.force_magnitude, 10)

*ActionReactionForce( force_1, "Torque", ROT, j_att.b1, j_att.b2,

j_att.origin, Global_Frame )

*SetForce(force_1, EXPR, `step(TIME, {ds_force.start_time.value}, 0,

{ds_force.mid_time.value}, {ds_force.force_magnitude.value}) +
step(TIME, {ds_force.mid_time.value}, 0, {ds_force.end_time.value}, -
{ds_force.force_magnitude.value})`)

*Output( o_force, "Input Torque", FORCE, FORCE, force_1, Global_Frame)

*EndDefine()

7. Save the above work in a new analysis definition file named analysis_dataset.mdl.

Step 3: Change the dataset parameters and run the analysis.

1. In MotionView, load the triple pendulum model created in tutorial MV-1080.

2. Delete the existing analysis (if any) by right-clicking on the Analysis in the Project
Browser and clicking Delete.

3. Click on Model in the Project Browser.

The Systems/Assembly panel is displayed.

4. From the Import/Export tab, import the new analysis definition file
analysis_dataset.mdl following similar steps used to import the analysis in the
earlier exercise (MV-1080).

5. From the Project Browser, expand the Datasets folder and select Force Data.

You will see the dataset with the Labels and Values for all of the members in the
dataset.

6. Change the Starting Time to 0.5, Mid Time to 0.55, End Time to 0.6 and the
Force Magnitude to 15.

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7. Solve the model.

8. Compare the Input Torque in the plot window with that of the earlier analysis.

You can now change the force parameters easily through the dataset graphical user
interface and re-run your analysis.

9. Save your model as triplependulum_dataset.mdl.

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MV-2040: Load Estimation for a Fore Canard Actuator

Mechanism under Aero-dynamic Loads

In this tutorial, you will learn how to:

• Represent pressure/distributed loads as Modal Forces on a CMS flexible body.

• Scale Modal Forces to real world loads in MotionView/MotionSolve.
What is Modal Force?

Forces acting on a flexible body may be an aerodynamic load, liquid pressure, a thermal
load, an electromagnetic force or any force generating mechanism that is spread out
over the flexible body, such as non-uniform damping or visco-elasticity. It may be even
a contact force between two bodies. These distributed loads can be conveniently
transformed from Nodal to Modal domain and represent as Modal Forces.

If we define as the mode shapes of the flexible body, and as the Nodal load
acting on the flexible body, the equivalent Modal load on the flexible body is defined
as:

Exercise:
In this exercise, you will create a flexible body of a Fore Canard of an aircraft with aero-
dynamic loads using Optistruct. Aero-dynamic loads for three operating positions of the
fore canard, namely -10 deg, 0 deg, and 10deg, considering an air speed of 200m/sec at
1 atm pressure are available from a CFD simulation using AcuSolve. A later section of
the exercise involves embedding this flexible body in the actuator mechanism model in
MotionSolve to estimate actuator loads required for the operation of fore canard.

Copy all of the files located in the mbd_modeling\flexbodies\modalforce folder to the

<working directory>.

Fore Canard of an Aircraft

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Step 1: Creating a Fore Canard flexible body.

1. Review the HyperMesh model:

− Open ForeCanard.hm in Hypermesh with Optistruct selected as the user profile.

Fore Canard meshed model

− The HM file contains a meshed model of Fore Canard with material properties and
control cards defined.

HyperMesh model browser

Note Please note model units are Newton-Meter-KG-Sec, therefore all properties
defined are consistent with this unit system.

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2. Create aerodynamic loads from CSV files:

Average pressure distribution over the surface of canard is exported as text file from
AcuFieldView. This file contains the location and value of the pressure. The
AerodynamicLoad_0deg.csv, AerodynamicLoad_Negative10deg.csv, and
AerodynamicLoad_Positive10deg.csv files contain the pressure distribution
information for 0deg, -10 deg, and 10 deg of canard orientation respectively.

− Add load collectors for three cases:

• Left click on the Load Collector icon from toolbar.

• Verify that the create radio button is selected and specify a new load collector
name as AerodynamicLoad_0deg.

• With drop-down menu for card image set as no card image, click on the
create button.

• Follow steps above to create the other two load collectors with names as
AerodynamicLoad_Negative10deg and AerodynamicLoad_Positive10deg.

• Click return.

3. Browse to the Pressure load panel:

− Select the Analysis radio button to go to the Analysis page.

− Click on Pressures button to open the pressure panel.

Analysis page

4. Set the pressure load type to linear interpolation:

− Verify that the create radio button is selected.

Pressures panel

− Click on the drop-down arrow next to faces button.

Surface type set as faces by default

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− Select entities from the drop-down menu to switch the surface selection type
from faces to elems.

Specifying entity type as elems from list

− Click on drop-down menu button next to magnitude.

Magnitude type is a constant vector by default

− Select linear interpolation from the list.

Specifying magnitude as linear interpolation from list

− Upon selection of the above settings, you can select elements on which pressure
loads are applied and a CSV file for pressure load info.

Pressures panel with linear interpolation type

5. Create pressure loads on canard surface:

Pressure loads for each position are created under their respective load collectors so
that you can scale them in MotionSolve with respect to the canard position. Create
a pressure load for 0deg by following the steps below.

− Make AerodynamicLoad_0deg as the current load collector by following below

steps:

• Left click on the Set Current Load Collector button located at the bottom.

Information bar at the bottom with current model, component, and load collector information

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• Select AerodynamicLoad_0deg from the load collector list.

Load collectors list

− Specify the elements from the Fore Canard collector by following the steps below:

• Left click on the elems button.

Left click on elems button to display different element selection options

• Select by collector from the list.

Element selection options dialog

• Select the Fore Canard collector from the component collector list and activate
the select button to return back to pressures panel.

Component collectors list

− Select the 0 deg pressure info CSV file by following below steps:

• Click on the ellipsis button ... to browse for the file.

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• The Open dialog box is displayed. Browse to your <working directory> to

select the AerodynamicLoad_0deg.csv file and click Open.

− The selection of surface elements and the pressure info file is now complete. Click
on the create button to create pressure loads for the 0deg position.

Completed pressure panel

Pressure loads on canard surface

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Note The pressure load on each element is obtained by a linear interpolation of

pressure values with respect to its location.

− Follow the above steps to create pressure loads for -10deg and +10deg under the
respective load collectors AerodynamicLoad_Negative10deg and
AerodynamicLoad_Positive10deg.

6. Specify load sets for CMS method:

Three load cases modeled in previous step represent nodal forces. These nodal
forces are transformed as modal forces using CMS method. In this step you modify
the existing CMSMETH card image to include three load sets.

− Open an existing CMS card image by following the steps below:

• Browse to the CMS load collector from Entities browser.

• Right click on CMS load collector.

Opening CMS load collector card image from browser context menu

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− From the context menu select Card Edit to open the load collector card image.

CMS load collector card image dialog with method specified as Craig-Bampton (CB) and the number of
modes as 25

7. Specify load sets for CMSMETH by following below steps:

− In Card Image dialog, activate the LOADSET check box.

− Specify the CMSMETH_LOADSET_LSID_NUM value as 3.

Specifying LOADSET option for CMSMETH

Observe that the Card Image shows an option to specify three load sets.

− Specify load collectors for three load sets by following the steps below:

• Double click on the LSID(1) button to open load collectors list.

Browsing to load collector’s list from Card Image dialog

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• Select AerodynamicLoad_0deg from the list and click on return button to

return back to CMS card image.

Load collectors list

Card image with LSID(1) specified

• Similarly, specify the AerodynamicLoad_Negative10deg and

AerodynamicLoad_Positive10deg load collectors for LSID(2) and LSID(3)
respectively.

• Click Return.

8. Generate flexbody.

Your model is now ready for solving to generate a flexbody. The two control cards
required to solve for flexbody creation are already specified in the model.

− Review the control cards:

• Click on control cards button from the Analysis page.

• Click on the DTI_UNITS button from the first page to review flexible body
units. Click Return.

DTI_UNITS card image

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• Click on GLOBAL_CASE_CONTROL in the next card to see the CMS load

collector specified for CMSMETH solution.

• Click return twice.

GLOBAL_CASE_CONTROL card image

− Solve the model by following the steps below:

• Click on the Optistruct button from Analysis page.

Analysis Page

• In the Optistruct analysis panel:

o Set export options to all.
o Set run options to analysis.
o Browse to your working directory and specify input file name as
flex_ForeCanard.fem.
o Click on the Optistruct button.

Completed Optistruct panel

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9. Review flexbody modes.

On successful completion of solver run, open the flexbody flex_ForeCanard.h3d

created from Optistruct run in HyperView to review the various mode shapes.
Your flexbody contains 34 modes constituting normal modes, constraint modes, and
Static modes.

Frequency and Eigen values read from flex_ForeCanard.out file

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Three aero-dynamic loads represented as static modes

Step 2: Creating a MotionView model.

A MotionView model of the fore canard mechanism has been provided. In this model,
the Fore Canard body is modeled as a rigid body. In this next step we will replace the
rigid Fore Canard body with a flexible body created in the previous step and use
ModalForce entities to scale the pressure loads with respect to canard position.

1. Review the MotionView model:

− Open the ForeCanard_Model.mdl in MotionView. The model contains:

• Four bodies namely Fore Canard, Torque Arm, Piston, and Cylinder.

• A motion on the Piston with an expression 0.025*SIN(2*PI*TIME) to extend

and retract the piston by 25mm at 1 Hz. This piston motion varies the fore
canard angular position between -9.619 deg to +9.984 deg.

MotionView model of Fore canard mechanism

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• An expression type Output request to measure the “ForeCanard angular

position” and “Piston force along its axis”.

− The Fore canard angular position is measured from the

RevJnt_TorqueArm_Gnd joint rotation angle using the expression
`RTOD({j_4.AZ})`.

− The Piston force is measured from the Piston Motion using the expression
`MOTION({mot_0.idstring},{0},{4},{j_2.i.idstring})`.

Output requests

− Solve the model with the rigid Canard to review piston forces without aero-
dynamic loads.

• Invoke the Run panel by clicking the Run Solver button, , in the toolbar.

• Specify the MotionSolve file name as ForeCanard_withoutAeroloads.xml.

• Select the Simulation type as Quasi-static, the End time as 1 sec, and the
Print interval as 0.01.

• Click on the Run button.

• After the simulation is completed, click on the Animate button to view the
animation in HyperView.

Initial position 0 deg (meshed) and rotated position 10deg at 0.25 sec of simulation

• Click on the Plot button from the MotionView Run panel to load the
ForeCanard_withoutAeroloads.abf file in HyperGraph2D.

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• Plot the Piston Force versus Fore Canard Angular Position by selecting the
below data in HyperGraph.

Select the following for X-axis data:

X Type Expression

X Request REQ/70000000 Fore Canard Angular Position

(deg)F2, Piston Force (N)F3

X Component F2

Select the following for Y-axis data:

Y Type Expression

Y Request REQ/70000000 Fore Canard Angular Position

(deg)F2, Piston Force (N)F3

Y Component F3

Results without aero-dynamic loads

The piston forces in this case are due to the canard mass moment of inertia.

2. Return to MotionView and switch the rigid fore canard to a flexible body.

− Browse and select the Fore Canard body from Project browser.

− In the Body panel, activate the Flex Body(CMS) check box.

Body panel

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− Browse to your working directory, specify flex_ForeCanard.h3d for the Graphic

and H3D files.

Specify flexbody h3d file for Fore Canard body

− Click on Nodes button and resolve the flexbody interface nodes.

3. Model Aero-dynamic loads through Modal Force entity:

The aero-dynamic loads are estimated at three distinct positions of canard namely -
10 deg, 0deg, 10deg. We assume the each pressure load to linearly vary in interval
±10deg on a 0 to 1 scale. This variation of the aero-dynamic loads is achieved by
scaling Modal Forces with respect to canard angle using an expression.

− Create a solver variable:

An explicit solver variable is created to measure the fore canard’s position.

• Right-click on the SolverVariable icon from the toolbar.

The Add SolverVariable dialog is displayed.

• Specify the Label as Angle Measure and the Variable name as sv_ang.

Completed Add SolverVariable dialog

• Click OK.

The SolverVariable panel is displayed.

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• From the Properties tab, specify the Type as Expression and enter
`RTOD({j_4.AZ})` for the Expression.

Defining explicit solver variable

This creates an explicit variable that measures the Fore Canard angle.

− Add a ModalForce:

Add three modal forces each corresponding to one load set.

• Right-click on the ModalForce icon from the Force Entity toolbar.

MotionView Force Entity toolbar

The Add Modal Force dialog is displayed.

• Specify the Label as AerodynamicLoad_0deg and the Variable name as

mfrc_0deg.

• Click OK.

The ModalForce panel is displayed.

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• From the Connectivity tab, specify Fore Canard for the FlexBody.

Specifying flexbody

• From the Properties tab, specify the scaling type, expression, and load case
ID as shown below:

o Specify the Scale type as Expression.

o Specify the LoadCaseID corresponding to 0deg, in other words 3.

o Specify Expression as `STEP(VARVAL({sv_ang.idstring}),-

10,0,0,1)*STEP(VARVAL({sv_ang.idstring}),0,1,10,0)`.

Steps of creating Modal Force for 0deg

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The product of the two STEP functions evaluates to gradually increasing the value of
the scale from 0 to 1 and then back to 0, while the canard angular position varies
from -10deg to 10 deg as shown in the expression below:

Graphical representation of the scaling factor

• Follow the steps above to create the remaining Modal Forces as specified
below:

S.No Label Variable Flexbody Scale Type Load Expression

name Case
ID

1 Aerodyna mfrc_ne Fore Expression 4 `STEP(VARVAL({s

micLoad_ g10deg Canard v_ang.idstring}
Negative ),-20,0,-
10deg 10,1)*STEP(VARV
AL({sv_ang.idst
ring}),-
10,1,0,0)`

2 Aerodyna mfrc_po Fore Expression 5 `STEP(VARVAL({s

micLoad_ s10deg Canard v_ang.idstring}
Positive ),0,0,10,1)*STE
10deg P(VARVAL({sv_an
g.idstring}),10
,1,20,0)`

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Step3: Solving the model and post-processing.

1. Invoke the Run panel by clicking the Run Solver button, , in the toolbar.

2. Specify the MotionSolve file name as ForeCanard_withAeroloads.xml.

3. Select the Simulation type as Quasi-static, the End time as 1 sec, and the Print
interval as 0.01.

4. Click on the Run button.

5. After the simulation is completed, click on the Animate button to view the
animation in HyperView.

6. Use the Start/Pause Animation button to play the animation.

7. Click on the Contour button to activate the Contour panel.

8. Under Result type, select Stress (t) and click Apply to view the stress contours.

Stress contour at 0.25 sec

9. Click on the Plot button from MotionView Run panel to load the
ForeCanard_withAeroloads.abf file in HyperGraph2D.

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10. Plot the Piston Force versus Fore Canard Angular Position by selecting below data in
HyperGraph2D.

Select following for X-axis data:

X Type Expression

X Request REQ/70000000 Fore Canard Angular Position (deg)F2,

Piston Force (N)F3

X Component F2

Select the following for Y-axis data:

Y Type Expression

Y Request REQ/70000000 Fore Canard Angular Position (deg)F2,

Piston Force (N)F3

Y Component F3

Results with aero-dynamic loads

You can overlay the plots to observe the difference in piston forces with and without
aero-dynamic forces.

Overlay of results

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MV-2100: Introduction to Non-Linear Finite Element (NLFE)

Analysis in MotionSolve

In this tutorial, you will learn the following:

• A brief introduction to Non-Linear Finite Element formulation used in MotionSolve.

• Modeling NLFE bodies in MotionView.

Introduction
Starting in version 14.0, MotionSolve introduced a new form of flexible body referred as
Non Linear Finite Elements (NLFE). Unlike the conventional flexible body, where the
body is represented in a modal form, NLFE is modeled in a direct Finite Element form.

NLFE Formulation
MotionSolve uses Absolute Nodal Coordinate Formulation (ANCF) to model large
displacement and large deformation (NLFE) bodies. The absolute nodal coordinate
formulation[1] is developed based on finite element formulation and is designed for large
deformation multibody analysis. In the absolute nodal coordinate formulation, slopes and
displacements are used as the nodal coordinates instead of infinitesimal or finite
rotations.

ANCF uses the shape function matrix, together with the nodal coordinates to describe
arbitrary rigid body motion. For these reasons, the absolute nodal coordinate formulation
leads to a constant mass matrix in two- and three-dimensional cases. The constant mass
matrix simplifies the nonlinear equations of motion and, consequently, accelerates the
time integration of the nonlinear equations of motion.

Below is a standard beam model [2] described in 2D plane using ANCF.

Euler–Bernoulli beam element

Displacement field, y(x) = s1(x)y0+ s2(x)y’0 +s3(x)y1+ s4(x)y’1

Where,

s1 to s4 are shape functions of beam.

x0, y0, x1, and y1 are nodal coordinates of 2 grids.

y’0 and y’1 are slope coordinates (gradients) at 2 grids.

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The absolute nodal coordinate formulation has been applied to a wide variety of
challenging nonlinear dynamics problems that include belt drives, rotor blades, elastic
cables, leaf springs, and tires.

Non-linear finite element capabilities of MotionSolve

• All type of linear and non-linear elasticity is supported i.e. Isotropic, Orthotropic,
Anisotropic and Hyper elasticity.
• Geometric stiffening induced due to elastic forces.

Modeling non-linear behavior above the elasticity limit (like plastic deformation, strain
hardening, fracture etc.) is not supported. In the current version, MotionView supports
modeling of 1D line elements only (Beam and Cable elements). Beam elements can
have 18 types of cross-sections and the dimensions of the cross-section can be changed
linearly in the axial direction. Beam elements can resist axial, shear, torsion and bending
loads. The Cable element maintains a constant cross-section, thus it can resist only
axial and bending loads.

This tutorial has two exercises:

1. Cantilever beam bending.

2. Uniaxial tension of rubber.

Exercise 1
In this exercise, you will model a 1m long cantilever beam with a cross-section
dimension of 110mmx14mm to perform a bending test and compare it with an analytical
solution.

Copy the centerline.csv file, located in the mbd_modeling\nlfe\intro folder, to your

<working directory>.

Cantilever beam under end load condition

Step 1: Modeling a Beam with Linear Elastic Material.

1. Start a new MotionView session.

2. Right-click on the Body icon in the Model-Reference toolbar.

The Add Body or BodyPair dialog is displayed.

3. Specify the label as Cantilever Beam.

4. Specify the variable name as nlfeb_cantilever.

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5. Select NLFE Body from the drop-down menu.

6. Click OK to close the dialog.

The NLFE Body is displayed with the Properties tab active.

The following table lists the various tabs available in the NLFE Body panel:

Tab name Sets NLFEBody

Properties Type (Beam/Cable), Cross-section, and material

properties

Connectivity Center line data or body profile

Orientation Start and End orientations

Mass Properties Displayed for information only

Initial conditions Initial velocities

7. From the Properties tab, define the properties as listed below:

− Type: Beam

− Cross section: Bar

− dim1: 14.0

− dim2: 110.0

The panel also displays the image of the cross-section indicating what the different
dimensions (dim1 and dim2) refer to.

Note The Properties tab has two sub-tabs called Start and End. These sub-
tabs are used to set the dimensions at two different ends of the beam. By
default, the End dimensions are parametrically equated to the Start
dimensions. If a different set of dimensions are provided at the start and
end, the cross section varies linearly along the length of the beam.

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8. Click on the End sub-tab and review dim1 and dim2.

9. Click on the Manage Materials button located in the upper right corner of the
Properties tab.

The Material Properties dialog is displayed.

Note The Material Properties dialog can also be accessed from the Model menu.

MotionView provides a list of commonly used Linear Elastic, as well as Hyper Elastic
material by default.

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10. Select Steel from the Material list.

11. Review the property values and notice that the Elastic line check box for Approach
is selected.

12. Click Close to close the dialog.

The default standard materials provided are defined with the Elastic Line option
checked on. Materials without the Elastic Line are solved using the continuous
mechanics approach, where in the cross-section deformation is taken into
consideration. The Elastic Line approach ignores cross-section deformation effects,
which gives results closer to an analytical solution.

13. From the Connectivity tab, define the beam centerline by importing point data
from a CSV file. Click on the Import Points button located in upper right corner.

The Import Points From Coordinates In File dialog appears.

14. Browse and select the centerline.csv file from your working directory.

15. Click OK to import the points.

The .csv file must be in the following format: the first column must hold the X-
coordinates, the second column the Y-coordinates, and the third column the Z-
coordinates. There can also be a header row that begins with a # indicating a
commented line.

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16. Fit the model (by hitting 'F' on the the keyboard) to view the NLFE Body that was
created.

17. Click on the Orientation tab to review the Start and End orientations.

Note The Orientation tab is used to set the cross section orientation (YZ plane
of the beam). Use the XY Plane or XZ Plane option to position the Y or the
Z-axis (the remaining axis will be positioned so that it is orthonormal to the
remaining two axes).

Use the default orientation for this exercise.

Intermediate Beam elements orientation is linearly varied from Start orientation to

End orientation. The Orientation option is useful in defining twist along the beam
length.

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18. Click on Mass Properties tab to review the calculated values.

19. Click on Initial Conditions tab to review the NLFEBody initial velocities.

Leave initial velocities equal to zero.

Step 2: Adding a constraint and force.

1. Create a Fixed joint at the beam origin point (Point_1) as specified in the table
below:

S. Label Variable Type Body 1 Body 2 Origin(s) Orientation Refer Refer

No name Method ence ence
1 2

1 Fix j_fix Fixed Cantilever Ground Point_1

Joint Joint Beam Body

Note Each grid on an NLFE body has 12 DOFs: 3 translational, 3 rotational, and
6 related to the length and angle between the gradient vectors. Using a
fixed joint constrains the positions of the grid and the rigid body rotations.
However, the gradients at the grid are free. This means that the cross-
section at the fixed joint can twist about the grid and also deform based on
Poisson’s ratio. To arrest these DOFs, an NLFE element called “CONN0” can
be used.

There is no graphical user interface support for creating this constraint. By

default, MotionView creates a CONN0 element at all of those grids of the
NLFE body through which it is attached to a constraint/force entity.

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2. Create a load at the cantilever beam end point (Point_11) as specified in the table
below:

S. Label Variable Force Properties Action Apply Ref. Marker

No name force on force at

1 Load frc_load Action Scalar Cantilever Point_11 Global Frame

only Force along Beam
Z axis of
Ref Frame

3. From the Trans Properties tab, specify the expression for force as ` -1000*time`.

Note Negative value is specified to apply load along negative Z-axis direction.

Cantilever beam with end load

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4. Turn off gravity to eliminate deflection due to beam self-weight.

Step 3: Creating outputs to measure cantilever beam end

deflection.

Cantilever beam end deflection from linear-elasticity theory.

Deflection for load applied at end =

Where,
= Load (N)
= Beam length = 1000mm
= Youngs Modulus = 2.1e+05 N/mm2

= Second Moment of Area = = 114 * = 25153.33mm4

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1. Add an Output of the Type Expressions with the following:

− For Label, enter Deflection - Analytical (F2), NLFE(F3).

− For F2, enter `-

1*SFORCE({frc_load.idstring},0,1,0)*1000^3/(3*2.1e5*25153.33333)`.

− For F3, enter `{frc_load.DZ}`.

2. Click on Check Model to verify the model.

3. Add an output request Load to measure the magnitude of the applied Load.

4. Save your model as nlfe_cantilever.mdl.

Step 4: Solving the model and post-processing.

The model is now complete and can be solved in MotionSolve.

1. Invoke the Run panel by clicking on the Run Solver button on the toolbar.

2. Specify MotionSolve file name as Cantilever_beam.xml.

3. Select the Simulation type as Quasi-static, the end time as 1 sec, and the Print
interval as 0.01.

4. Click on the Run button.

5. After the simulation is completed, click on the Animate button to view the
animation in HyperView.

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6. Click the Start/Pause Animation icon, , on the Animation toolbar to start the
animation.

7. Click the Plot button in the MotionView Run panel to load the .abf file in
HyperGraph.

8. Plot Deflection vs Load calculated from linear elasticity theory and NLFE by selecting
the data below in HyperGraph.

Select following for X-axis data:

X Type Marker Force

X Request REQ/70000001 Load- (on Cantilever

Beam)

X Component FZ

Select the following Y-axis data:

Y Type Expression

Y Request REQ/70000000 Deflection – Analytical (F2), NLFE

(F3)

Y Component F2 & F3

9. Click on the Define Curves toolbar icon .

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10. Rename the two curves as Analytical and NLFE as shown below:

Define Curves panel

It can be observed from the plot that the NLFE and Analytical curves almost overlap.

Deflection versus load plot

11. Activate the Hyperview animation window.

12. Click on the Contour button on the toolbar to activate the Contour panel.

13. Under Result type, select NLFE Stress (t) and XX.

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14. Click Apply to view bending stress contours.

Similarly, you can view Displacement, Strain, etc. for an NLFE body in HyperView.
All FE contours and types are available in HyperView for an NLFE body.

Bending stress contour of NLFE beam

15. Save this session as nlfe_cantilever.mvw.

Exercise 2: Tensile test of Elastomer

Hyper-elastic materials are large strain materials when compared to metals. In case of
hyper-elastic materials the non-linear relation between stress and strain is derived from
a strain energy density function. Currently MotionSolve supports three hyper-elastic
material models: Neo-Hookean, Mooney–Rivlin, and Yeoh.

In this exercise, a uni-axial tensile test on a rubber strip (2mmx25mmx50mm) will be

performed. Hyper-elastic material constants have been sourced from reference[3].

Clear the existing session through File>New>Session .

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Step 1: Adding a new material property.

1. From the Main menu, select Model>Materials.

2. In Material Properties dialog:

− For Elasticity type, select Hyper Elastic.

− Click on the Add button.

Adding new HyperElastic material

3. From Add a MaterialProperty dialog:

− Specify the Label as Yeoh Model and Variable name as propmat_yeoh.

− For Source for values, select Rubber (Yeoh).

− Click OK to add the material property.

Selecting source values for new material

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4. Specify the following values for this material:

− Element shear modulus (c10): 0.545235

− Element shear modulus (c20): 0.0610498

− Element shear modulus (c30): −0.000802537

− Poisson ratio ( ): 0.48

− Density ( ): 1.1e-6

− Elastic strain limit (εL): 2.0

Specifying material constant values

5. Click Close.

Step 2: Modeling the rubber strip.

1. Create two points for the rubber strip length profile with the details show in the
table below.

S.No Label Variable name x y z

1 Rubber End 1 p_rub_end1 0.0 0.0 0.0

2 Rubber End 2 p_rub_end2 50.0 0.0 0.0

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2. Create 9 intermediate points between the above points using the Create Points Along a
Vector macro.

Creating intermediate points using “Create Points along a Vector” macro.

3. Right-click on the Body icon in the Model-Reference toolbar. Add a new NLFE
body with the Label as Rubber Strip and the Variable name as
nlfeb_rubber_yeoh.

In the Properties tab, specify the properties below:

− Type as Beam

− Cross-section as Bar

− dim1 = 2

− dim2 = 25

− Select the Yeoh Model created in previous step as the MaterialProperty.

Specifying beam properties

− Go to Connectivity tab; Append 8 more points to the displayed table.

− Activate the first Point collector and select the point Rubber End 1.

− Select the next available intermediate points one by one into other collectors, with
the last point being Rubber End 2.

Rubber strip model

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Step 3: Adding constraints.

1. Create Fix joint at one end and Translation joint at other as specified in below table:

S Label Variable Type Body 1 Body 2 Origin(s) Orientation Refer Refer

. name Method ence ence
N 1 2
o

1 Fix j_fix Fixed Rubber Ground Rubber

Joint Joint Strip Body End 1

2 Transl j_trans Transl Rubber Ground Rubber Alignment Global

ation ational Strip Body End 2 axis (Vector) X
Joint joint

2. Create motion on the Translation joint to apply axial pull.

S.No Label Variable Define Motion Joint Property

name

1 Axial Motion mot_axial On Joint Translation Joint Displacement

3. In Properties tab, specify the following properties:

− Define by: Expression

− Expression: `50*time`

Motion expression

4. Go to the Solver Gravity dataset and change the Gravity option to Off.

5. Click the Save Model icon on the Standard toolbar and save your model as
rubber_strip.mdl in your <working directory>.

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Step 4: Adding outputs.

Create outputs to measure engineering strain and engineering stress values.

Engineering Strain =

Engineering Stress =

1. Add an Output of the Type Expressions with the Label as Eng strain(F2),
Eng Stress (F3) and the expressions as shown below:

− F2: `(DM({j_trans.i.idstring},{j_fix.i.idstring})-50)/50`

− F3: `MOTION({mot_axial.idstring},{0},{2},{0})/50`

Output requests

Note In the above expression F2, the solver function DM() measures the distance
magnitude between two markers; the I marker of the Translation Joint
and the I marker of the Fix Joint. Expression F3 uses the solver function
MOTION() which measures the reaction force due to the imposed motion
Axial Motion.

Step 5: Solving the model and post-processing.

1. To solve the model, go to Run panel .

2. Specify the MotionSolve file name as rubber_yeoh.xml.

3. Select the Simulation type as Transient; the End time: 4, and the Print
interval: 0.01.

4. Click Run.

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5. As the solver is executing, a warning message similar to the one shown below may
be displayed:
WARNING: Maximum vonMises strain exceeded maximum strain (YS) specified
for NLFE element BEAM12 (id=20000000) on Body_Flexible (id=30102) at
time=1.183E+00
Maximum strain Computed : 2.015E+00
Maximum strain Specified: 2.000E+00
Future warning for yield strain violation suppressed.

This message states that the maximum vonMises strain in your NLFE component
exceeded what was specified (2.0) at time 1.18s. This message lets you know if
your component is deforming more than what you would expect it to, which allows
you to inspect your results and make corrections in modeling your system if
required.

6. After the simulation is completed, click on Animate to view the animation in

HyperView.

7. Click the Start/Pause Animation button to play the animation.

8. Go to the Contour panel and select NLFE Stress (t), XX, and click Apply.

Stress contour

9. Return to MotionView Run panel and click on Plot button to load the .abf file in
HyperGraph.

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10. Plot Engineering Stress vs Engineering Strain by selecting the data below in
HyperGraph.

− Select following for X-axis data:

X Type Expression

X Request REQ/70000000 Eng strain(F2), Eng Stress(F3)

X Component F2

− Select the following Y-axis data:

Y Type Expression

Y Request REQ/70000000 Eng strain(F2), Eng Stress(F3)

Y Component F3

Stress versus strain curve

Note The animation shows the true stress due to cross-section deformation.

11. Save the model.

12. Save this session as hyperelastic.mvw.

References:

1) JUSSI T, SOPANEN and AKI M. MIKKOLA: Description of Elastic Forces in

Absolute Nodal Coordinate Formulation. Journal of Nonlinear Dynamics 34: 53–
74, 2003.
2) Oleg Dmitrochenko:Finite elements using absolute nodal coordinates for large-
deformation flexible multibody dynamics. Proceedings of the Third International
Conference on Advanced Computational Methods in Engineering (ACOMEN 2005).
3) Sung Pil Jung, TaeWon Park, Won Sun Chung: Dynamic analysis of rubber-
like material using absolute nodal coordinate formulation based on the non-linear
constitutive law. Journal of Nonlinear Dyn (2011) 63: 149–157.

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MV-2110: Using an NLFE Helical Spring in a Cam-Follower

Mechanism

In this tutorial, you will learn the following:

• Using a pre-defined NLFE Helical Spring sub-system component in a model.

This will be demonstrated by replacing the traditional coil spring in a Cam follower
mechanism.

Cam Follower Mechanism

What are NLFE Components in MotionView?

You can add NLFE bodies in MotionView version 14.0 (onwards) using the traditional
Body icon in toolbars or through the browser. In addition to this, ready-to-use sub-
systems or Components have been provided. These are components (MotionView
system definition) that can be added to the model using very few user inputs such as,
for example for a Helical Spring: wire diameter, coil diameter, material properties,
number of coils, etc. MotionView will automatically create the building block entities
(such as points, bodies, and joints) and standard outputs needed to represent such a
subsystem.

The following components are made available:

1. Helical Spring
2. Stabilizer Bar
3. Belt-Pulley

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Why use an NLFE Spring?

An NLFE sub-system offers the following advantages:

• The spring component is added as a body, which means the mass and inertia of
the spring is included in the model.
• The dynamics induced by the mass of the spring can be modeled and simulated
(for example, surge in springs).
• If the deformations in the model are likely to go beyond the linear assumptions,
NLFE will account for it.
• Stress strain and deformation contours can be visualized.
• Coil-to-coil clash is modeled automatically.

Exercise
Copy the CamFollower_stg1.mdl and CamProfile.h3d files, located in the
mbd_modeling\nlfe\helicalspring folder, to your <working directory>.

Step 1: Reviewing the Model.

1. Start a new MotionView session.

2. Load the CamFollower_stg1.mdl file from your working directory.

3. Review the model. From the Project Browser the following can be seen - the
Model is organized using a CamFollower system which contains:

• A Cam, Follower, Joints, Graphics, and a Spring which make the complete
topology.

• The spring with a pre-load is acting between the Follower and Ground Body.

Browser showing the model topology

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4. Click on the Run Solver toolbar icon , and Run the model with the settings as
shown in the Run panel image below. This will be the initial run which will be used
to compare the results with the NLFE spring model.

5. Click Animate to visualize the animation.

The coil spring will now be replaced with an NLFE Helical Spring component in the next
section.

Step 2: Adding an NLFE Helical Spring.

1. Deactivate the Coil spring in the model by right-clicking on the Spring and selecting
the Deactivate option from the context menu.

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2. An NLFE spring will be added between Ground Body on the top and Follower at
the bottom. The corresponding points that will be used are: Spring_top_relaxed
and Spring_bottom.

NLFE spring interface bodies and points

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3. Add an NLFE Helical Spring Subsystem by clicking the NLFE Helical Spring

Subsystem icon in the Subsystems toolbar as shown:

Note This toolbar may not be turned on by default. From the View menu, select
Toolbars > MotionView and then click on the toolbar name to turn the
display on/off.

The Add an NLFEHelicalSpring Subsystem dialog is displayed.

Add an NLFEHelicalSpring Subsystem dialog

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4. Assign an appropriate Label and Variable.

5. Double click on the parent System collector to bring up the model tree. Select
CamFollower as the parent system.

Resolving the parent System

6. Resolve the other collectors for attachments as shown below:

− Body 1: Resolve to Ground Body.

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− Point 1: Resolve to Spring_top_relaxed.

− Body 2: Resolve to Follower.

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− Point 2: Resolve to Spring_bottom.

− MaterialProperty: Select Steel.

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7. Fill in the spring parameters and details for label and varnames as shown below and
click on OK in the dialog.

Spring parameters

Wire diameter Specify the coil spring wire diameter. 3

Spring diameter Specify the coil mean diameter: center-to- 20

center.

Num. of inactive Specify the inactive/dead coils at each end. 1

coils

Num. of active Specify the active coils which contribute to 7

coils spring stiffness.

Additional parameters

Number of Specify the element density per coil. 10

elements per
coils

Variable Specify varname prefix for the spring profile p_spr_

points created.

Label Specify label prefix for the spring profile Point Spring
points created.

Note These parameters have been chosen for the following reasons:

• The stiffness of the coil spring being replaced is: 14.6 N/mm.

• The equation for the coil spring stiffness: G.d4/[8.n.D3] (Where: G =

Modulus of rigidity; d = Wire dia.; n = No. of active coils; D = Spring
mean diameter).

• Substituting the values from the table above in the equation and using
Steel with 80769 N/mm2 for material:

Spring stiffness k = 80769x34/[8x7x203] = 14.6 N/mm

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Completed dialog

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8. The spring will be added between the Follower and Ground Body.

The spring overshoots the upper plate as shown above. This is because the spring
has been created with no pre-load on it.

9. Review the NLFE Spring systems added. The following entities are available in the
System:

• An NLFE Spring.

• DataSet with spring parameters that were used to create the spring.

• Fixed joints connecting the spring to the suspension.

• Markers for reference.

• Points that define the spring profile.

• Template with unsupported elements. These are automatically created and

include elements that define coil-to-coil contacts.

NLFE spring topology in the browser

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10. Next, the pre-loaded positions for the spring will be added. To do this,

− Select the NLFE Spring 0 body under the subsystem.

− Go to the Connectivity tab. In this tab there is a View drop-down menu with
two options available: No Load and Loaded. The No Load view shows the
unloaded positions of the spring.

− Select the Loaded option. In this view the Import Loaded Profile button can be
used to browse a .csv file containing the pre-loaded positions and gradients of the
spring.

− Click on the Import Loaded Profile button to invoke the Import Loaded Points
Information From File dialog.

NLFE Connectivity tab - Loaded View

− Browse the file PreLoaded_positions.csv from the working directory and click
OK to import the loaded positions.

The spring will be displayed in wireframe and solid. The one in wireframe is the
No Load position (free/relaxed configuration) and the solid representation is that
of pre-loaded spring.

Note Refer to the Appendix in the NLFE Body Panel – Connectivity Tab topic
to learn how you can generate a preloaded position CSV file.

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Free/Relaxed and Pre-loaded position of the spring

11. The pre-loaded positions can be viewed using the expansion button in the
panel.

Pre-loaded positions and gradients imported from the .csv file

12. The fixed joints created by the NLFEHelicalSpring Component utility will be at the
free positions. You need to move one of these to the pre-loaded positions.
Inspecting the spring positions reveals that the spring is compressed at the top
while the bottom position is the same in both the configurations.

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13. Change the origin point of the joint Spring_toUpperBody_att in the NLFE Helical
Spring 0 system from Spring_top_relaxed to Spring_top (in the parent
CamFollower system).

Changing the connection to pre-loaded position

14. Save the model as CamFollower_nlfe_spring.mdl.

Step 3: Solving the Model and Post-processing.

The model is now complete and can be solved in MotionSolve.

1. To solve the model, invoke the Run panel using the Run Solver button in the
toolbar.

2. Assign a name for the .xml file and click on the Run button.

3. After the simulation is completed, click on the Animate button to view the
animation in HyperView.

4. Use the Start/Pause Animation button to play the animation.

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5. Coil-to-coil clash can be viewed at the bottom/top set of coils.

Coil-to-coil contact visualization in HyperView

6. Click the Contour icon on the toolbar to activate the Contour panel.

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7. Under Result type: select NLFE Stress (t), Averaging method: Simple, and
click Apply to view stress contours.

Viewing results in HyperView

Contours in HyperView

Similarly, you can view Displacement, Strain, etc. for an NLFE body in HyperView.
All FE contours and types are available for an NLFE body.

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Step 4: Comparing Results.

Now we will compare the results from NLFE spring and the regular spring (generated in
Step 1) against each other.

1. Use the Add Page button, , to add a new page.

2. Change the client to HyperGraph 2D .

3. Split the window into two using the Page Window Layout button on the
toolbar.

4. In the left window open the .abf file corresponding to the solver run with the
original spring (created in Step 1), make the selections shown below and click
Apply.

X Type Time

Layout Use current plot

Y Type Marker Displacement

Y Request REQ/70000003 FollowerDisplacement- (on Follower)

Y Component DY

Plot selections – Follower displacement

5. Select the right window, make the following selections and click Apply.

X Type Time

Layout Use current plot

Y Type Marker Force

Y Request REQ/70000002 Spring(ForcesOnFollower)

Y Component FY

Plot selections – Spring force on follower: regular spring

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6. Select the left window, browse to the .abf file of NLFE results and plot the
corresponding displacement.

7. Select the right window, make selections as shown below and click Apply.

X Type Time

Layout Use current plot

Y Type Marker Force

Y Request REQ/70000002
Spring_toLowerBody_att(ForcesOnFollower)

Y Component FY

Plot selections – Spring force on follower: NLFE spring

8. Apply axis labels and formatting as appropriate. The comparison is shown below:

Result comparison: Regular spring versus NLFE spring

Upon closer inspection there are some differences in the results, especially in the
Spring Forces. These could be attributed to the following reasons:

• NLFE spring has mass and inertias associated with it as it is represented as a

body. A regular spring is a force entity without any mass/inertias.

• The difference in force outputs is particularly seen when the spring displacement
is high. This is the point where the coil-to-coil contact happens. During this
event, the effective number of coils reduces, thus increasing the spring stiffness
marginally and hence the force outputs.

9. Save your work in a session file named camfollower_nlfe.mvw.

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MV-3020: Optimization of a Two Spring Mass System

MotionSolve is commonly used for performing system level simulation. Simulations are
commonly performed to understand how well a specific design performs. Often a goal for
such simulations is to find the right set of design parameters that permit the system to
perform its intended functions in some optimal way.

Commonly used design variables are the location and orientation of various connectors
and their force characteristics. Occasionally the mass and material properties of some
bodies are also included as design variables. The system behavior is normally
characterized with a set of response variables. So, the goal of simulations often is to find
the values of these design variables such that the response variables attain a desired set
of values.

In the past such analysis has been done using techniques such as Monte Carlo
simulations and design of experiments. These methods work quite well, but they are
computationally intensive and require large sets of simulations.

MotionSolve now supports a capability for analytically computing design sensitivities.

Design sensitivity is the matrix of partial derivatives of the response variables with
respect to the design variables. A gradient-based optimizer is capable of using these
sensitivities to minimize a cost function. This process is known as design optimization. A
new optimization toolkit that permits optimization of some design problems is also now
available in MotionSolve.

Though not as general as the statistical methods, optimization with design sensitivity is
significantly faster and is the preferred solution in many instances.

In this tutorial you will learn how to setup an optimization problem using MotionView’s
Optimization Wizard. You will learn about:

• Process of Optimization with MotionSolve

• Defining spring stiffnesses as design variables
• Defining displacements as responses
• Using the responses as objectives
• Running the optimization and post-processing the results

Introduction
Two springs are connected in series. The stiffness of spring-1 is k1 and that of spring-2
is k2. One end of spring-1 is fixed to ground while a force, P1, acts at the other end.
Spring-2 is subjected to a force of P2 at the other end.

The objective of the analysis is to determine the sensitivities of stiffnesses of the springs
to displacements u1 and u2 and use them to identify or tune k1 and k2 of the system to
achieve specific values of u1 and u2.

MotionSolve's DSA (Design Sensitivity Analysis) capability to calculate sensitivities is

utilized in this example. A Step-by-step procedure to define and run the model is given
below.

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The figure below shows the problem setup. Properties used in the problem are also
given.

Springs in Series – Model Description

Here are the properties of the system:

Displacement:

u0 = 0 (Fixed)

Force:

P1 = 1 N

P2 = 2 N

Stiffness:

k1 = 2 N/mm

k2 = 3 N/mm

Response Variables (RV): u1 and u2

Design Variables (DV): k1 and k2

Analysis Type: Static Analysis with DSA

The process of optimization starts with setting up a model in MotionView. MotionView’s

Optimization Wizard is used to setup design variables, responses and objectives. The
wizard also guides the user to run and plot/print results of optimization. It is also able to
export a design from a particular iteration into a new MDL for further analyses.

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Model Setup
Copy the file mv_3020_initial_two_springs.mdl located in the
mbd_modeling\motionsolve\optimization\MV-3020 into your <working directory>.

Step 1: Adding Design Variables.

1. Open mv_3020_initial_two_springs.mdl in MotionView.

2. Right-click on Model in the browser and click Optimization Wizard.

The Optimization Wizard is displayed.

The wizard consists of an Optimization Study pane that guides the user through
each step of solving an optimization problem with MotionSolve. The wizard opens
with the Design Variables page active that enables the selection of design
variables.

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3. Under Design Variables, click on the Springs tab. Two SpringDampers will be
listed:

a. K1_SpringDamper

b. K2_SpringDamper

The spring stiffness of these springs are made as designable.

Expand the two springs by clicking on ‘+’ button, the data members that can be
made designable are displayed as in the figure below.

Spring data members that can be made as designable

Using the ‘Ctrl’ button, select the k (stiffness) data members of both the springs.
Click the Add button available at the bottom of the model tree.

The stiffness of SpringDampers are added as design variables with default upper and
lower bound. The default value used by MotionView for calculating bounds is 10% of
nominal value.

4. Modify the upper and lower bounds of stiffness as below:

DV Lower Bound Upper Bound

sd_0.k 0.25 4.0

sd_1.k 0.25 4.0

Note The number within parenthesis of the designable entities tab at the top
(Springs(2) in this case) indicates the number of design variables defined of
that entity type.

Defining design variables is now complete and we can move to the Response Variables.

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Step 2: Adding Response Variables.

There are two responses in this problem:

a. Displacement u1: To make u1 to reach a value of 3, the metric (1-u1/3)**2 is

used
b. Displacement u2: To make u2 to reach a value of 4, the metric (1-u2/4)**2 is
used
1. Click on the Responses page.

2. Add a response variable by clicking the button’. In the Add ResponseVariable

dialog that appears, change the label to ‘u1’ and click OK.

Adding response1 – u1

The ResponseVariable is added and appears in the list. The panel also appears.

2. In the panel, change the Response Type to Generic using the combo box.

3. The scale can be left at default value of 1.0.

4. In the Response Expression key in the the following expression:

`(1-DM({b_0.cm.id},{m_0.id})/3)**2`

where:

b_0.cm.id = ID of the CM marker of Body 0

m_0.id = ID of the marker on ground body located at u1_Point 1

Note During optimization, the optimizer tries to minimize the entire expression
and as the value of DM({b_0.cm.id},{m_0.id}) approaches 3, the value of
this response is minimized.

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5. Check on the Use derivative check box. When checked, the computed value of the
expression at the last time step of the simulation is used as the response.

6. Follow the same procedure from the steps above to add another ResponseVariable
u2 of the type Generic. The response expression is: `(1-
DM({b_1.cm.id},{m_1.id})/4)**2`.

Adding Responses is now complete. Next, we can proceed to setup objectives and
constraints and solve the model.

Step 3: Adding Objectives and Constraints.

The problem has two objectives: the value of u1 should be 3 and value of u2 should be 4
at the end of optimization. We can use the responses that have been created in the
previous section as objectives.

1. Go to the Goals page. This page has two sections: Objectives and Constraints.

2. Click on the button under Objectives. An objective is added with response

rv_u1.

− Change the Weight to 1000 and retain the Type as Min since we want to
minimize this response.

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3. Repeat the above step to add another objective. rv_u2 is automatically chosen.
Change the Weight as 1000 and retain the Type as Min since we want to minimize
this response as well.

Defining objectives

There are no constraints in this problem. The model setup is now complete, and it is
ready to run.

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Step 4: Running the Optimization.

1. Go to the Solution page, to specify optimization settings and run the analysis.
Please note that the model is saved before running, and if this is not desired, the
model can be saved with a different mdl file name before starting the optimization.
This can be done by closing the wizard, saving the model with a different name and
returning to the wizard again.

2. Click on the Optimization Settings button. In the Optimizer Settings dialog that
appears, change Accuracy to 1.0e-5.

Optimization settings for this problem

3. The rest of the parameters can be retained with the default values. Close the
dialog.

4. Click on Save & Optimize; optimization starts.

While the optimization is running, a plot of total weighted cost vs. iteration number
and a plot of individual cost vs. iteration number are displayed in a separate window
(after the initial simulation).

Once the optimization is complete a summary is listed in the text window.

Note - you may have to scroll down to the end and/or to the right to see results of the
optimization.

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The text window should appear as in the image below.

Text window after the optimization is complete

Some important information available in the output window are:

A. Optimizer settings

B. Iteration summary - Value of cost function by iteration number

C. Results from optimization - Initial cost, final cost and percentage reduction in cost

D. Final value of each objective at the end of optimization

E. Final design table with information on

a. Design variable bounds

b. Initial and optimized values of design variables

F. Elapsed time for calculating cost and sensitivity

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Step 5: Post-processing
MotionView provides the ability to list, plot and animate results of optimization. It also
provides capability to export mdl model corresponding to any design iteration.

1. Go to the Review Results page. The Summary tab appears that lists the history of
design variables, responses and objective functions in a tabular format for each
iteration of optimization run. \

Note MotionSolve uses SLSQP algorithm for optimization. Hence the last
iteration is usually the optimum configuration with least value of cost
function. See the figure below.

Summary tab listing cost function (objective), response variables and design variables

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2. Select the Plot tab. It helps to visualize variation of design variables, response
variables and cost function using graphs. Users can choose to plot any number of
variables along y-axis with respect to a variable along x-axis.

3. Select Iteration from the X list and select Overall Objective from the Y list. Click
Apply.

Note Multiple items can be selected and plotted from the Y list.

4. Select the Animation tab to animate the configuration generated during any
iteration.

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5. Load the result file from the last iteration (iteration 16).

− Choose 16 under the Iteration drop-down.

− Click Load Result. The animation is loaded in the display area.

− Clicking on ‘Play’ ( ). Since this is a static analysis, the animation has only one
frame.

Animation tab in the ‘Post Processing’ page

6. The Archive Model location is available in this tab to export the model in MDL
format from any iteration.

− Choose a path.

− Click on Export button to create an archive folder which contains an MDL and all
other reference files (if any) to run the model. The design variable values are set
to the values in the iteration number chosen.

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MV-3021: Optimization of an Impact Absorber

In this tutorial you will learn how to setup an optimization problem using MotionView’s
Optimization Wizard for an impact absorber. You will learn about:

• Defining stiffness and damping of SpringDamper element as design variables

• Defining responses of type MaxVal
• Using the responses as objectives
• Running the optimization and post-processing the results

Introduction
An impact absorber is modeled as a single degree of freedom system with a mass m, a
linear stiffness k and a linear damping coefficient c. The velocity of the mass is 1 m/s;
Mass m = 1 kg and a transient analysis end time of 12 seconds is used.

Impact Absorber Model

The objective of the optimization is to minimize the maximum acceleration of the mass
in the time interval 0 to 12s subject to the condition that the maximum displacement is
less than 1m. In order to achieve this, stiffness k and damping ratio c are modeled as
design variables. MotionSolve's FD (Finite Differencing) capability is used to calculate
sensitivities.

Model Setup
Copy the file mv_3021_initial_impact_absorber.mdl located in the
mbd_modeling\motionsolve\optimization\MV-3021 into your <working directory>.

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Step 1: Adding Design Variables.

1. Open mv_3021_initial_impact_absorber.mdl in MotionView.

2. Right-click on Model in the browser and launch the Optimization Wizard.

3. Under the Design Variables page, click on the Springs tab.

4. Make the k and c of SpringDamper 0 as design variables. Select k and c data-

members from the model tree under the spring damper and click Add.

Making k and c as design variables

5. Modify the upper and lower bounds of the design variables using the table below.

DV Lower Bound Upper Bound

sd_0.k 0.2 1.0

sd_0.c 0.2 1.0

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Step 2: Adding Response Variables.

The objective of the optimization is to minimize the maximum acceleration while keeping
the displacement of mass to be less than 1.0. To achieve this, two responses are
created:

a. Maximum z direction acceleration of mass

b. Maximum z direction displacement of mass
The maximum z-direction acceleration response is used to define an objective; the
maximum z-direction displacement is used to define a constraint. Both responses are
created using ‘MaxVal’ response. This response can be used to capture the maximum
value of an expression throughout the simulation. The details of ‘MaxVal’ response can
be obtained from the ‘Multibody Optimization User’s Guide’ and the ‘MotionView User’s
Guide’.

1. Go to the Responses page.

2. Click on the button to add a ResponseVariable.

The Label and Variable Names can be retained as default in the the dialog.

3. Click OK to create a Response Variable.

4. Once the response variable is created, under Response Type, choose MaxVal.

This response needs 1 input from the user: Response Expression.

For Response Expression, enter in the expression for the absolute value of ACCZ
of CM of mass: `ABS(ACCZ({b_0.cm.id},{m_0.id}))`

This completes the creation of the first response. The Response Variable should look as
below:

Response Variable of type ‘MaxVal’

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5. Follow the same procedure to add another ‘MaxVal’ response, and use:
`ABS(DZ({b_0.cm.id},{m_0.id}))` for the Response Expression.

This completes the process of adding Response Variables; the completed ‘Response
Variable’ page should appear as shown below.

Completed ‘Response Variables’ page

Step 3: Adding Objectives and Constraints.

We can use responses that were created in the previous section as objectives and
constraint.

1. Go to the Goals page, click on the button under Objectives.

An objective is added with response rv_0.

2. Choose the weight as 1.0 and retain the Type as min since we want to minimize
this response.

3. Click on the button under Constraints.

A constraint is added with the response as 'rv_0'.

− Change this to rv_1.

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4. Retain the sign as '<=' and type in 1.0 for value, since we want to keep the value of
'rv_1' to be less than 1.0.

The objective and constraint are now defined, and the model is ready to be solved.

Defining objective and constraint

Step 4: Running the Optimization.

1. Go to the Solution page to specify optimization settings and run the analysis. To
change the optimization setting, left click on Optimization Settings.

2. Change the DSA type to FD.

AUTO can also be selected. When AUTO is chosen, MotionSolve will detect the
simulation type and choose the best approach to compute sensitivity. The simulation
type is dynamic, so FD will be chosen.

Solution settings

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3. Click on Save & Optimize to start the optimization.

While the optimization is running, a plot of total weighted cost vs. iteration number
and constraint value is displayed in a separate window.

Once the optimization process is complete, the text window in the Solution page
displays the optimized design variables values, final value of the responses and
optimized cost function.

Optimization text window after the optimization is complete

The expected values of design variables are given below:

RV/DV Expected From Optimizer

rv_0 0.5206 0.5206

sd_0.k 0.3606 0.36003

sd_0.c 0.4851 0.48569

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Step 5: Post-processing
1. Go to the Review Results page. The Summary tab is displayed with lists of values
for design variables, responses and objective being tabulated iteration-wise. For this
tutorial, the optimized design variables are from the last iteration 5.

Summary tab listing design variables, responses and cost function iteration-wise

2. Select the Plot tab to visualize variation of design variables, response variables and
cost function using graphs.

Plot of overall objective vs. iteration number. The button on the page helps you to save the plots in
PNG format.

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5. Go to the Animation tab to animate the configuration generated during any

iteration.
6. Choose the Iteration 5 and click on Load Result to load the H3D file from that
iteration. Buttons to start/play, pause and stop the animation are provided at the
bottom.

Animation tab in the ‘Post Processing’ page

An option is available in this tab to export an archive of the model in a state

corresponding to any iteration.

7. Specify a file path in Archive Model location.

8. Click on the Export button. An archive folder is created which contains all files
necessary to open/run/optimize the model. The design variable values are set to the
values in the iteration number chosen.

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MV-3022: Optimization of a 4-bar Model

In this tutorial you will learn how to setup an optimization problem using MotionView’s
Optimization Wizard for a 4-bar model. You will learn about:

• Defining point coordinates as design variables

• Defining a response type 'Root Mean Square Deviation' for matching curves
• Using the responses as objectives
• Running the optimization and post-processing the results
• [Optional] Infeasible Designs in MotionSolve optimization

Introduction
In this tutorial, the locations of the joints of a 4-bar mechanism are optimized to obtain
a desired motion of the coupler. MotionSolve's DSA (Design Sensitivity Analysis)
capability is used to calculate sensitivities.

4 bar model with joint types

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The entire model is parameterized in terms of these four design points: A, B, C and D.
Since the model operates in 2D space (X-Y plane), this leads to 8 Design Variables. The
initial design is listed as follows:

Point X Y

A -45 45

B 65 260

C 300 500

D 515 -85

Model Setup
Copy the file mv_3022_initial_4bar_opt.mdl located in the
mbd_modeling\motionsolve\optimization\MV-3022 into your <working directory>.

Step 1: Review the Model.

1. Open mv_3022_initial_4bar_opt.mdl in MotionView.

2. The model has the following set up to measure the desired motion and the actual
motion of the coupler CM marker. Please review these entities in the model.

a. Curves Desired Coupler Path DX and Desired Coupler Path DY that defines
the desired motion in X and Y direction.

b. Output Desired Coupler Trajectory uses the above curves to measure the
desired motion.

c. Output Actual Coupler Trajectory measures the displacement of the coupler

body at CM.

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Step 2: Adding Design Variables.

1. Right-click on the Model system in the browser and launch the Optimization
Wizard.

2. In the Design Variables page, click on the Points tab.

All points are listed as shown below:

Optimization Wizard – Points Tab

3. Make the x and y coordinates of Points A, B, C and D as design variables. Click on

the Filter datamembers icon above the model tree.

a. The Filter dialog is displayed.

b. Turn off the Z check box (as shown below).

c. Click OK.

d. Select Point A, Point B, Point C and Point D in the model tree and click Add.

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4. Modify the upper and lower bounds of the design variables as listed in the table
below.

DV Lower Bound Upper Bound

Point A(DV) - X -50 50

Point A(DV) - Y -50 50

Point B(DV) - X 20 80

Point B(DV) - Y 180 280

Point C(DV) - X 240 380

Point C(DV) - Y 400 620

Point D(DV) - X 180 520

Point D(DV) - Y -100 20

The setting of design variables is now complete.

Step 3: Adding Response Variables.

The objective of the optimization is to make the coupler move along a path. To achieve
this, two responses are created:

a) Trajectory of Coupler CM – DX
b) Trajectory of Coupler CM – DY
The above curves of the coupler motion must be matched with their respective target
curves using a response variable of type Root Mean Square Deviation (RMS2). The
details of this response can be obtained from the Multibody Optimization User’s Guide
and the MotionView User’s Guide.

1. Click on the Responses page.

2. Click on the button.

3. Change the Label to 'rms2_dx'.

4. Click OK to create a response variable.

5. Once the response variable is created, under Response Type, choose Root Mean
Square Deviation.

This response needs two user inputs:

• Desired Curve – This is the target curve.

• Response Expression – This is the value we measure (Coupler cm motion).

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6. Double click on the Curve collector and choose Desired Coupler Path DX through
the model tree for Desired Curve. This is the target curve for Couple-DX.

Note The desired curve can be visualized by clicking the Show Desired Curve
button.

7. For Response Expression, type in the expression for DX of CM of couple body:

`DX({b_bc.cm.id})`.

8. Following the same procedure, add one more Root Mean Square Deviation
response and fill in the details using the table below.

RV Desired Curve Response Expression

rms2_dx Desired Coupler Path DX `DX({b_bc.cm.id})`

rms2_dy Desired Coupler Path DY `DY({b_bc.cm.id})`

This completes the process of adding response variables; the completed Responses
page should appear as shown below.

Completed Responses page

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Step 4: Adding Objectives and Constraints.

The problem has two objectives: the coupler DX and DY motions should match with
target curves at the end of optimization.

We can use the responses that were created in the previous section as objectives.

1. Go to the Goals page.

2. Click on the button under Objectives.

An objective is added with response rv_rms2_dx.

3. Choose Weight as 1.0 and retain the Type as min since we want to minimize this
response.

4. Repeat the step above to add another objective. Choose rv_rms2_dy for the
second objective.

The Weight would be 1.0 and the Type would be min.

There are no constraints in this problem.

The model setup is now complete and it is ready to solve.

Defining objectives

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Step 5: Running the Optimization.

1. Go to the Solution page.

2. Activate the Plot Optimization Summary check box.

3. Click on Save & Optimize to start the optimization.

Once the optimization process is complete, the text window displays the optimized
design variables values, final value of the responses and optimized cost function.

Optimization text window after the optimization is completed

The expected values of design variables are given below:

DV Expected From Optimizer

p_0.x 0 -0.0660

p_0.y 0 -0.2796

p_1.x 40 39.97

p_1.y 200 199.71

p_2.x 360 360.07

p_2.y 600 600.26

p_3.x 400 400.44

p_3.y 0 -0.0406

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Step 6: Post-processing
1. Go to the Review Results page which is enabled once the solution is finished.

2. The Summary tab lists the history of design variables, responses and objective
functions in a tabular format. In this tutorial, the optimized design variables are
from iteration 27.

Summary tab listing design variables, responses and cost function iteration-wise

3. The Plot tab helps to visualize variation of design variables, response variables and
cost function using graphs. You can choose to plot any number of variables along
the y-axis with respect to a variable along the x-axis. For this tutorial, choose
Overall Objective vs Iteration and you should get a plot as shown below:

Plot of overall objective (log scale) vs. iteration number.

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4. You can also see how a particular design variable varied across an iteration. For
example, select p_b.x(Point B-X) in the Y list and click Apply.

5. The Animation tab helps you to animate the configuration generated during any
iteration.

a. Choose the iteration number from the Iteration drop-down menu.

b. Click on Load Result to load the animation corresponding to that iteration.

c. Start, pause and stop animation buttons are provided at the bottom.

For this problem, load the animation file from the last iteration (iteration 27) and
animate the configuration.

Animation tab in the Post Processing page

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6. The Export option is available in this tab for you to export an archive of the model
from any configuration.

For this tutorial, we would want to create an mdl model for the optimized
configuration.

a. Load results from iteration 27.

b. Choose a folder at Archive Model location.

c. Click on Export.

7. Finally, we will look at how the path of the coupler for the optimized result compare
with the desired target path.

a. Close the Optimization Wizard.

b. Add a page to the MotionView session and change the client of the newly added
page to HyperGraph.

c. Open the abf file in the last iteration folder of the optimization run.

Note The optimization run directory is automatically created during the solution
and follows the naming convention py_name_timestamp where py_name is
the name of the python file given in the Solution page and timestamp is
the time when the solution was initiated.

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d. Select Type - Request - Component as follows:

Axis Type Request Component

X Expressions REQ/70000000 Desired F2

Coupler Trajectory

Y Expressions REQ/70000000 Desired F3

Coupler Trajectory

Click Apply. This plots the desired profile of the trajectory for the coupler CM.

Next, plot the actual trajectory of the coupler CM by plotting the following:

Axis Type Request Component

X Marker Displacement REQ/70000003 Actual X

Coupler Trajectory - (on
Coupler) (on 'Coupler')

Y Marker Displacement REQ/70000003 Actual Y

Coupler Trajectory - (on
Coupler) (on 'Coupler')

The resulting plots would overlay over each other.

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Step 7: Identifying Infeasible Designs and Possible Recovery

(Optional)
In this section, we introduce a powerful feature in MotionSolve optimization that can help
to get the optimal design by recovering from a failed iteration.

It is not uncommon for a mechanical system to be limited by some sort of physical

constraints. In this four bar example, the Grashof constraints have to be satisfied in
order to make the input link a crank. When optimizer chooses a new design, those
constraints are likely to be violated regardless of whether they are added as optimization
constraints or not. The optimizer in MotionSolve has a recovery mode to help recover
from such infeasible design and let optimization proceed.

To demonstrate how the optimizer recovers in this tutorial, we will change the initial
design and see how it works.

1. Go back to the Design Variables page and change the nominal value, upper and
lower bound as follows:

Value of Design Variables

The four bar mechanism should look like below after the change:

Four bar mechanism after changing the value of Dvs

Retain the Responses, Objectives and Constraints as defined in Step 2 and 3 above.

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2. Run an optimization with a different Output file in the Solutions page as

4bar_opt_for_recover.py. The number of iterations will change due to a different
initial design. Pay attention to the last column ‘Reduced Step’ in the solver output:

Solver output when recovery mode is invoked

In this example, the optimizer has found infeasible design in iteration 2-7; it is then
told to reduce the step size until a feasible design is found.

3. Check the output files. In most cases, the output files could tell you why solver fails
at a specific point and how you can avoid it if possible.

Subfolders that contain the infeasible designs

When the optimizer recovers from an infeasible design, an additional folder

‘Infeasible Points’ is created; each subfolder contains the following information:

• dvValues.txt: Value of design variables

• 4bar_opt_for_recover.abf: MotionSolve output file

• 4bar_opt_for_recover.h3d: Animation file (provided only when available)

• 4bar_opt_for_recover.log: MotionSolve log file

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• 4bar_opt_for_recover.mrf: MotionSolve output file

• 4bar_opt_for_recover.xml: MotionSolve xml input file

Output for each infeasible design

We have found that the h3d file and log file are useful in most cases. We will load the
h3d file in this example in HyperView and see what is going wrong.

4. Load 4bar_opt_for_recover.h3d in folder Infeasible Point 1 -- iter-2. You can

see that the system enters a lock-up position before the solver crashes:

Last frame before solver crashes

5. Check the result. The result we get here is very close to what we get in STEP 5 and
the cost function is reduced significantly. This shows that we are able to get the
optimal design even with infeasible design encountered in the intermediate step.
However, the optimality is not guaranteed in some cases. When that happens, you
can improve the result by adding proper constraints based on your investigation in
previous steps. For four bar mechanism, Grashof constraints can be added and we
provide an example that shows you how to do it in MotionView.

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MV-3023: Optimization of a Suspension

In this tutorial you will learn how to setup an optimization problem using MotionView’s
Optimization Wizard for a suspension model. This model is taken from MotionView
tutorial MV-3010. You will learn about:

• Defining point coordinates as design variables

• Defining a response type 'Root Mean Square Deviation' for matching curve
• Using the responses as objectives
• Running the optimization and comparing the results in HyperGraph

Introduction
In this tutorial, you will reproduce the suspension optimization problem in MV-3010
(Optimization using MotionView - HyperStudy). The location (y and z coordinates) of
both inner tie-rod ball joint and outer tie-rod ball joint are changed so that the toe vs.
ride height curve matchs a given desired target curve.

Suspension Topology to Optimize

‘Toe-ride height’ curve of initial design, optimized design and target design

You can compare the difference between MotionSolve optimization and MotionView +
HyperStudy optimization and learn the benefits of each method.

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Model Setup
Copy the file mv_3023_initial_susp_opt.mdl and target_toe.csv located in the
mbd_modeling\motionsolve\optimization\MV-3023 into your <working directory>.

Step 1: Adding Design Variables.

1. Open mv_3023_initial_susp_opt.mdl in MotionView.

2. Right-click on Model in the browser and launch the Optimization Wizard.

3. Under Design Variable, click on the Points tab.

All points listed are shown below.

4. Make the y and z coordinates of inner tie-rod ball joint and outer tie-rod ball joint
designable.

a. Go to point Otr tierod ball jt - left under the Frnt SLA susp (1 pc LCA)
system. Expand the data member of it and select y and z. Click Add.

b. Similarily, add y and z data members of point Inr tierod ball - left under the
Parallel steering system.

c. Change the upper and lower bound of Dvs based on the table below.

DV Lower Limit Upper Limit

Otr tierod ball jt(DV)-left-y -651.15 -551.15

Otr tierod ball jt(DV)-left-z 190.92 250.92

Inr tierod ball(DV)-left-y -298.9 -209.9

Inr tierod ball(DV)-left-z 230.86 278.86

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The optimization wizard should look like the following image after creating design variables:

Optimization Wizard after creating design variables

Now, the Response Variables can be added.

Step 2: Adding Response Variables.

The objective of the optimization is to make the toe vs. ride height curve match a target
design. The model already has the desired target curve defined and it will be used in the
response being created.

1. Go to the Responses page. Add a response variable using the button.

2. In the response variable panel that appears choose Response Type, Root Mean
Square Deviation.

This response needs three inputs from the user:

• Desired Curve – This is the target curve.

• Response Expression – This is the value we measure.

• Independent Variable – This defines the independent variable used to calculate

the target value.

3. Choose ‘toe_rh’ for Desired Curve by clicking on the Curve button.

4. Activate the Specify independent variable check box. Select SoverVariable

toe_angle by clicking SolverVariable.

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5. For Response Expression, type in the expression for ride height:

`(DZ({MODEL.sys_frnt_susp.b_wheel.l.cm.idstring})-282.57)`

This completes the creation of the response. The user interface should appear as shown
below.

Optimization Wizard after creating response variable

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Step 3: Adding Objectives and Constraints.

The problem has only one objective: matching the toe-ride height curve with the target
design.

We can add responses that have been created in the previous section as objectives.

1. Go to the Goals page. There are two sections: Objectives and Constraints.

2. Click on the button under Objectives.

An objective is added with response rv_0.

The model setup is now complete and it is ready to be run.

Defining objectives

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Step 4: Running the Optimization.

In the Solution page, we can specify optimization settings and run the analysis. Please
note that the model is saved before running, and if you do not want the optimization
settings to be saved in the model, you can choose to save an mdl file in a different name
before starting the optimization. This can be done by closing the wizard, saving the
model with a different name and returning to the Solution page of the wizard.

1. Click on Save & Optimize to run the optimization.

Solution Settings

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Step 5: Post-processing
1. Once the optimization process is complete, review the result by clicking on Review
Results page. The summary window should look like the following:

Optimization Summary of MV-3010

2. You can also review the plots and animation by going to the Plot and Animation
pages as we demonstrated in previous tutorials. For this optimization, it is
worthwhile to plot the toe – ride height curve for different iterations and see how the
curve approaches the target one.

a) Close the Optimization Wizard.

b) Add an HyperGraph page to the session.

c) Open the file target_toe.csv.

d) In the plotting panel, change the ‘type’, ‘request’ and ‘component’ of both x and
y as follows:

Settings to plot target curve

You should see a straight line in the plotting window.

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3. Next, go to the subfolder initial design and load the mrf file in it.

4. Change the ‘type’, ‘request’ and ‘component’ of both x and y as follows:

Settings to plot initial design

5. Click Apply and you should see a convex curve representing the ‘toe-ride height’ of
the initial design.

6. Now, go to the subfolder ‘iter-18’ (the last iteration).

7. Import the mrf file and plot the curve with the same setting.

8. The ‘toe-ride height’ curve of optimized design overlaps with the target curve.

Target curve, initial design and optimized design of MV-3010

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MV-3030: Load Export

The Load Export utility allows you to bridge the gap between Multi-Body Dynamics
(MBD) analysis and Finite Element (FE) analysis using MotionView by:

• Identifying and summarizing all loads acting on one/multiple body(ies) for any
given time step(s) in a tabular format.
• Identifying and transferring all the forces and moments for one component at any
given time step(s) to a NASTRAN input deck that contains GRID, CORD, FORCE,
and MOMENT cards.

Using Load Export

To use this utility, specify the components in the MotionView model for which loads are
to be processed. You can do this by:

• Using the MotionView Interface.

OR

• Editing the MDL model file to add force output requests on body(ies).
When performing the MS/ADAMS solver run on the MotionView model, you will get a
metadata file (an ASCII file written out from MotionView that contains information
about force output on a body).

This file along with the solver output files viz. MS (*.plt) or ADAMS (*.req) become the
input files for this utility. The application scope of this utility is shown in the figure
below:

Interaction diagram

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Step 1: Creating a Metadata File and Launching Load Export.

1. Copy the load_export.mdl file, located in the mbd_modeling\externalcodes folder,
to your <working directory>.

2. Start a new MotionView session.

3. Load the front vehicle model file load_export.mdl, located in <working

directory>.

4. Right-click on The Model in the Project Browser and select Add General MDL
Entity > Output, or right-click the Outputs icon, , on the Model-General
toolbar.

The Add Output dialog is displayed.

5. Accept the default selections and click OK.

6. Use the drop-down menu to change the Output type from the default
Displacement to Force.

7. Double-click the Body collector.

The Select a Body dialog is displayed.

8. Expand the model-tree.

9. In the Frnt macpherson susp system folder, expand the Bodies folder and select
the body Lwr control arm – left. (or you can pick the Lwr Control arm - left
directly from the model in the graphics area by clicking the Body collector once).

10. Repeat steps 4 through 9 to create an output force request on Lwr control arm –
right.

11. Click the Run Solver icon .

12. From the Main tab, change End Time to 2 seconds.

13. Save the solver input file as load_export.xml, to the <working directory>.

14. Click on the Run button, to solve the model in MotionSolve.

MotionView creates a metadata file named load_export.meta in the <working

directory>.

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Step 2: Using the Load Export Utility and Generating a NASTRAN

Input Deck.
1. From the Flex Tools menu, select the Load Export utility.

Launching the Load Export utility

The Load Export utility

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2. From the Load Export panel, open the file load_export.meta, located in <working
directory>.

All bodies for which force outputs are requested are displayed in a tree structure in
the Body Selection panel. You can select one or multiple bodies from the tree. In
this step select the body Lwr control arm-left.

Body Selection panel

3. Expand the sys_frnt_susp folder and select the body Lwr control arm – left.

All the forces acting on the lwr control arm – left are displayed in the Force
Selection panel. You can choose any number of loads acting on the body. Only the
loads selected by you are exported by the utility.

4. Select all three forces acting on Lwr control arm – left.

Force Selection panel

5. The Time Selection panel allows you to enter/select the time steps for which the
loads are to be exported.

6. Click the Range button.

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7. The current simulation runs from 0 to 2 seconds. Specify a Minimum Time Step
Value of 1 and a Maximum Time Step Value of 2.

Activating the Export panel

8. Click Apply.

9. Enter Min/Max Time Step Values.

10. Click Apply on the Time Selection panel.

This activates the Export panel.

Note After time step input, you must click the Apply button to verify the validity
of the time steps. If a time step entered is not present in the ADAMS
request file, an error message is generated and you must make appropriate
corrections.

11. Select OPTISTRUCT/NASTRAN [1] by using the radio button under the Export
panel.

Nastran options

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12. Click Nastran Options [2] to launch the Nastran Export Panel.

This dialog allows you to enter the Nastran node ID numbers in the second column
of the table.

You can specify three additional options:

− the Nastran deck format (Large/Small)

− the reference frame (LPRF/Global) in which the GRID cards are written

− whether or not to explicitly output the CORD1R card in the Nastran input deck
(Yes/No)

13. Accept the default selections in the Nastran Export dialog.

14. Specify the Node ID’s as follows:

o Lwr ball joint – 1

o LCA rear bush – 2

o LCA frnt bush – 3

15. Click Apply.

16. Click Export on the Load Export panel.

17. Specify a filename.

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18. Click Save.

This creates a subcase file, in addition to the Nastran input deck, in the same
directory as the .dat file.

19. Repeat steps 3 through 18 to export the loads on the Lwr control arm – right.

Note In point 2 above, if you select multiple bodies, the Nastran Export Panel will
look as shown below:

Nastran Export Panel for multiple body selection

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MV-3040: Durability and Fatigue Tools

In this tutorial, you will learn how to:

• Convert results from a multi-body simulation run into file formats which can be
used for fatigue analysis using a tool like NCode
• Write a fatigue analysis file from the MotionView animation window (HyperView)

Tools
The following functionalities are used in this tutorial: Fatigue Prep, Flex File Gen, and
build plots.

The Fatigue Prep feature can be accessed by:

• On the Flex Tools menu, click Fatigue Prep.

This panel translates the following files:

Original Format Translated Format

Altair .H3D flexbody (modal content) Ncode .FES/.ASC

Ncode .DAC Altair .ABF

ADAMS .RES (modal participation factors) Ncode .DAC

ADAMS .REQ files (loads information) Ncode .DAC

Altair .PLT Ncode .DAC

ADAMS .REQ files (loads information) MTS .RPC

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The Flex File Gen feature can be accessed by:

• On the Flex Tools menu, click Flex File Gen.

The Flex File Gen feature allows you to create an .flx file using the Flex File Gen
tool. This file references a .gra file (rigid body graphics), a .res file (flex and rigid body
results), and .H3D files (flexbody graphics). These files are required to animate ADAMS
results that contain flexbodies. The .flx file can be loaded directly into the animation
window.

The build plots feature can be accessed by:

• Go to the HyperGraph client, and click the build plot icon, .

The Build Plots panel constructs multiple curves and plots from a single data
file. Curves can be overlaid in a single window or each curve can be assigned to
a new window. Individual curves are edited using the Define Curves panel.

Step 1: Using the Fatigue Prep Wizard.

1. Start a new MotionView session.

2. Select the MBD Model window.

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3. From the FlexTools menu, select Fatigue Prep.

Fatigue Prep Wizard

The form shown above, describes the set of file translations possible using the
Fatigue Prep wizard.

4. Use the drop-down menu to select the H3D to FES option.

5. Click Next.

6. Specify the H3D file as sla_flex.h3d, located in the

mbd_modeling\durability_fatigue folder.

7. Specify the FES file as <working directory>\sla_flex_left.fes.

Fatigue Prep Wizard

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8. Click Finish.

The Altair flexible body pre-processor is launched and the FES file is created in your
working directory.

Using the Fatigue Prep wizard, you can convert your results files to .fes, .asc or
.dac files. You can use these files for fatigue and durability analysis in Ncode’s FE-
Fatigue software.

Step 2: Converting ADAMS results from a REQ file to a DAC file.

The Fatigue Prep translator can be used to convert the request files created from an
ADAMS run to DAC files. These DAC files can be further used for fatigue or durability
analysis.

1. Start a new MotionView session.

2. Select the MBD Model window.

3. From the FlexTools menu, select Fatigue Prep.

4. Select the REQ to DAC option.

5. Click Next.

6. Click the file browser button attached to Select req file and select indy.req from
the durability_fatigue folder.

Note The DAC file format does not support unequal time steps since only
frequency is specified, not each time step. Therefore your REQ file needs to
have equal output time steps.

7. Click on the file browser attached to Select DAC file and specify indy.dac as an
output filename in <working directory>\.

8. Under Y type, select Displacement.

Once you select Displacement, Y requests and Y components will populate the text
boxes.

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9. Select first five Y requests and the first three Y components.

REQ to DAC translation

Note You can select any number of Y requests and Y components for REQ2DAC
conversion.

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10. Click the Finish button.

The message Translation complete is displayed on the screen.

MotionView generates 15 DAC files for each combination selected.

11. Click Cancel and close the window.

12. Change the application to HyperGraph 2D.

13. From the Build Plots panel, load the file indy_D_997000_X.dac from <working
directory>\.

Note In this filename, D represents Displacement, 9970000 represents the

request number, and X represents the component. This is how you get the
information about the DAC file you are plotting.

14. Click Apply to see the plot.

You may plot the corresponding request from the original REQ file for comparison.

Step 3: Using the Flex File Tool.

1. Start a new MotionView session.

2. From the Flex Tools menu, select Flex File Gen.

3. The Flex File Generator dialog is displayed.

This dialog lists the files you will need for this conversion.

4. Using the Save the *flx file as file browser, select your destination file to be
<working-dir>\sla_flex.

5. In the Number of FlexBodies field, enter 2 since this model includes two lower
control arms as flexible bodies.

6. From the Select model source (*.gra) file browser, select the sla_flex.gra file
located in the durability_fatigue folder.

7. From the Select result source (ASCII *.res) file browser, select the
sla_flex.res file located in the durability_fatigue folder.

8. Using the first file browser under Select flexible body source (*.h3d), select the
sla_flex.h3d file located in the durability_fatigue folder.

9. Using the second file browser under Select Flexible Body Source (*.h3d), select
the sla_flex_m.h3d file located in the durability_fatigue folder.

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10. Under ID: field, enter 10404 and 20404 for the two h3ds, respectively.

These values should correspond to the actual IDs of the flexible bodies in the ADM
input deck of the ADAMS solver.

The deformation of these flexible bodies during animation can be scaled using the
Def. Scale field. In this case, accept the default value of 1.000.

11. Click OK.

The translator is launched and the resulting FLX file is created in the destination
directory.

12. Select the TextView window from the Select application list.

13. Click the arrow next to the Open Session icon, , on the Standard toolbar and
select Open Document .

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14. Open the sla_flex.flx file.

You should see the following contents of the FLX file:

Note To load transients results for selected time intervals check the Optional flx
statements check-box to enter the Start Time, End Time and
Increment.

To load selected mode shapes from modal animation files for models with
one or more flexible bodies, check the Optional flx statements for linear
analysis check-box to enter the Start Mode and End Mode.

Additional statements are inserted in the FLX file reflecting the above
mentioned parameters.

Step 4: Viewing Fatigue Results in the Animation Window.

1. Select HyperView using the Select application option on the toolbar.

2. Use the Open drop-down menu on the Standard toolbar (click the arrow next to

the Open Session icon ) to select Open Model .

3. Use the Load model file browser to select the file, sla_flex.flx that you just
created. The Load result field automatically populates with the same file name.

4. Click Apply.

5. Click the Start/Pause Animation icon, to animate the model.

Observe the animating model, which is a combination of rigid multi-bodies and two
flexible lower control arms.

6. Click the Contour icon, on the Results toolbar.

7. Choose different options from the Result Type drop down menu, to view the
various results available in the analysis result files.

For a detailed description of writing a fatigue analysis file from here, refer to the Fatigue
Manager topic in the HyperView User’s Guide.

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MV-4000: Eigen Analysis using ADAMS/Linear

In this tutorial, you will learn how to:

• Perform Static+Linear analysis on a MotionView model using ADAMS/Linear

• View the Static+Linear analysis results from ADAMS/Linear analysis using
MotionView

Theory
This chapter deals with modal analysis of Multi-Body Dynamic (MBD) systems. This kind
of analysis gives insight about system stability. Vehicle dynamics engineers often use the
planar half-car model to analyze the ride quality of vehicles. You will use the
ADAMS/Linear simulation to do a modal analysis of this type of model.

Process
Using the MotionView interface, you can obtain modal results in two ways: using
MotionSolve and ADAMS/Linear. These two ways are illustrated in the flowcharts below:

Obtaining modal results with MotionSolve or ADAMS/Linear

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Step 1: Obtaining Modal Results with ADAMS/Linear.

1. Start a new MotionView session.

2. Click the Open Model icon, , on the Standard toolbar.

OR

From the File menu select Open > Model.

3. From the Open Model dialog, locate and select the halfcar_lin.mdl file located in
mbd_modeling\externalcodes folder.

4. Click the Open button to load the model.

5. From the SolverMode menu, select ADAMS.

6. Click the Forms icon, , on the Model-General toolbar and select the Solution
Options form.

7. Verify that the Solution type is set to Linear/Eig.

This ensures the ADAMS solver will first do a static analysis and then a linear modal
analysis on your model.

8. Click the Run icon on the Model-Main toolbar.

Complete the following steps only if you have connected the ADAMS solver

! to the Run button in the MotionView interface through the preferences file.
If ADAMS solver is not linked to MotionView, for the purpose of this tutorial,
go to Step 2: Viewing ADAMS/Linear Modal Results.

9. From the Script combo box, change the script to Altair Executable.

10. Click Run to start the simulation.

Step 2: Viewing ADAMS/Linear Modal Results.

1. Copy the files halfcar_lin_adams.gra and halfcar_lin_adams.res, located in the
mbd_modeling\externalcodes folder, to your <Working directory>.

2. Start a new MotionView session.

3. Select HyperView from the Select Application list.

4. Click the Load Results icon, , from the Standard toolbar.

The Load model and results panel is displayed.

5. Click the Load model file browser and select the file halfcar_lin_adams.gra,
located in <Working directory>.

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6. Click the Load results file browser and select the file halfcar_lin_adams.res,
located in <Working directory>.

7. Click Apply.

8. From the Results Browser, click on the arrow next to Time History Animation
and use the Change load case drop-down menu to set the load case to Mode
Animation @ Time = 0.000000.

9. The modes will automatically load and be displayed in the Simulation drop-down
menu (located directly under the Change load case drop-down menu).

While an ADAMS Linear analysis may be performed multiple times through a

transient simulation, in this example, the linear analysis was performed only at time
step = 0.0.

10. Use the Simulation drop-down menu to select Mode 3.

11. Switch the view to Top .

12. Click the Start/Pause Animation icon, , to start transient animation.

The model cycles through its mode shapes/frequencies.

13. Click the Start/Pause Animation icon again, , to stop transient animation.

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14. Switch to Modal animation, .

Note To visualize a single mode while using the ADAMS/Solver, the Modal icon is

used, . For MotionSolve the Start/Stop Animation icon is used, .

15. Click the Page Layout icon on the Page Controls toolbar and select a four-

window layout .

Note that the current window becomes one of the four windows.

16. Click one of the remaining windows to make it active.

17. From the Load model panel, click Apply.

18. Repeat steps 16 and 17 for the remaining windows (Note - the Edit menu can also
be used to copy and paste windows into the four-window layout), and then load
Simulation Modes 4, 5, and 6.

Notice that the animations signify the pitch and bounce modes of car

! vibrations. The "wheel hop" resonance can also be seen in this example.
Analyzing the above occurrences can help isolate vibrations by
appropriately designing car suspensions.

Linear modal animation – ADAMS/Linear results

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Step 3: Plotting ADAMS/Linear Results for Eigenvalues in the

Complex Plane.
A file named halfcar_lin_adams.eig_inf is generated in the directory <working
directory> where the gra and res files are located following an ADAMS/Linear run. The
extension eig_inf denotes eigenvalue information.

In this exercise, you will use this file to plot the model eigenvalues in the complex plane.

Eigenvalues in the complex plane

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MV-4010: Working with ADAMS

MotionView-MotionSolve-ADAMS process flow

• MotionView-MotionSolve can work very closely with ADAMS.

• Existing ADAMS users can switch to MotionView or MotionSolve in their workflow
keeping the rest of the flow as it is.
• Following are the different ways one can use MotionView or MotionSolve with
ADAMS.
− Import a model built in ADAMS preprocessor into MotionView preprocessor;
solve it with MotionSolve and post process the results using MotionView.

− Submit a model built in ADAMS directly to MotionSolve and post process the
results in MotionView.

− Build a model in MotionView, submit it to ADAMS solver and post process the
results using MotionView.

− Post process the ADAMS solver results in MotionView.

Exercise

Step1: Loading an .adm File into MotionView’s MBD Model Window.

1. Copy the file quick_return.adm file, located in the mbd_modeling\externalcodes
folder, to your current <working directory>.

2. Start a new MotionView session by selecting New > Session from the File menu.

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3. Make sure the application is MBD model.

4. From the File menu, select Import > Solver Deck.

OR

− Click the Import Solver Deck button on the Standard toolbar.

Note If the Import Solver Deck button is not visible, click on the Import drop-
down menu (the down arrow next to the icon) and select the Import
Solver Deck option.

5. From the Import Solver Deck dialog, use the Select file browser to locate and
select the .adm file.

6. Click Import.

The MotionView message log generates warning messages for all unsupported
ADAMS statements in your model. Unsupported ADAMS statements are stored in the
Unsupported Statements template. This template and its contents can be viewed
from the Templates panel on the MotionView toolbar.

Unsupported ADAMS statements template

7. Use the Project Browser to examine the model tree.

Note adm is an input file for the solver. Due to this the model comes out flat and
there is no hierarchy. In addition, you would see many markers involved.

Now the model is in the MotionView domain. You can modify the model the way you
want and then run MotionSolve from the MotionView interface.

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Step2: Running an ADAMS File with MotionSolve.

In step 1, we learned how to import an ADAMS (.adm) file into MotionView. This allows
the user to modify the model once it is in the MotionView environment. Step 2, shows
how a user can run an ADAMS model directly in MotionSolve.

Copy the ADAMS input files quick_return.adm and quick_return.acf, located in the
externalcodes folder, to your current <working directory>.

1. Invoke MotionSolve.

2. Browse for the quick_return.acf file in your <working directory>.

3. Click on Run.

This would start a MotionSolve run in a command prompt. MotionSolve would run in
a batch mode. MotionSolve would read the information from the ADAMS command
file (*.acf) and ADAMS model data file (*.adm), generate the solver input file
(*.xml) then run it.

4. You may view the results in HyperView/HyperGraph.

Note MotionSolve generates *.log file which holds information for the solver run. It is
always a good idea to go through the log file for detailed information.

Step 3: Running an MotionView MBD model with ADAMS solver.

In Step 1 and Step 2 we learned how to run an ADAMS model with MotionSolve. Step 3
focuses on running a model built in MotionView with the ADAMS solver. If you want to
run the ADAMS solver from the MotionView interface, please refer to Tip Trick #213
available on Altair’s website.

1. Copy the file V_Engine.mdl, located in the externalcodes folder, to your current
<working directory>.

2. Invoke MotionView.

3. Load the model in MotionView.

4. From the menu bar select SolverMode as ADAMS.

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5. From the Project Browser, locate the Datasets folder and select Solution
Options as the dataset.

These datasets are used to control the solver run.

6. Change the end time to 3 seconds.

7. Right-click on ADAMS Model in the Project Browser and select Model > Add
General MDL Entity > Template, or click on Templates icon on the Model-
General toolbar, to add a template.

Note This is a very important feature when it comes to solver neutral modeling.
The statements written in this section are directly written to the solver
input deck. You can pass modeling entities to these templates. Please refer
to the template "Solution Option-ACF file" to understand how values from
datasets are passed to an acf file.

8. Add the following statement in the template: !The idstring for center of mass
maker for body 0 is {Model.b_0.cm.idstring}.

Note This is a comment and will not change the model. One needs to be
familiar with solver input file formats to use this feature.

9. From the File menu, select Export > Solver Deck. This saves the ADAMS input
files (*.adm/*.acf). You can then run the ADAMS solver using these files.

10. If the ADAMS solver is hooked to MotionView, click on the Run icon .

11. Check the model.

12. If there are no errors, run the model directly.

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MV-4020: Solver Neutral Modeling

MotionView provides a solver-neutral pre- and post- processing environment to facilitate

working with other MBD solvers.

MotionView has the following solver interfaces:

• MotionSolve
• ADAMS
• ABAQUS
MDL models can be exported to any of these solvers for analysis:

• User can change the solver mode and then export the model to the particular
solver.
• User can register a script to run a solver from within MotionView. Refer to the Tip
and Trick, "Start an ADAMS run from within MotionView" available on Altair’s
website.
• If the user needs to add any statement specific to the solver, Templex template
can be used in the model. Refer to tutorial MV-4010 for some more details about
the Templex template.
• The results from these solvers can be post processed in MotionView.
Copy the folder named solver_neutral, located in the mbd_modeling\externalcodes
folder, to your <working directory>.

Exercise

Step 1: Loading a Solver-Neutral Model and Running Different

Solvers.
1. Start a new MotionView session.

2. Copy the folder named solver_neutral, located in the

mbd_modeling\externalcodes folder, to your <working directory>.

3. Load the file model.mdl.

4. From the SolverMode menu, confirm that MotionSolve is selected.

5. Click the RUN icon, , on the Model-Main toolbar.

6. From the Main tab, specify your output filename as <working directory>\ms.xml.

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7. Select the Simulation type: Transient.

8. Click Run.

MotionSolve is launched and completes the run.

9. From the SolverMode menu, select ADAMS.

10. From the Project Browser, under the Data Sets folder select Solution Options.

11. Review the Solution Options dataset.

12. You can enter the simulation parameters for the ADAMS solver into this table.

13. Click the RUN icon, , on the toolbar.

14. Specify the output filename as <working directory>\adams.adm.

Do not complete the following steps without connecting the ADAMS solver to the

!
RUN button.

For this tutorial, you can assume the ADAMS run is complete and go to
Step 2: Comparing Solver Animations.

15. From the Script combo box, select the script ADAMS Executable.

16. Click the RUN button to start the simulation.

The ADAMS solver is launched and completes the run.

Step 2: Comparing Solver Animations.

1. Click the Add Page icon, , on the Page Controls toolbar to add a new page to
your session.

2. Select HyperView from the Select Application drop-down menu.

3. Click the Page Layout, , icon on the toolbar and select the three horizontal

windows layout, .

4. Load the following model and results files into the three windows:

Window 1 Window 2

Model ms.h3d adams.gra

Results ms.h3d adams.gra

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5. Click the Start/Pause Animation icon, , on the Animation toolbar to animate

the model.

Notice that if the same solver parameters are chosen, the results from different
solvers are in-sync.

6. Click the Start/Pause Animation icon again, , to stop/pause the animation.

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MV-4030: Flexible Bodies for MotionView with Abaqus

MotionView can write input decks for the Abaqus solver. Users can:

• Export Abaqus solver input deck (*.inp) for the rigid body model

• Replace a rigid body in the model with a ABAQUS substructure (flexible body)
and export ABAQUS solver input deck (*.inp)

• Replace a rigid body with ABAQUS inp (nodal FE component) file and export
ABAQUS solver input deck (*.inp)

The results of the Abaqus solver can be post processed in HyperView.

Here is the flow of flexible body creation and integration:

Integrating Abaqus substructure or FE model in MotionView

Exercise
In the first step of the exercise, you will be creating an Abaqus substructure. The second
step involves the replacement of the rigid lower control arm with the Abaqus
substructure. In the third step you will run the solver, and in last step you will post
process the results.

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Copy the folder abaqus, located in the mbd_modeling\externalcodes folder, to your

<working directory>.

Step 1: Creating the Flexible Body Substructure.

First, you will need to create the flexible body. This stage must be completed in Abaqus,
independent of MotionView.

It is assumed that you are familiar with flexible multi-body dynamics in Abaqus. Here is
a brief overview of the steps you would need to do in Abaqus to generate a
substructure:

• Use standard elements to define the structure

• Assign material and geometric properties to the elements
• Define the retained degrees of freedom. The retained nodes will connect the
substructure to the rest of the model
• Substructures must be created in one analysis and used in a subsequent analysis
• The Abaqus *.inp deck of a substructure generation analysis should look
something like this:
*NODE...
*ELEMENT...
*MATERIAL...
*STEP
*FREQUENCY, EIGENSOL=LANCZOS
20
*BOUNDARY
RETAINED_NODES, 1, 6
*END STEP
*STEP
*SUBSTRUCTURE GENERATE
TYPE=z2, LIBRAYR=carm_right, MASS MATRIX=YES, OVERWRITE, RECOVERY
MATRIX=YES
*RETAINED NODAL DOFS, SORTED=NO
RETAINED_NODESET,1,6
*RETAINED EIGENMODES, GENERATE
1,20,1
*END STEP

This is just a sample deck. For detailed syntax you may have to look up Abaqus
documentation.

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Note You have been provided with two inp files: carm_left.inp and carm_right.inp.
Use these files to generate the two substructure files (*.sup) for the left and
right lower control arms using Abaqus. These substructure files should be named
as carm_left.sup and carm_right.sup respectively.

The intermediate files (*.stt, *.mdl, *.prt) created by Abaqus during the
substructure generation analysis are required for reference during the MBD
system analysis. You will need to generate these files in Abaqus. The result files
(*.mrf, *.odb) which are needed for the post-processing step of this tutorial are
provided.

Once the substructure is generated you should be ready to integrate it in your MBD
model.

Step 2: Integrating a Flexible Body into the MBD System.

Once you complete the substructure generation step in Abaqus, you should have the
<substructure-name>.sup file. This .sup along with the original <substructure-
name>.inp file will be used to integrate your flexible body into MotionView.

1. Start a new MotionView session and load the file sla_abaqus.mdl, located in
<working directory>.

2. Make sure that the SolverMode is ABAQUS.

3. From the Project Browser, under the Bodies folder select the Lwr control arm.

4. On the Properties tab for the LCA-Left, activate the Deformable check-box.

5. Click Yes in the question dialog.

Notice that the graphics of the rigid body lower control arm vanishes.

Now you would need to specify a particular INP file that was used to create the
flexible body.

6. For Functional source, select the Use nodal FEA body option from the drop-down
menu.

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7. Using the Graphic file browser, select carm_left.h3d from your working directory.

Properties tab

Notice that the Inp file field is automatically populated by MotionView.

Note The file carm_left.h3d is the graphic file for the ‘lower control arm-left’
body. This file is for display and assists in allowing faster pre-processing.
The flexbody (or the INP file in this case) is used to provide data to the
solver. The graphic H3D file can be generate from the input (INP) file (or
CAD file) using the Import CAD or FE using HyperMesh option located in
the Tools menu in MotionView. In this exercise the graphic H3D files are
provided.

If the INP file is located in the same directory as the H3D graphic file, the
Inp file field would be populated automatically. Otherwise, one also has
the option of selecting the INP file from its respective location.

8. Click Nodes….

The Nodes dialog is displayed.

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9. Click the Find ALL button on the Nodes dialog to find nodes on the flexible body
that are located closest to the interface points on the vehicle model. The vehicle
model is attached to the flexible body at these interface nodes.

Nodes dialog

Note In this case there is no offset between the flexible-body interface nodes and
their corresponding interface points on the vehicle model. But if there is an
offset you can use the Align button. When you click the Align button,
MotionView moves the connection point in the model to the node location
on the flexible body. If the offset is more than the tolerance value,
MotionView inserts a dummy body between the flexible body and the
nearest connection point. This affects any other entities that reference this
point.

You can attach joints to the flexible body only at the interface nodes. These
attachment nodes are created during your substructure generation analysis
in Abaqus. Creating more attachment points increases the actual number
of modes calculated, and may increase the CPU time.

10. Close the Nodes dialog.

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11. Repeat steps 6 through 9 to integrate the right side flexible body carm_right.inp in
your model.

Your model should look like the image below:

12. From the Tools menu, select Check Model to check your complete MBD model for
errors.

Step 3: Running MBD Systems in ABAQUS.

The flexible bodies are now fully integrated in your model. Now you will set up the
ABAQUS solver run.

MotionView writes out the INP file for the whole MBD system. It is important that this
INP deck should contain the substructure path references for the model to run
successfully in Abaqus. The way to include these is via Templates in MotionView.
Templex templates can be used to export syntax directly to the solver input deck,
including parametric substitution if required.

1. From the Project Browser, under the Templates folder select the Abaqus output
template.

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2. Click the expansion button, , on the panel and read through the template.

Note For the ABAQUS solver, the location of statements within the solver input
deck is important. The four keywords used in this template allow you to
position the extra text. These keywords must be the first line of the
Templex template. For additional assistance and information on these
keywords see the Exporting MDL models to ABAQUS topic in the online
help.

The remaining text of the template is written according to the position

specified. In this case there are two substructure paths included for the two
flexible bodies. You will need to add or delete such paths depending on the
number of flexible bodies integrated in your model.

{MODEL.sys_frnt_susp.b_lca.l.idstring} is the parameterized path to

grab the element ID number assigned to the left arm substructure.

Now your model is complete and ready to run in ABAQUS solver.

3. Close the Abaqus output template.

4. From the Project Browser, under the Data Sets folder select ABAQUS Solution
Options.

5. From the File menu, select Export > Solver Deck.

6. Save your model as an MDL file named sla_flex.mdl in the working directory.

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7. Save your model as sla_flex.inp file in your working directory.

Note You can run your model in ABAQUS at this stage. Select ABAQUS from the
SolverMode menu and click on the Run icon on the toolbar to display the
Run panel. Specify a file name for the inp file using the Save and run
current model option and check the Export MDL animation file check
box. Click on the Run button. MotionView will write the inp file and the
maf file (which will be used for animation). If the ABAQUS solver script is
linked to MotionView, the job will be submitted to ABAQUS.

Step 4: Post-processing Abaqus Results.

You will now load the results of the Abaqus run in the Animation window.

Note MotionView has FIL2MRF translator residing in Tool..Custom wizards. Using

this will allow you to translate an Abaqus fil file to an mrf file. In this exercise the
mrf file is provided to you.

The carm_left.odb and carm_right.odb files needed in this step will be

generated once the model successfully runs in Abaqus.

1. Click the Add Page icon, , on the toolbar to add a new page to your session.

2. Select HyperView from the Select window mode drop-down menu.

3. Load the sla_flex.maf and sla_flex.mrf as model and results files, respectively.

4. In the same window, again click the Load model file browser and select the
carm_left.odb file from your working directory.

5. Activate the Overlay checkbox and click Apply.

6. Repeat the steps 4 and 5 to also overlay carm_right.odb file on the same model.

Notice that the substructures are overlayed on your model.

7. Use the Entity Attributes panel, , to turn off the graphics of the rigid control
arm.

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8. Click the Start/Pause Animation icon, , on the Animation toolbar to animate

the model.

9. Click the Start/Pause Animation icon again, , to stop/pause the animation.

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MV-5000: Rigid body Animation - Basic

Introduction
In this tutorial, you will learn how to:

• Use some features available for post-processing animation results in HyperView

• Control the display of the simulation results using Entity Attributes
HyperWorks animation functions allow you to view your model in motion. The three
animation types include transient, linear, and modal. You can select the animation type
from the animation types drop-down menu.

Animation types menu

Transient Transient animation displays the model in its time step positions as
calculated by the analysis code. Transient animation is used to
animate the transient response of a structure or multi-body system.

Linear Linear animation creates and displays an animation sequence that

starts with the original position of the model and ends with the fully
deformed position of the structure or multi-body system. An
appropriate number of frames are linearly interpolated between the
first and last positions. Linear animation is usually selected when
results are from a static analysis.

Modal Modal animation creates and displays an animation sequence that

starts and ends with the original position of the structure or multi-
body system. The deforming frames are calculated based on a
sinusoidal function. Modal animation is most useful for displaying
mode shapes.

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Multi-body Analysis Types, Animation Mode Settings, and File

Types

The tables below show the animation analysis types, mode settings, and the model and
results file types required to animate MotionSolve and Adams results.

Multi-body Animation Parts in Model Model Results

Analysis Type Mode Setting File File

Transient/Static/
Transient Rigid or Flexible Bodies H3D H3D
Quasi-Static

Linear Modal Rigid or Flexible Bodies H3D H3D

Animation Information for MotionSolve Results

Multi-body Animation Parts in Model Model Results

Analysis Type Mode Setting File File

Transient/Static/
Transient Purely rigid GRA GRA
Quasi-Static

Transient/Static/
Transient One or more flexible bodies FLX FLX
Quasi-Static

Linear Modal Purely rigid GRA RES

Linear Modal One or more flexible bodies FLX FLX

Animation Information for Adams Results

Step 1: Viewing and Controlling Animation Files.

In this exercise, you will view and control the pendulum animation based on the files
output by MotionSolve.

Note Copy all of the h3d files located in the mbd_modeling\animation folder to your
<working directory>.

1. From the File menu, select New > Session to start a new session.

If a warning message is displayed, asking if you want to discard the current data,
click Yes to continue.

2. Click the Select application drop-down menu, , from the toolbar, and select
HyperView .

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3. Click the Load Results icon, , from the Standard toolbar.

The Load model and results panel is displayed.

Load model and results panel

4. Click the file browser icon, , next to Load model and select the model file as
single_pendulum.h3d, located in your working directory.

5. The field for Load results will be automatically updated with the same path and
name.

6. Click Apply.

HyperView loads the animation file.

7. Click the XZ Left Plane View icon on the Standard Views toolbar to change to
the left view of the model.

8. Click the Start/Pause Animation icon, , on the Animation toolbar to start the
animation.

9. Right-click on the Fit Model/Fit All Frames icon on the Standard Views
toolbar to fit the entire animation in the window.

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10. Click the Animation Controls icon, , on the Animation toolbar.

From this panel, you can control the parameters like speed, start time, end time of
the animation.

Animation Controls panel

− Drag the vertical slider bar on the left to change the animation speed from fast to
slow.

− Current time: show all the time steps.

− The Animate start and Animate end sliders can be set to restrict the animation
to a certain window in time. For example, moving the start slider to 0 and end
slider to 3.5 to restrict the animation to these time limits and covers only a partial
cycle of motion.

11. Click the Start/Pause Animation icon, , on the Animation toolbar to stop the
animation.

Step 2: Tracing Entities.

HyperView allows you to trace the path of any moving part while animating.

1. Retain the animation file single_pendulum.h3d that was loaded in Step 1 above.

2. To trace the pendulum motion, click the Tracing button, , on the toolbar.

Tracing panel

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3. Under Trace select Component from the radio buttons on the left.

4. Pick the entity/component that needs to be traced by clicking on it from the graphics
window.

5. Change the view to the Iso view.

6. Under Tracing mode: select Last and specify 10 as the steps.

7. Animate the model. This displays the last 10 steps in the animation.

8. To turn the tracing off, click the Delete button to remove the selected components
from the tracing list.

9. Try the From First Step and All Steps options.

10. Use the Display Options to change the line color and thickness.

Step 3: Tracking Entities.

The Tracking option allows one of the parts of the animation to be fixed to the center of
the animation window and the rest of the parts move relative to the tracked part.

1. Add a new page to the session by clicking on the Add page button, , on the
Page Controls toolbar.

2. Load the animation file front_ride.h3d from your working directory.

3. To Track or fix any part of your model in the center of the animation window and to
see all the other parts moving with respect to the fixed part, click on the Tracking,
, button on the Results toolbar.

Tracking panel

4. Add a tracking system to the animation by clicking on the Add button under
Tracking Systems.

5. Under the Track pull down menu select Component and click on a part from the
model currently loaded.

6. Select the Displacements and/or Rotations to track the part.

7. Click the Start/Pause Animation icon, , on the Animation toolbar to start the
animation, and click the Start/Pause Animation icon again, , to stop the
animation.

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Step 4: Editing Entity Attributes.

In this exercise, you will edit the graphic entity attributes.

1. Retain the model front_ride.h3d loaded in the previous exercise Step 3 above.

2. Click the Entity Attributes icon, , on the Visualization toolbar.

The Entity Attributes panel is displayed.

Entity Attributes panel

3. Click the arrow to the right of the Entity option menu to expand it.

The list contains the following entity types: Components, Systems, Assembly
Hierarchy, and Sets.

4. Select Assembly Hierarchy from this list to show all the parts of the model in the
entity list tree below.

5. To change the color of the entire model:

− Select Assembly Hierarchy from the Entity option menu.

− Select All from the list of buttons next to the entity list tree (All, None, Flip, and
Displayed).

− Select a color from the color palette under the Color section.

6. To change the entire model to wire frame:

− Click All from the list of buttons next to the entity list tree.

− Click the Wire Frame icon, , beside Shaded.

7. To make the entire model transparent and shaded:

− Click All from the list of buttons next to the entity list tree.

− Click the Shaded icon, .

− Click the Transparent icon, .

8. Use the On/Off buttons to turn the entities on or off.

9. Use the On/Off buttons next to ID: to display and hide the entity IDs.

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MV-5010: Rigid body Animation - Advanced

Introduction
In this tutorial, you will learn how to:

• View force and moment vectors from a MotionSolve results file.

• Use the collision detection feature
• Use the measure panel to extract information from the animation results

Step 1: Force and Moment Graphics.

HyperView allows you to view the change in force and moment in the form of dynamic
vectors that represent the magnitude and direction of the force and moment.

Copy all of the h3d files located in the mbd_modeling\animation folder to your <working
directory>.

1. Start a new MotionView session or refresh your MotionView session by pressing

SHIFT+F9.

2. Change the application on the page to HyperView.

3. Load the MotionSolve result file front_ride.h3d from your working directory.

4. Click on Vector icon, , on the toolbar.

Vector panel

5. Under the Result type: select Force (v).

6. Click on the Display sub-tab and select By Magnitude for Size scaling.

7. Click on Apply.

8. Now, animate the results by clicking on the Start/Pause Animation button, .

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9. You will see an arrow whose size and direction change dynamically as the simulation
is animated from start to end. This arrow represents the magnitude and direction of
force on a body or at a joint as it is specified for force output in the model.

10. Click on the Clear Vector button to clear the force vector.

11. For the Result type: now select Moment (v).

12. Repeat the Steps 6 to 9 to view the Moment vectors of the simulation.

13. Under Display options: try changing the scale of the vectors by changing the Scale
value:.

Collision Detection
HyperView allows you to view and detect collisions between bodies during simulations.

Step 2: Using the Collision Detection Option.

1. Click the Add a page button, , from the toolbar.

2. Use the Select Application menu to select HyperView as the application.

3. Click the Load Results icon, on the toolbar.

The Load Model and Results panel is displayed.

4. Click the Load model file browser and select collision.h3d, from your
working directory.

5. Click the Load results file browser and select collision.h3d from the same
location specified in Step 4 above.

6. Click Apply.

7. Click the Start/Pause Animation icon, , to animate the model.

8. After the file is read, click the Start/Stop Animation icon, , to stop the
animation.

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9. Click the Collision Detection button, on the Tools toolbar (if this toolbar is not
visible by default, go to the View menu and select Toolbars > HyperView >
Tools).

The Collision Detection panel is displayed.

Collision Detection panel

10. Click the Add button in the leftmost column under Collision Sets to add a new
collision set.

11. Pick the Trunk body in the graphics area.

Note Clicking on the Components input collector will display the Extended
Entity Selection dialog. The Extend Entity Selection dialog provides
you with criteria based selection options available for entity selection in
HyperView. This method of selection is not used in this tutorial. See the
Selecting Entities Using the Input Collector topic (located in the HyperView)
to learn more about using this selection method.

12. Click the Add to Group A button.

13. Next, pick the Car body in the graphics area.

14. Click the Add to Group B button.

15. Under the Proximity section, click Enable Proximity checking and specify the
Minimum Distance for the proximity check.

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16. Under the Show result by: section select Elements by clicking on the radio button
next to it.

17. Click Apply.

18. Click the Start/Pause Animation icon, , to start the animation.

The animation begins.

Wherever areas of the trunklid collide with the trunk (car body), the colliding
elements turn red.

The color yellow indicates proximity. When neither proximity nor collision is
detected, the bodies retain their natural colors.

19. Stop the animation.

20. Try these additional steps:

− Try to view the Element and Component results alternately by clicking on the
radio buttons in the Show Results by: section.

− Click on Summary below to get a text summary of the penetration.

Step 3: Using the Measure Panel.

HyperView allows you to measure certain parameters during post processing of the
results.

Refresh your MotionView session by pressing SHIFT+F9.

Note Please refer to HyperView tutorial Using Keyboard Shortcuts and Function Keys -
HV-2050 for more information regarding keyboard shortcuts.

1. Change the Application to HyperView.

2. Load the file front_ride.h3d as the model and result file from your working
directory.

3. Click on the Measure button, , on the Annotations toolbar to go to the

Measure panel.

4. Under Measure Groups click on Add to add a Measure Group.

5. From the measure type pull-down menu select Position.

6. Click on the Nodes button and from the graphic window pick on a point of your
choice.

7. Turn on the check boxes for X, Y and Z.

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8. Click the Create Curves button (located on the right side of the panel).

The Create Curves dialog is displayed.

9. From the Place on drop-down menu select New Plot.

10. For the Y Axis: select X and activate the Live link check box.

Note The Live Link helps you correlate the measured value with the animation.
As you animate the current animation model a small square marker moves
on the measured curve to indicate the value of the curve at the
corresponding time step of the animation.

11. Click OK.

12. Repeat Point 10 and 11 twice more by selecting Y and Z respectively and clicking on
OK each time.

13. Click the Start/Pause Animation icon, , to start the animating the results.

14. You will see a marker on all the three plots which corresponding to the simulation
time step in the HyperView window.

For more advanced animation options, refer to the HyperView tutorials.

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MV-6000: Plotting Basics

Introduction
In this tutorial you will learn to:

• Import a MotionSolve result (plot) file for plotting curves

• Plot multiple curves in a single window
• Plot multiple curves in different windows on a single page
• Save your work as a session (mvw) file

Theory
The Build Plots panel allows you to import plot files that can be plotted in a 2D layout.
The panel allows you to control what curves are to be plotted either in single or multiple
windows.

Tools
The Build Plots panel can be accessed in any one of these three applications:
MotionView, HyperView or HyperGraph.

Copy the Demo.plt file, located in the mbd_modeling\plotting folder, to your <working
directory>.

Step 1: Opening a plot file.

1. Start a new MotionView session.

2. Select HyperGraph 2D from the Select application menu, , on the toolbar.

The toolbar is located right below the plot window.

3. Click the Build Plots icon, , on the toolbar.

4. Click the Open File icon, , on the Build Plots panel.

5. Select the file <working directory>\Demo.plt.

6. Click Open.

This file contains several curves.

7. Confirm that Time is selected under X Type:.

8. For Y Type: click on Displacement to select it.

The Y Request text box displays the data available in the file.

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9. Click the Y Request expansion button to view the Y Request list.

10. Press CTRL button on the keyboard and click on REQ/70000006 and
REQ/70000007 (or left-click and drag the mouse to select both REQ/70000006
and REQ/70000007). Click OK.

11. Select X under Y Component:.

12. Set Layout as one plot per Component.

13. Click Apply.

Two curves are plotted in the plot window, each with its own line type and color.
The legend identifying the curves is located in the upper right hand corner of the
plot.

Single plot window with multiple curves created using the Build Plots panel

Step 2: To build multiple curves on multiple plots using the plot

file.
In this step you will select multiple curves and plot them in multiple windows.

1. Stay in Build Plots panel.

2. Leave Time selected under X:.

3. Leave Displacement selected under Y Type:.

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4. Leave REQ/70000006, and REQ/70000007 selected under Y Request:.

5. Press CTRL and under Y Component: select X, Psi, MAG and RMAG.

6. Select One plot per Component from the Layout pull down menu , located in
the lower left corner of the panel.

This selection creates one plot for every request selected under Y component.
There will be four plots created. You could have one page for each plot. However,
this tutorial wants all four plots on the same page.

7. Click the Page Layout button , located next to the Show Legends check box.

8. Select the four window layout option .

The Page Layout dialog automatically closes.

9. Click Apply.

A second page is added to the page list with four windows and the plots you
requested.

Multiple plots with multiple curves created using the Build Plots panel

Note The procedure to plot and edit curves from other result/request files (for
example, .req, .abf, etc.) remains the same as described in this tutorial.

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Step 3: To save this work session.

You can save your work with multiple curves in multiple windows on multiple pages as a
session file. A session allows later retrieval either for display, printing, or to continue
adding more information. The session file is a script with the extension .mvw. The
contents of an .mvw file are all the information in the program that gets recorded in the
script file.

Note To save a session as a script file with curve data: select the Options panel icon
from the Annotations toolbar, and activate the Save All Curve Data To
Session File / Report Template check box (located on the Session tab).

1. From the File menu, select Save As > Session.

2. Select a directory.

3. In the File name text box type Demo1.mvw.

Save Session As dialog

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4. Confirm that Session (*.mvw) is selected from the Save as type drop-down
menu.

5. Click Save.

This saves your current work session as a session script file called Demo1.mvw.

Step 4: To exit the program.

1. From the File menu, select Exit.

A dialog displays prompting you to save the session.

2. Click No, since you saved the session in the previous step.

For more advanced plotting options, refer to the HyperGraph tutorials.

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MV-7007: Adding Friction to Joints

In this tutorial, you will learn more about:

• The MotionSolve joint friction model.

• How to model Joint friction in MotionView/MotionSolve.
• How to review the friction results.

Introduction
Friction is defined as a resistance force opposing motion. Friction appears at the physical
interface between any two surfaces in contact. Friction force arises mainly due to
adhesion, surface roughness and plowing at the contact surfaces.

1. When contacting surfaces are smoother and brought to closer proximity;

molecular adhesive forces forms resistance to motion.
2. When contact surfaces are highly rough to cause abrasion on sliding; surface
roughness resists motion.
3. When one surface in contact is relatively soft, plowing effect causes most of
resistance.
Friction forces generated depend on:

• Surface contact geometry and topology

• Properties of the bulk and surface materials
• Displacement and relative velocity
• Lubrication
Friction is highly non-linear and dependents on system states like stiction regime,
transition regime and sliding (or) dynamic regime.

The three characteristics of a friction function

The friction force varies based on its states (as shown in the above figure). The (a)
section shows Coulomb friction, (b) shows Stiction plus Coulomb friction, and F(c) shows
how the friction force may decrease continuously from the static friction level due to
lubrication also known as Stribeck effect.

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Dynamics of friction

Friction-velocity relation or damping characteristics of friction will aid in dampening

vibrations. There are other behaviors of friction such as pre-sliding and hydrodynamic
effects of lubrications during dynamic simulations. Resistant forces from the above
mentioned effects need consideration in design of drive systems and high-precision
servo mechanisms. So, it’s important to model friction accurately to capture system
dynamics.

Joint friction

Friction in joint depends on its geometry. MotionSolve uses an analytical model to

represent friction for different joints based on geometry, preloads, torque and
lubrication.

Characterizing joint friction using LuGre friction model

MotionSolve uses LuGre model for friction representation. LuGre model is a bristle model
emerged for controls applications. LuGre model was presented by Canudas de Wit,
Olsson, Åstro¨m, and Lischinsky. Stemming from a collaboration among researchers at
the Lund Institute of Technology (Sweden) and in Grenoble France (Laboratoire
d’Automatique de Grenoble), the LuGre model captures a variety of behaviors observed
in experiments, from velocity and acceleration dependence of sliding friction, to
hysteresis effects, to pre-slip displacement and lubrication.

The Bristle model for friction

LuGre model can model friction considering geometry of joint, preload, moment arm,
force and torque. Friction is supported for a subset of joints namely Revolute, Spherical,
Translational Joint, Cylindrical, and Universal Joint. Please refer to our MotionSolve
online help for a detailed explanation of friction for each constraint.

This tutorial uses an experimental model of a “block sliding on a table” to demonstrate

friction forces under stick-slip condition and frequency dependency of friction forces.

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Exercise
Copy the SlidingTable.mdl file, located in the mbd_modeling\motionsolve folder, to
your <working directory>.

The leader and follower model constitutes two rigid bodies namely Leader and Follower
respectively connected to the Ground body by translation joints and inter connected by a
linear spring. In the following steps you will add friction and apply motions to study
friction behavior of the translation joint.

Step 1: Adding Joint Friction.

1. From the Project Browser, browse to the Joints folder and select Follower
Translation Joint.

2. From the Joints panel, go to the Friction Properties tab.

3. From the Friction Properties tab, check the Use Friction option to activate friction
on joint.

Note MotionView populates the panel with default properties that are appropriate
with units N, mm, second. You will need to scale properties such as
Stiction Transition Velocity, Force Preload, and Geometric properties
(Initial Overlap, Reaction Arm) according to the units.

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4. Change the following default settings: Dynamic friction coefficient to 0.1, Static
friction coefficient 0.15, and Stiction Transition Velocity to 1.0. Uncheck the
Bending Moment and Torsion Moment options to exclude joint reaction forces
due to geometry misalignments. Modify the Initial Overlap value to 10mm and
leave the remaining values at their default settings.

5. Select the LuGre Parameters tab to modify the Bristle properties. Modify the
Damping Coefficient value to 0.0316.

Note Default properties of bristle are appropriate with units N, mm, second.

6. Leave all the LuGre parameters at their default values.

Step 2: Adding output requests for friction force.

In this step you will create an output to measure the friction forces on the Follower
Translation Joint.

1. Right click the Output icon from General MDL Entity Tool bar.

The Add Output dialog is displayed.

2. Change the Label to Friction_Force.

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3. Change the Variable to o_friction.

4. Click OK to add output request.

5. From the Properties tab, select the output type as Expressions.

6. Click in the F2 expression field.

7. Click on the button.

The Expression Builder dialog is displayed.

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8. Populate the Expression Builder with the FRICTION function expression as:
`FRICTION({j_contact.id},1)`.

Follower Translation = {j_contact.id},

Joint ID

Fx component =1

9. Click OK.

10. Repeat the process for F3, F4, F6, F7, and F8 by changing the second parameter to
2, 3, 4, 5, and 6 accordingly.

The function FRICTION(ID, comp) computes the friction force component specified
in the comp corresponding to the joint ID.

ID The ID of the Joint.

comp The force component. Currently, a range of 1-18 is supported.

1 = Friction force FX along the x-axis of the J marker of the joint.

2 = Friction force FY along the y-axis of the J marker of the joint.

3 = Friction force FZ along the z-axis of the J marker of the joint.

4 = Friction torque TX along the x-axis of the J marker of the joint.

5 = Friction torque TY along the y-axis of the J marker of the joint.

6 = Friction torque TZ along the z-axis of the J marker of the joint.

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Step 3: Adding output request for sliding velocity.

Friction forces are characterized with respect to the relative velocity between bodies
under contact. So, you will create an output request to measure Follower body velocity.

1. Right click the Outputs icon on the General MDL Entity toolbar.

The Add Output dialog is displayed.

2. For Label, enter Follower_Velocity.

3. For Variable, enter o_velocity.

4. Click OK to add the output request.

5. From the Properties tab, select the output type as Velocity.

6. Select Entity from the drop-down menu below Velocity.

7. Select entity type to be .

8. Leave to be Global Frame.

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Step 4: Add a constant velocity motion to the leader translation

joint.
In this next step we will add constant velocity to the Leader Body. Follower body
connected by a linear spring will observe a stick-slip motion due to the friction forces.

1. Right click the Motion icon from the Constraint toolbar.

The Add Motion or MotionPair dialog is displayed.

2. For Label, enter Stick Slip.

3. For Variable, enter mot_leader.

4. Click OK to add motion.

5. From the Connectivity tab:

− Select On Joint from the drop-down menu for Define motion.

− Select Leader Translation Joint for .

− Select Velocity from the drop-down for Property.

6. From the Properties tab:

− Select Linear from the drop-down menu for Define by.

− Enter 100 for Value.

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Step 5: Simulate the model.

1. Click on the icon to check the model.

2. Switch to the Run panel by clicking on the Run icon .

3. Under the Main tab, click on the icon to specify the name and location of the
MotionSolve .xml file. Save the file with the name Stick_Slip.xml in your working
directory.

4. Notice that after saving the file, the Run button to the right becomes active.

5. Specify the End time as 25 sec. Modify the Print interval value to 0.001 and
leave the remaining values at their default settings.

6. Click on the Run button to run the simulation.

Step 6: Viewing animation and plots.

Once the run is complete, the other buttons on the right side of the panel are activated.

1. Click on the Animate button to view the animation.

This invokes HyperView and loads the Stick_Slip.h3d animation file.

2. Next, click on the Plot button to view the plots.

This invokes HyperGraph and loads the Stick_Slip.abf results file.

3. Click on the HyperGraph window to activate it.

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4. Plot Follower velocity versus Time.

− Select X-axis Data Type as Time.

− Select the following Y-axis data:

Y Type Marker Velocity

Y Request Follower_Velocity - (on Follower)

Y Component VX

− Change the Scale velocity value to m/sec from mm/sec:

o Click the Adv. Options button.

o From the Advanced Plot Options dialog, under Category select Curve
Option.

o Under Preference, change the Y Scalefactor value to 0.00100.

o Click OK.

5. Plot Friction force versus Time.

− Select X-axis Data Type as Time.

− Select the following Y-axis data:

Y Type Expression

Y Request Friction_Force

Y Component F4

Animation and Plot windows

6. To start the animation, click the Start/Pause Animation icon on the toolbar.

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7. The Stick_Slip motion is clearly observed from the animation and plots.

Velocity and Friction Force on Time Scale

The Leader body moving at a constant velocity elongates the spring increasing
spring force linearly. The friction force counteracts the spring force, and there is a
small displacement of Follower body when the applied force reaches the break-away
force.

Break away = mu static x Normal Load

force

= 0.15x1x9.81

= 1.47 Newton.

Step 7: Adding time varying velocity to follower translation joint.

In this step you will add “Time varying velocity” to Follower translation joint. Velocity is
varied between 1.1 mm/sec to 3mm/sec at different frequencies (1 rad/sec, 10 rad/sec
& 25rad/sec) to observe Hysteresis in friction.

1. Right-click the Motions icon on the Constraint toolbar.

The Add Motion or MotionPair dialog is displayed.

2. For Label, enter Hysteresis.

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3. For Variable, enter mot_freq_varying.

4. Click OK to add motion.

5. From the Connectivity tab:

− Select On Joint from the drop-down menu for Define motion.

− Select Follower Translation Joint for .

− Select Velocity from the drop-down for Property.

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6. From the Properties tab:

− Select Expression from the drop-down menu for Define by.

− Click on the button.

The Expression Builder is displayed.

− Populate the Expression Builder with the following expression:

`1.1+1.9*ABS(sin(PI*(time)))`

This expression varies velocity from 1.1 mm/sec to 3 mm/sec at a frequency of 1

rad/sec.

Velocity variation

Note Multiply `time` with 10, 25 will vary velocity at frequencies 10rad/sec and
25 rad/sec respectively.

7. Deactivate motion on the Leader Translation Joint created in earlier steps.

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Step 8: Simulate model for varying velocities at different

frequencies.

1. Click on the icon to check the model.

2. Switch to the Run panel by clicking on the Run icon .

3. Under the Main tab, click on the icon to specify the name and location of the
MotionSolve .xml file. Save the file with the name Hysteresis_1radpersec.xml in
your working directory.

4. Specify the End time as 3 seconds and the Print Interval as 0.0001 seconds.

5. Click on the Run button to run the model.

6. Modify the velocity expression of the Follower Translation Joint and run the
model with the file names and end times specified in the table below:

Frequency Expression File name End

Time
(sec)

10 rad/sec `1.1+1.9*ABS(sin(PI*(10*time) Hysteresis_10radpersec.xml 0.3

))`

25 rad/sec `1.1+1.9*ABS(sin(PI*(25*time) Hysteresis_25radpersec.xml 0.12

))`

Step 9: Plotting Hysteresis curves.

1. Select HyperGraph by clicking in the window.

2. Load results for the 1 rad/sec frequency.

− Click on the Open Data File icon .

− Browse to the working directory and select the Hysteresis_1radpersec.abf file.

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3. Plot Follower velocity versus Time.

− Select X-axis Data Type as Time.

− Select the following for the Y-axis data:

Y Type Marker Velocity

Y Request Follower_Velocity- (on Follower)

Y Component VX

4. Plot Friction force versus Time.

− Select X-axis Data Type as Time.

− Select the following for the Y-axis data:

Y Type Expression

Y Request Friction_Force

Y Component F4

Follower Velocity and Friction Force

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5. Plotting Friction Hysteresis curve (Friction Force versus Velocity).

There is an initial transition of friction force values, therefore you will plot hysteresis
curve excluding first cycle data (in other words, 0 to 1 sec.).

− Select the Follower Velocity and Friction Force curves in the Plot browser,
right-click and select Turn Off from the context menu.

− Click on the Define Curves icon on the Curves toolbar.

− Click on the Add button to add a new curve.

− Rename Curve3 as 1rad/sec.

− For the X and Y data, select the Source type as Math.

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− Populate X data to select velocity between time interval 1 to 3 secs using the
subrange function: p1w2c1.y[subrange(p1w2c1.x,1,3)].

− Populate Y data to select Friction force between time interval 1 to 3 secs using the
subrange function: p1w2c2.y[subrange(p1w2c1.x,1,3)].

− Click the Apply button.

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6. Similarly, plot hysteresis curves for frequencies 10rad/sec

(Hysteresis_10radpersec.abf) and 25 rad/sec (Hysteresis_10radpersec.abf)
following Steps 3 -5 above.

Hysteresis curves at different frequencies

The velocity variation with higher frequency will have widest hysteresis loop.

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MV-8000: Open Loop Events

In this tutorial, you will learn how to:

• Assemble the vehicle for full vehicle simulations using Assembly Wizard
• Attach the driver using Task Wizard
What is Altair Advanced Driver?

The Altair Driver is a set of MotionView models and libraries that allows MotionView users
to control and script vehicle events. Example events include:

• Constant Radius Cornering

• Single Lane Change
• Double Lane Change
• User Defined Path Following
• Fish Hook Event, etc.
This is achieved by creating an interface to the five vehicle inputs:

• Steering
• Throttle
• Gear
• Brake
• Clutch
Using Altair Driver you can simulate any number of full vehicle events using these
features:

• Scripting – break up the simulation into different maneuvers; select the

controllers for vehicle inputs and define conditions that end each maneuver.
• Open-loop, closed-loop, and user-defined controllers to control.
− Longitudinal speed or acceleration.
− Vehicle path or lateral acceleration.
• Switching controllers during a simulation.
• Defining path and speed profiles parametrically, in a table, or by referencing a
data file.

Exercise

Step 1: Assembling the vehicle.

1. Start a new MotionView session.

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2. Make sure that the MBD-Vehicle Dynamics Tools preference file loaded is for all
of the MotionView functionality of the Advanced Driver to work properly.

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3. Use the Assembly Wizard to assemble the vehicle model. In the first example, a
linear torque map powertrain will be used to avoid the complexity of adding
controllers for gear and clutch.

4. Choose Full vehicle with advanced driver option. This takes care of all the
dependencies of the advanced driver. Click Next.

5. Choose the default selections in the following Assembly Wizard pages.

Page Label Selection Default

(Yes/No)

1 Model type Full vehicle with advanced driver No

2 Driveline configuration Front wheel drive Yes

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Page Label Selection Default

(Yes/No)

3 Vehicle body Body Yes

3 Front suspension Frnt macpherson susp (1 pc. LCA) Yes

3 Steering linkages Rackpin steering Yes

3 Rear subframe None Yes

3 Rear suspension Rear quadlink susp Yes

3 Powertrain Linear torque map powertrain Yes

3 Signal generator Driver signal generator Yes

3 Tires FIALA/HTIRE Yes

4 Steering column Steering column 1 (not for abaqus) Yes

4 Steering boost None Yes

5 Front struts Frnt strut (with inline jts) Yes

5 Front stabilizer bars None Yes

5 Rear struts Rear strut (with inline jts) Yes

5 Rear stabilizer bars None Yes

6 Front jounce bumpers None Yes

6 Front rebound bumpers None Yes

6 Rear jounce bumpers None Yes

6 Rear rebound bumpers None Yes

7 Disk brakes Disk brakes Yes

7 Front driveline Independent fwd Yes

8 Next No

9 Finish No

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Step 2: Adding driver analysis.

Use the Task Wizard to load the driver analysis.

1. From the Analysis menu, select Task Wizard.

2. Select Altair Advanced Driver Analysis from the Full vehicle Driver task drop-
down menu.

The Altair Advanced Driver with icon is added to the browser tree. Selecting the
driver icon will open up the Altair Driver panel. This automatically resolves all of the
vehicle attachments for the Advanced Driver.

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Step 3: Writing an Altair Driver File (ADF) driving event .

Driver requires an event script or the Altair driver file (ADF) to run any driving event.
ADF can be edited using any text editor or by clicking the Edit Driver File button on the
driver panel.

Example #1 Open Loop Acceleration Event

The objective of the example is to script an event with 50% throttle, 0% brake and 0
steering angle. An event can be broken down into smaller sub-events or maneuvers. For
the sake of simplicity we will model this as a single maneuver event.

1. Open any text editor and copy and paste the following text into it. Important: All
blank lines must be removed prior to saving the file! Be sure to read through
the comments for a better understanding on what is written in the ADF.

$-----------------------------------------------------------------ALTAIR_HEADER

$ This block is required for version control

[ALTAIR_HEADER]

FILE_TYPE = 'ADF'

FILE_VERSION = 1.0

FILE_FORMAT = 'ASCII'

$--------------------------------------------------------------------------UNITS

$In this block we specify the units in which this file should be read

[UNITS]

(BASE)

{length force angle mass time}

'meter' 'newton' 'radians' 'kg' 'sec'

$--------------------------------------------------------------------VEHICLE_IC

$In this block we specify the initial conditions specifically initial speed of the

$vehicle with respect to the vehicle IC marker in the driver attachments

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[VEHICLE_INITIAL_CONDITIONS]

VX0 = -20.0

VY0 = 0.0

VZ0 = 0.0

$--------------------------------------------------------------STEERING_STANDARD

$This block specifies the saturation and cutoff frequency for the low pass filter for

$steering output signal. These signals are global and are active for the entire event

[STEER_STANDARD]

MAX_VALUE = 3.141593

MIN_VALUE = -3.141593

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$--------------------------------------------------------------THROTTLE_STANDARD

$This block specifies the saturation and cutoff frequency for the low pass filter for

$throttle output signal

[THROTTLE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.00

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.5

$---------------------------------------------------------------BRAKING_STANDARD

$This block specifies the saturation and cutoff frequency for the low pass filter for

$brake output signal

[BRAKE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.0

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$-----------------------------------------------------------------MANEUVERS_LIST

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$This block provides the list of all the maneuvers, simulation time for each
maneuver

$maximum solver step size (hmax) and print interval

[MANEUVERS_LIST]

{ name simulation_time h_max print_interval}

'MANEUVER_1' 5.0 0.01 0.01

$---------------------------------------------------------------------MANEUVER_1

[MANEUVER_1]

$This block provides the ties controllers to each driver output

TASK = 'STANDARD'

(CONTROLLERS)

{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}

STEER OL_STEER_0 NONE

THROTTLE OL_0.5 NONE

BRAKE OL_0 NONE

$---------------------------------------------------------OL_STEER

$This is controller block containing all the information required by

$the driver to construct the controller. Different controllers have

$different requirements. Here we are using open loop constant type

$of controller.

[OL_STEER_0]

TAG = 'OPENLOOP'

TYPE = 'CONSTANT'

VALUE = 0.0

$---------------------------------------------------------OL_BRAKE

[OL_0]

TAG = 'OPENLOOP'

TYPE = 'CONSTANT'

VALUE = 0.0

$---------------------------------------------------------OL_THROTTLE

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[OL_0.5]

TAG = 'OPENLOOP'

TYPE = 'CONSTANT'

VALUE = 0.5

2. Save the file.

3. Source the file in the Altair Driver File browser.

4. The Edit driver file button can be used for editing the file.

5. Run the simulation .

6. After the simulation run is over and the solver creates h3d and plt files, click View
Reports… for standard plots.

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7. Select the recent run in the View Reports dialog and click OK.

8. The noise in the steering is numerical error of negligible magnitude – 0 for all
practical purposes. Throttle is constant at 0.5 (driver throttle, brake and clutch
outputs are normalized so, 50%) and brake is constant at 0.

9. Next let's try slightly different initial conditions. We will start the throttle at 0 and
brake at 100%. Click the Edit Driver File button to open up the file editor.

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10. Change the INITIAL_VALUE attribute in the THROTTLE_STANDARD block in the

ADF, from 0.5 to 0.

[THROTTLE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.00

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.5 0

11. Similarly, change the INITIAL_VALUE attribute in the BRAKE_STANDARD block

in the ADF, from 0.0 to 1.0.
[BRAKE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.0

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0 1.0

12. Save the ADF.

13. Run the simulation and study the results.

14. Now, we see that throttle and brake start from respective initial values and step up
to the controller outputs. The time taken to step up is roughly
(5x1/SMOOTHING_FREQUENCY).

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Example #2 Open Loop Sinusoidal Steering Event

In this example we will model a simple event with constant 20% throttle, constant 0%
throttle and sinusoidal steering input with amplitude of 60 degrees (∏/3 radians) and
frequency of 0.5 Hz.

1. Open any text editor and copy/paste the following text into it. Important: All
blank lines must be removed prior to saving the file!

$-----------------------------------------------------------------ALTAIR_HEADER

[ALTAIR_HEADER]

FILE_TYPE = 'ADF'

FILE_VERSION = 1.0

FILE_FORMAT = 'ASCII'

$--------------------------------------------------------------------------UNITS

[UNITS]

(BASE)

{length force angle mass time}

'meter' 'newton' 'radians' 'kg' 'sec'

$--------------------------------------------------------------------VEHICLE_IC

[VEHICLE_INITIAL_CONDITIONS]

VX0 = -20.0

VY0 = 0.0

VZ0 = 0.0

$--------------------------------------------------------------STEERING_STANDARD

[STEER_STANDARD]

MAX_VALUE = 3.141593

MIN_VALUE = -3.141593

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$--------------------------------------------------------------THROTTLE_STANDARD

[THROTTLE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.00

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SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.2

$---------------------------------------------------------------BRAKING_STANDARD

[BRAKE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.0

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$-----------------------------------------------------------------MANEUVERS_LIST

[MANEUVERS_LIST]

{ name simulation_time h_max print_interval}

'MANEUVER_1' 10.0 0.01 0.01

$---------------------------------------------------------------------MANEUVER_1

[MANEUVER_1]

$This block provides the ties controllers to each driver output

TASK = 'STANDARD'

(CONTROLLERS)

{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}

STEER OL_STEER NONE

THROTTLE OL_THROTTLE NONE

BRAKE OL_BRAKE NONE

$---------------------------------------------------------OL_STEER.

$SIGNAL_CHANNEL tells the driver which solver variable in Signal Generator to over-
ride

$with the EXPRESSION value. The EXPRESSION should be consistent with

MOTIONSOLVE.

[OL_STEER]

TAG = 'OPENLOOP'

TYPE = 'EXPRESSION'

SIGNAL_CHANNEL =0

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EXPRESSION = 'DTOR(60)*SIN(2*PI*0.5*TIME)'

$---------------------------------------------------------OL_THROTTLE

[OL_THROTTLE]

TAG = 'OPENLOOP'

TYPE = 'CONSTANT'

VALUE = 0.2

$---------------------------------------------------------OL_BRAKE

[OL_BRAKE]

TAG = 'OPENLOOP'

TYPE = 'CONSTANT'

VALUE = 0.0

2. Run the simulation and study the results.

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Example #3 Open Loop Curve Driven Braking Event

In this example we will model a simple event with braking signal as a curve.

1. Open text editor and copy/paste the following text into it. Important: All blank
lines must be removed prior to saving the file!
$-----------------------------------------------------------------ALTAIR_HEADER

[ALTAIR_HEADER]

FILE_TYPE = 'ADF'

FILE_VERSION = 1.0

FILE_FORMAT = 'ASCII'

$--------------------------------------------------------------------------UNITS

[UNITS]

(BASE)

{length force angle mass time}

'meter' 'newton' 'radians' 'kg' 'sec'

$--------------------------------------------------------------------VEHICLE_IC

[VEHICLE_INITIAL_CONDITIONS]

VX0 = -20.0

VY0 = 0.0

VZ0 = 0.0

$--------------------------------------------------------------STEERING_STANDARD

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[STEER_STANDARD]

MAX_VALUE = 3.141593

MIN_VALUE = -3.141593

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$--------------------------------------------------------------THROTTLE_STANDARD

[THROTTLE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.00

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$---------------------------------------------------------------BRAKING_STANDARD

[BRAKE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.0

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$-----------------------------------------------------------------MANEUVERS_LIST

[MANEUVERS_LIST]

{ name simulation_time h_max print_interval}

'MANEUVER_1' 10.0 0.001 0.01

$---------------------------------------------------------------------MANEUVER_1

[MANEUVER_1]

$This block provides the ties controllers to each driver output

TASK = 'STANDARD'

(CONTROLLERS)

{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}

STEER OL_STEER NONE

THROTTLE OL_THROTTLE NONE

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BRAKE OL_BRAKE NONE

$---------------------------------------------------------OL_STEER.

$SIGNAL_CHANNEL tells the driver which solver variable in Signal Generator to over-
ride

$with the EXPRESSION value. The EXPRESSION should be consistent with

MOTIONSOLVE.

[OL_STEER]

TAG = 'OPENLOOP'

TYPE = 'CONSTANT'

VALUE = 0.0

$---------------------------------------------------------OL_THROTTLE

[OL_THROTTLE]

TAG = 'OPENLOOP'

TYPE = 'CONSTANT'

VALUE = 0.0

$---------------------------------------------------------OL_BRAKE

[OL_BRAKE]

TAG = 'OPENLOOP'

TYPE = 'CURVE'

BLOCK = 'BRAKE_CRV'

$---------------------------------------------------------CURVE_DATA

[BRAKE_CRV]

INDEPENDENT_VARIABLE = 'TIME'

DEPENDENT_VARIABLE = 'BRAKE_SIGNAL'

INTERPOLATION = 'LINEAR'

{TIME BRAKE_SIGNAL}

0 0

1 0

2 0.2

3 0.5

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4 0.8

5 1.0

6 1.0

7 0

10 0

2. Run the simulation and study the results.

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MV-8001: Path and Velocity Following

In this tutorial, you will learn how to:

• Define a path and velocity or acceleration profile

• Set up a feedforward steering controller to follow a path
• Set up a feedforward traction controller to follow a velocity or acceleration profile
Feedforward Controllers

• In a feed-forward system, the control variable adjustment is not error-based.

Instead it is based on knowledge about the process in the form of a mathematical
model of the process and knowledge about or measurements of the process
disturbances.
• In simpler words, controller that uses the knowledge about the vehicle, to
compute the signals
• Assume, a driver who knows that the vehicle weighs 1000 Kg and 30% throttle
produces 1000 N of force in forward direction. If asked to produce 1 m/s2 of
acceleration would simply give 30% throttle.
Defining a path for the driver

Multiple methods can be used to provide the desired path:

• Table of centerline points: Path is provided as a table of equally spaced

cartesian coordinates of centerline points. These points are provided in a separate
file, DDF or Driver Demand File.

$Example DDF

[ALTAIR_HEADER]

FILE_TYPE = 'DDF'

FILE_VERSION = 1.0

FILE_FORMAT = 'ASCII'

$---------------------------------------------------UNITS

[UNITS]

(BASE)

{length force angle mass time}

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'm' 'newton' 'degrees' 'kg' 'sec'

$---------------------------------DEMAND_VECTORS

[DEMAND_VECTORS]

{X Y Z}

0 0 0

-4 0 0

-1 0 0

-2 0 0

-5 0 0

-3 0 0

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• Sequence of straights and arcs: Path is provided as a table of straights and

circular section.

KEY PAR0 PAR1

ST Length of the straight section Unused

ARC Radius of curvature Angle of the arc

• Positive angle means anti-clockwise arc

• Negative angle means clockwise arc

[PATH]

{KEY PAR0 PAR1}

'ST' 100.0 0

'ARC' 50.0 1.57079

'ST' 100.0 0

'ARC' 50.0 3.14159

'ST' 200.0 0

'ARC' 50.0 -2.35619

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• Predefined path: Path is one of the predefined paths visualization (Constant

Radius, Single lane change, Double lane change, and Slalom).

$Example block for constant radius path

[PATH]

TYPE = 'CONSTANT_RADIUS'

RADIUS = 30

INITIAL_STRAIGHT = 45

TURN = 'LEFT‘

Defining a velocity or acceleration profile for the driver

• Demand velocity or acceleration profile is similar to open loop signal explained in

tutorial 1. All methods – constant, expression and curve are valid for demand
signal definition as well.

Exercise

Step 1: Assembling the vehicle.

1. Follow the instructions in Step #1 of MV-8000 to create the vehicle with the
topology as provided below.

Page Label Selection Default

(Yes/No)

1 Model type Full vehicle with advanced driver No

2 Driveline configuration Front wheel drive Yes

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Page Label Selection Default

(Yes/No)

3 Vehicle body Body Yes

3 Front suspension Frnt macpherson susp (1 pc. LCA) Yes

3 Steering linkages Rackpin steering Yes

3 Rear subframe None Yes

3 Rear suspension Rear quadlink susp Yes

3 Powertrain Linear torque map powertrain Yes

3 Signal generator Driver signal generator Yes

3 Tires FIALA/HTIRE Yes

4 Steering column Steering column 1 (not for abaqus) Yes

4 Steering boost None Yes

5 Front struts Frnt strut (with inline jts) Yes

5 Front stabilizer bars None Yes

5 Rear struts Rear strut (with inline jts) Yes

5 Rear stabilizer bars None Yes

6 Front jounce bumpers None Yes

6 Front rebound bumpers None Yes

6 Rear jounce bumpers None Yes

6 Rear rebound bumpers None Yes

7 Disk brakes Disk brakes Yes

7 Front driveline Independent fwd Yes

8 Next No

9 Finish No

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Step 2: Adding driver analysis.

1. Use the Task Wizard to load the driver analysis.

Step 3: Specifying vehicle parameters

1. We are going to use feedforward controllers for path and velocity profile following.
Feedforward controllers model the vehicle and therefore, require vehicle parameters.
Vehicle parameters need not be precise for controllers to work. Most of the vehicle
parameters required by the driver can be automatically calculated from the vehicle
model.

Step 4: Writing an Altair Driver File (ADF) driving event.

Example #1 Constant Radius with Constant Velocity Event

1. Open any text editor and copy and paste the following text into it. Important: All
blank lines must be removed prior to saving the file! Be sure to read through
the comments for a better understanding on what is written in the ADF.

$-----------------------------------------------------------------ALTAIR_HEADER

$ This block is required for version control

[ALTAIR_HEADER]

FILE_TYPE = 'ADF'

FILE_VERSION = 1.0

FILE_FORMAT = 'ASCII'

$--------------------------------------------------------------------------UNITS

$In this block we specify the units in which this file should be read

[UNITS]

(BASE)

{length force angle mass time}

'meter' 'newton' 'radians' 'kg' 'sec'

$--------------------------------------------------------------------VEHICLE_IC

$In this block we specify the initial conditions specifically initial speed of the

$vehicle with respect to the vehicle IC marker in the driver attachments

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[VEHICLE_INITIAL_CONDITIONS]

VX0 = -15.0

VY0 = 0.0

VZ0 = 0.0

$--------------------------------------------------------------STEERING_STANDARD

$This block specifies the saturation and cutoff frequency for the low pass filter for

$steering output signal. These signals are global and are active for the entire event

[STEER_STANDARD]

MAX_VALUE = 3.141593

MIN_VALUE = -3.141593

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$--------------------------------------------------------------THROTTLE_STANDARD

$This block specifies the saturation and cutoff frequency for the low pass filter for

$throttle output signal

[THROTTLE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.00

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.5

$---------------------------------------------------------------BRAKING_STANDARD

$This block specifies the saturation and cutoff frequency for the low pass filter for

$brake output signal

[BRAKE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.0

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$-----------------------------------------------------------------MANEUVERS_LIST

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$This block provides the list of all the maneuvers, simulation time for each
maneuver

$maximum solver step size (hmax) and print interval

[MANEUVERS_LIST]

{ name simulation_time h_max print_interval}

'MANEUVER_1' 15.0 0.005 0.01

$---------------------------------------------------------------------MANEUVER_1

[MANEUVER_1]

$This block provides the ties controllers to each driver output

TASK = 'STANDARD'

(CONTROLLERS)

{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}

STEER FEEDFORWARD_STEER NONE

THROTTLE FEEDFORWARD_TRACTION NONE

BRAKE FEEDFORWARD_TRACTION NONE

$---------------------------------------------------------STEER

$This is controller block containing all the information required by

$the driver to construct the controller. Different controllers have

$different requirements. Here we are using feedforward steering

$controller.

[FEEDFORWARD_STEER]

TAG = 'FEEDFORWARD'

LOOK_AHEAD_TIME = 0.5

PATH = 'PREDEFINED'

BLOCK = 'PATH'

$---------------------------------------------------------PATH

$Block containing the information about the path to be followed

[PATH]

TYPE = 'CONSTANT_RADIUS'

RADIUS = 40

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INITIAL_STRAIGHT = 20

TURN = 'LEFT'

$--------------------------------------------------THROTTLE & BRAKE

[FEEDFORWARD_TRACTION]

TAG = 'FEEDFORWARD'
TYPE = 'FOLLOW_VELOCITY'
LOOK_AHEAD_TIME = 0.5
DEMAND_SIGNAL = 'DEMAND_SPEED'
$---------------------------------------------------------DEMAND_SPEED

$Block containing all the information about the velocity profile to be followed

[DEMAND_SPEED]

TYPE = 'CONSTANT'

VALUE = 15.0
2. Save the ADF.

3. Run the simulation .

4. Observe the results.

5. Next let's try the same path using another method - Sequence of straight and arcs.

6. Change the PATH attribute in the FEEDFORWARD_STEER block in the ADF to

SEQUENCE_OF_ST_CRV.

[FEEDFORWARD_STEER]

TAG = 'FEEDFORWARD'

LOOK_AHEAD_TIME = 0.5

PATH = 'PREDEFINED SEQUENCE_OF_ST_CRV '

BLOCK = 'PATH'

7. Replace the path block in the ADF with the following text.

[PATH]
{KEY PAR0 PAR1}
'ST' 20 0
'ARC' 40 6.28318
8. Rerun the simulation. This is simply a change in the method of providing the same
path and therefore, should make any difference in the results.

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Example #2 Straight Line Acceleration Event

In this example we will create an event to follow a straight line while accelerating the
vehicle constantly with 2 m/s2.

1. Open any text editor and copy/paste the following text into it. Important: All
blank lines must be removed prior to saving the file!

$-----------------------------------------------------------------ALTAIR_HEADER

[ALTAIR_HEADER]

FILE_TYPE = 'ADF'

FILE_VERSION = 1.0

FILE_FORMAT = 'ASCII'

$--------------------------------------------------------------------------UNITS

[UNITS]

(BASE)

{length force angle mass time}

'meter' 'newton' 'radians' 'kg' 'sec'

$--------------------------------------------------------------------VEHICLE_IC

[VEHICLE_INITIAL_CONDITIONS]

VX0 = -20.0

VY0 = 0.0

VZ0 = 0.0

$--------------------------------------------------------------STEERING_STANDARD

[STEER_STANDARD]

MAX_VALUE = 3.141593

MIN_VALUE = -3.141593

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$--------------------------------------------------------------THROTTLE_STANDARD

[THROTTLE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.00

SMOOTHING_FREQUENCY = 10.0

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INITIAL_VALUE = 0.2

$---------------------------------------------------------------BRAKING_STANDARD

[BRAKE_STANDARD]

MAX_VALUE = 1.0

MIN_VALUE = 0.0

SMOOTHING_FREQUENCY = 10.0

INITIAL_VALUE = 0.0

$-----------------------------------------------------------------MANEUVERS_LIST

[MANEUVERS_LIST]

{ name simulation_time h_max print_interval}

'MANEUVER_1' 10.0 0.01 0.01

$---------------------------------------------------------------------MANEUVER_1

[MANEUVER_1]

$This block provides the ties controllers to each driver output

TASK = 'STANDARD'

(CONTROLLERS)

{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}

STEER FEEDFORWARD_STEER NONE

THROTTLE FEEDFORWARD_TRACTION NONE

BRAKE FEEDFORWARD_TRACTION NONE

$---------------------------------------------------------STEER

$This is controller block containing all the information required by

$the driver to construct the controller. Different controllers have

$different requirements. Here we are using feedforward steering

$controller.

[FEEDFORWARD_STEER]

TAG = 'FEEDFORWARD'

LOOK_AHEAD_TIME = 0.5

PATH = 'PREDEFINED'

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BLOCK = 'PATH'

$---------------------------------------------------------PATH

$Block containing the information about the path to be followed

[PATH]

TYPE = 'CONSTANT_RADIUS'

RADIUS = 40

INITIAL_STRAIGHT = 20

TURN = 'LEFT'

$--------------------------------------------------THROTTLE & BRAKE

[FEEDFORWARD_TRACTION]

TAG = 'FEEDFORWARD'
TYPE = 'FOLLOW_VELOCITY FOLLOW_ACCELERATION'
LOOK_AHEAD_TIME = 0.5
DEMAND_SIGNAL = 'DEMAND_SPEEDDEMAND_ACC'
$---------------------------------------------------------DEMAND_ACC

$Block containing all the information about the acceleration profile to be followed

[DEMAND_SPEED]

TYPE = 'CONSTANT'

VALUE = 2.0

2. Run the simulation and study the results.

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Example #3 Path as a Table of Cartesian Coordinates of Centerline Points Event

In this example we’ll give path as a table of Cartesian coordinated of centerline points.
We’ll define the velocity profile as well along the path.

1. Open text editor and copy/paste the following text into it. Important: All blank
lines must be removed prior to saving the file!

$-----------------------------------------------------------------ALTAIR_HEADER
[ALTAIR_HEADER]
FILE_TYPE = 'ADF'
FILE_VERSION = 1.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------------------UNITS
[UNITS]
(BASE)
{length force angle mass time}
'meter' 'newton' 'radians' 'kg' 'sec'
$--------------------------------------------------------------------VEHICLE_IC
[VEHICLE_INITIAL_CONDITIONS]
VX0 = -20.0
VY0 = 0.0
VZ0 = 0.0
$--------------------------------------------------------------STEERING_STANDARD
[STEER_STANDARD]
MAX_VALUE = 3.141593
MIN_VALUE = -3.141593
SMOOTHING_FREQUENCY = 10.0
INITIAL_VALUE = 0.0
$--------------------------------------------------------------THROTTLE_STANDARD
[THROTTLE_STANDARD]
MAX_VALUE = 1.0
MIN_VALUE = 0.00
SMOOTHING_FREQUENCY = 10.0
INITIAL_VALUE = 0.2
$---------------------------------------------------------------BRAKING_STANDARD
[BRAKE_STANDARD]
MAX_VALUE = 1.0
MIN_VALUE = 0.0
SMOOTHING_FREQUENCY = 10.0
INITIAL_VALUE = 0.0
$-----------------------------------------------------------------MANEUVERS_LIST
[MANEUVERS_LIST]
{ name simulation_time h_max print_interval}
'MANEUVER_1' 10.0 0.01 0.01
$---------------------------------------------------------------------MANEUVER_1
[MANEUVER_1]
TASK = 'STANDARD'
(CONTROLLERS)
{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}
STEER FEEDFORWARD_STEER NONE

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THROTTLE FEEDFORWARD_TRACTION NONE

BRAKE FEEDFORWARD_TRACTION NONE
$---------------------------------------------------------STEER
[FEEDFORWARD_STEER]
TAG = 'FEEDFORWARD'
LOOK_AHEAD_TIME = 0.5
$Instruction to the driver that the path is of type DDF
PATH = 'DDF'
$Path of the ddf file, data lies in same folder in file named snet.ddf
FILE = 'snet.ddf'
$--------------------------------------------------THROTTLE & BRAKE
[FEEDFORWARD_TRACTION]
TAG = 'FEEDFORWARD'
TYPE = 'FOLLOW_VELOCITY'
LOOK_AHEAD_TIME = 0.5
DEMAND_SIGNAL = 'DEMAND_SPEED'
$---------------------------------------------------------DEMAND_SPEED
$Block containing all the information about the acceleration profile to be followed
[DEMAND_SPEED]
TYPE = 'CURVE'
$Velocity profile information is in the file snet.ddf in the same folder
$Velocity profile is defined under the column name DV in the DDF
${X Y Z DV}
FILE = 'snet.ddf'
DEMAND_VECTOR = 'DV'

2. Place snet.adf in the same folder as the ADF.

3. Run the simulation and study the results.

4. Alternatively, edit the DEMAND_SPEED block to be a curve as a function of

distance traveled along the centerline. Replace the DEMAND_SPEED block in the
ADF with the following text.

[DEMAND_SPEED]
TYPE = 'CURVE'
BLOCK = 'DEMAND_CURVE'
$-------------------------DEMAND_CURVE
[DEMAND_CURVE]
INDEPENDENT_VARIABLE = 'PATH_S'
DEPENDENT_VARIABLE = SIGNAL
INTERPOLATION = 'LINEAR'
{PATH_S SIGNAL}
0 30
250 35
400 10
584 10
680 25
780 10
942 10
1300 40
1695 10

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1868 10
1958 10
2040 15
2109 15
2173 15
2300 20
2409 15
2524 15
2647 10
2811 10
3500 50

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MV-8002: Multi-Maneuver Events

In this tutorial, you will learn how to:

• Define end conditions for a maneuver or a sub-event

• Write parametric expressions
• Define events as multiple sub-events executed sequentially
End conditions

• Conditions to end a particular maneuver before given simulation end time

• Examples of the end conditions can be – End maneuver when longitudinal velocity
is greater than 10 m/s or when roll angle reaches steady state
• End conditions can be logically coupled (OR-ed or AND-ed) by splitting them into
groups
Multi-maneuver events

• Events consisting for more than one maneuver – these maneuvers are executed
sequentially
• Controllers can only be changed while switching the maneuvers
• Hence, rule of thumb – whenever need to change the controller, change the
maneuver
• Driver does following while switching the maneuvers
o Halts previous maneuver

o Saves the signals value that acts as initial value for next maneuver in case
of parametric expressions, there is a list of signals that driver monitors.
Please refer to the documentation for more details.
o Executes the change of/in controller

o Starts new maneuver

• Examples: Fishhook, J-turn, Throttle off cornering analysis

Parametric Expressions

• When in a multi-maneuver event, expressions need to be re-evaluated before the

start of the maneuver in order to maintain the continuity of the signals.
• { Expression in Curly Braces } - Instruction to driver to evaluate the
expression before giving it to MotionSolve
• {SIGNAL} is evaluated as VARVAL(signal solver variable id)
• {SIGNAL_0} is evaluated as Signal Value at the end of last maneuver
• {%SIGNAL} is evaluated as {SIGNAL} – {SIGNAL_0}
• Driver evaluates the expressions for the maneuver before the start of the
maneuver

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Example:

Throttle off cornering event

• Maneuver 1 – Constant radius cornering, constant radius path with constant
velocity - until roll angle reaches its maximum and stabilizes.
• Maneuver 2 – Step down the throttle while following the same path
• In this event, Maneuver 1 would typically consist of closed loop steering and
throttle controllers. In Maneuver 2, the steering controller still remains the same,
however the throttle controller is open loop, type expression – ‘STEP(TIME – end
time of maneuver 1 , 0, throttle value at the end of maneuver 1, 0.5, 0)’.

Exercise

Step 1: Assembling the vehicle.

1. Follow the instructions in Step #1 of MV-8000 to create the vehicle with the
topology as provided below.

Page Label Selection Default

(Yes/No)

1 Model type Full vehicle with advanced driver No

2 Driveline configuration Front wheel drive Yes

3 Vehicle body Body Yes

3 Front suspension Frnt macpherson susp (1 pc. LCA) Yes

3 Steering linkages Rackpin steering Yes

3 Rear subframe None Yes

3 Rear suspension Rear quadlink susp Yes

3 Powertrain Linear torque map powertrain Yes

3 Signal generator Driver signal generator Yes

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Page Label Selection Default

(Yes/No)

3 Tires FIALA/HTIRE Yes

4 Steering column Steering column 1 (not for abaqus) Yes

4 Steering boost None Yes

5 Front struts Frnt strut (with inline jts) Yes

5 Front stabilizer bars Frnt stabar with links No

5 Rear struts Rear strut (with inline jts) Yes

5 Rear stabilizer bars Rear stabar with links No

6 Front jounce bumpers None Yes

6 Front rebound bumpers None Yes

6 Rear jounce bumpers None Yes

6 Rear rebound bumpers None Yes

7 Disk brakes Disk brakes Yes

7 Front driveline Independent fwd Yes

8 Next No

9 Finish No

Step 2: Adding driver analysis.

1. Use the Task Wizard to load the driver analysis.

Step 3: Specifying vehicle parameters.

1. We are going to use feedforward controllers for velocity profile following.
Feedforward controllers model the vehicle and hence, require vehicle parameters.
Vehicle parameters need not be precise for controllers to work. Most of the vehicle
parameters required by the driver can be automatically calculated from the vehicle
model.

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Step 4: Writing an Altair Driver File (ADF) driving event.

Example #1 Fish Hook Event

We will model this event in three maneuvers.

1. Open any text editor and copy and paste the following text into it. Important: All
blank lines must be removed prior to saving the file! Be sure to read through
the comments for a better understanding on what is written in the ADF.

$-----------------------------------------------------------------ALTAIR_HEADER
[ALTAIR_HEADER]
FILE_TYPE = 'ADF'
FILE_VERSION = 1.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------------------UNITS
[UNITS]
(BASE)
{length force angle mass time}
'meter' 'newton' 'radians' 'kg' 'sec'
$--------------------------------------------------------------VEHICLE_IC
[VEHICLE_INITIAL_CONDITIONS]
VX0 = -17.5
VY0 = 0.0
VZ0 = 0.0
$--------------------------------------------------------------STEERING_STANDARD
[STEER_STANDARD]
$Upper and lower bounds are kept to match the event requirement of saturating at
$270 deg and -540 deg respectively
MAX_VALUE = 4.712
MIN_VALUE = -9.425
SMOOTHING_FREQUENCY = 5
INITIAL_VALUE = 0.0
$--------------------------------------------------------------THROTTLE_STANDARD
[THROTTLE_STANDARD]
MAX_VALUE =1
MIN_VALUE =0
SMOOTHING_FREQUENCY = 5
INITIAL_VALUE = 0.0
$---------------------------------------------------------------BRAKING_STANDARD
[BRAKE_STANDARD]
MAX_VALUE =1
MIN_VALUE =0
SMOOTHING_FREQUENCY = 5
INITIAL_VALUE = 0.0
$-----------------------------------------------------------------MANEUVERS_LIST
[MANEUVERS_LIST]
{name simulation_time h_max print_interval}
'GO_STRAIGHT' 2.0 0.01 0.1
'LEFT_TURN' 12.0 0.001 0.1
'RIGHT_TURN' 10.0 0.001 0.1
[GO_STRAIGHT]

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TASK = 'STANDARD'
(CONTROLLERS)
{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}
STEER OL_CONSTANT_STEER NONE
THROTTLE FEED_FORWARD_TRACTION NONE
BRAKE FEED_FORWARD_TRACTION NONE
$---------------------------------------------------------------------MANEUVER_2
[LEFT_TURN]
TASK = 'STANDARD'
(CONTROLLERS)
{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}
STEER OL_LEFT_STEER NONE
THROTTLE FEED_FORWARD_TRACTION NONE
BRAKE FEED_FORWARD_TRACTION NONE
$We want to end the maneuver if the roll rate reaches steady state i.e. d(Roll
rate)/dt = 0
$(tolerance = 0.005) for 0.5 seconds
(END_CONDITIONS)
{SIGNAL GROUP ABS OPERATOR VALUE TOLERANCE WATCH_TIME}
ROLL_RATE 0 Y SS 0 0.005 0.5
$---------------------------------------------------------------------MANEUVER_3
[RIGHT_TURN]
TASK = 'STANDARD'
(CONTROLLERS)
{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}
STEER OL_RIGHT_STEER NONE
THROTTLE FEED_FORWARD_TRACTION NONE
BRAKE FEED_FORWARD_TRACTION NONE
$--------------------------------------STEER for Maneuver 1
[OL_CONSTANT_STEER]
TAG = 'OPENLOOP'
TYPE = 'CONSTANT'
VALUE = 0
$--------------------------------------STEER for Maneuver 2
$Ramp up the steering wheel @ 360 deg per send
[OL_LEFT_STEER]
TAG = 'OPENLOOP'
TYPE = 'EXPRESSION'
SIGNAL_CHANNEL = 0
EXPRESSION = '{STEER_0} + {%TIME}*PI*2'
$--------------------------------------STEER for Maneuver 3
[OL_RIGHT_STEER]
TAG = 'OPENLOOP'
TYPE = 'EXPRESSION'
SIGNAL_CHANNEL = 0
EXPRESSION = '{STEER_0} - {%TIME}*PI*2'
$--------------------------------------THROTTLE and BRAKE controller for entire event
[FEED_FORWARD_TRACTION]
TAG = 'FEEDFORWARD'
TYPE = 'FOLLOW_VELOCITY'

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LOOK_AHEAD_TIME = 0.5
DEMAND_SIGNAL = 'DEMAND_VEL'
$----------------Demand Velocity
[DEMAND_VEL]
TYPE = 'CONSTANT'
VALUE = 17.5

2. Run the simulation .

3. Observe the results.

Maneuver 2 stops when roll rate is consistently 0 (with mentioned tolerance) for 0.5
seconds.

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MV-8003: Gear and Clutch Control

In this tutorial, you will learn how to:

• Interfacing gear clutch control for vehicles with manual transmission

Gear clutch controller

The Engine speed based shift controller upshifts whenever engine speed goes above the
upshift RPM, and it downshifts when the engine speed goes below the downshift RPM.
The Gear shift controller also controls the throttle and clutch signal as shown in the
figure below.

Exercise

Step 1: Assembling the vehicle.

1. Follow the instructions in Step #1 of MV-8000 to create the vehicle with the
topology as provided below.

Page Label Selection Default

(Yes/No)

1 Model type Full vehicle with advanced driver No

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Page Label Selection Default

(Yes/No)

2 Driveline configuration Front wheel drive Yes

3 Vehicle body Body Yes

3 Front suspension Frnt macpherson susp (1 pc. LCA) Yes

3 Steering linkages Rackpin steering Yes

3 Rear subframe None Yes

3 Rear suspension Rear quadlink susp Yes

3 Powertrain IC engine friction clutch (manual) Yes

3 Signal generator Driver signal generator Yes

3 Tires FIALA/HTIRE Yes

4 Steering column Steering column 1 (not for abaqus) Yes

4 Steering boost None Yes

5 Front struts Frnt strut (with inline jts) Yes

5 Front stabilizer bars Frnt stabar with links No

5 Rear struts Rear strut (with inline jts) Yes

5 Rear stabilizer bars Rear stabar with links No

6 Front jounce bumpers None Yes

6 Front rebound bumpers None Yes

6 Rear jounce bumpers None Yes

6 Rear rebound bumpers None Yes

7 Disk brakes Disk brakes Yes

7 Front driveline Independent fwd Yes

8 Next No

9 Finish No

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Step 2: Adding driver analysis.

1. Use the Task Wizard to load the driver analysis.

Step 3: Specifying vehicle parameters

1. We are going to use feedforward controllers for velocity profile following.
Feedforward controllers model the vehicle and hence, require vehicle parameters.
Vehicle parameters need not be precise for controllers to work. Most of the vehicle
parameters required by the driver can be automatically calculated from the vehicle
model.

Step 4: Writing an Altair Driver File (ADF) driving event .

Example #1 Velocity profile following with gear and clutch controller

We will modify the ADF which was written for MV-8001 (example 3) and incorporate a
gear and clutch controller.

1. Open any text editor and copy and paste the following text into it. Important: All
blank lines must be removed prior to saving the file! Be sure to read through
the comments for a better understanding on what is written in the ADF.

$-----------------------------------------------------------------ALTAIR_HEADER
[ALTAIR_HEADER]
FILE_TYPE = 'ADF'
FILE_VERSION = 1.0
FILE_FORMAT = 'ASCII'
$--------------------------------------------------------------------------UNITS
[UNITS]
(BASE)
{length force angle mass time}
'meter' 'newton' 'radians' 'kg' 'sec'
$--------------------------------------------------------------------VEHICLE_IC
[VEHICLE_INITIAL_CONDITIONS]
VX0 = -20.0
VY0 = 0.0
VZ0 = 0.0
$--------------------------------------------------------------STEERING_STANDARD
[STEER_STANDARD]
MAX_VALUE = 3.141593
MIN_VALUE = -3.141593
SMOOTHING_FREQUENCY = 10.0
INITIAL_VALUE = 0.0
$--------------------------------------------------------------THROTTLE_STANDARD
[THROTTLE_STANDARD]

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MAX_VALUE = 1.0
MIN_VALUE = 0.00
SMOOTHING_FREQUENCY = 10.0
INITIAL_VALUE = 0.2
$---------------------------------------------------------------BRAKING_STANDARD
[BRAKE_STANDARD]
MAX_VALUE = 1.0
MIN_VALUE = 0.0
SMOOTHING_FREQUENCY = 10.0
INITIAL_VALUE = 0.0
$---------------------------------------------------------------GEAR_STANDARD
[GEAR_STANDARD]
MAX_VALUE =6
MIN_VALUE =1
INITIAL_VALUE =1
$---------------------------------------------------------------CLUTCH_STANDARD
[CLUTCH_STANDARD]
MAX_VALUE =1
MIN_VALUE =0
SCALING_FACTOR =1
INITIAL_VALUE = 0.0
$-----------------------------------------------------------------MANEUVERS_LIST
[MANEUVERS_LIST]
{ name simulation_time h_max print_interval}
'MANEUVER_1' 10.0 0.01 0.01
$---------------------------------------------------------------------MANEUVER_1
[MANEUVER_1]
TASK = 'STANDARD'
(CONTROLLERS)
{DRIVER_SIGNAL PRIMARY_CONTROLLER ADDITIONAL_CONTROLLER}
STEER FEEDFORWARD_STEER NONE
THROTTLE FEEDFORWARD_TRACTION NONE
BRAKE FEEDFORWARD_TRACTION NONE
GEAR GEAR_CLUTCH_CONTROL NONE
CLUTCH GEAR_CLUTCH_CONTROL NONE
$---------------------------------------------------------STEER
[FEEDFORWARD_STEER]
TAG = 'FEEDFORWARD'
LOOK_AHEAD_TIME = 0.5
$Instruction to the driver that the path is of type DDF
PATH = 'DDF'
$Path of the ddf file, data lies in same folder in file named snet.ddf
FILE = 'snet.ddf'
$--------------------------------------------------THROTTLE & BRAKE
[FEEDFORWARD_TRACTION]
TAG = 'FEEDFORWARD'
TYPE = 'FOLLOW_VELOCITY'
LOOK_AHEAD_TIME = 0.5
DEMAND_SIGNAL = 'DEMAND_SPEED'
$---------------------------------------------------------DEMAND_SPEED

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$Block containing all the information about the acceleration profile to be followed
[DEMAND_SPEED]
TYPE = 'CURVE'
$Velocity profile information is in the file snet.ddf in the same folder
$Velocity profile is defined under the column name DV in the DDF
${X Y Z DV}
FILE = 'snet.ddf'
DEMAND_VECTOR = 'DV'
$Gear clutch controller
[GEAR_CLUTCH_CONTROL]
TAG = 'ENGINE_SPEED'
(GEAR_SHIFT_MAP)
{G US DS CT CRT TFD TFT CFT TRD TRT}
1 650 285 0.45 0.05 0.1 0.1 0.05 0.05 0.05
2 650 285 0.45 0.05 0.1 0.1 0.05 0.05 0.05
3 650 285 0.45 0.05 0.1 0.1 0.05 0.05 0.05
4 650 285 0.45 0.05 0.1 0.1 0.05 0.05 0.05
5 650 285 0.45 0.05 0.1 0.1 0.05 0.05 0.05

2. Run the simulation .

3. Observe the results.

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MV-8050: Using the Leaf Spring Builder

Introduction
The purpose of this tutorial is to introduce you to the Leaf Spring Builder utility. In
this tutorial, you will learn how to:

• Access the Leaf Spring Builder utility in MotionView

• Populate a leaf spring model with data and save the data in an .lpf file

• Generate a MotionView file (.mdl) of the leaf spring

• Open the model in MotionView

• Create a test of the model and exercise the test using the utility
The Leaf Spring Builder is a utility designed to work with MotionView and the vehicle
modeling libraries included with MotionView. Spring geometry, bushing rates and a
number of other physical constants are required as input to the model. Reasonable
defaults for data are included for many fields, which will make the model run. Accurate
data should be substituted as it becomes available. The output of the utility is a beam
and mass model of a leaf spring, in either a MotionView system definition file or a
complete MotionView model.

To learn more about the Leaf Spring Builder, see the Leaf Spring Modeling topic.

Required Files
Copy the files listed in the table below, located in the mbd_modeling\leafspring
\leaf_profiles folder, to the <working directory>.

File Name File

Comma Separated Values files Leaf_1.csv

Leaf_2.csv

Leaf_3.csv

Leaf_4.csv

These .csv files contain coordinate pairs that represent the geometry of the centerline of
the leaf. The leaf in this tutorial was created by measuring geometry from a light truck
rear suspension. The rear suspension in this example has a GAWR of 3950 lbs.

Step 1: Accessing the Leaf Spring Builder.

To build a leaf spring model, you must first load the MBD-Vehicle Dynamics Tools
preference file in MotionView. Once loaded, HyperWorks remembers and automatically
loads the MBD-Vehicle Dynamics Tools preference file each time you start
HyperWorks. To load the MBD-Vehicle Dynamics Tools preference file follow the steps
below.

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Launching MotionView

1. Start a new MotionView session.

The MotionView window is displayed.

Loading the Vehicle Dynamics Tools Preference File

2. Click File > Load > Preference File from the MotionView Menu bar.

The Preferences dialog is displayed.

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3. From the Preferences dialog, select MBD-Vehicle Dynamics Tools and click
Load.

Displaying the Leaf Spring Builder

4. Click Vehicle Tools > Leaf Spring Builder.

The Leaf Spring Dialog window opens.

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Step 2: Building a Leaf Spring Model.

Using the Leaf Spring Builder you can define the properties of a leaf spring model, by
entering the data about the number of leaves, the leaf shapes, cross-sections, material
properties, and contact properties, the shackle length if your spring employs a shackle,
the nominal axle load and other information to create a MDL system definition. The
system definition can be imported into a suspension or full vehicle model. You can also
test the leaf spring by applying a load and plotting the load versus deflection in the Leaf
Spring Builder. The Leaf Spring Builder user interface has four parts as shown in the
following image:

• Browser: Used for navigating and selecting leaf spring components.

• Property Editor: Used for entering and modifying data.
• Help Section: Used for describing the data you enter.
• Visualization Canvas: Used for viewing leaf shapes. When you select data in
the browser the leaf spring builder displays the corresponding editor, visualization
canvas and help section.

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The following steps show you the process involved in creating a leaf spring model using
the components of the Leaf Spring Builder.

General

1. Click on the General option in the Leaf Spring Components browser section.

The entire leaf model is displayed in the Help section.

Primary Systems Selection

2. Select the Linear and Pre-Assembly options from the Interpolation Scheme and
Data Shape Condition drop-down menus.

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3. Default units are set in the Units tab.

Leaves: Leaves components allow you to add leaves to the leaf spring.

4. Right-click on the Leaves component and click Add a Leaf, to add leaves.

A Leaf 2 component is added to the leaves component. In a similar manner, add

two additional leaves (for a total four).

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Leaf 1

5. Click on the Leaf 1 component and see where the required data can be entered
under Leaf Data.

6. Browse and locate the required .csv file, Leaf_1.csv for the Shape Input field.

OR

− You can specify the required values for the X coordinate, Z coordinate and width
and thickness variation manually for the leaf profile.

Note If the leaf is a constant thickness (and/or width), you need to specify the
values only in the first row. The same value will be used along the entire
length of the leaf.

The Leaf 1 graphics are displayed in the Canvas section.

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7. Click on the Details tab and select the Master option from the Type drop-down
menu. Enter the Leaf 1 data for the Details tab as shown in the following image.

The Leaf 1 graphics in the Canvas section are changed accordingly.

Leaf 2

8. Click on the Leaf 2 component and enter the required data under Leaf Data in the
Shape tab.

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9. Browse and locate the required .csv file, Leaf_2.csv, for the Shape Input field.
Enter the Width and Thickness as shown in the image below.

The Leaf 2 graphics are displayed in the Canvas section.

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10. Click on the Details tab and select the Graduated option from the Type drop-down
menu. Enter the Leaf 2 values for the Details tab as shown in the following image.

11. Click on the Contacts tab and enter the value 12 in the Total number of Contact
points field and hit Enter.

The Contacts table for Leaf 2 is generated based upon the values entered.

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12. Enter the following data into the Contacts table.

S. No Direction Distance Contact Type

1 Front 95 METAL_METAL

2 Front 155 METAL_METAL

3 Front 234 METAL_METAL

4 Front 311 METAL_METAL

5 Front 385 METAL_METAL

6 Front 457 METAL_METAL

7 Rear 105 METAL_METAL

8 Rear 155 METAL_METAL

9 Rear 234 METAL_METAL

10 Rear 311 METAL_METAL

11 Rear 385 METAL_METAL

12 Rear 457 METAL_METAL

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13. The entered contact points are plotted on Leaf 2 as shown in the following image in
the Canvas section.

14. For this example, leave the Tip Liners (Front and Rear) set to Off in the Tip
Contacts tab.

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Leaf 3

15. Browse and locate the required .csv file, Leaf_3.csv, for the Shape Input field.

The Leaf 3 graphics are displayed in the Canvas section.

16. Click on the Details tab and select the Graduated option from the Type drop-down
menu. Enter the Leaf 3 values for the Details tab as shown in the following image.

17. Click on the Contacts tab and enter the value 10 in the Total number of Contact
points field and hit Enter.

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18. Enter the following data into the Contacts table.

S. No Direction Distance Contact Type

1 Front 95 METAL_METAL

2 Front 155 METAL_METAL

3 Front 234 METAL_METAL

4 Front 311 METAL_METAL

5 Front 385 METAL_METAL

6 Rear 105 METAL_METAL

7 Rear 155 METAL_METAL

8 Rear 234 METAL_METAL

9 Rear 311 METAL_METAL

10 Rear 385 METAL_METAL

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19. The entered contact points are plotted on Leaf 3 as shown in the following image in
the Canvas section.

Leaf 4

20. Browse and locate the required .csv file, Leaf_4.csv, for the Shape Input field.

The Leaf 4 graphics are displayed in the Canvas section.

21. Click on the Details tab and select the Graduated option from the Type drop-down
menu. Enter the Leaf 4 values for the Details tab as shown in the following image.

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22. Click on the Contacts tab and enter the value 8 in the Total number of Contact
points field and hit Enter.

23. Enter the following data into the Contacts table.

S. No Direction Distance Contact Type

1 Front 95 METAL_METAL

2 Front 155 METAL_METAL

3 Front 234 METAL_METAL

4 Front 311 METAL_METAL

5 Rear 105 METAL_METAL

6 Rear 155 METAL_METAL

7 Rear 234 METAL_METAL

8 Rear 311 METAL_METAL

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24. The entered contact points are plotted on Leaf 4 as shown in the following image in
the Canvas section.

Leaf Ends: Leaf ends parameters provide the details about the eye hook types at front
and at the rear ends. Three spring eye types are supported.

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25. Click on the Front_leaf_end option and enter the following data in the Leaf Ends
section.

− Select Spring Eye from the Leaf End Type drop-down menu.

26. Click on the Rear_leaf_end option and enter the following data in the Leaf Ends
section.

Clip: Clip parameter is used to define the Clip properties. The number of clips added in
the clips parameter are reflected in the Clip Details.

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27. Click on the Clips component and enter the following data in the Clip Properties
section.

28. Click on the Axle component and enter the following data in the Axle Properties
section.

Materials

29. Click on the Materials component and enter the following data in the Material
Properties section.

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Bushings

30. Click on the Bushings component and use the default values under Bushing
Properties.

Contacts

31. Click on the Contacts component (by default there is only one contact
METAL_METAL). Right-click on the Contacts component and add one more contact
named METAL_PLASTIC.

Note Right-click to rename the contact after you have added it.

32. Click on the METAL_METAL contact and enter the following data in the Contact
Properties section.

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33. Click on the METAL_PLASTIC contact and enter the following data in the Contact
Properties section.

34. Now for this example, go back to the Clips component and click on the Clip_1
option and update the Contact Property to the METAL_PLASTIC contact.

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Shackle

35. Click on the Shackle component and enter the following data in the Shackle
Properties section.

Clip Details

36. Click on the ClipDetails option and enter 1 in the Total number of Clips field, with
respect to the number of clips added in the Clips component.

37. Enter the following data for the Clip 1 component.

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Step 3: Importing the Leaf Spring Model into MotionView.

The Leaf Spring Builder saves the data in an .lpf file. The file can be saved and loaded
in the Leaf Spring Builder interface. The file is readable and is in TiemOrbit format. To
make model changes, edit the spring data in the interface and build a new leaf spring
system definition.

1. Click on the Build option and browse and locate the required path for the <working
directory>. Enter test_leaf_1, as the file name in the Output File Label field
and view the choices available for building the leaf spring model.

2. Select the Assemble leaves and apply preload radio button and the Write
Property File check box and click on the Build button.

3. The Leaf Builder Message window opens. The message window shows the model
checks that are performed before the test job is submitted to the MotionSolve.

4. Click OK to exit the window.

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5. MotionSolve is invoked in the background and it displays several windows as it runs,

in order to generate the leaf spring MDL system definition file.

6. Once the MotionSolve process is done, close the Leaf Spring Builder dialog.

7. The Leaf Builder Message window is displayed.

8. Click the OK button in the Leaf Builder Message dialog.

9. From the Project browser, click on the Model as shown in the following image.

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10. Click on the Import/Export tab in the panel area.

11. Use the Select file browser and locate the generated .mdl file from the <working
directory> and click Import.

12. The Import Definition window is displayed. Use the default options in the window
and click OK.

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13. Leaf Spring system is shown in the Project browser. Click on it and resolve the
attachments.

14. The Leaf Spring is displayed in the MotionView graphics window.

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Step 4: Testing the Leaf Spring Model.

Testing can be performed with either force or motion applied at the axle center, and can
be run in quasi-static or transient analysis simulations. Quasi-static analysis is used as
an example in the following.

1. Return to the Leaf Spring Builder and click on the Test component in the browser.

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2. Browse and locate the required Testing Directory and enter the following data:
select Force as the Test Rig Type and the Quasi-static analysis as the
Simulation Type (as shown in the following Test section). Click on the Run Test
Rig button.

3. The Leaf Builder Message window opens. The message window shows the model
checks that are performed before the test job is submitted to MotionSolve. Click OK
to exit the window.

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4. MotionSolve is invoked in the background and displays several windows as it runs.

5. Once the run process is completed, the following F-D Curve is generated in the Leaf
Builder.

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MV-8100: Tire Modeling

Introduction
The tire models describe the interface between the wheel and the road. For this tire
interface, the tire parameters and properties are set by a Tire Property File with the
extension (.tir) while the road interface is described by a Road Property File with the
extension (.rdf). One Body, one Point, and two Marker connections are needed to
define the tire interface. In addition, physical properties of the tire such as the unloaded
radius, aspect ratio, width, mass, and moment of inertia's that need to be specified. The
purpose of this tutorial is to show the process of how to build a tire model in the
MotionView interface and to interpret the results. In this tutorial, you will learn how to:

• Launch MotionView and load the MBD-Vehicle Dynamics Tools preference file
• Build a Tire model
• Run the model in MotionSolve
• View the simulated results

Step 1: Launching MotionView.

To build an AutoTire entity, you must first load the MBD-Vehicle Dynamics Tools
preference file in MotionView. Once loaded, HyperWorks remembers and automatically
loads the MBD-Vehicle Dynamics Tools preference file each time you start
HyperWorks. To load the MBD-Vehicle Dynamics Tools preference file follow the steps
below.

1. Start a new MotionView session.

The MotionView window is displayed.

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2. Click File > Load > Preference File from the MotionView Menu bar.

The Preferences dialog is displayed.

3. From the Preferences dialog, select MBD-Vehicle Dynamics Tools and click
Load.

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Step 2: Building a Tire Model.

Follow the steps below to create a tire model in the MotionView interface.

Adding a Point to the Model

1. Create a point for the model by right-clicking the Points folder in the Project
browser. Click on the Add Point option from the context menu.

The Add Point or PointPair dialog is displayed.

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2. Enter Wheel CM as the Label and p_wheel_cm as the Variable and click OK.

The Wheel CM point is added in the Project browser.

3. Enter the value of 313 for Z coordinate in the Properties tab as shown in the image
below.

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Adding a Body to the Model

4. Create a Hub body by right-clicking the Bodies folder in the Project browser. Click
on the Add Body option from the context menu.

The Add Body or BodyPair dialog is displayed.

5. Enter Hub as the Label and b_hub as the Variable and click OK.

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6. The Hub body is added in the Project browser.

7. Click on the CM Coordinates tab of the Hub body to use the wheel center as the
center of this body. Select the Use center of mass coordinate system check box.

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8. Double click the Point collector button in the panel area.

The Select a Point window opens. Select the Wheel CM point and click OK.

The wheel center is used as the center of the hub body.

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Updating Mass and Inertia Properties of the Hub Body

9. From the Properties tab enter the following data as shown in the image below to
set the mass and inertia of the hub body.

Setting Initial Conditions to the Hub Body

10. Enter the following data in the Initial Conditions tab as shown in the below image
to set the initial conditions.

Note These initial conditions applied at the Hub body represent a tire+rim with
an initial forward velocity Vx of 20000mm/s and rotating at 65rad/s.

Adding a Marker to the Model

11. Right-click on the Markers folder in the Project browser and click on the Add
Marker option from the context menu.

The Add Marker or MarkerPair dialog is displayed.

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12. Enter Tire Reference Marker as the Label and m_tire_ref as the Variable and
click OK.

13. The Tire Reference Marker is added in the Project browser.

14. Use the Body and Point collector buttons in the Properties tab in the panel area to
define the attachments for the marker by selecting the Hub as the body and Wheel
CM as the origin.

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Adding an AutoTire Entity to the Model

15. Right-click on the Model in the Project browser and select Add Auto Entity from
the context menu.

16. The Add Entity window opens.

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17. Select the AutoTire entity from the drop-down menu and click OK.

18. The AutoTire panel is displayed in the panel area and the added auto entity is
created in the Project browser.

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19. From the Connectivity tab select the Hub Body as Hub, Wheel Center point as
Wheel CM, Tire Marker as Tire Reference Marker, and Road Marker as Global
Frame to define the tire interface as shown in the image below.

Note The AutoTire is defined by a Hub Body, Wheel Center, Tire Marker, and
Road Marker where:

• Hub Body: The wheel body on which the tire forces act.

• Wheel Center: Point where the tire will be attached, usually the wheel
center.

• Tire Marker: Reference marker which determines the direction in which

the tire forces act.

• Road Marker: Reference marker of the road, it is the marker with

respect to which the road is positioned and oriented for the simulation.

20. The Tire model is displayed in the MotionView graphics area.

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21. From the Property Files tab, review the tire properties.

The AutoTire entity allows you to modify the tire properties as desired by editing the
Tire Property File.

The graphic tire representation can be modifying by editing the properties field, such
as Unloaded Radius, Tire Width, Aspect Ratio, and Hub Offset. Once the tire
property file is loaded, some of the fields will automatically get filled.

Note Changing the value in entry field will not change the values in tire
properties file. These entry fields are meant to create tire graphic.

If you want to make changes to the file using the Edit File button, it is
recommended that you save it with a different name and reload the file so
that the graphic attributes get automatically filled in the graphical user
interface.

Step 3: Running the Model in MotionSolve.

Once the tire model is created, it is now ready to run.

1. Save your model as Auto-Tire.mdl.

2. Click on the Run Solver toolbar icon , and rename the MotionSolve input to
Auto-Tire.xml.

3. Select the Static + Transient option from the Simulation type drop-down menu
and enter 0.001 in the Print interval field.

4. Click the Run button.

5. After the MotionSolve is complete, the View Log, Animate, and Plot buttons are
enabled. These buttons allow you to plot results, look at an animation, or examine
tabular results.

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Step 4: Viewing the Simulated Results.

1. Click the Plot button to view the simulation results.

The plot is displayed in the second window (on the right).

2. Click anywhere in the plot window and click on the Expand/Reduce button from
the toolbar.

3. The plot window is expanded.

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4. The AutoTire entity automatically creates tire outputs based on the simulation,
which can be accessed from .plt file as shown below.

Output Plots:

Different output plots based on the simulation are explained briefly below.

• REQ/70000005 Auto Tire0 – Radius OmegaActual OmegaFree

o f2 - Radius – Rolling radius of the tire.

o f3 - OmegaActual – Angular velocity of the tire.

o f4 - OmegaFree – Angular velocity at which the tire will be having a zero slip
ratio.

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• REQ/70000006 Auto Tire0 – lonSlip latSlip IncAngle

The following outputs are available in both ISO and SAE co-ordinate systems. The
one shown in plots are in ISO.

o f2 - LonSlip - Slip Ratio or Longitudinal slip in percentage. In this case the tire
is rolling freely therefore the slip ratio is approximately 0.

o f3 - LatSlip - Lateral slip starts from 0.05 as lateral slip is the ratio of Vy and
Vx. In our case Vy/Vx = 1000/20000 = 0.05

o f4 - IncAngle – Inclination Angle of the tire from XZ plane.

• REQ/70000007 Auto Tire0 – Tire CP Forces (W-Axis system)

The Tire contact patch forces are available in both W and SAE axis system. The
one shown in plots are in W-axis System.

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MV-8500: Using the Truck Library

Introduction
The purpose of this tutorial is to walk you through the process of how to build a full truck
model with advanced drivers and how to add events to the model built. The new event
user interface is supported only for models with advanced drivers. Files can be edited or
updated in the event editor. Sixteen event types are supported. To learn more about the
events, see the Full vehicle with Advanced Drivers topic.

The process involves:

• Launching MotionView
• Building a Full Truck Model with Driver
• Adding Events to the Model
• Viewing Reports

Step 1: Launching MotionView.

In MotionView, models are assembled from libraries of pre-defined systems using the
Assembly Wizard. The Assembly Wizard dialog guides you through the assembly
process, ensuring that your selections are compatible.

Note The MBD Vehicle Dynamics Tools preferences must be loaded before using the
event builder. Select File > Load > Preference File > MBD-Vehicle
Dynamics Tools from the MotionView interface.

1. Start a new MotionView session.

The MotionView window is displayed.

Note Set the required truck wizard paths to start assembling the model through
Assembly Wizard dialog.

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2. Click Model > Set Wizard Paths.

The Set wizard library dialog is displayed.

3. From the Wizard library drop-down menu, select the Heavy Truck option. Browse
and locate the required paths from the installation folder and click OK.

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4. Click Model > Assembly Wizard.

The Heavy truck - Model Type window is displayed.

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Step 2: Building a Full Truck Model with Driver.

In MotionView, truck models are assembled from libraries of pre-defined systems using
the Heavy Truck library. It guides you through the assembly process, ensuring that
your selections are compatible. The Full truck with driver model type builds the model
with steering, front suspension, rear suspension, powertrain, driveline, and driver signal
generator.

1. Select the Full truck with driver option and click Next.

Primary Systems Selection

2. Select the Body and Cab from the Truck body and Cabin body drop-down menus
respectively and click Next.

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3. Select Front solid axle suspension for the Front suspension, Rear dual solid
axle suspension for the Rear suspension, Linear Torque Map Powertrain for
the Powertrain, and Driver Signal Generator for the Signal Generator and click
Next.

Steering Systems for a Full Truck Model

4. Select Pitman Arm Steering for the Steering linkages, Steering column for the
Steering column, and Steering boost for the Steering boost in the steering
subsystems page.

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Springs and Stabars for a Full Truck Model

5. Select Leaf springs for the Front spring and Bell crank linked leaf spring for
the Rear spring for the model and click Next.

Note Based on the suspension type selected for the Front suspension and Rear
suspension, the Front spring and Rear spring options are modified
accordingly.

Shock Absorbers

6. Select the required shock absorbers from the Front shocks and Rear shocks drop-
down menus and click Next.

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Jounce/Rebound Bumpers

7. Select the following options for the Front and Rear Jounce/rebound bumpers and
click Next.

Driveline Systems

8. In the next page, select Disk Brakes and Two-axle driveline from the Disc
Brakes and Rear driveline drop-down menus respectively and click Next.

Note Based on the suspension type selected, the Rear driveline options are
modified accordingly.

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9. For a full truck with advanced driver, you have to select the required driveshaft
systems from the Rear driveshaft drop-down menu as shown in the image below.

10. Select the required Driver system for the full truck model as shown in the image
below.

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11. Now that you have selected all the required systems for the model, click the Finish
button to complete the process and exit the custom library wizard.

12. The full truck with driver model is displayed in the MotionView window.

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13. The subsystems that you have selected in the Custom library wizard to build the
model are displayed in the Project browser.

Step 3: Adding Events to the Model.

The following steps outline how to add an event to the previously built model. Currently,
sixteen event types are available in the advanced driver models:

• Constant Radius
• Single Lane Change
• Double Lane Change
• Swept Sine
• Straight Line Acceleration
• Straight Line Braking
• Sinusoidal Steering
• BrakeIn Turn
• J Turn
• Throttle off cornering
• Swept Steer
• Pulse Steer
• Throttle off TurnIn
• Step Steer
• Power off ln Straight Line
• Altair Driver File

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Each event type has different options that needs to be addressed. For example, in the
following steps Constant Radius is explained.

1. Right-click on Model in the Project browser and select Add Events from the
context menu.

2. The Add Scripted Driver Task dialog is displayed.

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3. From the Type drop-down menu, select the Constant Radius event and click OK.

The Constant Radius event is added in the Project browser.

4. The Event Editor is displayed in the panel area.

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5. The Event Editor window can be invoked by right-clicking on the event type in the
Project browser and selecting Event Editor from the context menu.

OR

− You can click on the Event Editor button in the panel area.

6. Click the Event Editor button from the panel area (or from the list).

The Constant Radius event’s parameter is displayed.

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7. Enter the above information in the Parameters section and browse and locate the
file path in the Output XML File.

8. After entering all the required data, the event is ready to run. Click the Run button.

Note An ADF (Altair Driver File) is generated with all the event parameters at the
XML file path (Output XML File) location. The model is exported and
MotionSolve starts to generate the result files.

Hyperworks MotionSolve is invoked in the background.

9. After the MotionSolve run is completed, close the window and return to the
MotionView interface. The generated file types include: .adf, .plt, and .h3d files.

Step 4: Viewing Reports.

Report templates are a series of pre-defined plots that apply the standard set of plots
required for an event. A report template generates all of the plots and properly labels
them.

1. Click Analysis > View Reports.

The View Reports wizard is displayed.

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2. Select the Driver Output Report option from the View Reports window and click
OK.

3. A series of report templates are displayed in the Plot browser. You can select the
required report template to view in detail.

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