Idea Transcript
Getting Started Using ADAMS/Controls
About this Guide 3 Learning the Basics 5 Introducing and Starting the Tutorials 11 Learning ADAMS/Controls with MATLAB 29 Learning ADAMS/Controls with Control System Import 45 Learning ADAMS/Controls with EASY5 57 Learning ADAMS/Controls with MATRIXx Setting Simulation Parameters 101 Advanced Topics 107
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Getting Started Using ADAMS/Controls Copyright
U.S. Government Restricted Rights: If the Software and Documentation are provided in connection with a government contract, then they are provided with RESTRICTED RIGHTS. Use, duplication or disclosure is subject to restrictions stated in paragraph (c)(1)(ii) of the Rights in Technical
Windows
nmake -f hybrid.mk USER_INCLUDES="-DDGSE -I/controls/matlab"
Controller without discrete states:
UNIX
make -f hybrid.mk USER_INCLUDES= "-I/controls/matlab"
Windows
nmake -f hybrid.mk USER_INCLUDES= "-I/controls/matlab"
UNIX
$(MODEL).o $(MODEL).dll
Windows
$(MODEL).o
File(s) created:
Note: On UNIX, be sure that the make command is the Gnu Make. On Windows, if the nmake utility does not work, you can use the batch file hybrid.bat. Modify this file
and run it.
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Step Three – Create GSE for the Simulink Model First you will start ADAMS/View and import the command file, and then simulate your ADAMS model containing the GSE for the control system. To start ADAMS/View and load the command file: 1
Launch ADAMS/View and import the file ant_test.cmd.
2
Load the ADAMS/Controls plug-in.
3
From the Controls menu, point to Control System, and then select Control System Import. The ADAMS/Controls System Import dialog box displays as shown in Figure 24 on page 53. Figure 24. ADAMS/Controls System Import Dialog Box
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Complete the dialog box and select OK. As shown in the Database Navigator below, ADAMS/Controls creates a GSE and its associated arrays.
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Getting Started Using ADAMS/Controls Learning ADAMS/Controls with Control System Import
Figure 25. Database Navigator
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To simulate your model: 1
From the Settings menu, point to Solver, and then select Dynamics. The Solver Setting dialog box displays.
2
Change Formulation to SI2, if necessary.
3
Run a simulation with a step size of .001s and duration of .25s. During the simulation, the antenna motion behaves the same as the one in the cosimulation.
4
Press F8 to open ADAMS/PostProcessor.
5
ADAMS/PostProcessor displays the plot of azimuth position versus time, as shown in the figure below. Figure 26. Plot of Azimuth Position vs. Time
A comparison among the results of the above simulation, discrete simulation, and continuous simulation is conducted. In all cases, the output step (sampling time in discrete simulation) is set to .001 second. The control torque versus time from three simulations is plotted in Figure 27 on page 56. As shown, the result from the simulation with imported GSE is almost the same as that from continuous simulation. The control torque from the discrete simulation is slightly larger in magnitude because the one-step delay results in a control-mechanical system with less damping.
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Figure 27. Control Torque vs. Time
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Learning ADAMS/Controls with EASY5
Overview This chapter teaches you how to use ADAMS/Controls with EASY5. It contains the following sections: ■
About the Tutorial, 58
■
Step Three - Adding Controls to the ADAMS Block Diagram, 58
■
Step Four - Simulating the Model, 66
Note: Before beginning this tutorial, you should have finished Chapter 2, Introducing and Starting the Tutorials.
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About the Tutorial This chapter provides you with procedures for using ADAMS/Controls with EASY5. It teaches you Steps Three and Four of the four-step process of adding controls to an ADAMS model. You’ll learn how to: ■
Add an ADAMS plant to your block diagram in the EASY5 simulation.
■
Simulate an ADAMS model with a complex control system.
■
Plot simulation results.
Step Three - Adding Controls to the ADAMS Block Diagram You will add controls to the ADAMS block diagrams by: ■
Starting EASY5, 58
■
Creating the ADAMS Interface Block, 59
■
Constructing the Controls System Block Diagram, 64
Starting EASY5 To start EASY5: ■
Start EASY5 on your system from the directory that contains the file with the antenna example. This is the working directory that you created in Step One Importing the ADAMS Model on page 14. The EASY5 main window appears.
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Creating the ADAMS Interface Block You create the ADAMS interface block by defining its component parts in the Add Components dialog box. After you define the component parts, you place the block in the work space area of the EASY5 main window. To create the ADAMS interface block: 1
From the EASY5 toolbar, select Add or type Ctrl+A. The Add Components window appears. Figure 28. Add Components Window
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Select a category for each of the component fields in the window. ■
Under Opened libraries, select Extensions.
■
Under Extension Groups, select ADAMS/Controls Extension.
■
Under ADAMS/Controls Extension, select ADAMS Nonlinear Block. The information you supply in these fields becomes part of the ADAMS interface block.
3
Move the cursor to the center of the EASY5 main window and click. The ADAMS interface block appears. You build the controls block diagram by adding elements to this block. ADAMS Nonlinear Block
Initializing the ADAMS Interface Block To initialize the ADAMS interface block: 1
Use the middle mouse button to click the ADAMS interface block (for a two-button mouse, click the right and left buttons simultaneously). The Component Data Table appears. Figure 29. Component Data Table
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Select Spawn ADAMS Interface on the lower right corner of the Component Data Table. The ADAMS Interface dialog box appears (see Figure 30 on page 61).
3
At the prompt, enter the following information: ■
For information file name, enter ant_test.inf, which is the name of the file generated during the Plant Export from ADAMS/Controls, and press Enter.
■
For number of independent states, enter 14, and press Enter. This number initializes the EASY5 integrator to accommodate space for 14 ADAMS states in continuous mode. The ADAMS Interface dialog box appears. Figure 30. ADAMS Interface Dialog Box
Three simulation methods are available: ■
Option 1: Function evaluation mode with no feed-through
■
Option 2: Function evaluation mode with feed-through
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Option 3: Co-simulation mode
Note: Options 1 and 2 are continuous simulation methods and option 3 is a
discrete simulation method. For information on choosing a simulation method, see Choosing a Simulation Method on page 102. If you’ve linearized a nonlinear ADAMS model and represented it as A, B, C, and D matrices and the matrix D is zero at all times, then there is no feed-through from the input variables to the output variables. If the matrix D is not zero at all times, then there is feed-through from the input variables to the output variables.
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For this example, enter option 3 to select the co-simulation method. The ADAMS Interface dialog box closes, and the Component Data Table now looks like Figure 31: Figure 31. Component Data Table
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In the Component Data Table, do the following: a
Enter a value for the following input modes: ■
For ANI_MOD, enter 1 to define interactive mode as the animation mode. For more details about animation modes, see the section, Choosing an Animation Option on page 105.
■
For OUT_RAT (output rate interval), enter .001.
Note: Do not change the USE_ICS flag. This flag determines how to set the initial
conditions of the ADAMS model. If the USE_ICS flag is set to 1, the model uses the ADAMS initial conditions, which is the default. If the flag is set to 0, the model relies on EASY5 to provide the initial conditions. For example, if you need to start a simulation from the end of the last run simulation, which is stored on EASY5, set the USE_ICS flag to 0.
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Select Info from the lower left corner of the Component Data Table. The Component Information Page appears as shown in Figure 32. This page displays an overview of the ADAMS nonlinear block extension components.
c
Review the information on this page to ensure that you entered the correct values in the Component Data Table. Select Close to close the Component Information Page. Figure 32. Component Information Page
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Return to the Component Data Table and do the following: a
Place the cursor on the input name U1 and click the middle mouse button. The information line at the bottom of the EASY5 main window displays the input name as control_torque.
b
Click on the other output names, Y1 and Y2, and see that the output names read rotor_velocity and azimuth_position, respectively, and then select OK. The ADAMS block is now initialized for use with the antenna model.
Constructing the Controls System Block Diagram The completed block diagram is in the file, antenna.mf.0, in the examples directory. To save time, you can read in this diagram instead of building it. To construct the controls system block diagram: 1
Review the controls block diagram in Figure 33. Begin recreating the diagram with the blocks from the Add Components menu.
2
Place the Step Function Generator block in the diagram first.
3
Click on the Step Function Generator block using the middle mouse button. The Component Data Table appears.
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Set the step time (TO) to .01 and the step value (STP) to 0.3, and then select OK. Figure 33. Controls Block Diagram
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Connect the input blocks by clicking once on the First Order Lag block and then on the ADAMS Nonlinear Block. EASY5 labels this connection as S2 LA11.
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Connect the output blocks in the diagram by clicking on the ADAMS Nonlinear Block and then on the Summing Junction block. Be sure to connect the azimuth+position output (Y2) to the first Summing Junction block (LA) and the rotor_velocity output (Y1) to the second Summing Junction block (LA11).
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Connect the Strip Chart to the ADAMS Nonlinear Block. Be sure to connect only the Y1 output to the Strip Chart. The Y1 output corresponds to the rotor-velocity signal from the ADAMS Nonlinear Block.
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Click the Strip Chart using the middle mouse button to display the Component Data Table. Set the sample period TAU to .001, and then select OK. Note: You must edit the connection from the ADAMS Nonlinear Block to the Strip Chart because EASY5 automatically connects the state vector from the ADAMS block to the display variable on the Strip Chart.
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From the File menu, select Save As, and then enter a file name for your controls block diagram. You have now created the controls block diagram.
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Step Four - Simulating the Model You’ll simulate your mechanical model and controls system by: ■
Building the Executable, 66
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Executing the Simulation, 66
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Pausing and Stepping Through the Simulation, 70
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Plotting from EASY5, 71
■
Plotting from ADAMS/View, 73
Building the Executable You must build an executable for your model before you execute a simulation in EASY5. To build the executable: ■
In EASY5, from the Build menu, select Create Executable. After a few moments, EASY5 displays the message, Executable has been created, at the bottom of the main window.
You are now ready to execute the simulation.
Executing the Simulation To execute the simulation from EASY5: 1
From the toolbar at the top of the EASY5 main window, point to Analysis, point to Nonlinear, and then select Simulation. The Simulation Data Form window appears.
2
For the Plot Results option, select Yes. The Show-Edit Plot Variables button appears.
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Select Show-Edit Plot Variables. A Plot Specification Form appears where you define the variables that you want to plot after the simulation. Note: If you are using the completed block diagram from the file, antenna.mf.0, that was provided for you in the examples directory, you may find that the
Plot Specification Form opens with information that is unnecessary for this tutorial. To remove the information, select Select All on the bottom of the Plot Specification Form, and then select Delete. The Plot Specification Form should look like the one shown in Figure 34. Figure 34. Plot Specification Form
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Select the variables that you want to plot for the simulation. For this tutorial, you will select three variables: Y1, Y2, and S2 LA11. a
Click in the column next to number 1. A box appears.
b
Select Show Name List. The Pick Dialog box appears.
c
Select the variable Y1.
d
Repeat this procedure for a second and third variable. For the second variable, select Y2, and for the third, select S2 LA11 (the input to the ADAMS block as indicated in Figure 33).
The finished Plot Specification Form should look like the one in Figure 35. Figure 35. Plot Specification Form
■
Select OK.
The Plot Specification Form closes. 5
Return to the Simulation Data Form window and specify the following simulation parameters: ■
For Start Time, enter 0.0.
■
For Stop Time, enter .25.
■
For Time Increment, enter .001.
■
For Integration Method, enter BCS Gear.
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Select Execute and Close to begin the simulation. For more information about the simulation settings, see the EASY5 manual. A new ADAMS/View window appears and the analysis begins on the model specified in the ADAMS block. ADAMS/View displays the analysis for you.
To run an interactive simulation: 1
As the simulation begins, arrange the windows so that you have a good vantage point to view the antenna model. Note: The ADAMS model is initialized to the current simulation time in EASY5.
2
Start and pause the simulation by selecting Continue and Break on the interactive plot window. ADAMS/View accepts the control inputs from EASY5 and integrates the ADAMS model in response to them. At the same time, ADAMS provides the azimuthal position and rotor velocity information for EASY5 to integrate the Simulink model. The simulation process creates a closed loop in which the control inputs from EASY5 affect the ADAMS simulation, and the ADAMS outputs affect the control input levels. See Figure 5 on page 19 for an illustration of the closed loop simulation process.
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Pausing and Stepping Through the Simulation The interactive capabilities of ADAMS/Controls let you pause the simulation in EASY5 and monitor the graphic results in ADAMS/View. You can plot simulation results during pause mode. To pause the simulation: 1
Select Break to pause the simulation at the next sample step. You can use the interactive plot window (Figure 36) to pause the simulation, or you can single-step through the simulation. If you select Step, the simulation steps through one sample step (.001 seconds) of the interactive Strip Chart. Figure 36. Interactive Plot Window
2
Now go back to ADAMS/View. While the simulation is paused, you can change the orientation of the model with the View Orientation tools in the Main toolbox. These tools help you to observe the model from different vantage points. Figure 37. View Orientation Tools
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Once you have finished reorienting the model, select Resume to continue the simulation.
3
ADAMS/View closes automatically after the simulation finishes. The EASY5 Plotter window and the Plot Selection Menu appear.
Plotting from EASY5 EASY5 automatically displays the Plot window after running a simulation. By default, EASY5 displays the plot of the first variable you defined in the Plot Specification Form (see Figure 35 on page 68). You can plot any data generated in EASY5 by selecting a variable from the Plot Selection Menu. In this tutorial, you’ll plot the curve for control torque. To plot from EASY5: ■
From the Plot Selection menu, point to Displays, and then select the variable, S2 LA11, which is the control torque input to the ADAMS block from EASY5. The EASY5 Plotter window displays the plot for control torque. Figure 38 on page 72 shows how the plot should look. Notice that the control torque reaches a peak, and then settles down as the antenna accelerates. As the antenna gets close to its final position, the torque reverses direction to slow down the antenna. The antenna moves past its desired position, and then settles down to the point of zero error. At this point, the torque value is also zero.
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To add labels to the plot: 1
At the bottom of the Plot Selection Menu, select Edit Display. The Display Specification Form appears.
2
Enter the following labels: ■
In the Plot Title text box, enter ADAMS/Controls Torque Input from EASY5 to ADAMS.
■
In the x-axis text box, enter time in seconds.
■
In the y-axis text box, enter Control Torque, N-m.
The labels you entered appear on the plot as shown in Figure 38. Figure 38. Plot of Control Torque Input
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Plotting from ADAMS/View To plot from ADAMS/View: 1
Display ADAMS/View in a new system window and read in the command file, ant_test.cmd.
2
From the File menu, select Import. The File Selection dialog box appears.
3
Select the following: ■
For File Type, select ADAMS Results File.
■
For Files to Read, select antenna.res.
■
For Model, select main_olt. When you read in results files, be sure to include the model name because ADAMS/View needs to associate the results data with a specific model.
Note: You can plot any data from the simulation and rerun the animation from
ADAMS/View. 4
From the Review menu, select Postprocessing. ADAMS/View launches ADAMS/PostProcessor, a post-processing tool that lets you view the results of the simulations you performed. Take a minute to familiarize yourself with ADAMS/PostProcessor. Figure 39 on page 74 shows the ADAMS/PostProcessor window.
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Figure 39. ADAMS/PostProcessor Window Viewports
Page Menu bar Menu toolbar
Treeview
Property editor
Status toolbar Dashboard
5
From the dashboard, set Source to Objects.
6
From the Model list, select .main_olt.
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From the Filter list, select constraint.
8
From the Object list, select antenna_joint.
9
From the Characteristic list, select Element Torque.
10
From the Component list, select Y.
11
Select Add Curves. ADAMS/PostProcessor generates the curve.
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To add labels to the plot: 1
In the treeview, navigate to the plot and select it.
2
In the Property Editor, in the Title text box, enter the name: Antenna Joint Peak Torque, Controlled.
The plot title appears above the plot. Figure 40 illustrates how the curve should look. The curve shows the torque in the antenna joint from the azimuth control loop. You can use the information on the plot to help you determine how to modify the control system of the antenna model. For example, you can reduce the load in the antenna joint by decreasing the velocity gain of the azimuth controller at the expense of slowing the overall response of the controller. This is the type of trade-off between the mechanism design and the control design that you can analyze using ADAMS/Controls. Figure 40. ADAMS Antenna Joint Peak Torque, Controlled
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Learning ADAMS/Controls with MATRIXx
Overview This chapter teaches you how to use ADAMS/Controls with MATRIXX. It contains the following sections: ■
About the Tutorial, 78
■
Step Three - Adding Controls to the ADAMS Block Diagram, 78
■
Step Four - Simulating the Model, 88
Note: Before beginning this tutorial, you should have finished Introducing and Starting the Tutorials on page 11.
This tutorial is designed for MATRIXX version 62.2. You can use it with other versions of MATRIXX, but, the interface might be different.
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About the Tutorial This chapter provides procedures for using ADAMS/Controls with MATRIXX. It teaches you Steps Three and Four of the four-step process of adding controls to an ADAMS model. You will learn how to: ■
Add an ADAMS plant to your block diagram in the MATRIXX simulation.
■
Simulate an ADAMS model with a complex control system.
■
Plot simulation results.
Step Three - Adding Controls to the ADAMS Block Diagram You will add controls to the ADAMS block diagram by: ■
Setting up the MATRIXX Interface, 79
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Starting MATRIXX, 80
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Defining SuperBlock Attributes, 81
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Defining ADAMS Block Parameters, 83
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Creating the ADAMS Block, 84
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Constructing the Controls System Block Diagram, 86
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Setting up the MATRIXX Interface In this section you will set up the ADAMS/Controls MATRIXX interface. You must perform these steps before starting MATRIXX. Be sure to visit the MDI knowledge base at http://support.adams.com/kb/ for the latest information. To run the ADAMS/Controls MATRIXX interface: 1
Copy the following two files from the /install_dir/controls/matrixx/ directory to your local directory, where install_dir is the directory where ADAMS/Controls is installed: makefile.{system_type} to ./makefile adams_matrixx.c
For example, if you are running on a Sun Ultra with ADAMS/Controls installed in /usr/local/adams, you enter: cp /usr/local/adams/controls/matrixx/makefile.ultra ./makefile cp /usr/local/adams/controls/matrixx/adams_matrixx.c .
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Do one of the following: ■
Copy the following three files from the /install_dir/controls/matrixx/ directory to your local directory: build_adams.msc update_adams.msf Build_adams
■
In your startup.ms file, add the line: path “/install_dir/controls/matrixx/”
For example, on a Sun system, you include: path “/usr/local/adams/controls/matrixx/”
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Set the environment variable SYSBLD_ADAMS to /install_dir/controls/. For example, on a Sun system, enter: setenv SYSBLD_ADAMS /usr/local/adams/controls/
You can add the above to your .cshrc file.
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Starting MATRIXX Ensure that you’ve set up MATRIXX so that you can run cosimulations from the directory containing the antenna example. See Setting up the MATRIXX Interface on page 79. To start using MATRIXX: ■
Start up MATRIXX from the directory that contains the file with the antenna example. The Xmath main window appears.
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Defining SuperBlock Attributes In this section, you will create a file called SuperBlock in MATRIXX that contains the controls block diagram for the antenna model. To define the SuperBlock attributes: 1
In the command window, enter Build. The command window is the blank area attached to the bottom of the main window. The SystemBuild Editor appears.
2
In the SystemBuild Editor, from the File menu, select New, and then select SuperBlock. The SuperBlock Properties dialog box appears.
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Figure 41. SystemBuild Editor Window
3
In the SuperBlock Properties dialog box, in the Name text box, enter antenna_system as the block name.
4
In the Outputs text box, enter 3 to define the number of outputs required for the combined antenna model and controls system.
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Set Type to Continuous to define the simulation type.
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Select OK to exit the SuperBlock Properties dialog box.
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Defining ADAMS Block Parameters In this section, you will supply the control system parameters for the ADAMS block. To define the parameters for the ADAMS block: 1
In the Xmath command initial window, enter the simulation time as a column vector: t=[0:0.001:0.25]’;
where:
2
■
The first parameter (0) is the start time
■
The second parameter (0.001) is the step size
■
The third parameter (0.25) is the simulation end type
Enter the following controller parameters as Xmath variables: PGain = 1040 VGain = 950 Den = [1e-3,1]’;
where PGain and VGain are the numerators and Den is the denominator of the controller transfer functions.
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Creating the ADAMS Block To create the ADAMS block: 1
Ensure that you’ve either copied the two build_adams* files to your working directory, or have added a proper path line to your startup.ms file (see Setting up the MATRIXX Interface on page 79 for more information).
2
In the Xmath command window, enter build_adams. The Build_adams Input dialog box appears.
3
Select ADAMS Information File. A file browser appears.
4
Select ant_test.inf, and then select OK.
5
In the ADAMS block name text box, enter a name for the SuperBlock you are creating, such as antenna, and press Enter.
6
Select Interactive for the ADAMS Animation Mode option. Animation mode lets you graphically monitor your simulation results in ADAMS/View. See the section, Choosing an Initialization Method on page 106, for more details about animation modes.
7
Select Discrete as the Simulation Mode option. For more details about simulation options, see Choosing a Simulation Method on page 102.
8
In the Sample/Output Interval text box, enter 0.001 as the sample interval, and then press Enter.
9
Select Build ADAMS Block. The Build_adams Input dialog box should now look like the one in Figure 42.
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Figure 42. Completed Build_adams Input Dialog Box
10
Select OK. The ADAMS block, antenna_system, is now created in the Superblock. The ADAMS block appears in the SystemBuild Editor as shown in Figure 43 on page 86. You can reposition the block by dragging and dropping it to a new location on the screen.
Note: The ADAMS block, antenna_system, automatically receives the correct number of
inputs and outputs as well as the names specified in the ADAMS antenna model.
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Figure 43. ADAMS SuperBlock
Constructing the Controls System Block Diagram The completed block diagram is in the file, antenna.xmd, in the examples directory. To save time, you can read in that diagram instead of building it. To construct the controls system block diagram: 1
Double-click a blank area of the SystemBuild Editor. The Palette Browser appears. Navigate the control categories using the treeview; click and drag components on to the SystemBuild editor window with the middle mouse button. To set parameters, select the block in the SystemBuild editor window, select Edit, and then select Block Properties.
2
Select the appropriate submenu, then click on the block you want to place in your diagram. A Step Block dialog box appears for you to modify parameters on the block.
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3
Modify the parameters, and then select Done to place the block in the SystemBuild Editor.
4
Review the completed controls block diagram shown in Figure 44. Recreate the same diagram for your antenna model using the procedures in the following section. Figure 44. Controls System Block Diagram
To add and connect blocks in the controls system block diagram: 1
Start building the diagram by placing a reference slider in the SystemBuild Editor. Note: The reference slider is limited to generating a position between -0.3 and
0.3. 2
Place two dynamic NumDen blocks in the diagram, and then define a numerator and denominator for each block as follows: ◆
At the Numerator prompt of the blocks, enter %PGain and %VGain, respectively.
◆
At the Denominator prompt of each block, enter the variable name, Den.
The NumDen blocks should look like the ones in Figure 45. Figure 45. Completed NumDen blocks
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3
Connect the blocks in your controls system diagram. Make sure that both the input and outputs of the ADAMS block are connected as external outputs in the SystemBuild model.
4
From the File menu in the Xmath window, select Save All, and then enter a file name for your completed controls block diagram. Xmath saves the file with the extension .xmd. The file includes both the SystemBuild models and Xmath variables used in the current session.
Step Four - Simulating the Model You will simulate your mechanical model and control system by: ■
Modifying Simulation Parameters, 88
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Executing the Simulation, 90
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Pausing and Stepping the Simulation, 94
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Plotting from MATRIXX, 95
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Plotting from ADAMS/View, 96
Modifying Simulation Parameters You can modify the simulation parameters for your model through the Build_adams dialog box that you invoke using the build_adams script, or you can modify them directly from the command window using the update_adams script. The next two procedures explain how to modify the parameters using the two scripts. Follow either procedure depending on how you want to modify the parameters. Note: You can get additional help on build_adams and update_adams scripts by entering help in the Xmath command window.
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To modify the simulation parameters using the build_adams script: 1
In the Xmath command window, enter build_adams. The Build_adams input dialog box appears. The name, antenna, appears in the ADAMS block name text box.
2
To modify the block name, click the text box, enter Telescope in place of antenna, and then press Enter.
3
Select the Update ADAMS block option, and select OK. The ADAMS SuperBlock is now named Telescope.
Note: You can use the build_adams script to modify all of the simulation settings in the
Build_adams Input dialog box. The current settings are stored in the Xmath variables. To view the variables: 1
From the Xmath main window, select Windows, and then select Variables. The Xmath Variables window appears.
2
Select Partition, and then select ADAMS. You should modify these variables only through the build_adams or update_adams scripts.
To modify the simulation parameters using the update_adams script: 1
In the Xmath command window, enter update_adams (“Telescope”,{NewSampleP=0.005}) to change the sample interval in the SuperBlock, and then press Enter. The sample interval in the ADAMS SuperBlock changes from 0.001s to .005s.
2
Using the build_adams script once more, change the sample interval back to its original value.
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Executing the Simulation This section shows you how to execute an interactive simulation from MATRIXX. To execute the simulation: 1
From the SystemBuild Editor menu, select Tools, and then select Simulate. The SystemBuild Simulation Parameters dialog box appears. Figure 46. SystemBuild Simulation Parameters Dialog Box
2
Set the following parameters: ◆
Select Outputs, and select the Use Extended Time Vector option. When this option is used with the discrete simulation mode, ADAMS/Controls saves two values for each simulation step.
◆
Select Parameters, and enter the variable name ADAMS_out in the Output Variable text box.
◆
In Time Vector/Variable text box, enter t to define the simulation time vector. The t references the time vector [0:0.001:0.25]’ that you defined in Step Four of Starting MATRIXX on page 80.
◆
Select the Interactive option.
The SystemBuild simulation mode is set to interactive.
Getting Started Using ADAMS/Controls Learning ADAMS/Controls with MATRIXx
3
91
Select OK. The Interactive Simulator window appears. Figure 47. Interactive Simulator Window
4
Use the control buttons to pause and resume the simulation and to modify the Xmath variables. After you select OK, MATRIXX begins to initialize the simulation data. A new ADAMS/View window opens and the simulation initialization begins. The simulation data appears in the terminal window where you launched MATRIXX, and the ISIM (interactive simulator) appears.
5
After initialization, review the information in the terminal window. If it is correct, go to the ISIM and select Resume to execute the simulation. The model simulates in the ADAMS/View window. If the simulation does not begin, press Rerun.
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Running a Simulation from the Xmath Command Window
You can also execute the simulation from the Xmath command window, where you can create scripts that run a number of simulations with varied settings. To run the simulation from the Xmath command window: 1
In the Xmath command window, enter the following command: ADAMS_out=sim(“antenna_system”,t,{extend, interact});
2
Press Enter to start the simulation. A new ADAMS/View window opens and the simulation begins.
Note: The ADAMS model is initialized to the simulation time defined in the SystemBuild
Editor.
Getting Started Using ADAMS/Controls Learning ADAMS/Controls with MATRIXx
Running the Simulation Interactively You can interrupt the simulation to modify the controller variables or to change the visual aspect of the model. To run the simulation interactively: 1
Arrange the windows so that you have a good view of the model. Close the SystemBuild Editor to help unclutter the screen.
2
When a new ADAMS/View window opens and the simulation begins, start and pause the simulation by selecting Resume and Pause respectively. While in pause mode, experiment with making modifications to the control system: ◆
Modify the reference signal for azimuthal position by moving the slider in the Interactive ISIM window.
◆
Modify the control variables, PGain and VGain, by selecting RVE, selecting each variable, and then selecting Open.
The Matrix Editor appears. ◆
Modify the selected variable and close the window.
ADAMS/View accepts the control inputs from MATRIXX and the model moves in response to them. ADAMS/View then provides the azimuthal position and rotor velocity information to MATRIXX. This simulation process creates a closed loop in which the control inputs from MATRIXX affect the ADAMS/View simulation, and the ADAMS/View outputs affect the control input levels. For an illustration of the closed loop simulation process, see Figure 5 on page 19.
93
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Pausing and Stepping the Simulation The interactive capabilities of ADAMS/Controls let you pause the simulation and perform time and block steps in MATRIXX while monitoring the graphic results in ADAMS/View. You can also plot simulation results during pause mode. To pause the simulation: 1
Select Pause in the ISIM Control Panel. MATRIXX suspends the simulation. Pause changes to Resume after you select it so you can toggle between Simulation and Pause mode.
2
Go back to ADAMS/View. While the simulation is paused, you can change the orientation of the model using the View Orientation tools in the Main Toolbox. These tools help you to observe the model from different vantage points. Figure 48. View Orientation Tools
3
Once you have finished reorienting the model, you can continue the simulation by selecting Resume. ADAMS/View closes automatically after the simulation finishes.
4
Advance the SystemBuild model one sample interval at a time by selecting TimeStep. Notice how the ADAMS model is updated during each time step.
Getting Started Using ADAMS/Controls Learning ADAMS/Controls with MATRIXx
5
95
Select Block Step to execute one block at a time in the SystemBuild model. You can monitor how the signals are updated by switching the view mode of the blocks. To switch the view mode, point on a block and type v.
6
When the simulation is completed, close the ISIM window by selecting the File menu, then selecting Exit.
Plotting from MATRIXX You can plot any of the data generated in MATRIXX. In this tutorial, you will plot the ADAMS_out data that is saved in the Xmath environment. To plot from MATRIXX: 1
In the Xmath command window, enter: plot (ADAMS_out(1,:), {title=”ADAMS/Controls Torque Input from MATRIXx to ADAMS”, xlab=”time in seconds”, ylab=”Control Torque input, N-m”})
The plot window opens and shows the time history of input from MATRIXX to ADAMS/View and includes the specified plot labels. Figure 49 on page 96 shows you how the plot should look. Notice that the control torque reaches a peak, and then settles down as the antenna accelerates. As the antenna gets close to its final position, the torque reverses direction to slow down the antenna. The antenna moves past its desired position, and then settles down to the point of zero error. At this point, the torque value is also at zero.
96
2
Getting Started Using ADAMS/Controls Learning ADAMS/Controls with MATRIXx
To plot the other external outputs, enter: ADAMS_out(2,:) for rotor_velocity and ADAMS_out(3,:) for azimuth_position. Figure 49. Controls Torque Input from MATRIXX to ADAMS
Plotting from ADAMS/View 1
Display ADAMS/View in a new system window and read in the command file, ant_test.cmd.
2
From the File menu, select Import. The File Selection dialog box appears.
3
Select the following: ◆
For File Type, select ADAMS Results File.
◆
For Files to Read, select antenna.res.
◆
For Model, select main_olt.
Be sure to include the model name when you read in results files. ADAMS/View needs to associate the results data with a specific model. Note: You can plot any data from the simulation and rerun the animation from
ADAMS/View.
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4
From the Review menu, select Postprocessing. ADAMS/View launches ADAMS/PostProcessor, a post-processing tool that lets you view the results of the simulations you performed. Take a minute to familiarize yourself with ADAMS/PostProcessor. Figure 50 on page 97 shows the ADAMS/PostProcessor window. Figure 50. ADAMS/PostProcessor Window Page
Viewports
Menu bar Menu toolbar
Treeview
Property editor
Status toolbar Dashboard
5
From the dashboard, set Source to Objects.
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Getting Started Using ADAMS/Controls Learning ADAMS/Controls with MATRIXx
6
From the Model list, select .main_olt.
7
From the Filter list, select constraint.
8
From the Object list, select antenna_joint.
9
From the Characteristic list, select Element Torque.
10
From the Component list, select Y.
11
Select Add Curves. ADAMS/PostProcessor generates the curve.
To add labels to your plot: 1
In the treeview, navigate to the plot and select it.
2
In the Property Editor, in the Title text box, enter the name: Antenna Joint Peak Torque, Controlled.
The plot title appears above the plot. Figure 51 illustrates how the curve should look. The curve shows the stress in the
antenna joint from the azimuth control loop. You can use the information on the plot to help you determine how to modify the control system of the antenna model. For example, you can reduce the load in the antenna joint by decreasing the velocity gain of the azimuth controller at the expense of slowing the overall response of the controller. This is the type of trade-off between the mechanism design and the control design that you can analyze using ADAMS/Controls.
Getting Started Using ADAMS/Controls Learning ADAMS/Controls with MATRIXx
Figure 51. ADAMS Antenna Joint Peak Torque, Controlled
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7
Setting Simulation Parameters
Overview ADAMS/Controls provides a variety of options for simulating and animating your integrated model and controller. This chapter introduces you to these options and the advantages they offer. This chapter contains the following sections: ■
Choosing a Simulation Method, 102
■
Choosing an Animation Option, 105
■
Choosing an Initialization Method, 106
102
Getting Started Using ADAMS/Controls Setting Simulation Parameters
Choosing a Simulation Method ADAMS/Controls offers you three methods with which you can simulate your integrated model and controller: ■
Discrete mode: Specifies that ADAMS solve the mechanical system equations and the control application solve the control system equations.
■
Continuous mode: Specifies that the control application solve both the mechanical and control system equations.
■
C-code import into ADAMS: Specifies that ADAMS solve the mechanical system and control system equations (only available with MATLAB).
These methods allow you to use different methods to integrate your ADAMS and controls models (EASY5, MATLAB, or MATRIXX). See Table 3 on page 103 for an overview of suitable controller/simulation method options.
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Getting Started Using ADAMS/Controls Setting Simulation Parameters
Table 3. Suitable Controller/Simulation Method Options Simulation Method Controller type:
Discrete mode:
Continuous mode:
C-code import:
Continuous
Yes
Yes
Yes
Continuous sampled controller
Yes
Yes
Yes
Controller with discrete and continuous states
Yes
Yes
Yes
Discrete controller with synchronous sampling rates
Yes
Yes
Yes
Discrete controller with asynchronous multi-sampling rates
No
Yes
Yes
Logic-based controller
No
Yes
No
Discrete Mode For most analyses, the discrete mode is generally the more efficient simulation method. It is faster and can handle complex models better than continuous mode. You should use continuous mode when equations solved in the control system would cause a large coupling effect on the ADAMS data. For example, you might prefer to use the continuous mode if your analysis requires a very small time step. To preserve the proper dynamics for a mechanical system, discrete mode should sample the mechanical system at least five times greater than the highest frequency of interest. If the time step is too small to sample at five times the highest frequency, then you should use continuous mode.
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Note: You can find the highest frequency of your mechanical system by performing a
linear analysis with the ADAMS add-on module, ADAMS/Linear. For information about ADAMS/Linear, see the guide, Using ADAMS/Solver.
Continuous mode Continuous mode lets MATLAB integrate a system of equations that includes the mechanical and controls subsystem equation. ADAMS acts as a function evaluator. ADAMS evaluates differential equations describing the mechanical system, and the values are sent to the controls package to populate the equations integrated solely by the controls package. Viewed from the control side, ADAMS is no different from a nonlinear block. At each integration step, ADAMS provides the necessary information, such as inputs and time derivatives of states, to the controls packages. Because the function-evaluation mode creates a system of equations presenting both the control scheme and the mechanical system at once, any integrator dealing with this sees an effectively continuous system. While the combined system representation is accurate, the control software integrator may not be robust enough to effectively handle highfrequency and highly nonlinear effects in the mechanical subsystem. For more information, see Jacobian Matrix and System Refactorization, on page 108.
C-Code import into ADAMS (MATLAB only) In this mode, you can import into ADAMS a C-code representation of the control system build in MATLAB. To do this, you have to first export a C language representation of the control system using Real-Time Workshop. ADAMS/Controls then allows you to create, in an automated manner, a general state equation (GSE) element in your ADAMS model and an object library from this C code. After this is done, you can simulate your combined model in ADAMS.
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105
Choosing an Animation Option ADAMS/Controls lets you choose one of two animation modes: interactive or batch. Both methods allow you to save results to ADAMS files for review at a later date. Table 4. Animation Options Method:
Interactive mode
Batch mode
Its purpose: ■
Specifies the simulation to run in ADAMS/View.
■
Provides a dynamic, graphic display of the simulation results.
■
Allows you to pause during a simulation to review any animation or plotting results.
■
Allows you to verify the initial design of your control law for proper signal phase and magnitude.
Specifies that the simulation run in ADAMS/Solver. This is the preferred method if a graphic display of the analysis results is unnecessary, since it provides a much faster solve time.
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Getting Started Using ADAMS/Controls Setting Simulation Parameters
Choosing an Initialization Method ADAMS/Controls lets you choose one of two initialization modes: automatic or manual. Both methods allow you to issue ADAMS/View or ADAMS/Solver commands before simulating your combined model and controller. Initialization commands are ADAMS commands which are executed before the controls package starts the co-simulation. If you run an animation in interactive mode, you must use ADAMS/View commands to initialize your model. If you’re in batch mode, use ADAMS/Solver commands. Table 5. Initialization Options Method:
Its purpose:
Automatic mode
Allows you to issue any command in the Initialization command field of the ADAMS plant mask before running a simulation. You can specify a command in two ways. For example, if you want to change the color of the antenna model, you can issue one of the following commands: ◆ At the MATLAB prompt, enter: ADAMS_Init=‘geometry attributes geometry_name= .main_olt.antenna.REV15 color=RED’
◆
Within the ADAMS mask, the Initialization command field reads: ADAMS_Init. Alternatively, inside the Initialization command field, you can enter the complete command string enclosed in single quotes and square brackets as follows: [‘geometry attributes geometry_name=.main_olt.antenna.REV15 color=RED’]
Manual mode
Allows you to issue ADAMS commands directly from MATLAB. ■
After you enter a command at the MATLAB prompt, MATLAB sends it to ADAMS for immediate execution.
■
After ADAMS executes the command, MATLAB prompts you for an additional command or direction to continue.
8
Advanced Topics
Overview This chapter contains important information that will be helpful to you when using ADAMS/Controls. It includes the following sections: ■
Design Variables versus State Variables, 108
■
Jacobian Matrix and System Refactorization, 108
■
User Libraries, 110
■
Plant Communication Error, 111
■
Integration with Vertical Products, 111
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Getting Started Using ADAMS/Controls Advanced Topics
Design Variables versus State Variables In ADAMS/Controls you can use two types of variables: design variables and state variables. A design variable is only a preprocessing entity. It is a placeholder for element parameter values. When writing an .adm file, these entities are evaluated and entered in the Solver dataset as numerical values. The design variable value can be any expression created in the ADAMS Expression Builder. Design variables are also known as ADAMS/View variables and simply as variable (in the ADAMS/View Database Navigator). A state variable is a variable whose value is calculated at every simulation step. The value can be any function created in the ADAMS Function Builder. State variables are also known as ADAMS/Solver variables, ADAMS/Variable (in ADAMS/View database navigator), and VARIABLE (statement in ADAMS/Solver dataset). For more information, see the guide, Using the ADAMS/View Function Builder.
Jacobian Matrix and System Refactorization A continuous mode simulation in ADAMS/Controls may cause erroneous results due to a changing Jacobian. At the start of every simulation, ADAMS creates a Jacobian matrix and factorizes it. The elements of this special matrix represent the partial differentials of each equation of motion with respect to each state variable in your system. Some elements could be very large, others could be very small, and many are typically zero. To solve the equations of motion, ADAMS must invert the Jacobian matrix. It inverts the matrix using LU decomposition, Gaussian elimination, and backward substitution methods, among others. To make these solution techniques more efficient, ADAMS performs symbolic factorization in an attempt to position the largest values on the diagonals to act as better pivots during the matrix inversion process. (The factorization process rearranges rows and columns of the matrix and is said to be symbolic because it uses pointers to particular matrix elements, rather than actually moving their computer addresses.)
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109
Unfortunately, it is quite common that as parts move and forces change during the course of a mechanical system’s natural movement, some of the matrix pivots (that is, elements on the diagonal) radically change in magnitude. To avoid zero or near-zero pivots in the resulting Jacobian matrix, at certain points in time, ADAMS will attempt to re-factorize the matrix to again place the largest values on the diagonal. A common example of a situation that requires refactorization is when intermittent contact is modeled using a force element with the IMPACT function in ADAMS and a derivative of this force equation is used as a pivot. When the bodies are in contact, the force is typically very large and thus the pivot works well. But when the bodies are not in contact, the force goes to zero and the zero pivot will cause a singularity during the matrix-inversion process, so refactorization is required. Discontinuous function expressions for user-defined equations, such as with forces or motions, can also cause matrix singularities. This is why we recommend the use of the continuous STEP, STEP5, or TANH functions in ADAMS, instead of the possibly discontinuous IF function. So, you could receive a message that ADAMS is symbolically refactorizing the Jacobian matrix for various reasons: ■
A new analysis type has been initiated (for example, assembly or initial conditions, statics, dynamics, and so on). ADAMS must always perform an initial factorization of the Jacobian matrix at the start of a new simulation.
■
Pivot has become sufficiently close to zero so as to make the Jacobian matrix nearly singular and non-invertible. This is usually due to abrupt changes occurring in your system.
A refactorization message is a sign that something has changed in your system at a particular point in time. Although it is not necessarily a sign of problems in the definition of your system or in the solution, it could be, and so is worth investigating. Fortunately, ADAMS automatically refactorizes when necessary. However, you can also use your animation and plotting tools or your debugging tools to check what happens immediately before and after these times to search for causes.
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Getting Started Using ADAMS/Controls Advanced Topics
User Libraries Unlike previous versions of ADAMS, with ADAMS 12.0, you no longer need to create an entire executable for ADAMS when you want to link in a user subroutine. Instead, you create a library and simply select it when you need the subroutine(s) within the library. For more information on this change, see http://support.adams.com/kb/faq.asp?ID= kb9317.html. Therefore, instead of creating a controls executable (for example, adams12 controls cr-uscontrols), you simply create a standard user executable (for example, adams12 cr-user). To create a user library: 1
Perform one of the following: ❖
On UNIX: enter mdi -c cr-user
❖
On Windows: From the Start menu, point to Programs, point to ADAMS 12.0, point to ASolver, and then select Create Custom Solver. (Or, type mdi cr-user in the DOS prompt.)
2
Specify if you want to link in debug mode, and provide the list of your user subroutines.
3
Provide a name for the library, such as my_sub.dll.
4
Within ADAMS/View, when you use the Controls Plant Export dialog box to save out your input and output data, include the name of the user library you just created in the appropriate text box. The user executable name is now automatically written out to the MATLAB .m file or the MATRIXx/EASY5 information file and automatically picked up by the controls program as the proper executable. Alternatively, you can enter this explicitly in the file. For example, in MATLAB, enter ADAMS_exec = ’$my_path/my_sub.dll’; (where $my_path is the path to your library).
Note that there is no longer a difference between a custom ADAMS/Solver library and a custom ADAMS/View library if the library is used by ADAMS/Solver. In other words, you create a library for ADAMS/Solver, which can be used by either the ADAMS/View
Getting Started Using ADAMS/Controls Advanced Topics
111
interface or ADAMS/Solver when simulating. An ADAMS/View library can only be in ADAMS/View as in design-time; it makes no sense to use this with ADAMS/Solver, and obviously cannot be used in ADAMS/Solver. For more information, see the guides, Running and Configuring ADAMS on UNIX and Running ADAMS on Windows.
Plant Communication Error The ADAMS plant communication error is a generic message that could unfortunately mean anything from you don’t have a license available, to you’ve referenced a variable incorrectly in MATLAB. If you’re trying to make your own model work and haven’t tried one of the example problems found in your ADAMS installation at /ADAMS_install/controls/examples/, then run an example. It’s important to ensure that you can run an example, as your own model can potentially have incorrect feedback values, crossed lines, and so on. You should verify that you can run an example model, which has been setup to work properly, before you start with your own model. If you generate an ADAMS plant communication error at some point in an ADAMS/Controls cosimulation (due to too rapid feedback, improper variable specification in MATLAB, and so on), fix the source of your error, but now get the plant communication error as soon as you select Simulate, you may need to clean up your workspace. To clear things in the MATLAB environment, use the clear mex command on the command line in MATLAB. This removes extraneous items from past failures and will allow you to perform subsequent simulations.
Integration with Vertical Products For the latest information on integrating ADAMS/Controls with ADAMS/Car, ADAMS/Chassis, and ADAMS/Rail, refer to the MDI Knowledge Base at http://support.adams.com/kb.
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113
Getting Started Using ADAMS/Controls Index
Index A-B ADAMS block, creating in EASY5 59 block, creating in MATRIXx 84 block, initializing interface in EASY5 60 ADAMS/Controls about 3 basics 5 benefits of 6 design process with 6 four-step process, about 9 how to learn 10 initialization methods in 106 starting from UNIX or Windows 13 using 8 ADAMS/Solver variable 108
A-B C-D E-F G-H I-J K-L M-N O-P Q-R S-T
ADAMS/View variable 108 Animation options batch 105 interactive 105 Antenna model, components of 16 Automatic initialization mode 106 Batch animation mode 105 Block diagram ADAMS, creating in EASY5 59 ADAMS, creating in MATRIXx 84 controls system, constructing in EASY5 64 controls system, constructing in MATLAB 35 controls system, constructing in MATRIXx 86 creating ADAMS in MATLAB 33 sub-block of ADAMS in MATLAB 34
U-V W-Z
114
Getting Started Using ADAMS/Controls Index
C-D
A-B
Component data table in EASY5 60 information page in EASY5 63
C-D
Continuous simulation mode 102
E-F
Control system import 45
G-H
Controls adding to ADAMS block using EASY5 58 adding to ADAMS block using MATLAB 31 adding to ADAMS block using MATRIXx 78 how to improve design process of 6 Create block diagram in MATLAB 33 Creating Simulink template 47 user libraries 110 Deactivating azimuth motion in model 17
I-J K-L M-N O-P Q-R S-T
Design process with ADAMS/Controls 6 Design variables 108 Discontinuous function expressions 109 Discrete control systems 47 Discrete simulation mode 102
U-V W-Z
Getting Started Using ADAMS/Controls Index
E-F EASY5 adding controls to ADAMS block 58 component data table in 60 component information page in 63 constructing controls system diagram in 64 creating ADAMS block in 59 executing a simulation in 66 initializing ADAMS interface block in 60 pausing and stepping simulation in 70 plotting from 71 plotting from ADAMS/View 73 simulating interactively in 69 starting 58
115
A-B C-D E-F G-H I-J K-L M-N
Error, plant communication 111
O-P
Executing simulation in EASY5 66 simulation in MATLAB 39 simulation in MATRIXx 88
Q-R
Exporting plant files 24
U-V
S-T
File types 37 Four-step process in ADAMS/Controls 9 Functions output 23 VARVAL 22
G-H How you’ll learn ADAMS/Controls 12 Hybrid control systems 47
W-Z
116
Getting Started Using ADAMS/Controls Index
I-J
A-B
IMPACT function 109 Importing the model 14 Initialization method automatic 106 manual 106
C-D E-F G-H
Initializing ADAMS block in EASY5 60 Input functions, verifying 22 identifying path for 19 verifying variables for 20 Interactive animation mode 105
I-J K-L M-N
Jacobian matrix 108
O-P
K-L
Q-R
Learning ADAMS/Controls 10 ADAMS/Controls with Control System Import 45 ADAMS/Controls with EASY5 45, 57 ADAMS/Controls with MATLAB 29 ADAMS/Controls with MATRIXx 77 Libraries, user 110 Loading ADAMS/Controls 15
S-T U-V W-Z
Getting Started Using ADAMS/Controls Index
M-N
117
A-B
Manual initialization mode 106 MATLAB 38 adding controls to ADAMS block 31 constructing controls system diagram in 35 creating block diagram in 33 executing simulation in 39 pausing simulation in 39 plotting from 40 plotting from ADAMS/View 42 setting parameters in plant mask 36 setting simulation parameters in 38 simulating interactively in 37 Simulink palette in 33 starting 31 MATRIXx adding controls to ADAMS block 78 adding NumDen blocks to controls diagram 87 constructing controls system diagram in 86 creating ADAMS block 84 defining attributes in SuperBlock 81 executing a simulation in 88 modifying simulation parameters in 88 pausing and stepping simulation in 94 plotting from 95 plotting from ADAMS/View 96 simulating interactively in 93 starting 80 Model, importing 14 Motion, deactivating in ADAMS/View 17 NumDen blocks, using in MATRIXx 87
C-D E-F G-H I-J K-L M-N O-P Q-R S-T U-V W-Z
118
Getting Started Using ADAMS/Controls Index
O-P
A-B
Output functions, verifying 23 identifying path for 19
C-D
Parameters, setting in MATLAB plant mask 36
E-F
Pausing simulation in EASY5 70 simulation in MATLAB 39 simulation in MATRIXx 94
G-H
Plant communication error 111
K-L
Plant files, exporting 24 Plant mask, setting parameters in MATLAB 36
I-J
M-N
Plotting EASY5 results in ADAMS/View 73 from CSI 55 from EASY5 71 from MATLAB 40 from MATRIXx 95 MATLAB results in ADAMS/View 42 MATRIXx results in ADAMS/View 96
O-P
Plug-in, loading 15
W-Z
Q-R Real-time workshop options 49 Refactorization, system 108 Running a trial simulation in ADAMS/View 16
Q-R S-T U-V
Getting Started Using ADAMS/Controls Index
S-T Setting plant mask parameters in MATLAB 36 simulation parameters in ADAMS/Controls 101, 107 simulation parameters in EASY5 68 simulation parameters in MATLAB 38 simulation parameters in MATRIXx 88 Simulation animation options for 105 choosing a method for 102 continuous, choosing 102 discrete 102 executing in EASY5 66 executing in MATLAB 39 executing in MATRIXx 88 in step 4 using EASY5 66 in step 4 using MATLAB 38 in step four using MATRIXx 88 initialization options for 106 modifying parameters in MATRIXx 88 parameters, setting in ADAMS/Controls 101, 107 pausing and stepping in EASY5 70 pausing and stepping in MATRIXx 94 pausing in MATLAB 39 running a trial without controls 16 running interactively in EASY5 69 running interactively in MATRIXx 93 Simulink palette in MATLAB 33 Simulink, creating template 47 Solver options 51 Starting EASY5 58 MATLAB 31 MATRIXx 80
119
A-B C-D E-F G-H I-J K-L M-N O-P Q-R S-T U-V W-Z
120
Getting Started Using ADAMS/Controls Index
State variables 108
A-B
SuperBlock defining attributes in MATRIXx 81 file in MATRIXx 81
C-D
System refactorization 108
E-F
Tutorial about 12 for ADAMS/Controls with CSI 46 for ADAMS/Controls with EASY5 45, 57 for ADAMS/Controls with MATLAB 29 for ADAMS/Controls with MATRIXx 77 introducing and starting the 12
U-V User libraries 110 Variables design 108 output function for 23 state 108 verifying input for 20
G-H I-J K-L M-N O-P Q-R S-T U-V
VARVAL function 22 Verifying input variables 20 output functions 23
W-Z Ways to use ADAMS/Controls 8
W-Z