1 SIMPACK Basics Training 1 SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany Page 2 SIMPACK Basics Training 1 Version 2012-05-07 SIMPACK AG Overview of SIMPACK Trainings What is SIMPACK? SIMPACK Application Areas SIMPACK Products SIMPACK Interfaces SIMPACK MBS Elements SIMPACK MBS Equations of Motion SIMPACK Solver Options SIMPACK Numerics SIMPACK Data Flow SIMPACK Graphical User Interface (GUI) SIMPACK Documentation SIMPACK Model Setup Process Exercise >> Model Setup Double Pendulum Preprocessing: Bodies Preprocessing: Joints Preprocessing: Sensors Solver: Test Call Solver: Time Integration Postprocessing: 3D Animation Postprocessing: 2D Plot >> Model Setup Two Mass Oscillator Preprocessing: Force Elements Preprocessing: Excitations Solver: Static Equilibrium Solver: Preload Solver: Natural Frequencies Postprocessing : Mode Shape 3D Animation and 2D Plot (Pre, Solver, Post: Linear System Analysis) Contents Theory
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SIMPACK Basics Training 1
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SIMPACK AG
Overview of SIMPACK Trainings
What is SIMPACK?
SIMPACK Application Areas
SIMPACK Products
SIMPACK Interfaces
SIMPACK MBS Elements
SIMPACK MBS Equations of Motion
SIMPACK Solver Options
SIMPACK Numerics
SIMPACK Data Flow
SIMPACK Graphical User Interface (GUI)
SIMPACK Documentation
SIMPACK Model Setup Process
Exercise
>> Model Setup Double Pendulum
Preprocessing: Bodies
Preprocessing: Joints
Preprocessing: Sensors
Solver: Test Call
Solver: Time Integration
Postprocessing: 3D Animation
Postprocessing: 2D Plot
>> Model Setup Two Mass Oscillator
Preprocessing: Force Elements
Preprocessing: Excitations
Solver: Static Equilibrium
Solver: Preload
Solver: Natural Frequencies
Postprocessing : Mode Shape 3D Animation and 2D Plot
(Pre, Solver, Post: Linear System Analysis)
Contents
Theory
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Activities
SIMPACK Software Development (Multi
Body System Dynamics)
Software Sales
Software Training
SIMPACK Academy
Hotline, User Meetings, SIMPACK News
Engineering & Consulting Business (On-
Site, Off-Site and Hosting):
Complete Projects
Setting up Models, Real Time
Models, User Routines, Concept
Computations
etc.
Theory SIMPACK AG
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C -----------------------------------------------------C task = 0 : I/O-ValuesC -----------------------------------------------------C ParametersC ----------C Name '123456789012345678901234567890'
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Body: Rigid
Elastic beams (SIMBEAM)
Arbitrarily shaped elastic bodies (FEM-Interface)
Joints/Constraints:
Standard: Revolute (1-3 DOF)
Prismatic (1-3 DOF)
User defined (1-6 DOF)
Excitation joints (motion dependent on time)
Application Specific: Vehicle track joint
Chain link path joint
Virtual suspension joint
Cardan joint
Constant velocity joint
Screw joint
Gear box constraints (e.g. differential gear,
planet gear, ...)
And more
Reference System: Inertial fixed
Moved
Theory SIMPACK Basic MBS Elements (1) - Library
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Force Elements
Standard: Spring (linear/nonlinear)
Damper (linear/nonlinear)
User defined force law
(by expression)
Excitation forces (force/torque
dependent on time)
Application Specific: Single sided contact
Non-linear friction
Stick-slip elements
Tire models
Chain forces
Gearwheel forces
Hydraulic lash adjuster
Dynamic valve spring contact
Elastic gear box
Hydraulic bearing
Hysteresis effects
Frequency dependent bushing
Generic forces by measured
transfer function
point to point (ptp)
components (cmp)
Theory SIMPACK Basic MBS Elements (2) - Library
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Signal Manipulators PIDT1 controller combinations
General signal manipulation
Manoeuvre controller ('non-linear
transfer function')
Application specific controllers (e.g.
automotive driver controller)
Actuators Force/torque actuator
Motion actuators
Sensors
Kinematic measurements
Excitations
Signal generation in
order to excite the MBS
Theory
Control Elements
Disturbances Deterministic
Stochastic
Sensors Kinematic measurements
MBS states
Time excitations (u-input)
Signal Converters A/D
D/A
SIMPACK Basic MBS Elements (3) - Library
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Kinematics
Describes the motion of the
system with respect to the
kinematic joints and constraints
Describes the motion of the
system due to applied forces
Theory MBS Kinematics and Dynamics
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Absolute Coordinates (= SIMPACK optional)
Rigid body motion,
described with respect
to the inertial frame:
Always max. dimension of
equations of motion (each
body always requires 6
MBS states)
Large absolute values in
MBS body position
describing states
Position Velocity Acceleration
Positions r x y z ( , , )
r
r
Orientations A ( , , ) a b g
IFr2(x,y,z); IFA2(a,b,g)
IFr1(x,y,z); IFA1(a,b,g)
IFr3(x,y,z); IFA3(a,b,g)
1
2
3
inertial frame
A
A
Theory SIMPACK MBS Equations: Relative Coordinates (1)
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Relative Coordinates (= SIMPACK Default)
IFr1 (a1); IFA1(a1)
Position Velocity Acceleration
position r x y z ( , , )
r
r
orientation A ( , , ) a b g
1r2 (a2); 1A2(a2)
2r3 (a3); 2A3(a3)
1 2
3
a1 a2 a3
Positions r (a1, a2 ,a3)
inertial frame
Orientations
A
A A ( , , ) a1 a2 a3
Rigid Body motion
description by vector chain:
(i.e.: only rotational Joints)
Kin. tree structure
Separation of Joints (= tree
structure defining joints)
and Constraints (= loop
closing Joints) in
SIMPACK.
Equations of motion with
minimal coordinates
Small absolute values in
MBS body position
describing states
Theory SIMPACK MBS Equations: Relative Coordinates (2)
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Test Call
Kinematics
Equilibrium
Static Equilibrium
Driven Equilibrium
Preload
Time Integration
Measurements
Eigenvalues
Linear System Matrices
Co-Simulation
Solver Modes Available in SIMPACK
Theory SIMPACK Solver Options
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SODASRT_2 Solver (SIMPACK Default)
SIMPACK-own, optimized numerics
(Adaption of DASSL)
Root Function handling (Integrated into
respective elements)
Index2 stabilization (Constraint
equations solved on position and
velocity level)
Each state coordinate with individual
tolerances
Fast, Accurate, Robust, Reliable
No artificial numerical damping !
Theory SIMPACK Numerics
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SIMPACK Documentation is available via:
SIMPACK menu bar
F1-button in SIMPACK
Features:
Navigation tree
Index
Bookmarks
Sophisticated text search
Tutorials
Example models
Theory SIMPACK Documentation
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Model Setup in SIMPACK
Bodies Joints Force Elements Constraints Excitations Sensors ...
Mass,
Center of
Gravity,
I-Tensor,
Marker,
3D-Primitive
From Marker,
To Marker,
Type
From Marker,
To Marker,
Type
From Marker,
To Marker,
Type
Type,
Parameter,
u-Vectors
From
Marker,
To Marker,
Type
Draw Topology
Separate into Bodies, Joints, Force Elements, ...
FEM CAD ...
External Data
Real System
Theory SIMPACK Model Setup Process
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1. Divide your mechanism into Bodies, Joints, Constraints, Force Elements
2. Picture topology
3. For the Body specify the following:
Mass
Center of Gravity
Inertia
Markers
Primitives (3D-geometry)
4. For the Joint specify the following:
From Marker
To Marker
Joint Type
5. (Constraints)
6. (Force Elements)
Theory Steps in Setting up a Model in SIMPACK
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Single Pendulum
Double Pendulum
One Mass Oscillator
Two Mass Oscillator
Exercise Exercises
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Pre-Processing Processing Post-Processing
Body Definition Online Time Integration 3D Animation
Joint Definition Test Call
Theory Model Setup Single Pendulum Overview
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Mass and Center of Gravity
Moments of Inertia
Markers
Primitives (3D Geometry)
From Marker
BRF
To
Marker (0,3)
All Body properties are described in a local
coordinate system
= Body Reference Frame (BRF)
Theory Model Setup Single Pendulum - Bodies
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BRF
To Marker
(0,3)
From Marker
Theory
Joints act between two Markers
Joint states are measured with respect to the ‘From Marker’
Joint type (0 - 6 DOF)
Initial States
Each Body must have
one, and only one, Joint!
Model Setup Single Pendulum - Joints
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Theory
Create Bar appears by right mouse
click in the 3D Page.
SIMPACK GUI Main Window
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Create a new model:
Select one of the available
templates
Theory
Your
SIMPACK
GUI can look
like that:
SIMPACK GUI Model Setup – Creating a new Model
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Theory
Another option is to
open an already
existing model.
SIMPACK GUI Model Setup – Open an Existing Model
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Model Tree
Shows all Elements
used in your Model
Contains Model
specific settings
SIMPACK Model
in the 3D Page
Interactive model set up by
using the various SIMPACK
library elements
3D-Window control by
mouse buttons while
pressing the ‘CTRL’ key
3D-window settings by
clicking with the right mouse
button in the 3D-window area
Message Log
Information about current
SIMPACK processes
Warnings and Error Messages:
Always check the first error or
warning message in order to
solve a problem !
Theory
3D-view control (zoom,
translation, rotation) with
3 mouse buttons while pressing
the ‘Ctrl’ key
or via space mouse
click with right mouse
button to set up views
and 3D properties
SIMPACK GUI Model Setup – 3D Page I
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Theory
Further basic functions:
• Undo / Redo
Multi-edit Elements by multi-selecting
them either in the 3D Page or in the Model
Tree (hold ”Ctrl” while selecting)
Multiple Bodies or other Elements
can be modified simultaneously
SIMPACK GUI Model Setup – 3D Page II
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Theory
The topology of the 2D
Page corresponds to the
built up model.
It can give you a clearer
overview about elements
and connections.
Switch between 3D and
2D Page at the bottom of
the main window of the
SIMPACK GUI.
Access 2D Properties
with right click on the 2D
Window:
Enable/disable
visibility of Elements
Show grid
SIMPACK GUI Model Setup – 2D Page
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Create a new model, change the
background color, try to control the 3D
view (translate, rotate, zoom)
Set up the single pendulum in SIMPACK
Perform Online Test Call
Perform Online Time Integration
Change initial Joint State position
Review position and orientation of BRF!
Exercise SIMPACK Program Exercise
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Y X
Characteristics
Sphere: Rod:
Radius = 0.2 m Diameter = 0.1 m
Length = 0.8 m
Mass = 5 kg
Ixx = 0.08 kg*m^2 (with respect to center of gravity)
Iyy = 0.08 kg*m^2 (with respect to center of gravity)
Izz = 0.08 kg*m^2 (with respect to center of gravity)
Revolute Joint
c.g.
Joint
Body 1
a
0.8m
Marker on Reference Frame
Theory SIMPACK Program Exercise – Model Data
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Theory
To check your model prior to performing
any calculations/ solver tasks use the Test
Call
Online: Quick view of the results of the Test Call
online on your screen
Offline: Creates an additional ASCII result file
(*.tes) with the results
Model Setup Single Pendulum – Test Call
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View Setup: 3D Properties and View Properties
Theory
Right mouse click in the 3D Page:
In the navigation bar:
Model Setup Single Pendulum – 3D View
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Each Body in the MBS model
has its own BRF
The BRF is always located at
(0,0,0) by definition and cannot
be deleted
All Marker coordinates are given
with respect to the BRF
(except Markers specified
relative to a Reference Marker)
Even if the BRF is an ordinary
marker, it is not recommended to
use it for modelling purposes. In
order to keep a clear model
structure it is better to create a new
Marker at (0,0,0) and assign an
appropriate name to it.
P1
P2
Theory
Body Reference Frame (BRF)
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Open the model
12_body_positioning_marker and change
the position of the Joint From Marker.
Open the model
13_body_positioning_joint and modify the
Joint State.
Open the model
14_body_positioning_body_on_body.
Mass_2 is connected to Mass_1. See how it
moves with Mass_1.
Open the model
15_body_positioning_wall. Reconnect the
Bodies to the wall. Have a look at what is on
the rear side of the wall.
Exercise SIMPACK Program Exercise
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The position of a Body in space is
given by its relation to the inertia
system (Isys) or another Body
Example: Body1 is fixed to the
inertia system with its BRF at P1.
Body2 is rotating around P3 on Body1.
The position of a Body in space results from the joint definition of this body (= assignment of joint coupling markers).
Isys
Theory Position of a Body in Space
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Graphical elements (3D Primitives) are
visualization elements without any physical meaning (except functional Primitives such as gearwheels) to the
MBS system. The position of any 3D Primitive on a
body is given with respect to a Marker located on the Body (default is the BRF).
P1 belongs to Body1, even if no 3D graphic is visible at its location. The cuboid is defined with respect to BRF with primitive built in coordinates of P2.
Isys
center
center
center
sphereP2
z
y
x
r
center
center
center
cuboidBFRF
z
y
x
r
P2
BFRF
P1
The center of the sphere is defined with respect to P2 with additional primitive built in coordinates. Therefore no Marker is needed in its center.
Theory Position of 3D Primitives (1)
BRF
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Changing the built-in
positions of 3D primitives will not change the position of the body in space!
Even if the shape of the body has changed, all marker positions will stay at the same location. The body did not move at all.
Isys
center
center
center
sphereP2
z
y
x
r
center
center
center
cuboidBFRF
z
y
x
rP2
BFRF
P1
Theory Position of 3D Primitives (2)
BRF
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Pre-Processing Processing Post-Processing
Body Definition Online Time Integration 3D Animation
Joint Definition Test Call State Plots
Copy & Paste Offline Time Integration PostProcessor
Measurements
Theory Model Setup Double Pendulum Overview
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The integrator solves the
equations of motion
resulting in Joint states and
their first derivatives:
The time integration results are
saved in the output path in the
file <modelname>.sir
(SIMPACK Intermediate
Results) and can be viewed in
the PostProcessor.
a1
a2
Theory Time Integration
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Theory Solver Settings: Access from Model Tree
Every model has ist’s own Solver Settings
Different Solver Settings can be generated For the calculations only the activated Solver
Settings are considered
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Theory Solver Settings: Result File and Parallel Solver
The path definition for model’s
simulation results as well as the basename for the result files can be defined under Result file.
The number of threads to be
dedicated to the defined solver task can be given under Parallel Solver. Increasing the number of
threads generally implies shorter solving times, especially for
complex models.
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Theory Solver Settings: Time Integration Configuration
The integration time as well as the
solving method and tolerances can be given under Time Integration.
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The result data that is written out to an
.sbr file can be configured from the SIMPACK SolverSettings.
There are two tabs:
General
Result Configuration
Theory Solver Settings: Measurements configuration
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Sensors are used to obtain measurement
data between two Markers. The data is
calculated with “Full Measurements”.
Rerunning an integration is not necessary
for newly defined Sensors.
Theory Sensors
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Performing Measurements
after the Time Integration
provides positions, velocities
and accelerations of all
Sensors as well as forces in
Joints and Force Elements
and all specific outputs
defined by the user.
Theory Time Integration with Measurements
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Time
Sensors: translational position measurements
Sensors: translational velocity measurements
Sensors: translational acceleration measurements
Sensors: rotational position measurements
Sensors: rotational velocity measurements
Sensors: rotational acceleration measurements
Force Elements: applied forces on From Marker
Force Elements: applied torques on From Marker
Force Elements: values of force element specific output values
Joint States: position values
Joint States: velocity values
Joints: joint constraint forces (output system dependent on global setting from Globals!)
Joints: joint constraint torques (output system dependent on global setting from Globals!)
Flexible Bodies: Position of flexible states
Flexible Bodies: Velocity of flexible states
Constraints: constraint constraint forces/torques
Y-Output: user defined co-simulation output channels
Result Elements: user defined output channels
Substitution Variables: defined substitution variables
Theory
Animation Geometry
SIMPACK PostProcessor: Measurement Results
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Theory SIMPACK Jobs: Offline Time Integration
Time Integration
statistics
Measurements
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Theory Online Time Integration
With the Online Time Integration, the model motion can be calculated and animated in
SIMPACK Pre without saving it first.
This allows to check the
model correctness before saving and to quickly get a first view of it’s general
behavior. Also, there is no end time in
the integration and the sample rate can be manually changed continuously.
No results are saved for this integration task.
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Body 2
Body 1
Both Bodies are identical
Z
Y X
a
a
Exercise SIMPACK Program Exercise – Model Data
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Set up the double pendulum in
SIMPACK using 'Copy & Paste'
Configure and perform an Offline
Time Integration with
Measurements
View the double pendulum
results in the State Plots
Change initial joint states of the
double pendulum and try again
Review position and orientation
of the double pendulums BRFs!
Exercise SIMPACK Program Exercise
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Generating Simple Plots
THEORY
Overview to the PostProcessor Areas/Elements and Terminology
Modifying Element Properties
Generating Animations
Theory
GUI Features
PostProcessor Basics
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Session Tree
Result Tree
Graphics Area
Page
• Graphics Table
• Diagram
• Animation
• Etc.
Menus and Icons
Script Console
Status Bar
Progress Bar
Standard GUI for
SIMPACK!
THEORY Theory
Menus and Icons
Status Bar Progress Bar
Animation
Footer
Page Title
Header Diagram Title
Graphics Table with Grid
PostProcessor Basics - Areas
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Result Tree can be
expanded, collapsed or
turned off
Result Tree shows loaded
results files
• SIMPACK .sbr files -generated by a
SIMPACK calculation
• ASCII Data files
.sbr files store the calculation
data in Output Data Types
Modelling Elements
Each Output Data Type
consists of Output Channels
THEORY Theory
Model containing the
Animation Geometry,
i.e. the Bodies and
their respective
Primitives and Markers
PostProcessor Basics - Result Tree
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THEORY
Expand/Collapse
Tree Close Tree A Project is a logical
grouping of data and
determines the
configuration. More
Projects can be open in
one Session.
A Pageset is a
container holding one
or more Pages.
A Page is the container
for every Element in
the Graphics Area.
A Diagram is the
container displaying
curves.
A Curve displays value
pair data. The display
can be switched off.
All Titles in the Session Tree Elements can be changed!
A Filter is used to amend
the value pair data.
Theory PostProcessor Basics – Session Tree and Plotting Elements
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THEORY
An Animation is the cell
into which a Model and
respective geometry
can be loaded.
A Model contains the
animation geometry.
The display can be
switched off.
Bodies contained in the
Model. The display of
the Bodies geometry
can be switched on or
off for each individual
Body.
Body Markers can be
displayed. The default
is not displayed.
The Titles of Session Tree Elements
are determined by the model!
Primitives: The display can
be switched on or off
individually.
Theory PostProcessor Basics – Session Tree and Animation Elements
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EXERCISE
Open the PostProcessor
from the Desktop icon
Exercise PostProcessor Basics – Starting
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EXERCISE
Create a new Project with the filename and Title 03_generating_curves.
Load in the sbr file ENG_V_ANGLE_15.sbr., which is stored in the output folder
Plot force output absolute force value from the Result Tree, Output Channels and by
adding a Curve to a Diagram.
Enter the value pairs directly. Try pulling in a ‚SubVar‘.
Exercise PostProcessor Basics – Generating A Simple Plot
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EXERCISE
Zoom In – ‘Ctrl‘ + left mouse button –
top bottom or right left.
Zoom Out - ‘Ctrl‘ + left mouse button –
bottom top or left right.
Or with the mouse wheel.
F6 turn on/off display of Session and
Result Trees.
F11 Full screen.
Exercise
Refit – Refit Icon or ‘Ctrl‘ + middle
mouse button.
View move - ‘Ctrl‘ + right mouse
button.
Box-zoom – ‘Shift‘ + draw box with
mouse.
Box-zoom
PostProcessor Basics – Modifying the View
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EXERCISE
Select the curve „mount_fl“ in the Session Tree
and delete it. Repeat for „mount_rr“.
Pick „mount_fr“, the remaining curve in the
Graphics Area. The curve will be highlighted in
the Session Tree.
Edit the Properties from the format menu or by
right clicking: color, style, width. Turn on the
Markers and change their color to black.
Create a new Page.
Plot „constr force-torque“
„crank_shaft_rotation“ „Constraint Torque
1“.
Set the X-source to the crankshaft joint
velocity.
Exercise PostProcessor Basics – Modifying the Curve Properties
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The Plot Page Consists of
Graphics Table containing Cells
Title
Header
Footer
THEORY Theory PostProcessor Basics – Plot Pages and Graphics Table
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