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56 Adams/Solver Note that the compliance matrix is the inverse of the stiffness matrix for a system (which is defined as the partial derivatives of the applied forces with respect to the displacements). If a system is assumed to be linear, the compliance matrix can be used to predict the system movement due to force inputs: Dx = C Df From this perspective, matrix element cij is the displacement of system degree of freedom i due to a unit force at degree-of-freedom j. In order for the system to have meaningful compliances, it must have one or more degrees of freedom. A kinematic (zero-degree-of-freedom) model does not move in response to applied forces, so by definition the compliances are zero. GTCMAT returns an error if run on a kinematic model. GTCMAT returns a matrix containing six columns and six rows for each marker requested. The rows and columns are in groups of six, appearing in the same order as the markers are listed in mid. The rows correspond to global x, y, and z translations and global AX, AY, AZ rotations. The columns correspond to global x, y, and z forces and torques about the global x, y, and z axes. If, for example, you specify two marker identifiers in mid, GTCMAT returns a 12 12 matrix. Element c(2,4) is the change in the global y displacement of the first marker due to a unit torque about the global x-axis applied at the first marker (assuming a linear system). Element c(2,8) is the change in the global y displacement of the first marker due to a global Y force applied at the second marker. Using Adams/Solver (FORTRAN) When using Adams/Solver (FORTRAN), GTCMAT computes the compliance matrix by inverting the Jacobian from an Adams/Solver static solution. Because of this, you must first call ANALYS to perform a static solution, before calling GTCMAT. GTCMAT returns an error if you have not first run a static analysis. Using Adams/Solver (C++) When using Adams/Solver (C++), GTCMAT computes the compliance matrix as follows: 1. A linearization of the system is performed (the linearization does not change the current state of the system) and a standard input-output representation is obtained: = AX + BU y = X where the output y consists of the displacements of the MARKERs and the input U consists of applied forces at the MARKERs’ locations. For more information on the state vector X and the state matrices A,B, , see the LINEAR command. 2. Solving for X we find that X = A-1-A-1BU Putting this result into the equation for y we obtain: y = [-A-1B]U + [-A-1] 3. The compliance matrix C is given by the expression:
C = [-A-1B] Welcome to Adams/Solver Subroutines Notice that the term [-A-1] is due to perturbations of the velocities and accelerations of the system at the operating point, therefore it can be neglected. The GTCMAT subroutine can be called during a dynamic or a quasi-static simulation. Caution: If you don't dimension matrix c properly or don't assign the proper value to ndim, GTCMAT can overwrite other memory. GTCURV GTCURV evaluates a B-spline or user-written curve created by a CURVE statement (C++ or FORTRAN). Use Called By Any user-written subroutine Prerequisite CURVE statement in the dataset Calling Sequence CALL GTCURV (id, alpha, iord, array, istat) 57
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Welcome to Adams/Solver Subroutines
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Compilers and Linkers Welcome to Ad
Page 5 and 6: Utility Subroutines About Utility S
Page 7 and 8: Subroutine: Does the following: Uns
Page 9 and 10: Welcome to Adams/Solver Subroutines
Page 11 and 12: Input Arguments Welcome to Adams/So
Page 13 and 14: RETURN END AKISPL Welcome to Adams/
Page 21 and 22: Use Called By Any user-written subr
Page 23 and 24: T1( x - x0) = x - x0 CUBSPL , Welco
Page 25 and 26: Output Arguments Extended Definitio
Page 27 and 28: Extended Definition Welcome to Adam
Page 29 and 30: Input Arguments Output Arguments We
Page 31 and 32: Input Arguments Output Arguments Ex
Page 35 and 36: Use Welcome to Adams/Solver Subrout
Page 37 and 38: GETCPU retrieves CPU time used so f
Page 39 and 40: GETMOD returns the current analysis
Page 41 and 42: Use Called by Any user-written subr
Page 43 and 44: Prerequisite Welcome to Adams/Solve
Page 49 and 50: C C Inputs: C INTEGER ID C C Output
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Page 59 and 60: Output Arguments Welcome to Adams/S
Page 61 and 62: Prerequisite STRING statement in da
Page 63 and 64: Prerequisites None Calling Sequence
Page 65 and 66: function. Welcome to Adams/Solver S
Page 67 and 68: Calling Sequence CALL IMPACT (x, x'
Page 69 and 70: Output Arguments Extended Definitio
Page 71 and 72: Input Argument Welcome to Adams/Sol
Page 73 and 74: Input Argument Welcome to Adams/Sol
Page 75 and 76: Use Called By Any user-written subr
Page 77 and 78: Use Called By SPLINE_READ Calling S
Page 81 and 82: `S232' Space-two: 2-3-2 `S313' Spac
Page 85 and 86: Callng Sequence CALL SHF (x, x0, a,
Page 89 and 90: Calling Sequence CALL STEP5 (x, x0,
Page 103 and 104: C INTEGER IPAR(2), N_UVX, N_UVY, N_
Page 105 and 106: CALL NMODES(FBDYID,NQ,ERRFLG) STRIN
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Input Arguments Welcome to Adams/So
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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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Use Called By Any user-written subr
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User-Written Subroutines Welcome to
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C - Evaluate Normal Force component
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Output Arguments Welcome to Adams/S
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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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Use Corresponding Statement Welcome
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Output Arguments scale A double-pre
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Use Corresponding Command Calling S
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C ENDIF C C - Create request inform
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* * SENSOR struct sAdamsSensorEval
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FORTRAN - Prototype Welcome to Adam
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C C C C C C C C C C C C C C VALUES(
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C - Derivatives of prior first deri
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C C - Subroutine initialization ---
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*/ struct sAdamsVforce { int ID; in
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FORTRAN - Prototype Welcome to Adam
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Examples For an example of this sub
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