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230 Adams/Solver Input Arguments id An integer variable that contains the ID of the VFORCE statement requesting information from VFOSUB. From the identifier, Adams/Solver automatically recognizes other information (such as the par argument) that is available in the corresponding statement. time A double-precision variable through which Adams/Solver conveys the current simulation time. par A double-precision array of constants taken in order from the USER parenthetical list of the VFORCE statement. npar An integer variable that indicates the number of constants you specify in the USER parenthetical list. The primary purpose of the npar argument is to provide to VFOSUB the number of values stored in the par array. dflag A logical variable that Adams/Solver sets to true when it calls VFOSUB to evaluate the partial derivatives of the specified functions. Otherwise, Adams/Solver sets the dflag argument to false. See Using the DFLAG Variable. iflag A logical variable that Adams/Solver sets to true when it needs functional dependency information from VFOSUB. Functional dependencies are established with the same calls to SYSARY and SYSFNC that are later used to compute the values of the VFORCE components (see SYSARY and SYSFNC). If the iflag argument is false, the values of the user-defined expressions are computed. Output Arguments result A double-precision array that returns the three values of the VFORCE components, in x-y-z order. Extended Definition You can usually use the VFORCE statement with function expressions to define the three components of a translational vector force at a point. However, if the force expressions become lengthy and awkward or require external computations, it may be necessary to use a VFOSUB. If the algorithms use or consist of already-existing FORTRAN-77 subroutines, VFOSUB can be made to call them. You can call utility subroutines, such as AKISPL, CUBSPL, SYSARY, and SYSFNC, from VFOSUB to obtain information about system variables, user-defined variables, and splines. (See AKISPL, CUBSPL, SYSARY, and SYSFNC). The SYSARY and SYSFNC utility subroutines automatically set functional dependencies when the VFOSUB argument iflag is true. For Adams/Solver to compute solutions efficiently, it must know on which other variables each user-defined variable depends directly. Adams/Solver determines these functional dependencies at the beginning of the simulation by calling VFOSUB with the argument iflag
Welcome to Adams/Solver Subroutines set to true. During each call to VFOSUB, Adams/Solver records which calls you make to SYSARY and SYSFNC and assumes that the resulting values are dependent only on those Adams/Solver variables accessed through the SYSARY and SYSFNC calls. Tip: If the SYSARY or SYSFNC utility subroutines are called to access angular displacements, the values returned by them may contain discontinuities. To avoid the discontinuities, use the RCNVRT utility subroutine to convert the rotational angles from Euler angles to some other rotational representation that does not encounter a singularity. Caution: • When the iflag argument is true, you must make all the calls to SYSARY and SYSFNC as are made to compute the component values of the VFORCE. This ensures that Adams/Solver has the proper functional dependencies. In general, failure to account for dependencies in the VFORCE components can make it difficult for Adams/Solver to converge to a solution and/or can force Adams/Solver to take small integration steps. Both of these effects usually cause large increases in execution time. FORTRAN - Prototype • When the iflag argument is true, SYSARY and SYSFNC return zero values. Computations that divide by these values result in fatal errors when you execute Adams/Solver. You should check for nonzero values or ensure that the iflag argument is set to false before dividing by these values. A sample structure for VFOSUB is shown next. The comments explain how the subroutine works. & SUBROUTINE VFOSUB(ID, TIME, PAR, NPAR, DFLAG, IFLAG, RESULT) C C === Type and dimension statements =================== C C - External variable definitions ----------- C INTEGER ID DOUBLE PRECISION TIME DOUBLE PRECISION PAR(*) INTEGER NPAR LOGICAL DFLAG LOGICAL IFLAG DOUBLE PRECISION RESULT(3) C C ID Identifier of calling VFORCE statement C TIME Current time C PAR Array containing passed parameters C NPAR Number of passed parameters C DFLAG Differencing flag C C IFLAG RESULT Initial pass flag Array (dimension 3) of computed VFORCE C components returned to ADAMS 231
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Welcome to Adams/Solver Subroutines
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Compilers and Linkers Welcome to Ad
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Utility Subroutines About Utility S
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Subroutine: Does the following: Uns
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Input Arguments Welcome to Adams/So
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RETURN END AKISPL Welcome to Adams/
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Use Called By Any user-written subr
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T1( x - x0) = x - x0 CUBSPL , Welco
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Output Arguments Extended Definitio
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Extended Definition Welcome to Adam
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Input Arguments Output Arguments We
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Input Arguments Output Arguments Ex
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Use Welcome to Adams/Solver Subrout
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GETCPU retrieves CPU time used so f
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GETMOD returns the current analysis
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Use Called by Any user-written subr
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Prerequisite Welcome to Adams/Solve
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C C Inputs: C INTEGER ID C C Output
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Output Arguments Welcome to Adams/S
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C = [-A-1B] Welcome to Adams/Solver
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Prerequisite STRING statement in da
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Prerequisites None Calling Sequence
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function. Welcome to Adams/Solver S
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Calling Sequence CALL IMPACT (x, x'
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Output Arguments Extended Definitio
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Input Argument Welcome to Adams/Sol
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Input Argument Welcome to Adams/Sol
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Use Called By SPLINE_READ Calling S
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`S232' Space-two: 2-3-2 `S313' Spac
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Callng Sequence CALL SHF (x, x0, a,
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Calling Sequence CALL STEP5 (x, x0,
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C INTEGER IPAR(2), N_UVX, N_UVY, N_
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CALL NMODES(FBDYID,NQ,ERRFLG) STRIN
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F(M 1 (q), M 2 (q), ..., M N (q)) W
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Examples Welcome to Adams/Solver Su
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SUBROUTINE SFOSUB (ID, TIME, PAR, N
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DO 100 J = 1 , 6 DFDDIS(I,J)=0.D0 D
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User-Written Subroutines Welcome to
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C - Evaluate Normal Force component
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C X rotational field torque C ... F
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}; int NPAR; const double* PAR; int
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Using the DFLAG Variable Welcome to
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C RESULT(2) = ... RESULT(3) = ... R
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GSE_UPDATE Calling Sequence Welcome
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Page 215 and 216: C C C C C C C C C C C C C C VALUES(
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Page 233 and 234: */ struct sAdamsVforce { int ID; in
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