Design, Simulation and Virtual Testing
madymo
Reference Manual | VERSION 7.7 www.tassinternational.com
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Copyright 2017 by TASS International All rights reserved. R MADYMO has been developed at TASS International Software BV.
This document contains proprietary and confidential information of TASS International. The contents of this document may not be disclosed to third parties, copied or duplicated in any form, in whole or in part, without prior written permission of TASS International. R The terms and conditions governing the license of MADYMO software consist solely of those set forth in the written contracts between TASS International or TASS International authorised third parties and its customers. The software may only be used or copied in accordance with the terms of these contracts.
MADYMO Reference manual
MADYMO Manuals An overview of the MADYMO solver related manuals is given below. From Acrobat Reader, these manuals can be accessed directly by clicking the manual in the table below. Manuals marked with a star (⋆ ) are also provided in hard-copy (major releases only).
Theory Manual Reference Manual⋆ Model Manual⋆ Human Model Manual Tyre Model Manual Utilities Manual
Folder Manual Programmer’s Manual Release Notes Installation Instructions Coupling Manual
The theoretical concepts of the MADYMO solver. Detailed information on how to use the MADYMO solver and how to specify the input. Dummy, Dummy Subsystem and Barrier Models with simple examples. Human Models and applications that make use of Human Models. Documentation about Tyre Models. User’s guide for MADYMO/Optimiser, MADYMO/Scaler, MADYMO/Dummy Generator, MADYMO/Tank Test Analysis Describes the use of MADYMO/Folder. Information about user-defined routines. Describes the new features, modifications and bug fixes with respect to the previous release. Description for the system administrator to install MADYMO. Description of coupling with ABAQUS, LS-DYNA, PAM CRASH/SAFE and Radioss and the TCP/IP coupling with MATLAB/Simulink.
TASS International provides extensive and high quality support for its products to help you in utilizing the software most efficiently. TASS International offers extensive hotline support for our software products, MADYMO, PreScan and Delft-Tyre. Our hotline support can be reached over phone as well as via email and will assist you with your questions regarding our different software products. Your requests will be dealt with in a fast and effective manner to support you in the continuation of your work in progress. On the website you will find your local representative with the accompanying support contact details.
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CONTENTS
Table of contents MADYMO Manuals
1 What is MADYMO
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1.1
Running MADYMO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
1.2
Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
1.3
Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
1.4
Licensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
2 General XML Information
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2.1
What is XML? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
2.2
How is XML structured? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
2.3
What is a DTD? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
2.4
What are XML editors and how are they used? . . . . . . . . . . . . . . . . . . .
5
3 Basic Use of the MADYMO Input File
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3.1
Special XML elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3.2
Element order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3.3
Classes of elements explained . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3.4
How to read and write a MADYMO input file . . . . . . . . . . . . . . . . . . .
16
3.5
References explained . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
3.6
Template file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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4 MADYMO XML Element Dictionary A Description of the MADYMO Files
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A.1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1055
A.2
Input Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1055
A.3
Output Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1056 A.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1056 A.3.2 Output control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1056 A.3.3 Standard output files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1059 A.3.4 Time history output files . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1061 A.3.5 Animation output files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1064 A.3.6 Gasflow animation output files . . . . . . . . . . . . . . . . . . . . . . . . 1065 A.3.7 Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1066 v
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A.3.8 DEBUG file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1073 A.3.9 FEMESH file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1075 B System of Units
1079
C Parallel Processing
1081
C.1
Shared Memory Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1081
C.2
Massively Parallel Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1081 C.2.1 Unsupported features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1082
D Time History Channels
1083
E Stress and Strain Definitions
1089
F Element Output Options
1097
G Coupling with an External FE Program
1099
H Restart Analysis
1101
I
1105
Contact Modelling Guidelines I.1
I.2
I.3
J
I.1.1
Contact between two FE structures . . . . . . . . . . . . . . . . . . . . . . 1105
I.1.2
Contact between a FE structure and a facet surface . . . . . . . . . . . . 1108
I.1.3
Contact between two facet surfaces . . . . . . . . . . . . . . . . . . . . . 1110
I.1.4
Friction in CONTACT.FE_FE . . . . . . . . . . . . . . . . . . . . . . . . . 1112
Guidelines for Facet Surface Modelling . . . . . . . . . . . . . . . . . . . . . . . 1114 I.2.1
FE modelling versus facet surface modelling . . . . . . . . . . . . . . . . 1114
I.2.2
Facet surface modelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1114
I.2.3
Deriving facet surface contact characteristics . . . . . . . . . . . . . . . . 1117
Guidelines for Contacts with Facet Dummy Models . . . . . . . . . . . . . . . . 1120 I.3.1
Facet dummy – FE membrane belt contact . . . . . . . . . . . . . . . . . 1120
I.3.2
Facet dummy – FE airbag contact . . . . . . . . . . . . . . . . . . . . . . . 1121
Energy Guidelines J.1
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Guidelines for CONTACT.FE_FE Modelling . . . . . . . . . . . . . . . . . . . . 1105
1123
Discontinuities in the energy signals . . . . . . . . . . . . . . . . . . . . . . . . . 1123 J.1.1
The kinetic energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1123
J.1.2
The internal and dissipation energy . . . . . . . . . . . . . . . . . . . . . 1123
J.1.3
The work done by external contact forces . . . . . . . . . . . . . . . . . . 1124
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The work done by external forces . . . . . . . . . . . . . . . . . . . . . . 1124
J.2
Deviations of the energy signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 1124
J.3
Stability of the Numerical Calculation . . . . . . . . . . . . . . . . . . . . . . . . 1125
K Repeatability
1127
K.1
Definition of repeatability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1127
K.2
The origin of non-repeatability . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1127
K.3
Impact of non-repeatability on simulation results . . . . . . . . . . . . . . . . . 1128
K.4
Impact of repeatability on optimisation/DOE analysis . . . . . . . . . . . . . . 1130
K.5
Using the repeatability switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1130
L Error and warning message ID’s
1131
M Advanced XML Information
1135
M.1 XML Header . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1135 M.2 Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1135 M.3 DTD Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1136 N MADYMO XML Translator
1143
N.1
What does the translator do? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1143
N.2
Using the translator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1144
N.3
Pre-translation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1144
N.4
Understanding INCLUDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1144
O MADYMO XML Expander
1147
O.1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1147
O.2
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1147
P MADYMO XML Reformatter
1151
P.1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1151
P.2
Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1151
P.3
Configuration file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1152
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1
What is MADYMO
What is MADYMO MADYMO is a MAthematical DYnamic MOdelling software package that provides solution to problems in crash engineering applications. The package includes numerical solvers, dummy, human and example mathematical models applicable to the automotive and aerospace engineering industries.
1.1
Running MADYMO An interface program is provided as part of the MADYMO distribution. This is a command-line interface, and can be used to start all MADYMO product executables. The interface program can be started with the command madymo77. This command will show the full list of possible options. For more information about the MADYMO product executables, run the command ‘madymo77 -help’. This will provide a summary of the MADYMO products, and references to the appropriate user manual. The core MADYMO solver is MADYMO3D. This solver requires a strictly formatted XML file as input. Example input files are provided with the distribution in the directory madymodir/share/appl/3d. To run the simple example model a_crank_slider, run the command madymo77 -3d a_crank_slider.xml This will generate output files, named a_crank_slider.*, in the current directory.
1.2
Distribution The entire MADYMO package is located in and below a single directory. The root directory of the distribution is referred to as madymodir, or the environment variable MADHOME. To determine the root directory, run the command ‘madymo77 -show‘. This will also display the platform identifier for the machine you are using. There will be two or more sub-directories in the madymodir directory, depending on the number of platforms that were originally installed. A directory named share will always exist, and this branch contains all platform independent components of the distribution. This includes examples, model databases and auxiliary files. The other directories each contain platform dependent files, with a single branch for each platform that was installed. These directory names correspond directly to platform identifiers.
1.3
Manuals All MADYMO manuals are provided in pdf format, and can be found in the directory madymodir/share/doc/manuals. To browse the digital version of the manuals, run the command madymo77 -man. Note, this will require either Adobe acrobat reader 4.0 or higher or xpdf be installed on your system.
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Licensing The license modules are always checked out only once for a job even if the job is running on multiple CPU’s. The MADYMO reprint file will display what license modules are required for a certain job.
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General XML Information
2.1
What is XML?
General XML Information
Extensible Markup Language (XML) is intended for electronic data exchange and documentation. An analogy is used to describe XML by comparing it to the English language. If HTML is the equivalent of English, then in this situation XML would simply be 26 letters - the alphabet used to form all words within the language. English is quite different from Spanish or Dutch, yet both these languages can also be expressed using the same alphabet.
2.2
How is XML structured? An example from everyday life will be used to introduce the concepts used in XML structure. The example below shows a house containing four rooms or elements: kitchen, living room, bathroom and bedroom. All of these elements share the same attributes: colour, width and height of the room. The element kitchen contains three elements: a brown kitchen-chair, a steel sink and a refrigerator with unspecified characteristics. The living room contains a brown, leather couch. The bathroom contains a white cabinet, a ceramic sink and a round bath. The bedroom is empty. Each XML structure has one root element that contains all other elements. In this example the root element is HOUSE.
XML example
Our House
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XML elements that are contained by other XML elements are called child elements or related elements. In addition, an element’s properties can be described using attributes. Examples are a sink made of the materials steel or ceramic, and the bathroom’s colour is white. XML Rules
XML has a strict format that makes it easier to interpret it with a computer program. The main rules are as follows: • Elements are specified with bracketed tags: • XML is case sensitive: a is not a . • Whenever an element contains other elements, there are always two tags: an opening tag and a closing tag . The lines between these two tags specify the content of this element (such as bath). • A single element tag, such as , may be used to specify an empty element. is also acceptable. • Element tags must be nested correctly because otherwise the XML translator can not read them. The example below shows the incorrect method of describing house elements because the kitchen closing tag and the living room opening tag have been placed in the wrong order. ... ...
• Attribute values must be enclosed by single or double quotes: COLOUR =’white’ or COLOUR = "white". 4
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General XML Information
• XML files that conform to the syntactic rules are called well formed in XML jargon. If a document is not well formed, it can not be read by an XML parser.
2.3
What is a DTD? XML allows the user to define unique elements, attributes and their relationships. In this way a vocabulary can be defined to describe a specific subject such as a house. In the header of an XML file, it must be stated to which vocabulary or rules the file must follow. This is defined by the Document Type Definition (DTD). In the previous XML example in the second line, house.dtd is the name of the DTD.
These rules determine the permitted content and hierarchy of the file. A HOUSE is specified to contain a BATHROOM and not vice versa. A BATHROOM is specified to contain one BATH or one SHOWER. The DTD describes the XML language in terms of the words used and where they can be used. Unless specified in the DTD, a LIVING_ROOM cannot contain a SHOWER. The DTD also specifies the order in which child elements must appear within their parent element: the KITCHEN must appear before the LIVING_ROOM. After properly specifying the DTD once, this document type can be applied to each of the XML files that has been written in this language, and have the files checked against these rules. If an XML file is in accordance with the rules set in the DTD, it is said to be a valid XML file. See Appendix M for further details. There are a few different types of XML elements and attributes. Types of XML Elements/ Attributes
• Elements and attributes may be required. The XML file will not be valid if they are omitted. • Elements and attributes can be optional. The user is free to insert them into a element. • Attributes can occur only once in an element. Some elements may occur more than once in a parent element. This is indicated in the manual. • Attributes can have a default value. If the user leaves out such an attribute, its value will be inserted from the value specified in the DTD. If the user specifies the value, it will override the default value of the DTD. Attributes can be placed in any order within the element. The order of the related elements, however, is specified in the DTD.
2.4
What are XML editors and how are they used?
XML Editors Any text editor, such as vi, can be used to create or modify an XML file. However,
it can be difficult to read these files because of the tags that surround the XML Release 7.7
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elements and attributes. Some text editors (Vim, Nedit, Emacs) can highlight these tags with different colours to make reading much easier. There is no connection to the DTD, which means inserting an element in such an editor must be done by typing the text in by hand. Checking validity against the DTD is not possible in a text editor. More advanced editing of an XML document, and benefiting from the use of XML, can be done with a dedicated XML editor. Although any XML editor can be used with a MADYMO input deck, TASS supplies an XML editor called XMADgic that is dedicated to MADYMO. XMADgic provides a range of specific features that aid in creating MADYMO input files and facilitates the use of MADYMO. XMADgic uses and interprets the MADYMO DTD and applies the rules and definitions that are specified in the DTD. The editor also provides an explicit XML-validity check, has the ability to launch the solver, supports the easy creation of references, and lets you locate the correct DTD for the MADYMO release version you are using. XMADgic also has useful viewing features that provide direct visual feedback during the model assembly process.
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Basic Use of the MADYMO Input File
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3.1
Special XML elements There are special XML element types that are used to control the layout of the XML file.
MathematicalThe parser in the MADYMO/Solver allows the use of mathematical expressions expressions where values of type REAL are expected. Also DEFINE’s can be mathematical ex-
pressions. An example of the use of mathematical functions is given below in combination with the DEFINE keyword.
The syntax for the VALUE is just the function (i.e. without "="). The MADYMO XML parser for the solver will recognise and evaluate the expressions before starting its calculations. Mathematical expressions are not evaluated for integer attributes (for example, ID, ISIZE, etc.) and cannot be used in TABLEs of elements that have related elements with attributes. The following mathematical expressions are recognized: Standard Operators x+y sum of x and y x-y difference of x and y x*y product of x and y x/y quotient of x and y x//y (floored) quotient of x and y x%y remainder of x / y -x x negated +x x unchanged abs(x) absolute value or magnitude of x int(x) x converted to integer long(x) x converted to long integer float(x) x converted to floating point x**y x to the power y Number theoretic and representation functions ceil(x) Return the ceiling of x as a float, the smallest integer value greater than or equal to x. copysign(x,y) Return x with the sign of y. On a platform that supports signed zeros, copysign(1.0, -0.0) returns -1.0. Release 7.7
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fabs(x) factorial(x) floor(x) fmod(x,y)
frexp(x)
fsum(iterable)
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Return the absolute value of x. Return x factorial. Raises ValueError if x is not integer or is negative. Return the floor of x as a float, the largest integer value less than or equal to x. Return fmod(x, y), as defined by the platform C library. The intent of the C standard is that fmod(x, y) be exactly (mathematically; to infinite precision) equal to x - n*y for some integer n such that the result has the same sign as x and magnitude less than abs(y). Python’s x % y returns a result with the sign of y instead, and may not be exactly computable for float arguments. For example, fmod(-1e- 100, 1e100) is -1e-100, but the result of Python’s -1e-100 % 1e100 is 1e100-1e-100, which cannot be represented exactly as a float, and rounds to the surprising 1e100. For this reason, function fmod() is generally preferred when working with floats, while Python’s x % y is preferred when working with integers. Return the mantissa and exponent of x as the pair (m, e). The mantissa and exponent can be obtained separately, i.e. using frexp(x)[0] yields m and frexp(x)[1] yields e. m is a float and e is an integer such that x == m * 2**e exactly. If x is zero, returns (0.0, 0), otherwise 0.5 <= abs (m) < 1. This is used to "pick apart" the internal representation of a float in a portable way. Return an accurate floating point sum of values in the iterable. Avoids loss of precision by tracking multiple intermediate partial sums: sum([.1, .1, .1, .1, .1, .1, .1, .1, .1, .1]) = 0.99999999999999989 fsum([.1, .1, .1, .1, .1, .1, .1, .1, .1, .1]) = 1.0
The algorithm’s accuracy depends on IEEE-754 arithmetic guarantees and the typical case where the rounding mode is halfeven. On some non-Windows builds, the underlying C library uses extended precision addition and may occasionally doubleround an intermediate sum causing it to be off in its least significant bit. isinf(x) Check if the float x is positive or negative infinity isnan(x) Check if the float x is a NaN (not a number). For more information on NaNs, see the IEEE 754 standards. ldexp(x,i) Return x * (2**i). This is essentially the inverse of function frexp(). modf(x) Return the fractional and integer parts of x. The fractional part is obtained as modf(x)[0] and the integer part is obtained as modf(x)[1]. Both results carry the sign of x and are floats. trunc(x) Return the Real value x truncated to an integer (usually a long integer). Delegates to x.__trunc__(). Power and logarithmic functions exp(x) Return e**x. log(x) With one argument, return the natural logarithm of x (to base e). With two arguments, return the logarithm of x to the given base, calculated as log(x)/log(base).
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log1p(x) log10(x) pow(x,y)
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Return the natural logarithm of 1+x (base e). The result is calculated in a way which is accurate for x near zero. Return the base-10 logarithm of x. This is usually more accurate than log(x, 10). Return x raised to the power y. Exceptional cases follow Annex ’F’ of the C99 standard as far as possible. In particular, pow(1.0, x) and pow(x, 0.0) always return 1.0, even when x is a zero or a NaN. If both x and y are finite, x is negative, and y is not an integer then pow(x, y) is undefined, and raises ValueError. Return the square root of x.
sqrt(x) Trigonometric functions acos(x) Return the arc cosine of x, in radians. asin(x) Return the arc sine of x, in radians. atan(x) Return the arc tangent of x, in radians. atan2(y,x) Return atan(y / x), in radians. The result is between -π and π. The vector in the plane from the origin to point (x, y) makes this angle with the positive X axis. The point of atan2() is that the signs of both inputs are known to it, so it can compute the correct quadrant for the angle. For example, atan(1) and atan2(1, 1) are both pi/4, but atan2(- 1, -1) is -3*pi/4. cos(x) Return the cosine of x radians. hypot(x,y) Return the Euclidean norm, sqrt(x*x + y*y). This is the length of the vector from the origin to point (x, y). sin(x) Return the sine of x radians. tan(x) Return the tangent of x radians. Angular conversion degrees(x) Converts angle x from radians to degrees radians(x) Converts angle x from degrees to radians Hyperbolic functions acosh(x) Return the inverse hyperbolic cosine of x. asinh(x) Return the inverse hyperbolic sine of x. atanh(x) Return the inverse hyperbolic tangent of x. cosh(x) Return the hyperbolic cosine of x. sinh(x) Return the hyperbolic sine of x. tanh(x) Return the hyperbolic tangent of x. Constants pi The mathematical constant π = 3.141592 . . . , to available precision. e The mathematical constant e = 2.718281 . . . , to available precision. Encrypted
Starting MADYMO release R7.3 user encryption is supported. Based on a user key, with a maximum length of 16 characters, an arbitrary part of an XML input deck, a complete MADYMO XML input deck, or a MADYMO INCLUDE file can be encrypted. The encrypted part will appear as a CDATA section under an element ENCRYPTED. MADYMO R7.3+ will be able to run an encrypted deck without knowing the user key. The output generated is restricted in its content to prevent reverse engineering. Encryption is available through the MADYMO/Workspace application XMADgic only. Please refer to the help information of XMADgic for information on how to
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encrypt your input deck. A MADYMO R7.3+ input deck can have multiple encrypted sections, nested encrypted sections and sections encrypted with different keys. Note that in the latter situation you can only decrypt the parts of which you own the key(s). Copy/Paste of encrypted parts between models is possible. A MADYMO XML model with encrypted parts can be executed as normal by the MADYMO solver. No additional licenses are required. No information of encrypted parts is displayed in reprint or log file. Encrypted parts will not write output except for animation purposes. In that case also only the geometric information (SURFACE.* and FE elements) can be visualised. Include
The INCLUDE element is used to include other XML files into the current file. It has one attribute FILE in which the (path of the) file to be included can be specified. Include files can be used to add structure to an XML model, or when the user wants to use XML files from a library. Also the include file is useful if part of the model is repeatedly used (for example, four dummies in one car). The include file mechanism works as follows: The part of the model to be included is put into a file, which has the element MADYMO_INCLUDE as the root element. The included file must contain valid XML. The solver checks whether the content is allowed at the INCLUDE element in the current file. The INCLUDE element is not allowed in all places (see INCLUDE element definition for allowed parent elements). For example, if body ROCKER_ARM is defined in the FILE ‘rocker_arm.xml’, then these properties can be imported into a SYSTEM.MODEL. So the main XML file could contain the element SYSTEM.MODEL under which the file is included:
The root element of the included file is . The contents of the file rocker_arm.xml would look like this:
Any element not permitted within the context (in this example, SYSTEM.MODEL) is not supported by MADYMO and is therefore invalid. 10
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Note that the order of the (related) elements in MIF is bounded to rules, as explained in the basic XML chapter. The elements MADYMO and FE_MODEL have required related elements, therefore the INCLUDE element must come after all of these required elements. Also, if there are any optional related elements that can occur only once in the parent of the INCLUDE element, they must precede the INCLUDE element. Table
Table elements are used as a shorthand method of defining large numbers of elements of the same type such as coordinates. | ID X Y Z | 1 0.0E +00 0 .0E +00 0.0E +00 2 4.0E -01 1 .2E +00 2.5E +00
In the example above, the line that starts and ends with a vertical bar (|) contains the names of the attributes that are specified in the columns below the names. Header names ID, X, Y and Z must be attributes of element type COORDINATE.CARTESIAN. It becomes more complex if the element has related elements. In this case, both the header and table body contain parentheses in order to distinguish attributes from related elements. The header as well as the contents contain control characters which distinguish between element content and attribute values. | TYPE ID NAME SEMI_AXIS DEGREE CRDSYS_OBJECT_1.MB ( BODY ) | ELLIPSOID 1 Arm [0.2 0.2 2] 4 ( Rocker_arm ) CYLINDER 2 [0.1 0.1 2] 3 ( Rocker_arm )
The example shows the following special cases: • Fields under TYPE are added to the type defined by the attribute TYPE, separated by a dot. SURFACE and ELLIPSOID become element SURFACE.ELLIPSOID, in which SURFACE is the class. Class is explained in See "Classes of elements explained" on page 16. • Simple names such as ID are converted to attributes of the element. • Names with attached parentheses CRDSYS_OBJECT_1.MB( ) are converted to elements that may contain attributes and/or other elements. • If an attribute has more values attached to it, these are surrounded by [...].The values are assigned to the attribute SEMI_AXIS = "0.2 0.2 2". • If a value consists of a single minus sign "-" (such as NAME), an empty value (null) is assigned to it.
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The contents of each related element defined with cardinality ’Many’ can alternatively be placed in a table element with a type attribute equal to the name of that related element, and with similar contents. The order in which the elements are specified in the table header row must be identical to the order specified in the DTD. In order to reduce the size of the main XML file of a model, a table can be put into an include file. Comment
Comments can be put into the model in three ways: • Each element has an optional DESCRIPTION attribute in which the user can put a descriptive string. • Each element is allowed to contain many related COMMENT elements. The difference with an XML comment is that a COMMENT element is truly a part of the data model. • The standard XML comment can be used by putting text between comment tags: . Note that XML comments are lost in the parsing process, and hence are also lost when importing an XML file in a preprocessor, whereas COMMENT elements will be retained. Comments may not be nested. Example: This comment is retained during parsing.
Disable
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The DISABLE element has functionality that is similar to that of COMMENT. The DISABLE element is introduced to allow duplication of elements or storage of incomplete elements. It is not permitted to define two elements with the same ID under a single parent element, which might for example be useful during testing; Release 7.7
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therefore one of them must be disabled. This is done by ’storing’ the data in a DISABLE element, i.e. surrounded by DISABLE tags. DISABLE prevents the parser from validating the contents of the disabled data, although each individual element still has to be well formed XML. In the example below the second CRDSYS_OBJECT_2.MB has been disabled.
Since DISABLE can contain any XML data, it can also contain a PCDATA element. Any text surrounded by "" is completely ignored by the parser, and can therefore also contain an invalid part of the XML file. Note that the CDATA section can not contain another PCDATA element or the character sequence "]]>". Example:
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/> ]] >
Note that the DISABLE element is only allowed as the last related element of an element containing at least one other related element, or it can be freely used when mixed with other "Many Optional" related elements. Define (attribute substitution)
Attribute substitution enables the user to parameterise the input file. After encountering a DEFINE element with attributes VAR_NAME and VALUE, whenever an attribute of any element contains #VAR_NAME, it is replaced by VALUE. The optional attribute REDEFINE indicates what should happen when a variable is redefined and can have the following values: Table 3.2: Redefine value
Action for a successive
OK IGNORE WARNING
The last assigned VALUE is used, the redefinition is allowed. The first assigned VALUE is used, the redefinition is silently ignored. The first assigned VALUE is used, the redefinition is ignored and a warning message is displayed. An error message is displayed and MADYMO terminates when the variable is redefined.
ERROR
The defined name can be used below the point in the file where the definition took place. Defined values are also valid for included files and within tables. In the following example, the DENSITY attribute under the MATERIAL.ISOLIN XML element gets the value 8350.0 by substituting BRASS_DENSITY. ...
From MADYMO 7.5 onwards any number of DEFINE elements can be grouped under a GROUP_DEFINE element. The GROUP_DEFINE element is allowed as a child of MADYMO (directly following the CONTROL_ANALYSIS.TIME element) and as a first child of SYSTEM.REF_SPACE and/or SYSTEM.MODEL. Both the GROUP_DEFINE and the DEFINEs under a GROUP_DEFINE can be stored in a MADYMO_INCLUDE file, which allows for creating groups of related DEFINEs that can be exchanged easily by swapping INCLUDE file references. When a GROUP_DEFINE is inserted under a SYSTEM 14
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element the scope of the DEFINEs within that GROUP_DEFINE is limited to the parent SYSTEM; this means that these DEFINEs are only known/valid under the parent SYSTEM. If such a DEFINE is used outside the parent SYSTEM (and it is not defined within the MADYMO/global scope) this will be reported as a validation error. The position of the element containing the reference to the DEFINE (i.e. the #VAR_NAME) determines the scope and thus the value of the #VAR_NAME. So, when referring from SYSTEM ’1’ to a FUNCTION.XY in SYSTEM ’2’, any defined value in that function will take its values from the scope of SYSTEM ’2’, even when SYSTEM ’1’ also has a DEFINE for the same VAR_NAME. As already stated, DEFINE elements under a GROUP_DEFINE can also be placed within an INCLUDE structure. The GROUP_DEFINE element can contain any number of INCLUDEs, allowing for conceptual grouping of DEFINEs. This makes it easy to create a number of load cases by just swapping to another MADYMO_INCLUDE file. The order in which the DEFINEs are evaluated (and thus how the REDEFINE attributes are applied) is as if the INCLUDE element were expanded in place. So, when you have a DEFINE with VAR_NAME ’A’, then an INCLUDE element containing two DEFINEs with VAR_NAMEs ’B’ and ’C’ and then again a regular DEFINE element with VAR_NAME ’D’, the order of evaluation is A, B, C, D. A MADYMO (null-)run will automatically create a ’*.pre’ file containing a report that specifies the available DEFINE elements and their respective values, as well as a list of unused DEFINE elements and an overview of the places where defined values are used. Starting with version Release 7.7, MADYMO uses greedy parsing when matching DEFINE values, that is it will try to match the longest possible string that resolves to a defined value of the DEFINE variable name. Using nested DEFINEs with the FILE attribute is not supported by XMLtranslator.
3.2
Element order The order in which related elements can be defined in the input file is specified in MADYMO’s DTD (also called MTD: MADYMO Type Definition). There are four types of XML elements in MADYMO: 1. Mandatory elements which may occur only once 2. Mandatory elements which may occur more than once 3. Optional elements which may occur only once 4. Optional elements which may occur more than once The first three types must be entered strictly in the order as specified in the DTD (which is also the order given in the Reference Manual). Only the last type (optional many) may be entered in an arbitrary order. See Appendix M for more details. As a rule of thumb, specifying the elements in the same order as given in the Reference Manual will always yield a correct input deck. Furthermore using a dedicated
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XML editor such as XMADgic will ensure that the user always specifies the correct element order.
3.3
Classes of elements explained Element properties are described in terms of their attributes. If there is a large collection of elements, it is useful to divide them into classes of elements with the same characteristics. The element class SURFACE will be used as an example. Within MADYMO, three types of surfaces can be modelled: cylinders, ellipsoids and planes. They all are described as surfaces having some attributes in common, in this case ID, NAME and CHAR. However, planes have different attributes than ellipsoids and cylinders. If a surface is classified as a plane, in addition to the common attributes for all surfaces, a plane has the additional attributes: POINT_1, POINT_2 and POINT_3, used to position the plane in the space. An ellipsoid needs the additional specification of the DEGREE, POS and SEMI_AXIS. In this example, SURFACE is the class and PLANE, CYLINDER and ELLIPSOID are the types. To distinguish between these elements, the type has a prefix that indicates the class, and class and type are separated by a dot ‘.’. The element name for plane is SURFACE.PLANE. By definition, a type inherits all the attributes of its class. This implies that both the ID as well as the NAME of a type has to be unique from the viewpoint of its class.
CYLINDER
SURFACE − ID. NAME − CHAR
PLANE
ELLIPSOID
3.4
How to read and write a MADYMO input file
Identifiers and names
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the identifying attributes ID and NAME have been added. The numerical ID is the primary identifier and is a required attribute, which means that the element is only valid if it has a value. By assigning a numerical value, each element can be identified. The additional alphanumerical identifier is the optional attribute NAME, which means that the element can exist without giving the NAME attribute a value. An element can be referred to by its numerical ID or its alphanumerical identifier if it has been defined. In MADYMO, the following concept is used: Every element which can be referred to must have its own unique identification. Mandatory identifier:
ID
Optional identifier:
NAME
An element can be referred to by its numerical identifier, the attribute ID, which should have a positive integer value (maximum 2147483647). For elements of the same type, it is preferable to define ranges. When dealing with, for example, thousands of nodal coordinates, ordered ranges makes it easier to refer to lists of IDs. The use of numerical identifiers is not always user-friendly. If a particular element needs to be identified, it will be easier to remember a string that represents its name than to remember its numerical identifier. To use a string value for identification, the attribute NAME is introduced. The value can be a string of characters. The following characters are permitted: • all lowercase and uppercase letters • numbers • underscore • hyphen There are two rules used to distinguish between ID and NAME. These are: • A name must start with a letter or an underscore. • The name "ALL" is not permitted to be used because it is used as an attribute value for selecting all references.
3.5
References explained In order to refer to an element it must have a unique identification. This means that every element has a global identifier, which is the path (according to the tree structure) from the root element to the specific element. The path is similar to a directory structure. This makes it possible to refer to a specific element every place it occurs in the XML file. References can be made in four different ways: • without a path; when the element from which the reference is made and the element which is referred to are children of the same parent. A reference can also be made without a path, when the referred element may not occur as a child of the same parent, but its first possible occurrence is higher up in the tree. For example, function references from the INFLATOR element may be done without a path if the function is defined under FE_MODEL (which is the first element higher up in the tree where FUNCTION.XY can be defined).
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• using the entire path; when the element from which the reference is made and the element which is referred to are not (necessarily) children of the same parent. • using a relative path without ".."; this is best illustrated with the example on page 19. A relative path can be used when the element which is referred to can be found by descending the tree from the parent of the element from which the reference is made. • using a relative path preceded with ".."; this is illustrated with the example on page 19. In the path ".." means going to the parent. And the base searching location is under the parent of the element from which the reference is made. The specified path is the exact path, which means no automatic searching up will be done during resolving the reference. Example
References from one element to another can be useful to indicate their relationship. This is shown with the example below. A material has been defined within an FE model, which represents the left leg of the driverside dummy.
References always refer to a certain class of elements. It is clear from the context which type of element is being referred to. The path may consist of NAMES or IDs, but not a mixture of these two. The reference to MATERIAL in the PART could be any of the following possibilities: "/ Dummy_driver / Left_leg /Bone " "/ Dummy_driver / Left_leg /1" " /2/1/ Bone " " /2/1/1 " "1" "Bone "
The following references are not valid because both names and numerical identifiers have been used in the path "/ Dummy_driver /1/1 " 18
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"/ Dummy_driver /1/ Bone " "/2/ Left_leg /1" "/2/ Left_leg /Bone " Example In this example, a relative path is used for the JET_LIST. Note that the relative with a path is not preceded by a "/". relative path
... ... ...
Valid references for the JET_LIST are (not all possibilities are given here): "3/4/ jet " " airbag / inflator /jet " " /1/2/3/4/ jet " Example In this example, a relative path with ".." is used for the attribute BODY. with a relative path preceded with ".."
... ...
BODY = "../body "/>
In the example above, the element from which the BODY reference is made is STATE.FE_MODEL. Its parent element is FE_MODEL with ID "3". The preceding ".." then points to the parent of this FE_MODEL element which is SYSTEM.MODEL with ID "1". And the referred element is BODY.RIGID with NAME "body" under this SYSTEM.MODEL.
3.6
Template file In order to get started more quickly, it is recommended to start with the template file. This file, called "template.xml", can be found on the distribution in
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madymodir/share/etc/template.xml. This template is the smallest possible valid MADYMO XML file. Encoding
The encoding attribute is there to allow multi byte characters (like ßand ü) in the XML file. Two encoding methods have been tested: UTF-8 (ASCII compatible) and ISO-8859-1 (or Latin-1). When using special characters – as found in certain European languages –, it is necessary to use ISO-8859-1 encoding. Other language encoding standards have not been tested and may fail without clear warning when running the MADYMO XML parser. MADYMO accepts special characters in the attribute NAME. However, it is not recommended to use these characters in names as it may result in corrupted references in output files and possibly other side effects. Using special characters in comments is fully supported. Insert the run -id here .. ..
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MADYMO XML Element Dictionary
MADYMO XML Element Dictionary
User Guidelines
This is the dictionary of all the MADYMO XML elements in Release 7.7. The dictionary should be used to find all the necessary information about all of the new "XML elements". Use this dictionary exactly like a normal dictionary by looking along the edge of each page for the tab with the letter corresponding to the first letter of the desired XML element. The related objects or attributes in the tables in bold print on gray lines are required. The related objects or attributes in the tables in plain print and white lines are optional. When an element ends with a asterix (*), it indicates that all sub-elements of that element are allowed. From Acrobat Reader, all blue elements can be accessed directly by clicking them. Clicking an element with an asterix will access the first allowed element, for example clicking on SYSTEM.* will access SYSTEM.MODEL.
Example
The following page is an example page from the XML Element dictionary that explains how to interpret the information for each XML element. The XML Elements related to joint definitions can be found in the dictionary under the J tab for JOINT.
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MADYMO XML Element Dictionary
Description provides a brief explanation of the XML element.
Element shows the name of the XML element. The elements which can be the parents of the XML element listed here.
MADYMO Reference manual
An attribute specifies information that describes the element. Required attributes and related elements are in bold and shaded. Optional attributes and related elements are plain. The cardinality (One/Many) indicates if it is possible to include this related element more than once. A related element is a separate XML element that is defined as content of this particular element. The vertical bar "|" indicates that one or the other of these can be used, but not both.
Domain is a list of discrete setting that can be selected.
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Range shows the permissible values for the attribute. A square bracket "[" indicates that this value is included in the range, while a round bracket ")" indicates that values up to but not including this value are valid.
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ACTUATOR.BODY
Element
ACTUATOR.BODY
Parents
MADYMO SYSTEM.MODEL
A
Description A body actuator applies a concentrated load (force or torque) on a single body with
the magnitude of a selected input signal, in the direction specified by the user. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name INPUT_CLASS String INPUT_REF
Input signal class(2,3) Ref to [CONTROLLER.* OPERATOR.* SENSOR.* SIGNAL.*]. Input signal reference
Ref LOAD_TYPE String LOAD_DIR Real[3] CRDSYS String
Applied load type(4) Load direction vector REF_SPACE
coordinate system in which the components of LOAD_DIR are expressed(5,6)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [CONTROLLER OPERATOR SENSOR SIGNAL]. 3. The reference defined by attribute INPUT_REF should exist for this element class. 4. Domain: [FORCE TORQUE]. 5. Domain: [OBJECT REF_SPACE]. 6. REF_SPACE: The components of LOAD_DIR are expressed in the reference space coordinate system. OBJECT: The components of LOAD_DIR are expressed in the body local coordinate system. Related Element POINT_OBJECT_1.FE POINT_OBJECT_1.MB POINT_OBJECT_1.REF
One/Many
Description
One
Point 1 (or reference to it) attached to a MB object or a FE object.
Examples
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A
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ACTUATOR.BODY_REL
Element
ACTUATOR.BODY_REL
Parents
MADYMO SYSTEM.MODEL
A
Description A relative body actuator applies a concentrated load, being a force or torque, on
two bodies with the magnitude given by a selected input signal, at user specified points on those bodies. Both action and reaction forces are applied. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name INPUT_CLASS String INPUT_REF
Input signal class(2,3) Ref to [CONTROLLER.* OPERATOR.* SENSOR.* SIGNAL.*]. Input signal reference
Ref LOAD_TYPE String
Applied load type(4)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [CONTROLLER OPERATOR SENSOR SIGNAL]. 3. The reference defined by attribute INPUT_REF should exist for this element class. 4. Domain: [FORCE TORQUE]. Related Element POINT_OBJECT_1.FE POINT_OBJECT_1.MB POINT_OBJECT_1.REF
One/Many
Description
One
Point 1 (or reference to it) attached to a MB object or a FE object.
One
Point 2 (or reference to it) attached to a MB object or a FE object.
POINT_OBJECT_2.FE POINT_OBJECT_2.MB POINT_OBJECT_2.REF
Additional Information
• The specified load is applied at the point and on the body specified by POINT_OBJECT_1. It is directed from POINT_OBJECT_1 to POINT_OBJECT_2. A load with the same magnitude but with opposite direction is applied at the point and on the body specified by POINT_OBJECT_2. Release 7.7
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Examples
A
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ACTUATOR.JOINT_BRAKE
Element
ACTUATOR.JOINT_BRAKE
Parents
MADYMO SYSTEM.MODEL
A
Description A joint brake actuator applies a concentrated Coulomb friction load on the parent
body of a joint with the magnitude of a selected input signal multiplied by the gain and the friction coefficient. The reaction load is applied on the corresponding child body. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name INPUT_CLASS String INPUT_REF
Input signal class(2,3)
Ref
Ref to [CONTROLLER.* OPERATOR.* SENSOR.* SIGNAL.*]. Input signal reference
Ref
Ref to [JOINT.REVO JOINT.TRAN].
JOINT GAIN 1.0 Real STATIC_FRIC_COEF 0.0 Real DYNAMIC_FRIC_COEF 0.0 Real
-
Gain
-, m
Static Coulomb friction coefficient µs (4)
-, m
Dynamic Coulomb friction coefficient(4)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [CONTROLLER OPERATOR SENSOR SIGNAL]. 3. The reference defined by attribute INPUT_REF should exist for this element class. 4. Range: [0, ∞). Examples
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ACTUATOR.JOINT_POS
A
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Element
ACTUATOR.JOINT_POS
Parents
MADYMO SYSTEM.MODEL
Description A joint actuator applies a concentrated load on the parent body of a joint with the
magnitude of a selected input signal. The reaction load is applied on the corresponding child body. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name INPUT_CLASS String INPUT_REF Ref
Alphanumerical identifier(1) Input signal class(2,3) Ref to [CONTROLLER.* OPERATOR.* SENSOR.* SIGNAL.*]. Input signal reference
JOINT Ref DOF_TYPE String
Ref to JOINT.*.
(4)
Degree of freedom(5,6)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [CONTROLLER OPERATOR SENSOR SIGNAL]. 3. The reference defined by attribute INPUT_REF should exist for this element class. 4. Free, spherical and user-defined joints are not allowed. 5. Domain: [D1 D2 D3 R1 R2 R3 Q1 Q2 Q3]. 6. The values allowed for DOF_TYPE depends on the joint type. Additional Information
• A joint actuator applies on the two bodies connected by the specified joint loads corresponding to joint degree of freedom DOF_TYPE; these loads are forces (torques) when the joint degree of freedom is a translation (angle of rotation). The specified joint actuator load is the load on the parent body. This load is positive when it is in the positive direction of the axis that corresponds with joint degree of freedom DOF_TYPE. The load on the child body is equal in magnitude but opposite in sense. The point of application of the actuator load on a body is the origin of the joint coordinate system on that body except for planar joints for which the point of application on the parent body is the point that coincides instantaneously with the origin of the joint coordinate system on the child body. Examples
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ACTUATOR.JOINT_POS
INPUT_CLASS = " SIGNAL " INPUT_REF = "/ ControlModule / Signal5 " JOINT = "/ System4 /Joint4 " DOF_TYPE = "Q1"
A
/>
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AIRBAG_CHAMBER
A
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Element
AIRBAG_CHAMBER
Parents
FE_MODEL
Description Defines special characteristics of a finite-element structure which models an airbag.
Attribute ID
Type
Default
Int
Unit
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name ELEMENT_LIST iList ELEMENT_LIST_EXCL
Ref to ELEMENT.*. List of numerical element references Ref to ELEMENT.*. List of numerical element references to be removed from the ELEMENT_LIST
iList GROUP_LIST
Ref to GROUP_FE. List of groups containing objects
List GROUP_LIST_EXCL
Ref to GROUP_FE. List of groups containing objects to be removed from the GROUP_LIST
List INV_ELEMENT_LIST iList INV_ELEMENT_LIST_EXCL
Ref to ELEMENT.*. Inverse element list(2) Ref to ELEMENT.*. List of elements to be removed from the INV_ELEMENT_LIST
iList INV_GROUP_LIST
Ref to GROUP_FE. Inverse group list containing FE objects(2)
List INV_GROUP_LIST_EXCL
Ref to GROUP_FE. List of groups containing FE objects to be removed from the INV_GROUP_LIST
List TETHER_ELEMENT_LIST iList TETHER_ELEMENT_LIST_EXCL
Ref to ELEMENT.*. List of numerical element references for tether(3) Ref to ELEMENT.*. List of numerical element references to be removed from the TETHER_ELEMENT_LIST
iList TETHER_GROUP_LIST
Ref to GROUP_FE. Group list containing objects for tether(3)
List TETHER_GROUP_LIST_EXCL
Ref to GROUP_FE. Group list containing objects to be removed from the TETHER_GROUP_LIST
List AUTO_VOLUME Bool 30
ON
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AIRBAG_CHAMBER
Attribute Type Default OUTWARD_NORMAL_STATE String CHAMBER_V0 Real VOLUME_REF Real
Unit
REFERENCE
Description Configuration used to determine direction of outward pointing normals(5,6)
m3
Extra volume V0 of airbag chamber(7,8)
m3
Chamber volume if fully inflated(9,10)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Only useful if AUTO_VOLUME is set to OFF. If AUTO_VOLUME is set to ON, the inverse list(s) is/are merged together with the non-inverse list(s). 3. Tethers are only applicable to Gasflow-USM simulations. Hole elements are not allowed in tethers. When tethers are used it is advised to set ANTI_THROUGH_FLOW = "ON" in GAS_FLOW_GRID. 4. When ON, all element normals are set such that they point out of the airbag chamber. If the elements do not form a closed surface and a hole model is specified under AIRBAG_CHAMBER, hole segments are created automatically in order to close the mesh. If a hole model is defined in MATERIAL.HOLE also hole elements have to be specified. Make sure that all elements are connected and that any connected set of elements and the remaining elements have at least one common element edge, see figure.
not allowed
allowed
It is not allowed that three or more elements have a common element edge. When OFF, the elements must form a closed surface. The normals on the elements in the element list/group list must point outward (inward if inverse element/group list is selected) of the airbag chamber. When Gasflow-USM is used it is required to set AUTO_VOLUME to ON. 5. Domain: [ NONE REFERENCE INITIAL]. 6. During the initialisation, the normals are directed and a reference volume is calculated. This reference volume should be positive, when it appears to be negative, all normals are swapped. The reference volume is only used to determine the direction of the normals. When OUTWARD_NORMAL_STATE is set to NONE (this is only allowed when AUTO_VOLUME is set to OFF), the normals are not adapted when this option is used. When OUTWARD_NORMAL_STATE is set to NONE and AUTO_VOLUME is set to ON, OUTWARD_NORMAL_STATE is forced to REFERENCE When OUTWARD_NORMAL_STATE is set to INITIAL, the reference volume is calculated according to the element topology with the initial coordinates. Release 7.7
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When OUTWARD_NORMAL_STATE is set to REFERENCE, the reference volume is calculated according to the element topology in its reference state. When the airbag chamber contains reference coordinates: The reference state is determined by the element topology with the reference coordinates. When the airbag chamber contains reference coordinates and a reference element topology: The reference state is determined by the element topology with the reference coordinates.
A
7. Range: [0, ∞). 8. Only for the Uniform Pressure calculations. If not defined, MADYMO will calculate a value for CHAMBER_V0. For tank test simulations where the initial chamber volume is relatively large, CHAMBER_V0 must be chosen equal to zero. 9. Range: (0, ∞). 10. Used exclusively for Gasflow-USM to calculate the number of hole subsegments if HOLE_SUBSEGMENT.AUTO is specified for a hole belonging to this chamber (this hole is modelled using HOLE.MODEL* under AIRBAG_CHAMBER or under MATERIAL.HOLE). Related Element HOLE.MODEL1 HOLE.MODEL2 HOLE.MODEL3
One/Many
Description
One
Models gas flow through holes in airbag fabric.(1)
One
Parameters for the Gasflow-USM method.(2)
One
Global leakage of mass and/or energy.
Many
Inflator.(3)
Many
Includes named file content at current location.
GAS_FLOW_GRID GLOBAL_DISCHARGE INFLATOR.* INCLUDE
1. The hole properties defined under AIRBAG_CHAMBER are for the holes which are generated automatically if the mesh is non closed. If this hole describes flow between two chambers, HOLE.* must be specified for both airbag chambers. Then the input of HOLE.* and its related elements belonging to the first specified chamber is used. 2. Element is required for using the Gasflow-USM method. 3. The element INFLATOR.* must be specified for each gas inflator separately, but each INFLATOR.* can have multiple JET.* as children. If more than one inflator is specified these inflators can be triggered at different time points. Additional Information
• Only one method can be selected to model the gas flow in an airbag: UP (Uniform Pressure) or Gasflow-USM (Uniform Scaled Mesh). The UP method is based on a zerodimensional description of the flow in an airbag, whereas the Gasflow-USM method is 32
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AIRBAG_CHAMBER
based on three-dimensional Finite-Volume discretizations of the flow field. Gasflow-USM was introduced in the R6.0 as “Gasflow”.
Gasflow USM
HOLE.MODEL1 to ambient HOLE.MODEL2 to ambient HOLE.MODEL3 to ambient HOLE.MODEL1 to other chamber HOLE.MODEL2 to other chamber HOLE.MODEL3 to other chamber PERMEABILITY.MODEL1 to ambient PERMEABILITY.MODEL2 to ambient PERMEABILITY.GLOBAL to ambient PERMEABILITY.GLOBAL ISENTROPIC to ambient PERMEABILITY.STVENANT WANTZEL to ambient PERMEABILITY.MODEL1 to other chamber PERMEABILITY.MODEL2 to other chamber PERMEABILITY.GLOBAL to other chamber PERMEABILITY.GLOBAL ISENTROPIC to other chamber PERMEABILITY.STVENANT WANTZEL to other chamber PERMEABILITY.MODEL1 through tether PERMEABILITY.MODEL2 through tether PERMEABILITY.GLOBAL through tether PERMEABILITY.GLOBAL ISENTROPIC through tether PERMEABILITY.STVENANT WANTZEL through tether GLOBAL DISCHARGE KAPPA JET.CENTRE VEL JET.CONSTANT MOMENTUM JET.IDELCHIK JET.GAS FLOW GAS FLOW TRIGGER GAS FLOW INIT DELAY ISOBARIC SWITCH
Uniform Pressure
• The Gasflow-USM method is used when one or more jets of type JET.GAS_FLOW are specified in combination with the GAS_FLOW_GRID element. • The Uniform Pressure method is used when no jets of type JET.GAS_FLOW is specified (for any chamber of the FE model). • For an overview of valid combinations of airbag features and methods for modelling gas flow see the table below
× ×
× ×
× ×
× × × × × × ×
× × × × × × × × × ×
× × × × ×
× × × × × × × × × ×
× × × ×
• At least one element or group has to be chosen to define the airbag chamber.
• Airbag pressure is not applied for truss, beam, solid and hole elements. • When a given FE model contains at least one AIRBAG_CHAMBER, this FE model must also contain the element CONTROL_AIRBAG containing general airbag control parameters. Release 7.7
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A
AIRBAG_CHAMBER
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• Automatically generated hole segments are listed in the reprint file.
• If an airbag model contains more holes and use is made of automatic hole generation, all holes will have the same characteristics. In order to have the possibility to adjust the characteristics of each hole (e.g. CDEX), each hole has to be defined separately and the characteristics have to be defined by MATERIAL.HOLE.
A
• UP allows heat flow (using KAPPA > 0.0) from an airbag chamber to ambient and vice versa. GF allows heat flow from an airbag chamber to ambient only. Examples
Example of an airbag chamber using the Uniform Pressure method. ...
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AMPLIFICATION.ABS_POLY
Element
AMPLIFICATION.ABS_POLY
Parents
MADYMO SYSTEM.MODEL
A
Description Deformation rate dependent amplification factor of the elastic load given by an
absolute polynomial. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME C1 Real
1.0
-
Coefficient 1
Real
0.0
-
Coefficient 2
Real
0.0
-
Coefficient 3
Real
0.0
-
Coefficient 4
Real
0.0
-
Coefficient 5
C2 C3 C4 C5
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Additional Information
• Deformation rate dependent amplification factor of the elastic load given by the following polynomial: C1 + C2 v + C3 v 2 + C4 v 3 + C5 v 4 where v is the deformation rate corresponding to the force model. Examples
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AMPLIFICATION.EXP
A
MADYMO Reference manual
Element
AMPLIFICATION.EXP
Parents
MADYMO SYSTEM.MODEL
Description Deformation rate dependent amplification factor of the elastic load given by an
exponential function. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME C1 Real
1.0
-
Coefficient 1
Real
0.0
-
Coefficient 2
Real
1.0
-
Coefficient 3
Real
1.0
-
Coefficient 4
C2 C3 C4
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Additional Information
• Deformation rate dependent amplification factor of the elastic load given by the following exponential function: C1 + C2 ( v /C3) C4 (C3 > 0) where v is the deformation rate corresponding to the force model. Examples
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AMPLIFICATION.LOG
Element
AMPLIFICATION.LOG
Parents
MADYMO SYSTEM.MODEL
A
Description Deformation rate dependent amplification factor of the elastic load given by a log-
arithmic function. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME C1 Real
1.0
-
Coefficient 1
Real
0.0
-
Coefficient 2
Real
1.0
-
Coefficient 3
C2 C3
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Additional Information
• Deformation rate dependent amplification factor of the elastic load given by the following logarithmic function: C1 + C2 log( v /C3) ( v > C3, C3 > 0) C1 ( v < C3, C3 > 0) where v is the deformation rate corresponding to the force model. Examples
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AMPLIFICATION.POLY
A
MADYMO Reference manual
Element
AMPLIFICATION.POLY
Parents
MADYMO SYSTEM.MODEL
Description Deformation rate dependent amplification factor of the elastic load given by a
polynomial. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME C1 Real
0.0
-
Coefficient 1
Real
0.0
-
Coefficient 2
Real
0.0
-
Coefficient 3
Real
0.0
-
Coefficient 4
C2 C3 C4
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Additional Information
• Deformation rate dependent amplification factor of the elastic load given by the following polynomial: 1 + C1 v + C2 v2 + C3 v3 + C4 v4 (v ≥ 0, Ci ≥ 0, i = 1, 2, 3, 4) 1/{1 - C1 v + C2 v2 - C3 v3 + C4 v4 } (v < 0, Ci ≥ 0, i = 1, 2, 3, 4) where v is the deformation rate corresponding to the force model. Examples
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Element
ANIMATION
Parents
CONTROL_OUTPUT
ANIMATION
A
Description Output activation and format/file selection for kinematic animation output.
Attribute Type Default EXTENDED OFF Bool WRITE_COG_MARKER Bool
Unit
OFF
Description Switch to select additional information(1) Write markers for all bodies which represent the centres of gravity and write a marker for each system representing the centre of gravity of that system.(2)
WRITE_AIRBAG_COV_MARKER String WRITE_FORMAT String WRITE_PRECISION String FILENAME String EXTENSION String
OFF
Write markers for each airbag chamber or in case of a multi-chamber airbag only for a complete airbag. These markers represent the volumetric centre.(3,4)
MAD
Format selection(5)
NORMAL
Decimal precision(6,7,8) Filename without extension(9) Filename extension(9)
1. If ON is selected, the location and orientation of body local, kinematic joint, point restraint and accelerometer coordinate systems are also written to the animation file in the format MAD. 2. Because the number of markers for a complex model can be large it is recommended to obtain the kinematic output in HDF5 format to distinguish the different type of markers. Note that the body and system cog markers are specified on main level and not under the system to which they belong in the HDF5 output file. 3. Domain: [OFF ON AVERAGE]. 4. If OFF is selected no markers are written. If ON is selected a marker for each airbag chamber is written. If AVERAGE is selected, then for each multi-chamber airbag only one marker is written. 5. Domain: [MAD D3PLOT HDF5]. 6. Domain: [NORMAL ACCURATE PRECISE]. 7. Only relevant for: (i) WRITE_FORMAT="MAD" and (ii) FE nodal coordinates (i.e. all other output will not be affected). 8. If NORMAL is selected the FE nodal coordinates in .kn3 file will preserve their default precision (i.e. they will be written to 5 digits accuracy). If ACCURATE is selected the FE nodal coordinates in .kn3 file will be provided with 1 additional digit. Release 7.7
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ANIMATION
MADYMO Reference manual
If PRECISE is selected the FE nodal coordinates in .kn3 file will be provided with 2 additional digits.
A
9. See Appendix "Description of the MADYMO Files". Examples
In this example, a kinematic animation file in MADYMO format will be written with the name "kinematics.kn3" and a kinematic animation file in D3PLOT format will be written with the name "_kn3.d3plot", where is the basename of the input deck. Extra information is printed in MADYMO format in the animation file, such as body coordinate systems etc.
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BELT
Element
BELT
Parents
MADYMO SYSTEM.MODEL
B
Description This is the root element for defining belt models. A standard belt can describe a
complete belt restraint system, including the forces transmitted by seat belts, belt slack, belt rupture, slip rings, retractor, pretensioner and load limiter. It is used to transmit forces between multi-body objects, between finite element structures or between a multi-body object and a finite-element structure. A belt system consists of a chain of belt segments connected by tyings. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name MASS_SPECIFIC kg/m
Real
Specific mass of the belt, i.e. belt mass per unit of untensioned length(2,3)
POINT_REF_1 Ref to POINT_OBJECT.*. The location of retractor, pretensioner or load limiter (if present) and/or reference point to define the sign of belt material slip and belt material slip velocity at tying(s) (also if no retractor and pretensioner and load limiter are present)(4)
Ref
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Range: (0, ∞). 3. If MASS_SPECIFIC is specified, the mass-based belt model (with dynamic belt slip) is applied. If MASS_SPECIFIC is not specified, the massless belt model (with quasi-static belt slip) is applied. 4. A retractor, pretensioner and/or load limiter can only be present at one of the ends of a belt. If a retractor, pretensioner and/or load limiter is present, they must coincide at the same end, specified by POINT_REF_1. Belt material slip and material slip velocity at tyings towards POINT_REF_1 are defined as negative, from this point as positive, also if no retractor/pretensioner and or load limiter is present, see also element OUTPUT_BELT. Related Element BELT_SEGMENT
Release 7.7
One/Many
Description
Many
A belt segment is a section of a belt, defined as a straight line between two points. Where two segments of the same belt are attached to a finite element structure or body, e.g. a dummy model, the belt will slide only along the direction of the belt segment. 41
BELT
MADYMO Reference manual
Related Element BELT_LOAD_LIMITER
B
One/Many
One BELT_PRETENSIONER.FORCE_PAYOUT BELT_PRETENSIONER.PAYIN_TIME One BELT_RETRACTOR One BELT_TYING Many
Description Load limiter.
Pretensioner. Retractor with webbing grabber. Joins the end of the belt segment and specify the friction at the junction.
Additional Information
• If a belt is connected to a node of a FE model, only a one step integration method with fixed time step should be specified for multi-body integration. Examples
Example of a belt with retractor, load limiter and pretensioner working on a payin-time function. The retractor gives out belt material freely until the filmspool effect is activated by switch RetractorSpool_swi.
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BELT
POINT_REF_2 = "/ Vehicle_sys / Buckle_pt " CHAR = "/Vehicle_sys /BeltStiffness_chr " INITIAL_STRAIN = "0.0" ADD_LENGTH = "0.075 "
B
/> | LEVEL SLOPE SWITCH | 5000 .0E +00 100000 .0E +00 LoadLimiter_sw1 3000 .0E +00 100000 .0E +00 LoadLimiter_sw2 2000 .0E +00 100000 .0E +00 LoadLimiter_sw3
The next example shows how the user can specify the same loading and unloading functions in CHARACTERISTIC.LOAD and CHARACTERISTIC.MATERIAL for a belt segment with one of the end points connected to a node of a FE model and the corresponding FE belt :
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BELT
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/>
B
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BELT
B
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BELT_FUSE
B
MADYMO Reference manual
Element
BELT_FUSE
Parents
BELT_SEGMENT
Description Fuse belts can model the tearing of seat belt stitches, which is used as a load limit-
ing device. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name ADD_LENGTH 0.0 Real TEARING_COUNTER Int 1 TEARING_FORCE 0.0 Real PREVIOUS_BELT_FUSE
Alphanumerical identifier(1) m
Additional belt segment length(2) Maximum number of tearing steps(3)
N
Ref
Tearing force(2) Ref to BELT_FUSE. Reference to torn fuse belt(4)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Range: [0, ∞). 3. Range: [1, ∞). 4. If no reference to a torn fuse belt has been made, the tearing of stitches of the current fuse belt will start as soon as the belt force of the belt segment exceeds the tearing force. If there is a reference to a torn fuse belt (within the same belt), all stitches of that fuse belt must be torn and the tearing force must be exceeded in the current belt segment before the tearing process for the current fuse belt starts. Additional Information
• When the force in the belt segment exceeds the tearing force for the first time, tearing of the first stitch takes place and an incremental length ADD_LENGTH/TEARING_COUNTER is added to the untensioned length of the belt segment. Each time a stitch is torn, the tearing force must be exceeded again to tear the next stitch. After all stitches of the fuse belt are torn, a total untensioned length of ADD_LENGTH has been added to the belt segment. Examples
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BELT_FUSE
/>
B
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BELT_LOAD_LIMITER
B
MADYMO Reference manual
Element
BELT_LOAD_LIMITER
Parents
BELT
Description Load limiter.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name HYS_SLOPE Real
N/m
Hysteresis slope(2,3)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Range: [0, ∞). 3. If belt payout decreases, unloading will follow this slope to the X-axis and further unloading will follow the X-axis. Related Element LOAD_LIMIT_PAIR
One/Many
Description
Many
Load levels, transition slope values and switches of a load limiter.
Additional Information
• The location of the load limiter is specified under the BELT element.
• The hysteresis slope must be larger than all slope values specified for the element LOAD_LIMIT_PAIR.
Examples
In this example a load limiter is defined with three different load levels. | LEVEL SLOPE SWITCH 5000 .0E +00 100000 .0E +00 LoadLimiter_sw1 3000 .0E +00 100000 .0E +00 LoadLimiter_sw2 2000 .0E +00 100000 .0E +00 LoadLimiter_sw3
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BELT_PRETENSIONER.FORCE_PAYOUT
Element
BELT_PRETENSIONER.FORCE_PAYOUT
Parents
BELT
B
Description Belt pretensioner using a force-payout characteristic.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name PRETENSIONER_SWITCH
Ref to SWITCH.*. Pretensioner activation switch(2)
Ref SPOOL_INERTIA Real SPOOL_RADIUS Real FORCE_PAYOUT_FUNC
kgm2
Pretensioner spool moment of inertia around its rotation axis(3,4)
m
Radius of pretensioner spool(3,4) Ref to FUNCTION.XY. Force-payout function – force [N] vs. payout [m](5)
Ref
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. When the pretensioner is activated with also a retractor present for the same belt, the pretensioner will not work during the time that the retractor is supplying a free amount of belt material. 3. Range: (0, ∞). 4. Rotation of the spool is accelerated by the pretensioner force and a force working from outside on the pretensioner (e.g. belt force). An increasing radius of the spool by the belt thickness is not taken into account. 5. Force [N] applied by the pretensioner as a function of belt payout [m]. To be consistent with belt payout for BELT_RETRACTOR and BELT_LOAD_LIMITER, material taken in by the pretensioner (which is normally defined as independent variable) is defined as negative x in the function referred to by FORCE_PAYOUT_FUNC. Related Element FUNC_USAGE.2D
One/Many
Description
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• The location of the pretensioner is specified under the BELT element. Release 7.7
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BELT_PRETENSIONER.FORCE_PAYOUT
MADYMO Reference manual
Examples
Example with a pretensioner using a force(N)-payout(m) function. The pretensioner is activated at time 0.010 s and deactivated when the payout velocity changes sign, i.e. material is no longer taken in.
B
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BELT_PRETENSIONER.FORCE_PAYOUT
ID="2000 " NAME =" trig_load_4 " SENSOR ="/3" LOGIC_OPERATOR ="GE" TIME_WINDOW ="0.000 " LEVEL="0.100E -5"
B
/>
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BELT_PRETENSIONER.PAYIN_TIME
B
MADYMO Reference manual
Element
BELT_PRETENSIONER.PAYIN_TIME
Parents
BELT
Description Belt pretensioner using a payin-time characteristic.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name PRETENSIONER_SWITCH
Ref to SWITCH.*. Pretensioner activation switch(2)
Ref PAYIN_TIME_FUNC
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Pretensioner belt intake function – untensioned belt length [m] vs. time elapsed after activation of the pretensioner [s]
Ref
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. When the pretensioner is activated with also a retractor present for the same belt, the pretensioner will not work during the time that the retractor is supplying a free amount of belt material. Related Element FUNC_USAGE.2D
One/Many
Description
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• The location of the pretensioner is specified under the BELT element. Examples
Example of a belt pretensioner using a payin-time function.
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Element
BELT_RETRACTOR
Parents
BELT
BELT_RETRACTOR
B
Description Retractor with webbing grabber.
Attribute ID
Type Int
Default
Unit
Description Numerical identifier
NAME Name SPOOL_SWITCH Ref
Alphanumerical identifier(1) Ref to SWITCH.*. Switch to change from free belt inlet/outlet to filmspool effect(2)
GRABBER_SWITCH Ref
Ref to SWITCH.*. Webbing grabber activation switch
Ref
Ref to CHARACTERISTIC.LOAD. Retractor film spool characteristic(3)
CHAR
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Initially there is always a free belt inlet/outlet. In this stage, the retractor will give out belt material necessary to remove any pretension in the belt. If there is slack in the belt segment which is connected to the retractor, the retractor will take in belt material to remove this slack. Filmspool effect will start working after being activated by the SPOOL_SWITCH. 3. If also a load limiter is present in the belt the characteristic of the retractor must be strictly increasing. Additional Information
• The location of the retractor is specified under the BELT element.
• The SPOOL_SWITCH should only change from FALSE to TRUE. FALSE means free belt inlet/outlet, TRUE means filmspool effect.
Examples
Example of a belt retractor with initially a free belt inlet/outlet and later filmspool effect working after the value of SPOOL_SWITCH has become TRUE. No webbing grabber present. ...
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BELT_RETRACTOR
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ID = "1" NAME = " RetractorFilmspool_swi " TIME = "0.005 "
B
/>
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Element
BELT_SEGMENT
Parents
BELT
BELT_SEGMENT
Description A belt segment is a section of a belt, defined as a straight line between two points.
Where two segments of the same belt are attached to a finite element structure or body, e.g. a dummy model, the belt will slide only along the direction of the belt segment. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name POINT_REF_1
Ref to POINT_OBJECT.*. The begin point of the belt segment
Ref POINT_REF_2
Ref to POINT_OBJECT.*. The end point of the belt segment
Ref CHAR Ref INITIAL_ELONGATION
(2)
m
Untensioned belt material length to be added to or to be removed from the initial distance between the end points of the belt segment.(3,4,5,6)
-
Initial strain(7,4,8)
1.0E10
-
Rupture strain(9,10)
0.0
m
Additional belt segment length(11,12,6)
Real INITIAL_STRAIN Real RUPTURE_STRAIN Real ADD_LENGTH Real
Ref to CHARACTERISTIC.LOAD.
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The belt stiffness characteristic is defined as a force [N] - relative elongation [-] function. If more than one belt segment is present in the belt or a retractor is defined, loading as well as unloading characteristics should be strictly increasing functions to prevent problems when belt slip occurs. 3. Range: (-∞, ∞). 4. Either INITIAL_STRAIN or INITIAL_ELONGATION can be specified, not both. They serve the same purpose and are therefore mutually exclusive. 5. Pretension: INITIAL_ELONGATION < 0.0; slack: INITIAL_ELONGATION > 0.0. 6. Initial elongation plus additional belt segment length plus the distance between the belt segment end points has to be positive. 7. Range: (-1, ∞). Release 7.7
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B
BELT_SEGMENT
MADYMO Reference manual
8. Pretension: INITIAL_STRAIN > 0.0 ; slack: -1 < INITIAL_STRAIN < 0.0.
B
9. Range: (0, ∞). 10. After rupture has occurred in one of the belt segments in the considered belt, the whole belt is disabled and belt forces are no longer calculated for this belt. 11. Range: [0, ∞). 12. The additional belt segment length is used to account for the extra length of a belt segment because it is not straight or to account for the belt length between the end points of the neighbouring belt tyings. Related Element BELT_FUSE
One/Many
Description
Many
Fuse belts can model the tearing of seat belt stitches, which is used as a load limiting device.
Additional Information
• The initial untensioned belt segment length l0 is calculated as follows: If INITIAL_STRAIN is defined: l0 = (DIS + ADD_LENGTH)/ (1 + INITIAL_STRAIN). If INITIAL_ELONGATION is defined: l0 = DIS + ADD_LENGTH + INITIAL_ELONGATION. otherwise l0 = (DIS + ADD_LENGTH), DIS is the distance between the end points of the belt segment. • If a belt segment is attached to a non-rigid internal finite element model or to an external finite element model in a coupled simulation, POINT_REF_1 or POINT_REF_2 refers to POINT_OBJECT.MB. POINT_OBJECT.MB specifies the (external) finite element model and node. • If a belt segment is connected to a FE belt by means of POINT_OBJECT.MB and during the simulation the belt segment length becomes too small, the program aborts. For mass based belts only (MASS_SPECIFIC is specified under the BELT element) the POINT_OBJECT.BELT_FE element can be referred in stead of POINT_OBJECT.MB to prevent this problem. If POINT_OBJECT.BELT_FE is referred, the connection node is replaced by another node nearby as soon as the belt segment length becomes too small. • If a belt segment is attached to an internal node that is part of a rigid element or support, POINT_REF_1 or POINT_REF_2 refers to POINT_OBJECT.FE. Examples
Example of the definition of a belt segment which stretches from the D-ring to the dummy shoulder:
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BELT_SEGMENT
POINT_REF_1 = "D- ring_pnt " POINT_REF_2 = " ShoulderAttachment_pnt " CHAR = " BeltStiffness_chr " INITIAL_STRAIN = "0.0"
B
/> ... ...
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BELT_TYING
B
MADYMO Reference manual
Element
BELT_TYING
Parents
BELT
Description Joins the end of the belt segment and specify the friction at the junction.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name POINT_REF_1
Ref to POINT_OBJECT.*. The end point of a belt segment
Ref POINT_REF_2
Ref to POINT_OBJECT.*. The end point of another segment(2)
Ref FRIC_COEF Real FRIC_FUNC
0.0
-
Coulomb friction coefficient µd (3) Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Coulomb friction function fd – coefficient [-] vs. time [s](4)
Ref FRIC_NORMAL_FORCE_FUNC
Ref to FUNCTION.XY. Coulomb friction function gd – coefficient [-] vs. normal force [N](4,5)
Ref STATIC_FRIC_COEF 0.0 Real STATIC_FRIC_FUNC
-, m
Static Coulomb friction coefficient µs (3) Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Static Coulomb friction function fs – coefficient [-] vs. time [s](4)
Ref STATIC_FRIC_NORMAL_FORCE_FUNC
Ref to FUNCTION.XY. Static Coulomb friction function gs – coefficient [-] vs. normal force [N](4,5)
Ref VELOCITY_TIME_WINDOW 0.001 Real FRIC_VEL_FUNC Ref
s
Time window for zero belt slip velocity(3,6) Ref to FUNCTION.XY. Coulomb friction function fv – coefficient [-] vs. belt slip velocity [m/s](4,5)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. POINT_REF_2 can be omitted only when it is equal to POINT_REF_1. 3. Range: [0, ∞).
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BELT_TYING
4. The value obtained from FRIC_FUNC, FRIC_NORMAL_FORCE_FUNC, STATIC_FRIC_FUNC, STATIC_FRIC_NORMAL_FORCE_FUNC and FRIC_VEL_FUNC should be positive or zero. 5. For mass-based belts only 6. VELOCITY_TIME_WINDOW is only used for massless belts. The belt slip velocity could become unjustly zero during some consecutive time points due to the belt slip convergence criterion (1 N) and due to the fact that the belts are represented by massless springs. This would activate stick and the static coefficient. These situations can be eliminated by specifying the VELOCITY_TIME_WINDOW during which the slip velocity must remain zero before stick is activated. If the value specified for VELOCITY_TIME_WINDOW is lower than the multi-body integration time step, the value of the actual multi-body integration time step is used. Related Element FUNC_USAGE.2D
One/Many
Description
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• For the definition of the friction between belt segments and the body see the Theory Manual, Section "Belt model". • If FRIC_VEL_FUNC is specified, POINT_REF_1 must be present under the BELT element to define the sign of belt slip and belt slip velocity at the tying. The velocity is the independent variable in the function specified by FRIC_VEL_FUNC. • If FRIC_VEL_FUNC is specified, FRIC_FUNC and STATIC_FRIC_FUNC can not refer to a FUNCTION.CONTROL_SIGNAL. • For a massless belt the quasi-static slip model is used. If µs = 0.0 and fs (t) is not specified, the quasi-static slip model without stick is used: µslip = µd + fd (t) Otherwise, the quasi-static slip model with stick is used, during the stick phase: µstick = µs + fs (t) and during the slip phase: µslip = µd + fd (t) The friction coefficient during stick must be larger than the friction coefficient during slip. • For a mass-based belt the dynamic slip model is used. If µs = 0.0 and fs (t) and gs (Fn ) are not specified: µslip/stick = µd + fd (t) + gd (Fn ) + fv (v) Otherwise, the friction coefficient during stick is: µstick = µs + fs (t) + gs (Fn ) + fv (0) In that case the condition gs (Fn ) ≥ gd (Fn ) must be satisfied. The friction coefficient during stick must be larger than or equal to the friction coefficient during slip. This means that: Release 7.7
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if µd + fd (t) + gd (Fn ) = µs + fs (t) + gs (Fn ) or if µs = 0 and fs (t) and gs (Fn ) are not specified then fv (v) (if specified) should have a local maximum for v = 0 or this function should be locally horizontal near v = 0. Symbol Table:
B
Symbol µd fd (t) gd (Fn ) µs fs (t) gs (Fn ) fv (v)
Attribute FRIC COEF FRIC FUNC FRIC NORMAL FORCE FUNC STATIC FRIC COEF STATIC FRIC FUNC STATIC FRIC NORMAL FORCE FUNC FRIC VEL FUNC
Examples
Example of a D-ring with both a constant Coulomb friction coefficient and a static Coulomb friction function. When the slip velocity reverses sign or the slip velocity remains 0.0 for at least 0.001 s, the tying switches from slip to stick:
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BODY.DEFORMABLE
Element
BODY.DEFORMABLE
Parents
SYSTEM.MODEL
B
Description Deformable body.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name FE_MODEL
Ref to FE_MODEL. Selection of the relevant FE model
Ref MODE_LIST
Ref to MODE. List of modes defined under FE_MODEL(2)
List MODE_LIST_EXCL
Ref to MODE. List of modes to be removed from the MODE_LIST
List MODAL_STIF Real[*] MODAL_DAMP Real[*] MODE_DOF
-
Modal stiffness matrix(3)
-
Modal damping matrix(3)
Real[*]
Initial deformation. One value for each deformation mode
Ref
Ref to SWITCH.*.
SWITCH
(4)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The order should match the order in the modal matrices. Selection ALL is not allowed due to order in the modal stiffness and damping matrix. 3. Entered row-wise. 4. When the switch is TRUE, the modal degrees of freedom of the flexible bodies are analyzed; if FALSE, the modal degrees of freedom are fixed. Switching from TRUE to FALSE should only occur if the first time derivatives of the modal degrees of freedom are zero to keep the energy balance correct. This is normally the case at the start of the simulation. Related Element STATE.BODY
One/Many
Description
One
Body state change between rigid and flexible.
Examples
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BODY.FLEXIBLE_BEAM
Element
BODY.FLEXIBLE_BEAM
Parents
SYSTEM.MODEL
B
Description Flexible beam.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name FE_MODEL Ref
Ref to FE_MODEL. Reference to the FE model where the nodes, which are referred to in the LINE3 and DEF_NODE_LIST attributes, are defined
Int[3]
Ref to COORDINATE.*. 3 nodes defining the flexible beam(2)
LINE3 DEF_NODE_LIST
Ref to COORDINATE.*. List of nodes that will be distributed over the axis of the beam(3)
iList DEF_NODE_LIST_EXCL
Ref to COORDINATE.*. List of deformation nodes to be removed from the DEF_NODE_LIST
iList STIF_AXIAL Bool
Selection of axial stiffness equal to infinite (OFF) or equal to E × AREA (ON)
OFF
AREA Real
m2
Area of cross-section of the beam(4)
Real
kgm2 /m
Mass moment of inertia per unit length of the beam about its xb axis(4)
Real
m4
Torsional moment of area(4,5)
Real
m4
Bending moment of area of the cross section about the beam yb axis(4,6)
Real
m4
Bending moment of area of the cross section about the beam zb axis(4,6)
Real
kg/m3
Mass density of the beam material(4)
Real
N/m2
Young’s modulus(4)
-
Poisson’s ratio(7)
MI11
I11 I22
I33
DENSITY E NU Real
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Attribute Type DAMP_COEF
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Default
Unit
0.0
Ns/m, Ns/m2 , stiffness matrix proportional damping Ns, coefficient(8) Nms/rad, s, -
B Real MODE_DOF
Description
Real[*]
Initial deformation. One value for each deformation mode
Ref
Ref to SWITCH.*.
SWITCH
(9)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The first node represents the origin of the inertia coordinate system. The first and second node must be on the axis of the beam at the beam ends. They determine the beam x-axis. The beam z-axis is taken to be normal to the plane through the three nodes
3 ζ W1
V1
W2
η ξ
V2 U2
U1 3. The coordinates of the nodes as defined under FE_MODEL will be overwritten such that the nodes are at equal distance on the axis of the beam; the nodes are rearranged in increasing order. Increasing the number of nodes does not influence the accuracy of the results; however, it will increase the required CPU time. The positions of the nodes are written to the KIN3 file in which case they are connected by FLEXID2 elements. 4. Range: (0, ∞). 5. If I11 = INF, torsion of the beam will be suppressed. 6. If I22 = INF, bending of the beam in the xb zb plane will be suppressed. 7. Range: (-1, 0.5). 8. Range: [0, ∞). 9. When the switch is TRUE, the modal degrees of freedom of the flexible bodies are analyzed; if FALSE, the modal degrees of freedom are fixed. Switching from TRUE to FALSE should only occur if the first time derivatives of the modal degrees of freedom are zero to keep the energy balance correct. This is normally the case at the start of the simulation. Related Element STATE.BODY
64
One/Many
Description
One
Body state change between rigid and flexible.
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BODY.FLEXIBLE_BEAM
Additional Information
B
• At least one of the variables I11, I22 and I33 should not be equal to INF or STIF_AXIAL should be equal to ON, otherwise the beam is rigid. Examples
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BODY.RIGID
B
MADYMO Reference manual
Element
BODY.RIGID
Parents
SYSTEM.MODEL
Description This element contains the information necessary to define a unique rigid body:
mass, inertia matrix and location of centre of gravity. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name CENTRE_OF_GRAVITY Real[3]
0.0 0.0 0.0
m
Coordinates of the centre of gravity of the body(2)
Real
1.0
kg
Mass of the body(3)
Real[6]
1.0 1.0 1.0 0.0 0.0 0.0
kgm2
Moments of inertia and products of inertia of the body (IXX IYY IZZ IXY IYZ IZX)(4,5)
MASS INERTIA
ORIENT_INERTIA Ref
Ref to ORIENTATION.*. Orientation reference of inertia coordinate system(6)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The coordinates of the centre of gravity of a body must be defined in its local coordinate system. 3. Range: (0, ∞). 4. Mass moments of inertia and products of inertia are with respect to the inertia coordinate system. They must satisfy the following conditions: IXX > 0, IYY + IZZ ≥ IXX, IYY * IZZ ≥ IYZ2 , IXX ≥ 2 IYZ IYY > 0, IZZ + IXX ≥ IYY, IZZ * IXX ≥ IZX2 , IYY ≥ 2 IZX IZZ > 0, IXX + IYY ≥ IZZ, IXX * IYY ≥ IXY2 , IZZ ≥ 2 IXY 5. The origin of the inertia coordinate system coincides with the centre of gravity.
6. The orientation of the inertia coordinate system must be defined relative to the body local coordinate system. By default it is parallel to the body local coordinate system. Examples
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Element
BOUNDING_BOX
Parents
GROUP_FE
BOUNDING_BOX
Description Rectangular box with faces parallel to the FE model coordinate system to select
nodes and elements. Attribute XMIN
Type
Default
Unit
Description
Real
m
Lower bound x
Real
m
Upper bound x
Real
m, -
Lower bound y
Real
m, -
Upper bound y
Real
m
Lower bound z
Real
m
Upper bound z
XMAX YMIN YMAX ZMIN ZMAX
Additional Information
• If the bounding box is used to select nodes and elements of a scaled FE model, then the bounding box is also scaled with the same factor. • All nodes and the elements that have an average nodal position that lies inside the bounding box are selected. The bounding box values are in the coordinate system of the FE model before any initial conditions are applied. Examples
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CHAR_MOD
C
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Element
CHAR_MOD
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Scaling and shifting parameter of a characteristic on a global level.
Attribute CHAR
Type
Default
Unit
Ref DAMP_COEF_SCALE 1.0 Real DAMP_COEF_SHIFT 0.0 Real HYS_SLOPE_SCALE 1.0 Real HYS_SLOPE_SHIFT 0.0 Real ELAS_LIMIT_SCALE 1.0 Real ELAS_LIMIT_SHIFT 0.0 Real
Description Ref to CHARACTERISTIC.*. Scale factor damping coefficient(1) Shift factor damping coefficient Scale factor hysteresis slope(1) Shift factor hysteresis slope Scale factor elastic limit(1) Shift factor elastic limit
1. Range: [0, ∞). Additional Information
• Scaling is first applied, followed by shifting.
• The referenced characteristic is overwritten by the modified characteristic. This means that everywhere where this characteristic is used, the new modified characteristic will be used instead, regardless of where CHAR_MOD is defined or where the characteristic is referenced. Examples
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CHARACTERISTIC.CONTACT
Element
CHARACTERISTIC.CONTACT
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE MADYMO_RESTART
C
Description Supplies the data for describing a characteristic for a contact.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name CONTACT_MODEL String LOAD_FUNC
Selection of contact model(2,3) Ref to FUNCTION.XY. Loading function – elastic contact load [N or N/m2 ] vs. penetration [m or -](4)
Ref UNLOAD_FUNC
Ref to FUNCTION.XY. Unloading function – elastic contact load [N or N/m2 ] vs. penetration [m or -](4,5,6)
Ref DAMP_VEL_FUNC
Ref to FUNCTION.XY. Damping load function – damping contact load [N, N/m2 ] vs. penetration velocity [m/s or 1/s](4)
Ref DAMP_AMP_FUNC
Ref to FUNCTION.XY. Damping load amplification function – amplification factor [-] vs. stress[N/m2 ] or force [N](7)
Ref DAMP_COEF
Real HYS_MODEL String HYS_SLOPE Real ELAS_LIMIT Real AMPLIFICATION Ref
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0.0
Ns/m, Ns/m2 , Ns, Damping coefficient(8) Nms/rad, s, Hysteresis model(9,10,5)
NONE
Hysteresis slope(8,11)
0.0
-
0.0
m, - or rad Elastic limit for hysteresis(8,12) Ref to AMPLIFICATION.*. Dynamic amplification reference(13)
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1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters.
C
2. Domain: [FORCE STRESS]. 3. For CONTACT.MB_MB only FORCE is allowed. STRESS means stress-(penetration/thickness) characteristics are used in the calculation of the elastic contact force. FORCE means force-penetration characteristics are used in the calculation of the elastic contact force. It is recommended to use STRESS instead of FORCE because STRESS takes into account the shape of the contacting objects. (See Theory Manual) 4. This function must lie in the first and third quadrant. 5. If HYS_MODEL = 2 the function value of the unloading function must be zero for x = 0.0. 6. Only relevant when hysteresis is modelled. The unloading curve is identically zero when it is not specified. 7. This function must lie in the first quadrant. 8. Range: [0, ∞). 9. Domain: [NONE 1 2 3A 3B 3C]. 10. These values refer to the corresponding hysteresis models in the Theory Manual. Hysteresis model 3 can only be applied when CONTACT_MODEL = FORCE. 11. Only relevant when HYS_MODEL equals 1 or 2. 12. Only relevant when hysteresis is modelled. 13. Only taken into account for CONTACT.MB_MB. Related Element FUNC_USAGE.2D
One/Many
Description
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• Damping is not applied when specifying CONTACT_MODEL = FORCE for CONTACT.FE_FE. • The contact stress is calculated as: " # λ˙ σ = σe + Cd + σd fd t where σe is the elastic stress calculated from the entered stress-(penetration/thickness) characteristics, λ the penetration, t is the thickness of the element surface at the location of the node, Cd is the damping coefficient, σd is the damping stress as calculated from the entered relative penetration velocity characteristic and fd is the damping amplification factor from the entered damping amplification function. Examples
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CHARACTERISTIC.LOAD
C
MADYMO Reference manual
Element
CHARACTERISTIC.LOAD
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE MADYMO_RESTART
Description Characteristic for restraints, belt segments and belt retractors defining loading, un-
loading, damping and hysteresis. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name LOAD_FUNC
Ref to FUNCTION.XY. Loading function – elastic load [N or Nm] vs. deformation [m, rad or -]
Ref UNLOAD_FUNC
Ref to FUNCTION.XY. Unloading function – elastic load [N or Nm] vs. deformation [m, rad or -](2)
Ref MU Int DAMP_VEL_FUNC
Material damping switch(3,4)
2
Ref to FUNCTION.XY. Damping load function – damping load [N or Nm] vs. deformation rate [m/s, rad/s, or 1/s](5,6)
Ref DAMP_STRESS_FUNC
Ref to FUNCTION.XY. Damping stress function(7)
Ref DAMP_COEF
Real HYS_MODEL String HYS_SLOPE Real ELAS_LIMIT Real AMPLIFICATION Ref
0.0
Ns/m, Ns/m2 , Ns, Damping coefficient(8,5) Nms/rad, s, Hysteresis model(9,10,11)
NONE
Hysteresis slope(8,12)
0.0
-
0.0
m, - or rad Elastic limit for hysteresis(8,13) Ref to AMPLIFICATION.*. Dynamic amplification reference(14)
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generated by madymo) may not exceed 256 characters. 2. Only relevant when hysteresis is modelled. The unloading curve is identically zero when it is not specified. 3. Domain: [0 1 2]. 4. Only relevant for mass-based belt characteristics with DAMP_COEF > 0.0 specified If MU = 0, the material damping (γ) is dependent on the segment size. γ is calculated as: γ = DAMP_COEF · STIFFs · ∆ts where STIFFs is an elastic stiffness parameter derived from the elastic characteristic and ∆ts the segment time step according to the undamped stability criterion. If MU = 1, the material damping is constant for all segments. γ is calculated as: γ = DAMP_COEF · STIFFs If MU = 2 (default), the material damping is constant for all segments. γ is calculated as: γ = DAMP_COEF If MU = 0 or MU = 1 then HYS_MODEL can only be equal to NONE, 1 or 2. 5. Not available for flexion-torsion restraints, segments of a massless belt and belt retractors. 6. For mass-based belts, DAMP_VEL_FUNC is only used if MU = 2. 7. Only available for RESTRAINT.SIX_DOF. 8. Range: [0, ∞). 9. Domain: [NONE 1 2 3A 3B 3C]. 10. These values refer to the corresponding hysteresis models in the Theory Manual. 11. If MU = 0 or MU = 1 then HYS_MODEL can only be equal to NONE, 1 or 2. 12. Only relevant when HYS_MODEL equals 1 or 2. 13. Only relevant when HYS_MODEL not equal to NONE. 14. Only available for Cardan restraints, Kelvin restraints, joint restraints and point restraints. Related Element RATE.COWPER RATE.FUNC RATE.JOHNSON
One/Many
Description
One
Strain rate dependency function for scaling the loading function and unloading function.(1)
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
FUNC_USAGE.2D
1. Only available for mass-based belt segment characteristics Examples
Example of a belt characteristic of a mass-based belt, including hysteresis and damping
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NAME = " BeltSegment_chr " LOAD_FUNC = " BeltLoad_fun " UNLOAD_FUNC = " BeltUnload_fun " MU = "0" DAMP_COEF = "0.05 " HYS_MODEL = "1" HYS_SLOPE = "1.0E +06 " ELAS_LIMIT = "0.0"
C
/>
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CHARACTERISTIC.MATERIAL
Element
CHARACTERISTIC.MATERIAL
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE MADYMO_RESTART
C
Description Characteristic for materials defining loading, unloading, damping and hysteresis.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name LOAD_FUNC
Ref to FUNCTION.XY. Loading function – generalized stress [N/m2 ,...] vs. generalized strain [-,...]
Ref UNLOAD_FUNC
Ref to FUNCTION.XY. Unloading function – generalized stress [N/m2 ,...] vs. generalized strain [-,...](2)
Ref DAMP_FUNC
Ref to FUNCTION.XY. Damping function – generalized stress [N/m2 ,...] vs. generalized strain rate [s-1 ,...](3)
Ref DAMP_COEF
Real HYS_MODEL String HYS_SLOPE Real ELAS_LIMIT Real
0.0
Ns/m, Ns/m2 , Ns, Damping coefficient(4,3) Nms/rad, s, Hysteresis model(5)
NONE
Hysteresis slope(4,6)
0.0
-
0.0
m, - or rad Elastic limit for hysteresis(4,7)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Only relevant when hysteresis is modelled. The unloading curve is identically zero when it is not specified. 3. Only relevant for Kelvin materials. 4. Range: [0, ∞). 5. Domain: [NONE 1 2]. 6. Only relevant when hysteresis is modelled. Release 7.7
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7. Only relevant when HYS_MODEL not equal to NONE.
C
Related Element FUNC_USAGE.2D
One/Many
Description
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Examples
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COATING
Element
COATING
Parents
MATERIAL.FABRIC_SHEAR
C
Description Definition of material properties for the coating of fabrics.
Attribute E
Type
Default
Real
Unit
Description
N/m2
Modulus of elasticity (Young)(1)
-
Poisson’s ratio(2)
-
Relative thickness.(3,4)
NU Real THICK_REL Real
0.0
1. Range: (0, ∞). 2. Range: (-1, 0.5). 3. Range: [0, 1]. 4. The thickness of the coating is defined relative to the element thickness defined by THICK in the related membrane property card: coat thickness = THICK_REL * THICK Examples
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COMMENT
Element
C
MADYMO Reference manual
COMMENT
Description Comment. Use this element to add user information to the model.
Related Element #PCDATA
One/Many
Description
One
Reserved XML element containing plain text or XML elements.
Additional Information
• This element is identical to DISABLE except that it can contain text only. It can be used as a related element in any other element with no limitations, i.e. at any position and as many times as desired. See also Section "Special XML elements". Examples
A MADYMO comment is always retained by any other program , such as a pre - processor. It can also contain as much text as you like.
within them. ]] >
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COMPONENT
Element
COMPONENT
Parents
MATERIAL.ORTHOLIN_LAYERED MATERIAL.SANDWICH
C
Description Material component used for definition of layered materials.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME E11 Real
N/m2
Modulus of elasticity in first material direction(2)
Real
N/m2
Modulus of elasticity in second material direction(2)
-
Poisson’s ratio in 1-2 plane(3)
Real
N/m2
Shear modulus in 1-2 plane(2)
Real
kg/m3
Mass density of the material(2)
E22 NU12 Real
0.0
G12 DENSITY
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Range: (0, ∞). 3. Range: (-1, 0.5). Examples
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CONNECT_N2
C
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Element
CONNECT_N2
Parents
SPOTWELD.NODE_NODE
Description Spotweld connection between 2 nodes.
Attribute NODE_2
Type
Default
Int[2]
Unit
Description Ref to COORDINATE.*. Array of two nodes(1)
1. The first node must be in FE_MODEL_1 and the second node must be in FE_MODEL_2. These FE models are referenced under SPOTWELD.NODE_NODE. Examples
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CONNECT_N3
Element
CONNECT_N3
Parents
SPOTWELD.THREE_NODE
C
Description Spotweld connection between 3 nodes.
Attribute NODE_3
Type
Default
Unit
Int[3]
Description Ref to COORDINATE.*. Array of three nodes(1)
1. The first node must be in FE_MODEL_1, the second node must be in FE_MODEL_2 and the last one node must be in FE_MODEL_3. These FE models are referenced in SPOTWELD.THREE_NODE. Examples
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CONSTRAINT.LINEAR
C
MADYMO Reference manual
Element
CONSTRAINT.LINEAR
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Linear constraint for FE nodes.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Related Element EQUATION.MASTER
One/Many
Description
One
Dependent part of linear constraint equation (eliminated degree of freedom).
Many
Slave equation for linear constraints (retained degrees of freedom).
EQUATION.SLAVE
Additional Information
• Constraint equations can be generally expressed as: Cmaster umaster = Cslave_1 uslave_1 + ... + Cslave_n uslave_n where C corresponds to FACTOR (in EQUATION.SLAVE) and u corresponds to the specified degree of freedom. This equation can be rewritten as umaster = (Cslave_1 / Cmaster ) uslave_1 + ... + ( Cslave_n / Cmaster ) u slave_n We can write UE = L UR where UE (master) is a vector containing the eliminated DOF’s, UR (slave) is a vector containing the retained DOF’s and L contains the scale factors. UE must contain unique elements (i.e. no doublets allowed). DOF’s may belong only to either UE or UR. For example if of 3 DOF’s {u1 , u2 , u3 } are specified, it is possible to write: u2 = u1 and u3 = u1 yielding UET = [u2 , u3 ], UR = u1 and LT = [1,1] However, it is not possible to write (u1 occurs twice in UE): u1 = u2 and u1 = u3 or (u2 belongs to both UE and UR) u1 = u2 and u2 = u3 82
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• Nodes selected in constraints cannot be used in SUPPORTs, SPOTWELDs, prescribed MOTION, RIGID_ELEMENTs and CONTACT.MB_FE in combination with CONTACT_FORCE.KINEMATIC. Examples
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= " /1/1/1 " = "ALL " = "1.0"
= " /1/2/1 " = "ALL " = "0.5"
= " /1/2/3 " = "ALL " = " -0.5"
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CONSTRAINT.RIGID_FE
C
MADYMO Reference manual
Element
CONSTRAINT.RIGID_FE
Parents
FE_MODEL
Description Rigid elements and rigid parts that form one rigid FE entity.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name MASTER_RIGID_CLASS String MASTER_RIGID_REF Ref
Alphanumerical identifier(1) Master rigid class type(2) Ref to [RIGID_ELEMENT PART]. Master rigid reference.(3)
SLAVE_RIGID_ELEMENT_LIST List
Ref to RIGID_ELEMENT. List of slave RIGID_ELEMENTs(4)
SLAVE_RIGID_ELEMENT_LIST_EXCL List
Ref to RIGID_ELEMENT. List of RIGID_ELEMENTs to be removed from the SLAVE_RIGID_ELEMENT_LIST
SLAVE_PART_LIST List
Ref to PART. List of slave MATERIAL.RIGID parts(4)
SLAVE_PART_LIST_EXCL List
Ref to PART. List of slave parts to be removed from the SLAVE_PART_LIST
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [RIGID_ELEMENT PART]. 3. The reference must match the MASTER_RIGID_CLASS. 4. At least one of both lists must be specified. Additional Information
• The REF_NODE, LIN_VEL and ANG_VEL attributes of the slaves are ignored. The REF_NODE, LIN_VEL and ANG_VEL of the CONSTRAINT.RIGID_FE are defined by the corresponding master attributes. • If a complete FE-model is made one rigid entity or part of one rigid entity by means of CONSTRAINT.RIGID_FE, it is considered non-rigid for the determination of its integration time step at the start of the simulation. Examples
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MASTER_RIGID_CLASS = "PART " MASTER_RIGID_REF = " RgdMat1_par " SLAVE_PART_LIST = " RgdMat2_par RgdMat3_par " SLAVE_RIGID_ELEMENT_LIST = " Elem1_rgd Elem2_rgd "
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FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Simple constraints for FE nodes.
Attribute ID
Type
Default
Int
Unit
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name GROUP_LIST
Ref to GROUP_FE. List of groups containing objects(2)
List GROUP_LIST_EXCL
Ref to GROUP_FE. List of groups containing objects to be removed from the GROUP_LIST
List DOF_ALL Bool
OFF
Degrees of freedom in all directions
Bool
OFF
Degree of freedom in reference space X-direction
Bool
OFF
Degree of freedom in reference space Y-direction
Bool
OFF
Degree of freedom in reference space Z-direction
Bool
OFF
Degree of freedom about the reference space X-axis
Bool
OFF
Degree of freedom about the reference space Y-axis
Bool
OFF
Degree of freedom about the reference space Z-axis
DOF_DX DOF_DY DOF_DZ DOF_RX DOF_RY DOF_RZ
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The groups selected can be related to different FE models. Additional Information
• A simple constraint equation can be generally expressed as: u1 = u2 = .. = un where u corresponds to the specified degree of freedom(s) and n is equal to the number of selected nodes. 86
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• Nodes selected in constraints cannot be used in SUPPORTs, SPOTWELDs, prescribed MOTION, RIGID_ELEMENTs and CONTACT.MB_FE in combination with CONTACT_FORCE.KINEMATIC. Examples
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CONTACT.FE_FE
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FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Selects groups of FE objects to be used as master and slave surfaces in a contact
calculation, and allows the user to specify the contact method. Attribute ID
Type
Default
Int
Unit
Description Numerical identifier
NAME Name MASTER_SURFACE List MASTER_SURFACE_EXCL List
Alphanumerical identifier(1) Ref to GROUP_FE. List of groups that act as the master surface in a contact definition(2) Ref to GROUP_FE. List of groups to be removed from the MASTER_SURFACE
SLAVE_SURFACE List SLAVE_SURFACE_EXCL List CONTACT_SURFACE ON Bool SWITCH Ref
Ref to GROUP_FE. List of groups that act as the slave surface in a contact definition(3) Ref to GROUP_FE. List of groups to be removed from the SLAVE_SURFACE Select surface of volume only(4) Ref to SWITCH.*.
(5,6)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. LINE2 and LINE3 elements do not have a surface and therefore will be rejected from the master surface. Groups related to different FE models can be selected. 3. If no SLAVE_SURFACE is selected, it is assumed that the slave surface equals the master surface (i.e. Single surface contact). Groups related to different FE models can be selected. If CONTACT_FORCE.CHAR is used and CONTACT_TYPE is the slave surface then for LINE2 and LINE3 elements no contact force is generated unless CONTACT_AREA is specified (see Theory Manual). 4. If for the master or slave surface a set is defined that contains volume elements, the outer surface of this volume will only be taken into account if this value is ON. If OFF the segments/nodes inside the volume will also be selected in the contact. 5. The contact force is applied only when the switch is TRUE; no contact search is performed when the switch is FALSE. STATE.CONTACT can also be used for this purpose.
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6. Only for SMP, not for MPP: If the contact is switched ON or OFF the integration time step used for master or slave surface can change. The smallest integration time step of all FE models contacting each other is used for all these FE models. If a FE model does not contact another FE model (no contact specified or the contact is switched OFF) it uses its own integration time step. Related Element One/Many Description CONTACT_METHOD.NODE_TO_SURFACE CONTACT_METHOD.SURFACE_TO_SURFACE CONTACT_METHOD.NODE_TO_SURFACE_CHAR CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT One Contact method choice for FE-FE contact. STATE.CONTACT Contact state change. One
Additional Information
• See the Appendix "Contact Modelling Guidelines".
• Material type HOLE elements do not have a bulk modulus so no contact forces will be generated for these elements. Examples
See CONTACT_METHOD.*
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MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Defines a contact between multibody surfaces (master surface) and finite element
surfaces (slave surface). Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name MASTER_SURFACE
Ref to GROUP_MB. List of groups of planes, cylinders and ellipsoids(2)
List MASTER_SURFACE_EXCL
Ref to GROUP_MB. List of groups to be removed from the MASTER_SURFACE
List SLAVE_SURFACE
Ref to GROUP_FE. List of finite element groups(3)
List SLAVE_SURFACE_EXCL
Ref to GROUP_FE. List of groups to be removed from the SLAVE_SURFACE
List SURFACE_THICK Real SWITCH Ref INITIAL_TYPE String
m
Thickness of contact surface(4) Ref to SWITCH.*.
NONE
(5)
Initial penetration correction(6,7,8)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. In MB_FE contacts, cylinders are always treated as being of infinite length. 3. Groups related to different FE models can be selected. If CONTACT_FORCE.CHAR is used, elements of type LINE2 and LINE3 generate no contact force unless CONTACT_AREA is specified (see Theory Manual). 4. If CONTACT_FORCE.KINEMATIC is selected, this represents the thickness of the planes in the master surface (default = 0.005). This means that nodes behind the plane + thickness do not make contact to the plane if the track of a node does not intersect the plane. If CONTACT_FORCE.CHAR is used and CONTACT_TYPE does not equal SLAVE, this represents the thickness that is used for the force calculation if CONTACT_MODEL is STRESS (default = 1.0). 5. The contact force is applied only when the switch is TRUE; no contact search is performed when the switch is FALSE. STATE.CONTACT can also be used for this purpose. 6. Domain: [NONE CORRECT]. 90
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7. NONE means no correction, CORRECT means that the contact forces are corrected by adding the penetration of the nodes relative to their initial positions to the actual projection of the node positions on the MB-surface. Hence there are no initial contact forces. Initial penetrations are reported in the reprint file. 8. Only relevant for CONTACT_FORCE.CHAR. Related Element One/Many CONTACT_FORCE.CHAR CONTACT_FORCE.KINEMATIC One STATE.CONTACT One
Description
Contact force choice for MB-FE contact. Contact state change.
Examples
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Parents
MADYMO SYSTEM.MODEL
Description Selects groups of multibody surfaces to be used as master (planes, cylinders and
ellipsoids) and slave (ellipsoids) in a contact calculation, and allows the user to specify contact detection parameters. Friction, contact damping and damping amplification can also be specified. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name MASTER_SURFACE
Ref to GROUP_MB. List of groups of planes, cylinders and ellipsoids(2)
List MASTER_SURFACE_EXCL
Ref to GROUP_MB. List of groups to be removed from the MASTER_SURFACE(2)
List SLAVE_SURFACE
Ref to GROUP_MB. List of groups of ellipsoids(3)
List SLAVE_SURFACE_EXCL
Ref to GROUP_MB. List of groups to be removed from the SLAVE_SURFACE(3)
List BOUNDARY_WIDTH Real
0.0
EVALUATION_TYPE String NONE INITIAL_TYPE String NONE FRIC_COEF 0.0 Real DAMP_COEF
Real DAMP_VEL_FUNC Ref
m
Half of the width of the plane boundary contact area; if the plane is infinite select INF(4) Selection of the type of evaluation(5,6,7) Initial penetration correction(8,9)
-
Friction coefficient(4,10)
Ns/m, Ns/m2 , Ns, Damping coefficient(4,11) Nms/rad, s, Ref to FUNCTION.XY. Damping load function – damping contact load [N] vs. penetration velocity [m/s](11)
DAMP_AMP_FUNC Ref
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Attribute SWITCH
Type
CONTACT.MB_MB
Default
Unit
Ref
Description Ref to SWITCH.*.
(12)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Hyper-ellipsoids/hyper-elliptical cylinders with degree larger than 10 in the MASTER_SURFACE are treated as 10th degree hyper-ellipsoids/hyper-elliptical cylinders. 3. For ellipsoid-ellipsoid and cylinder-ellipsoid contacts hyper-ellipsoids with a degree larger than 10 in the SLAVE_SURFACE are treated as 10th degree hyper-ellipsoids. For plane-ellipsoid contact the degree as specified under SURFACE.ELLIPSOID is always used. 4. Range: [0, ∞). 5. Domain: [CONTINUOUS DISCRETE NONE]. 6. See also CONTACT_EVALUATE. 7. When NONE is selected no evaluation is done and all contact forces are handled without intervention. DISCRETE selects the contact with the maximum elastic force and applies this contact only. CONTINUOUS determines the scaling factor of the maximum elastic force in relation to the summed elastic contact forces and applies the scaled contact force of all the contacts. EVALUATION_TYPE is applied to the expanded lists of all master and slave MB surfaces, not per GROUP_MB. 8. Domain: [NONE CORRECT]. 9. NONE means no correction, CORRECT means that the initial penetration is subtracted from the actual penetration; hence there are no initial contact forces. Initial penetrations are reported in the reprint file. 10. The friction coefficient used during the simulation is the sum of FRIC_COEF and the value resulting from the characteristic FRIC_FUNC defined under CONTACT_FORCE.CHAR. 11. The damping force is calculated as: fd = [Cd vnorm + Dv (vnorm )] Da (felas ) where Cd is the damping coefficient DAMP_COEF, Dv (vnorm ) is the value resulting from the damping force-velocity function characteristic DAMP_VEL_FUNC and Da (felas ) is the value resulting from the damping amplification-elastic force function characteristic DAMP_AMP_FUNC. 12. The contact force is applied only when the switch is TRUE; no contact search is performed when the switch is FALSE. STATE.CONTACT can also be used for this purpose. Related Element One/Many CONTACT_FORCE.CHAR
Description
One
Specifies that the interaction of the parent contact will be calculated with user-defined properties.
One
Contact state change.
Many
Used to select interpolation type for X-Y function descriptions, or to modify function 93 data by shifting and/or scaling.
STATE.CONTACT FUNC_USAGE.2D
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Additional Information
• The value for DAMP_COEF and the function references DAMP_AMP_FUNC and DAMP_VEL_FUNC specified in the CONTACT.MB_MB element overwrite those specified within the CONTACT_FORCE.CHAR or SURFACE.* elements. Specify damping properties in this element only when CONTACT.TYPE is equal to COMBINED. Examples
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Element
CONTACT.TYRE_ROAD
Parents
MADYMO
C
Description Tyre road contact.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
Ref
Ref to TYRE. Tyre reference
NAME TYRE ROAD Ref ANALYSIS_TYPE String TYRE_TYPE String LOAD_TYPE String TYRE_LOCATION String SWITCH Ref
Ref to ROAD.*. Road reference SINGLE_POINT
Contact method(2,3)
STEADY_STATE
Tyre type(4)
NORMAL
Applied load type(5,6)
SYMMETRIC
Tyre location(7,8) Ref to SWITCH.*.
(9)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [SINGLE_POINT CIRCULAR 2D_CONTACT 3D_CONTACT]. 3. Description of contact methods: SINGLE_POINT - smooth road contact, single contact point CIRCULAR - smooth road contact, circular cross section (motorcycle tyres) 2D_CONTACT - 2D road contact using basic functions 3D_CONTACT - 3D road contact using elliptical cams 4. Domain: [STEADY_STATE TRANSIENT DYNAMIC]. 5. Domain: [NORMAL LONGITUDINAL LATERAL UNCOMBINED COMBINED COMBINED_TURN_SLIP]. 6. Load types: NORMAL - only the normal tyre load is applied LONGITUDINAL - only the normal and longitudinal tyre loads are applied LATERAL - only the normal and lateral tyre loads are applied UNCOMBINED - the normal, longitudinal and lateral tyre loads without combined slip are applied COMBINED - the normal, longitudinal and lateral tyre loads with combined slip are applied COMBINED_TURN_SLIP - the normal, longitudinal and lateral tyre loads with combined slip and turn slip are applied Release 7.7
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7. Domain: [LEFT RIGHT SYMMETRIC MIRROR]. 8. Tyre locations: LEFT - left tyre RIGHT - right tyre SYMMETRIC - symmetric tyre MIRROR - mirror the data of the tyre property file
C
9. The contact force is applied only when the switch is TRUE; no contact search is performed when the switch is FALSE. STATE.CONTACT can also be used for this purpose. Related Element STATE.CONTACT
One/Many
Description
One
Contact state change.
Additional Information
• See Tyre Models Manual.
• ROAD.MESH requires ANALYSIS_TYPE="3D_CONTACT". Examples
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Element
CONTACT_EDGE
Parents
CONTACT_METHOD.SURFACE_TO_SURFACE
Description Defines contact between the edges of contact segments for a surface to surface
contact. Also checking of contact of LINE2 and LINE3/LINE3_PART elements is turned on. Attribute Type Default Unit INTERSECT_CHECK_INTERVAL 20 Int
Description Intersection check interval(1,2)
1. Range: (0, ∞). 2. This option specifies the number of (FE time step) iterations where a check is carried through if edges intersect with segments in the contact. These contacts are released during the period of the interval. This algorithm is time consuming and normally it is recommended to set this option at 20 (default). Additional Information
• Edge edge contact is highly recommended for airbag single surface contacts. Every side of a contact segment is checked for penetration with a side of another contact segment. Examples
See CONTACT_METHOD.SURFACE_TO_SURFACE
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Element
CONTACT_EVALUATE
Parents
MADYMO SYSTEM.MODEL
Description Scale the contact force related to a list of selected contacts of ellipsoids with planes,
cylinders and ellipsoids. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name CONTACT_LIST List
Alphanumerical identifier(1) Ref to CONTACT.MB_MB. List of CONTACT.MB_MB contacts
CONTACT_LIST_EXCL List EVALUATION_TYPE String CONTINUOUS
Ref to CONTACT.MB_MB. List of contacts to be removed from the CONTACT_LIST Selection of the type of evaluation(2,3,4)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [CONTINUOUS DISCRETE NONE]. 3. See also EVALUATION_TYPE under CONTACT.MB_MB. 4. When NONE is selected no evaluation is done and all contact forces are handled without intervention. DISCRETE selects the contact with the maximum elastic force and applies this contact only. CONTINUOUS determines the scaling factor of the maximum elastic force in relation to the summed elastic contact forces and applies the scaled contact force of all the contacts. EVALUATION_TYPE is applied to the expanded lists of all master and slave MB surfaces, not per GROUP_MB. Examples
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CONTACT_FORCE.ADAPTIVE
Element
CONTACT_FORCE.ADAPTIVE
Parents
CONTACT_METHOD.NODE_TO_SURFACE CONTACT_METHOD.SURFACE_TO_SURFACE CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT
C
Description Contact force based on Courant criterion for CONTACT.FE_FE.
Attribute Type Default REDUCTION_FACTOR 0.9 Real MAX_FORCE_PAR 1.0 Real FRIC_FUNC
Unit
Description Reduction factor(1) Contact force limitation(2) Ref to FUNCTION.XY. Friction function – friction coefficient [-] vs. the relative velocity [m/s] between the contacting node and a segment
Ref DAMP_COEF
Real
0.0
TIME_STEP
Ns/m, Ns/m2 , Ns, Damping coefficient(3) Nms/rad, s, s
Real
Contact stiffness is calculated based on this time step(4,5,6)
ORTHO_FRIC1_FUNC Ref to FUNCTION.XY. Orthotropic friction coefficient function – friction coefficient [-] vs. relative velocity [m/s] between the contacting node and a segment in direction 1(7,8,9)
Ref ORTHO_FRIC2_FUNC
Ref to FUNCTION.XY. Orthotropic friction coefficient function – friction coefficient [-] vs. relative velocity [m/s] between the contacting node and a segment in direction 2(7,8,9)
Ref ORTHO_FRIC_ANGLE Real
0.0
PEN_FRIC_FUNC Ref
degrees
Angle between local element directions and direction 1 and 2(9) Ref to FUNCTION.XY. Friction coefficient multiplier – friction coefficient multiplier [-] vs. penetration [m](10,11)
PEN_ORTHO_FRIC1_FUNC Ref
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Attribute Type Default PEN_ORTHO_FRIC2_FUNC
Unit
Description Ref to FUNCTION.XY. Orthotropic friction coefficient multiplier in direction 2 – friction coefficient multiplier [-] vs. penetration [m](10,13)
C Ref
1. 2. 3. 4. 5. 6.
7. 8. 9.
Range: [0, 1]. If instabilities occur reduce this value to 0.1 - 0.001. (See Theory Manual). Range: [0, ∞). Range: (0, ∞). If not specified, the current FE time step is used for the contact stiffness. See also the Theory Manual. When CONTACT_FORCE.ADAPTIVE is used in combination with VAR_TIME_STEP, it is recommended to set TIME_STEP equal or (slightly) larger to the FE integration time step to prevent excessive computational effort. See Appendix I.1.1.6 and the VAR_TIME_STEP element for additional information. Orthotropic velocity dependent friction functions must have a value zero for zero velocity. Also the functions must be >=0 in the first quadrant Orthotropic friction is added to the friction specified by FRIC_FUNC and optionally PEN_FRIC_FUNC. Orthotropic friction is only available for triad3, triad6 and quad4 elements (not for line2, line3, tetra4 and hexa8 elements). The principal directions of orthotropic friction are determined by the local element axis of the contact segments of the slave surface. For 3-node elements, direction 1’ is the line from node 1 to node 2. 4-node elements are divided into two 3-node segments and direction 1’ is the line from node 1 to node 2 for the first segment and from node 3 to node 4 for the second segment. In case the user defines a value for ORTHO_FRIC_ANGLE, direction 1 is obtained by rotating direction 1’ about the element normal with the angle as specified for ORTHO_FRIC_ANGLE. When ORTHO_FRIC_ANGLE is not defined, direction 1 is kept equal to direction 1’. Principal direction 2 is orthogonal to the normal of the contact segment and direction 1. For every slave node the average of the directions 1 and 2 of all connected segments are used. 4
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10. Penetration-dependent friction is defined as a multiplier to be applied to the velocitydependent friction function. In a given orthotropic direction x, therefore: F (total) = [F (FRIC_FUNC) * F (PEN_FRIC_FUNC)] + [F (ORTHO_FRICx_FUNC) * F (PEN ORTHO_FRICx_FUNC)] 100
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11. If PEN_FRIC_FUNC is defined also FRIC_FUNC must be defined. 12. If PEN_ORTHO_FRIC1_FUNC is defined also ORTHO_FRIC1_FUNC must be defined. 13. If PEN_ORTHO_FRIC2_FUNC is defined also ORTHO_FRIC2_FUNC must be defined. Related Element FUNC_USAGE.2D
One/Many
Description
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• It is recommended to use this method for soft materials like FOAM and HONEYCOMB.
• CONTACT_FORCE.ADAPTIVE is switched to CONTACT_FORCE.PENALTY when both master and slave surfaces belong to rigid or fully supported FE_models (which is the case for facet surfaces). In this case a warning is written to the Reprint file and the default values of all attributes specified under CONTACT_FORCE.PENALTY are used, except for the attribute MAX_FORCE_PAR. For MAX_FORCE_PAR the value specified under CONTACT_FORCE.ADAPTIVE is used. If no value is specified for MAX_FORCE_PAR under CONTACT_FORCE.ADAPTIVE the default value 1.0 is used. The contact method is switched back to CONTACT_FORCE.ADAPTIVE as soon as one of the FE_models containing the master or slave surface becomes non-rigid or not fully supported.
Examples
See CONTACT_METHOD.NODE_TO_SURFACE.
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CONTACT_FORCE.CHAR
Parents
CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT CONTACT.MB_FE CONTACT.MB_MB CONTACT_METHOD.NODE_TO_SURFACE_CHAR
Description Specifies that the interaction of the parent contact will be calculated with user-
defined properties. Attribute Type CONTACT_TYPE
Default
Unit
Description Defines both the contact characteristic and the point of application. (See Theory Manual)(1,2,3)
String USER_CHAR
Ref to CHARACTERISTIC.CONTACT. User-defined characteristic(4)
Ref FRIC_FUNC
Ref to FUNCTION.XY. Friction function – for CONTACT.MB_MB friction coefficient [-] vs. the magnitude of the normal contact force [N]; otherwise friction coefficient [-] vs. the relative velocity [m/s] between the contacting node and a segment(5)
Ref
CONTACT_AREA 0.0 Real MAX_FORCE_PAR 1.0E10 Real ORTHO_FRIC1_FUNC
m2
Contact area(6) Contact force limitation Ref to FUNCTION.XY. Orthotropic friction coefficient function – friction coefficient [-] vs. relative velocity [m/s] between the contacting node and a segment in direction 1(7,8,9)
Ref ORTHO_FRIC2_FUNC
Ref to FUNCTION.XY. Orthotropic friction coefficient function – friction coefficient [-] vs. relative velocity [m/s] between the contacting node and a segment in direction 2(7,8,9)
Ref ORTHO_FRIC_ANGLE Real
0.0
PEN_FRIC_FUNC Ref
degrees
Angle between local element directions and direction 1 and 2(9) Ref to FUNCTION.XY. Friction coefficient multiplier – friction coefficient multiplier [-] vs. penetration [m](10,11)
PEN_ORTHO_FRIC1_FUNC Ref
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Attribute Type Default PEN_ORTHO_FRIC2_FUNC
CONTACT_FORCE.CHAR
Unit
Description Ref to FUNCTION.XY. Orthotropic friction coefficient multiplier in direction 2 – friction coefficient multiplier [-] vs. penetration [m](10,13)
Ref COMPATIBILITY String
R6.2.1
Compatibility switch for CONTACT_TYPE(14,15)
1. Domain: [MASTER USER_MASTER SLAVE USER_SLAVE USER_MID_POINT COMBINED]. 2. MASTER: contact point on slave, characteristic of master USER_MASTER: contact point on slave, characteristic user-defined SLAVE: contact point on master, characteristic of slave USER_SLAVE: contact point on master, characteristic user-defined USER_MID_POINT: contact point middle, characteristic user-defined COMBINED: combined contact point, combined characteristic 3. USER_MID_POINT is only allowed for CONTACT.MB_MB. COMBINED is not allowed for CONTACT.MB_FE. COMBINED in combination with CONTACT.FE_FE is only allowed for contact model STRESS. 4. Only relevant if CONTACT_TYPE is USER_MASTER, USER_MID_POINT or USER_SLAVE 5. Friction is specified as a function of the relative velocity between the contacting node and a segment. Only linear interpolation can be used. (See Theory Manual) 6. For elements without a surface (LINE2 and LINE3), a contact area can be defined. If the default value is used for these elements no contact force will be generated. (See Theory Manual). If CONTACT_MODEL = STRESS is used, CONTACT_TYPE has to be MASTER or USER_MASTER and for the master surface a thickness has to be specified. The defined CONTACT_AREA is applied on each node. Only relevant for CONTACT.FE_FE and CONTACT.MB_FE. 7. Orthotropic velocity dependent friction functions must have a value zero for zero velocity. Also the functions must be >=0 in the first quadrant 8. Orthotropic friction is added to the friction specified by FRIC_FUNC and optionally PEN_FRIC_FUNC. 9. Orthotropic friction is only available for triad3, triad6 and quad4 elements (not for line2, line3, tetra4 and hexa8 elements). The principal directions of orthotropic friction are determined by the local element axis of the contact segments of the slave surface. For 3-node elements, direction 1’ is the line from node 1 to node 2. 4-node elements are divided into two 3-node segments and direction 1’ is the line from node 1 to node 2 for the first segment and from node 3 to node 4 for the second segment. In case the user defines a value for ORTHO_FRIC_ANGLE, direction 1 is obtained by rotating direction 1’ about the element normal with the angle as specified for ORTHO_FRIC_ANGLE. When ORTHO_FRIC_ANGLE is not defined, direction 1 is kept equal to direction 1’. Principal direction 2 is orthogonal to the normal of the contact segment and direction 1. For every slave node the average of the directions 1 and 2 of all connected segments are used. Release 7.7
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2 2
10. Penetration-dependent friction is defined as a multiplier to be applied to the velocitydependent friction function. In a given orthotropic direction x, therefore: F (total) = [F (FRIC_FUNC) * F (PEN_FRIC_FUNC)] + [F (ORTHO_FRICx_FUNC) * F (PEN ORTHO_FRICx_FUNC)] 11. If PEN_FRIC_FUNC is defined also FRIC_FUNC must be defined. 12. If PEN_ORTHO_FRIC1_FUNC is defined also ORTHO_FRIC1_FUNC must be defined. 13. If PEN_ORTHO_FRIC2_FUNC is defined also ORTHO_FRIC2_FUNC must be defined. 14. Domain: [R6.2 R6.2.1]. 15. In MADYMO R6.2.1 the algorithm for CONTACT_TYPE=MASTER in combination with CONTACT.FE_FE has been improved, especially the contact area calculation and the contact pressure distribution. The algorithm of R6.2 is used if this attribute is set to R6.2. The improved algorithm is used if this attribute is set to R6.2.1. This option has no effect for other CONTACT_TYPES or CONTACT.MB_FE or CONTACT.MB_MB. Related Element FUNC_USAGE.2D
One/Many
Description
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• If CONTACT_TYPE = COMBINED the elastic part of the characteristics of the MASTER_SURFACE and SLAVE_SURFACE are combined to form the resulting characteristic. The damping properties must be entered within CONTACT.MB_MB. For each characteristic any of the hysteresis models can be applied. The loading functions must be strictly increasing with function value 0.0 for penetration 0.0. All defined unloading functions must be strictly increasing with function value 0.0 for penetration 0.0. Examples
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CONTACT_FORCE.CHAR
/>
The following examples explain a contact with the master surface deforming:
C
...or
Force
Master Slave
Master surface deforming The following examples explain a contact with the slave surface deforming:
...or
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Force
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Master Slave
Slave surface deforming The following examples explain a contact with both surfaces deforming:
Force
Master Slave
Both surfaces deforming ...or
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Force
CONTACT_FORCE.CHAR
Master
C
Slave
Both surfaces deforming
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CONTACT_FORCE.KINEMATIC
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Element
CONTACT_FORCE.KINEMATIC
Parents
CONTACT.MB_FE
Description Specifies that the interaction of the parent multibody-FE contact will be calculated
using a kinematic approach. Attribute Type FRIC_COEF Real
Default
Unit
Description
0.0
-
Friction coefficient(1)
1. Range: [0, ∞). Additional Information
• Nodes selected both in the contact and in SUPPORT, TIED_SURFACE.* , SPOTWELD.*, RIGID_ELEMENT, MATERIAL.RIGID and MOTION.STRUCT_* are removed from the contact. Examples
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CONTACT_FORCE.PENALTY
Element
CONTACT_FORCE.PENALTY
Parents
CONTACT_METHOD.NODE_TO_SURFACE CONTACT_METHOD.SURFACE_TO_SURFACE CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT
C
Description Specifies that the contact forces in the parent FE-FE contact will be calculated using
the penalty method. Can also define friction (orthotropic if desired) and limiting force. Attribute Type PENALTY Real MAX_FORCE_PAR Real FRIC_FUNC
Default
Unit
Description
0.1
Penalty factor(1)
1.0
Contact force limitation(2) Ref to FUNCTION.XY. Friction function – friction coefficient [-] vs. the relative velocity [m/s] between the contacting node and a segment.(3)
Ref DAMP_COEF
Real
0.0
ORTHO_FRIC1_FUNC
Ns/m, Ns/m2 , Ns, Contact damping(4,5) Nms/rad, s, Ref to FUNCTION.XY. Orthotropic friction coefficient function – friction coefficient [-] vs. relative velocity [m/s] between the contacting node and a segment in direction 1(6,7,8)
Ref ORTHO_FRIC2_FUNC
Ref to FUNCTION.XY. Orthotropic friction coefficient function – friction coefficient [-] vs. relative velocity [m/s] between the contacting node and a segment in direction 2(6,7,8)
Ref ORTHO_FRIC_ANGLE Real
0.0
PEN_FRIC_FUNC Ref
degrees
Angle between local element directions and direction 1 and 2(8) Ref to FUNCTION.XY. Friction coefficient multiplier – friction coefficient multiplier [-] vs. penetration [m](9,10)
PEN_ORTHO_FRIC1_FUNC Ref
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Ref to FUNCTION.XY. Orthotropic friction coefficient multiplier in direction 1 – friction coefficient multiplier [-] vs. penetration [m](9,11)
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Attribute Type Default PEN_ORTHO_FRIC2_FUNC
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Unit
Ref to FUNCTION.XY. Orthotropic friction coefficient multiplier in direction 2 – friction coefficient multiplier [-] vs. penetration [m](9,12)
C Ref CONTACT_AREA Real
Description
m2
User defined contact area(13)
1. It is not recommended to lower this value. If instabilities occur it is advised to adjust the MAX_FORCE_PAR. (See Theory Manual). The penalty facter should be specified higher if too much penetration is detected. This accounts only for soft materials, like FOAM and HONEYCOMB. 2. If instabilities occur reduce this value to 0.1 - 0.001. (See Theory Manual). The contact force for each node is limited to: K Fc = A2 ψ min(λ, ηte ) V0 where Fc is the contact force, K, V0 , A, λ and te are the bulk modulus, volume, surface, penetration and thickness of the penetrated element, ψ is the penalty factor (PENALTY) and η the contact force limitation (MAX_FORCE_PAR). 3. Only linear interpolation can be used. (See Theory Manual) 4. Range: [0, ∞). 5. The contact damping is taken into account only if one of the FE_models containing the master or slave surface is non-rigid or not fully supported. 6. Orthotropic velocity dependent friction functions must have a value zero for zero velocity. Also the functions must be >=0 in the first quadrant 7. Orthotropic friction is added to the friction specified by FRIC_FUNC and optionally PEN_FRIC_FUNC. 8. Orthotropic friction is only available for triad3, triad6 and quad4 elements (not for line2, line3, tetra4 and hexa8 elements). The principal directions of orthotropic friction are determined by the local element axis of the contact segments of the slave surface. For 3-node elements, direction 1’ is the line from node 1 to node 2. 4-node elements are divided into two 3-node segments and direction 1’ is the line from node 1 to node 2 for the first segment and from node 3 to node 4 for the second segment. In case the user defines a value for ORTHO_FRIC_ANGLE, direction 1 is obtained by rotating direction 1’ about the element normal with the angle as specified for ORTHO_FRIC_ANGLE. When ORTHO_FRIC_ANGLE is not defined, direction 1 is kept equal to direction 1’. Principal direction 2 is orthogonal to the normal of the contact segment and direction 1. For every slave node the average of the directions 1 and 2 of all connected segments are used.
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CONTACT_FORCE.PENALTY
4
n
3
dir. 2
C
dir. 1’
dir. 2’ 1
3
1 dir. 1 angle
dir. 1’
dir. 1’
2 2
9. Penetration-dependent friction is defined as a multiplier to be applied to the velocitydependent friction function. In a given orthotropic direction x, therefore: F (total) = [F (FRIC_FUNC) * F (PEN_FRIC_FUNC)] + [F (ORTHO_FRICx_FUNC) * F (PEN ORTHO_FRICx_FUNC)] 10. If PEN_FRIC_FUNC is defined also FRIC_FUNC must be defined. 11. If PEN_ORTHO_FRIC1_FUNC is defined also ORTHO_FRIC1_FUNC must be defined. 12. If PEN_ORTHO_FRIC2_FUNC is defined also ORTHO_FRIC2_FUNC must be defined. 13. The specified user contact area replaces the segment’s area which is used in the calculation of the contact force (See formula in NOTE 2 and Theory Manual). In addition, the specified contact area is used to calculate the initial volume V0 . Related Element FUNC_USAGE.2D
One/Many
Description
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• If output is requested, the contact force Fc as described above is written to the file CNTFRC in the four channels summarising the Total Force. Zeroes are written in the channels containing Elastic Force and Damping Force. Examples
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CONTACT_METHOD.NODE_TO_SURFACE
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Element
CONTACT_METHOD.NODE_TO_SURFACE
Parents
CONTACT.FE_FE
Description Selects node to surface contact based on contact thickness (gap) penetration. In
this contact a contact thickness (gap) has to be defined. Penetrations through the gap are not allowed and released. Attribute Type Default INITIAL_PEN_TRACK Bool
Unit
Description If switched "ON" the initial penetrations will not generate forces(1)
ON
1. If switched "ON" and at time = TIME_START the contact is "ON" (default), penetrations smaller than the initial penetrations will not generate contact forces. If during the simulation the penetrations become smaller than the initial penetrations, the initial penetrations are reset to the smallest penetrations. Contact forces are calculated from the contact characteristic with the penetration replaced by (penetration - initial penetration). If switched "ON" and at time = TIME_START the contact is "OFF" (attribute SWITCH under element CONTACT.FE_FE or element STATE.CONTACT) the contact forces are calculated from the contact characteristic using the actual penetration, i.e. the resulting contact forces are the same as when INITIAL_PEN_TRACK is switched "OFF". When INITIAL_PEN_TRACK = "ON" is to be applied and it is desired to set the contact "OFF" during some time after the start of the simulation (e.g. because the inflator is not triggered yet so airbag self-contact forces should not be applied) the contact must be "ON" at TIME_START, it can then be switched off shortly after TIME_START (e.g. after 1E-5 s) and be switched "ON" again when contact becomes of interest (e.g. after triggering of the inflator). This can be specified with a SWITCH.MULTI_PORT. If switched "OFF", contact forces are calculated from the contact characteristic using the actual penetration. Related Element One/Many CONTACT_FORCE.ADAPTIVE CONTACT_FORCE.PENALTY One GAP_TYPE.FUNC GAP_TYPE.SURFACE One INITIAL_TYPE.CHECK
Description
Contact force choice for FE-FE contact. Contact thickness (gap) definition.
One
Checks for initial intersections (crossing contact segments) in a contact definition. No contact forces are generated.
One
Allows the FE FE contact interaction to control the time step in order to avoid penetrations through the contact surface.
VAR_TIME_STEP
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Additional Information
C
• It is recommended to use CONTACT_FORCE.ADAPTIVE.
• Material type HOLE elements do not have a bulk modulus so no contact forces will be generated for these elements. • The repeatability for jobs with 1 CPU is not garanteed for this contact. This means that when the same job is run twice on one CPU on exactly the same platform, still differences can be seen in the output (due to the sensitivity of the model). This is due to the fact that MADYMO is trying to optimise the CPU time for the workload of the system on which it is running resulting in a different order of computations. In order to prevent this, the REPEATABILITY switch under CONTROL_ALLOCATION has to be turned on with results in a small penalty in the CPU performance. Examples
In this example a node to surface contact is defined between the master surface set up by the FE groups Panel_gfe and Panel_2_gfe of system System1 and the slave surface Impactor_gfe of System2. Contact forces are calculated using the adaptive method with friction which is defined by a function Friction_fun and a damping of 0.05. The gap is defined by a function Gap_fun. Initial checking of intersection is done.
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Element
CONTACT_METHOD.NODE_TO_SURFACE_CHAR
Parents
CONTACT.FE_FE
Description Selects node to surface contact for rigid FE surfaces based on penetrations and
force based on characteristics. In this contact no contact thickness (gap) has to be defined. Large penetrations are allowed. Attribute Type Default SMOOTH_MASTER_THICK
Unit
Description
Bool
ON
Calculate thickness of master surface for force calculation at the position of the penetration(1)
Bool TORQUE_FRIC
OFF
Switch to release edge contact(2)
Bool
ON
Adjustment for moment caused by friction due to deep penetrations(3)
BOTH
Selects side of contact segments which is taken into account(4,5)
RELEDG
FACE_TYPE String
1. The thickness of the master surface for the force calculation in case of CONTACT_TYPE=MASTER or COMBINED is calculated at the penetration position. The thickness of the master surface per master node is calculated by taking the maximum of the master element thicknesses connected to the node. The actual master thickness of a penetrating slave node is calculated by interpolation of the master node thicknesses dependent of the penetration position. This reduces the vibrations of contact forces. It is recommended to turn this feature ON. 2. Release edge contacts if value is set to ON, if OFF the contact remains. (See Theory Manual) 3. If rigid surfaces make contact and CONTACT_FORCE.CHAR is specified the contact algorithm assumes that one of the two is rigid (the deformable surface is defined by CONTACT_TYPE) (see Theory Manual). If deep penetrations occur and friction is applied, the friction forces will be at the contact surfaces. This is not correct for the ‘deformable’ surface (CONTACT_TYPE) because an extra moment is generated by this. If TORQUE_FRIC is ON, this moment will be corrected for. This should not be used for non-rigid contact surfaces because this can make the model unstable. 4. Domain: [BACK FRONT BOTH]. 5. It is not recommended to use this option because if this option is needed in a model, it means that the contact is not handled correctly. Related Element One/Many CONTACT_FORCE.CHAR One
114
Description Specifies that the interaction of the parent contact will be calculated with user-defined properties.
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Related Element GAP_TYPE.FUNC GAP_TYPE.MASTER GAP_TYPE.SLAVE
CONTACT_METHOD.NODE_TO_SURFACE_CHAR
One/Many
Description
C One
Contact surface thickness (gap) definition.
One
Initial intersection check type.
INITIAL_TYPE.CHECK INITIAL_TYPE.MASTER INITIAL_TYPE.SLAVE INITIAL_TYPE.USER
Additional Information
• Multiple contact groups are allowed to be selected in the master and/or slave surfaces. If they have different contact characteristics, the contact algorithm will handle these correctly if CONTACT_TYPE = SLAVE or MASTER or COMBINED is selected in CONTACT_FORCE.CHAR • Material type HOLE elements do not have a bulk modulus so no contact forces will be generated for these elements. Using the GAP_TYPE.* element, a surface thickness (gap) can be specified. Examples
In this example a node to surface contact is defined between the master surface set up by the FE groups Panel_gfe and Panel_2_gfe of system System1 and the slave surface Impactor_gfe of System2. Contact forces are calculated using with the characteristics of the master and slave surfaces (COMBINED) with friction which is defined by a function Friction_fun. Initial checking of intersection is done.
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Element
CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT
Parents
CONTACT.FE_FE
Description Selects node to surface contact based on penetrations. In this contact no contact
thickness (gap) has to be defined. Large penetrations are allowed. Attribute Type Default SMOOTH_MASTER_THICK
Unit
Description
Bool
ON
Calculate thickness of master surface for force calculation at the position of the penetration(1)
Bool SYMMETRIC Bool TORQUE_FRIC
OFF
Switch to release edge contact(2)
OFF
Symmetric contact switch(3)
OFF
Adjustment for moment caused by friction due to deep penetrations(4)
BOTH
Selects side of contact segments which is taken into account(5,6)
RELEDG
Bool FACE_TYPE String
1. The thickness of the master surface for the force calculation in case of CONTACT_FORCE.CHAR combined with CONTACT_TYPE=MASTER or COMBINED is calculated at the penetration position. The thickness of the master surface per master node is calculated by taking the maximum of the master element thicknesses connected to the node. The actual master thickness of a penetrating slave node is calculated by interpolation of the master node thicknesses dependent of the penetration position. This reduces the vibrations of contact forces. It is recommended to turn this feature ON. 2. Release edge contacts if value is set to ON, if OFF the contact remains. (See Theory Manual) 3. A surface-surface contact instead of a surface-node contact is applied if ON. When ON is specified, internally two contacts are defined with swapped master and slave surface. This option should not be used in combination with CONTACT_FORCE.CHAR. It would yield non-realistic results due to incorrect handling of the contact hysteresis. The SYMMETRIC option should also not be used for belt contacts. 4. If rigid surfaces make contact and CONTACT_FORCE.CHAR is specified the contact algorithm assumes that one of the two is rigid (the deformable surface is defined by CONTACT_TYPE) (see Theory Manual). If deep penetrations occur and friction is applied, the friction forces will be at the contact surfaces. This is not correct for the ‘deformable’ surface (CONTACT_TYPE) because an extra moment is generated by this. If TORQUE_FRIC is ON, this moment will be corrected for. This should not be used for non-rigid contact surfaces because this can make the model unstable. 5. Domain: [BACK FRONT BOTH]. 6. It is not recommended to use this option because if this option is needed in a model, it means that the contact is not handled correctly.
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Related Element One/Many CONTACT_FORCE.CHAR CONTACT_FORCE.PENALTY CONTACT_FORCE.ADAPTIVE One GAP_TYPE.FUNC GAP_TYPE.MASTER GAP_TYPE.SLAVE One INITIAL_TYPE.CHECK INITIAL_TYPE.MASTER INITIAL_TYPE.SLAVE INITIAL_TYPE.USER One
CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT
Description
C Contact force choice for FE-FE contact.
Contact surface thickness (gap) definition.
Initial intersection check type.
Additional Information
• Multiple contact groups are allowed to be selected in the master and/or slave surface. If they have different contact characteristics, the contact algorithm will handle these correctly if CONTACT_TYPE = SLAVE or MASTER or COMBINED is selected in CONTACT_FORCE.CHAR • Material type HOLE elements do not have a bulk modulus so no contact forces will be generated for these elements. Using the GAP_TYPE.* element, a surface thickness (gap) can be specified. Examples
In this example a node to surface contact is defined between the master surface set up by the FE groups Panel_gfe and Panel_2_gfe of system System1 and the slave surface Impactor_gfe of System2. Contact forces are calculated using the penalty method with friction which is defined by a function Friction_fun and damping coefficient of 0.05. Initial checking of intersection is done.
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Element
CONTACT_METHOD.SURFACE_TO_SURFACE
Parents
CONTACT.FE_FE
Description Selects surface to surface contact based on contact thickness (gap) penetration. In
this contact a contact thickness (gap) has to be defined. Penetrations through the gap are not allowed and released. It is possible to turn edge checking on. Attribute Type Default INITIAL_PEN_TRACK Bool
Unit
Description If switched "ON" the initial penetrations will not generate forces(1)
ON
1. If switched "ON" and at time = TIME_START the contact is "ON" (default), penetrations smaller than the initial penetrations will not generate contact forces. If during the simulation the penetrations become smaller than the initial penetrations, the initial penetrations are reset to the smallest penetrations. Contact forces are calculated from the contact characteristic with the penetration replaced by (penetration - initial penetration). If switched "ON" and at time = TIME_START the contact is "OFF" (attribute SWITCH under element CONTACT.FE_FE or element STATE.CONTACT) the contact forces are calculated from the contact characteristic using the actual penetration, i.e. the resulting contact forces are the same as when INITIAL_PEN_TRACK is switched "OFF". When INITIAL_PEN_TRACK = "ON" is to be applied and it is desired to set the contact "OFF" during some time after the start of the simulation (e.g. because the inflator is not triggered yet so airbag self-contact forces should not be applied) the contact must be "ON" at TIME_START, it can then be switched off shortly after TIME_START (e.g. after 1E-5 s) and be switched "ON" again when contact becomes of interest (e.g. after triggering of the inflator). This can be specified with a SWITCH.MULTI_PORT. If switched "OFF", contact forces are calculated from the contact characteristic using the actual penetration. Related Element One/Many CONTACT_FORCE.ADAPTIVE CONTACT_FORCE.PENALTY One GAP_TYPE.FUNC GAP_TYPE.SURFACE One CONTACT_EDGE
Description
Contact force choice for FE-FE contact. Contact thickness (gap) definition.
One
Defines contact between the edges of contact segments for a surface to surface contact. Also checking of contact of LINE2 and LINE3/LINE3_PART elements is turned on.
One
Checks for initial intersections (crossing contact segments) in a contact definition. No contact forces are generated.
INITIAL_TYPE.CHECK
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Related Element VAR_TIME_STEP
CONTACT_METHOD.SURFACE_TO_SURFACE
One/Many
Description
One
Allows the FE FE contact interaction to control the time step in order to avoid penetrations through the contact surface.
Additional Information
• It is recommended to use CONTACT_FORCE.ADAPTIVE. Additional edge contact is possible by selecting the element CONTACT_EDGE. This is recommended for all airbag self contact applications. LINE2 and LINE3/LINE3_PART elements are only taken into account if CONTACT_EDGE is selected. • Material type HOLE elements do not have a bulk modulus so no contact forces will be generated for these elements. • The repeatability for jobs with 1 CPU is not garanteed for this contact. This means that when the same job is run twice on one CPU on exactly the same platform, still differences can be seen in the output (due to the sensitivity of the model). This is due to the fact that MADYMO is trying to optimise the CPU time for the workload of the system on which it is running resulting in a different order of computations. In order to prevent this, the REPEATABILITY switch under CONTROL_ALLOCATION has to be turned on with results in a small penalty in the CPU performance. Examples
In this example a single surface to surface contact is defined with as surface set up by the FE group Airbag_chamber_gfe. Contact forces are calculated using the adaptive method with friction which is defined by a function Friction_fun and a damping of 0.05. The contact thickness is defined as the surface thickness. Edge checking is done on top of node-surface checking. Initial checking of intersection is done.
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Element
CONTROL_AIRBAG
Parents
FE_MODEL
Description Parameters to control airbag model behaviour.
Attribute Type THERMC Int BLOCK_FLOW Real CP_FORM String
Default
Unit
25
Subcycling of thermodynamics time integration(1,2)
0
Gas outflow reduction factor(3,4)
NIST
Specifies the c p formulation for predefined gases(5,6)
AMBIENT_PRES 101325.0 Real N/m2 AMBIENT_TEMP 288.15 Real K AMBIENT_DAMP_COEF 0.0 Real AMBIENT_DAMP_COEF_REL_BODY Ref
Description
Ambient pressure(7) Ambient temperature(7) Ambient damping coefficient(3,8) Ref to BODY.RIGID. Body reference for relative ambient damping(8)
OUTFLOW_SWITCH Ref
Ref to SWITCH.*. Switch for setting relative outflow time(9)
1. Applicable only to Uniform Pressure simulations. 2. Number of subcycles of thermodynamical calculations in one FE time step. Recommended is at least the default value. 3. Range: [0, 1]. 4. The gas outflow through those elements of the airbag that are in contact is reduced by multiplying it by a factor (1 - BLOCK_FLOW). This value can be overruled at HOLE.* and PERMEABILITY.*. 5. Domain: [NIST REID-PRAUSNITZ]. 6. NIST : cp = a + bT + cT2 + dT3 + e/T2 (reference : NIST Chemistry WebBook, http://webbook.nist.gov). REID-PRAUSNITZ : cp = a + bT + cT2 + dT3 + fT4 (reference : R.C. Reid, J.M. Prausnitz, B.E. Polling: "The Properties of Gases and Liquids", 5th Edition, McGraw-Hill, 1987). 7. Applied to all airbag chambers in this FE model. 8. The pressure pD due to ambient damping on the airbag elements adjacent to ambient is calculated as: ~ e )2 pd = Dρ((~v − ~vbody ) · n where D is the damping coefficient as defined in AMBIENT_DAMP_COEF, ρ is the density of the ambient, ne is the normal vector perpendicular to the segment, v is the velocity of the airbag segment vbody is the velocity of the body specified in AMBIENT_DAMP_COEF_REL_BODY. If this body is not defined, vbody is 0. 120
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9. When this switch reference is defined, the time scale used for all time-dependent outflow functions is relative to the first time that the switch becomes active. If no switch reference is defined, the time scale used is simulation (absolute) time. Time-dependent outflow functions are those functions defined in GLOBAL_DISCHARGE, HOLE.* and PERMEABILITY.*. If the switch reference is defined the time dependent outflow functions cannot be of type CONTROL_SIGNAL, because no function values at previous time points are available. Before the switch has been triggered, the scaling values of the time dependent mass outflow functions are set to 1, and the global energy dissipation value is set to 0. When the switch is triggered, all time functions for mass and energy outflows are functions of the relative time since triggering. Note that the outflow-switch can be activated only once, and then cannot be de-activated. Related Element GAS_FLOW_TRIGGER
One/Many
One GAS_MIXTURE.CONSTANT One ISOBARIC_SWITCH.TIME One
Description Trigger to start Gasflow simulations.(1) Gas mixture with a fixed composition.(2) Switch from Gasflow-USM to Uniform Pressure calculation.
1. Applicable only if model uses Gasflow-USM. 2. This element defines the mixture of the environment gases. If this is not defined, then the standard gas composition for air is used. Additional Information
• Any initial airbag volume is filled with air at ambient temperature and pressure. Thus the given ambient conditions not only influence the over-pressure, and therefore the outflow of gas and the forces working on the membrane elements, but also the gas-mixture inside the airbag. • When a given FE model contains at least one AIRBAG_CHAMBER, this FE model must also contain the element CONTROL_AIRBAG to control the airbag properties. • The different cp formulations are valid in different temperature ranges: in general, the NIST formulation is valid for higher temperatures but should not be used below room temperature, whereas the Reid-Prausnitz formulation extends also to lower temperatures but is less accurate for higher (larger than 1000 K) temperatures (see Theory Manual for more details). Examples
Example of an airbag using redefined ambient conditions
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AMBIENT_PRES =" 101325 .0" AMBIENT_DAMP_COEF ="0.1" >
C
Note that this GAS_MIXTURE.CONSTANT data block describes the default ambient gas composition and could be omitted.
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CONTROL_ALLOCATION
Element
CONTROL_ALLOCATION
Parents
MADYMO MADYMO_RESTART
C
Description This element allows the memory size allocated to MADYMO, given in integers,
reals and characters, to be set. The number of processors to be used in the solution can also be specified. Attribute Type NR_PROC Int REPEATABILITY
Default
Unit
Description
1
Number of processors to be used if present(1,2)
Bool
ON
Repeatability switch for SMP calculations and contact(3)
Int
1000000
Number of integers to be allocated in memory(1,4)
Int
2000000
Number of reals to be allocated in memory(1,5)
Int
100000
Number of characters to be allocated in memory(1,6)
I_SIZE
R_SIZE C_SIZE
1. Range: [1, ∞). 2. This value is overruled by the ’-nrproc’ command line argument. The actual number of processors used depends on the computer system. See also the Appendix "Parallel Processing". 3. If switched on, the summations in the parallel sections of the code are always done in the same order, i.e. running two identical parallel jobs using the same number of processors on the same platform will give exactly the same results. For CONTACT_METHOD.NODE_TO_SURFACE and CONTACT_METHOD.SURFACE_TO_SURFACE this switch is also needed for serial jobs. See additional information in CONTACT_METHOD.NODE_TO_SURFACE/CONTACT_METHOD.SURFACE_TO_SURFACE. If switched off, the summations in the parallel sections of the code are not always done in the same order. Generally, this results in small differences. If switched on, the parallel performance will be lower. This can be up to 20% slower, depending on the simulation. See Appendix "Repeatability". 4. This value is overruled by the ’-isize’ command line argument. 5. This value is overruled by the ’-rsize’ command line argument. 6. This value is overruled by the ’-csize’ command line argument. Examples
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I_SIZE = " 1000000 " R_SIZE = " 2000000 " C_SIZE = " 100000 "
C
/>
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CONTROL_ANALYSIS.TIME
Element
CONTROL_ANALYSIS.TIME
Parents
MADYMO
Description Control element for inputting time domain analysis data relevant to the multi-
body solver. Used to set analysis duration, size of time step, tolerances and ramp functions. Attribute Type TIME_START Real TIME_END Real ANALYSIS_TYPE String INT_MTH
Default
Unit
Description
0.0
s
Starting time of simulation
s
End time of simulation Analysis type(1,2)
DYNAMIC
Integration method used for the multi-body equations of motion(3,4)
String TIME_STEP Real
s
Multi-body integration time step, unless USE_FE_TIME_STEP is set ON(5,6)
s
Simulation time at which the coupling partner is disconnected(7)
s
Maximum multi-body integration time step; only if INT_MTH = RUKU5(5)
-
Tolerance for integration method, only if INT_MTH = RUKU5(5)
COUPLING_TIME_DISCONNECT Real MAX_STEP Real INT_TOL Real
0.001
CONSTRAINT_TOL Error tolerance for the closed chain constraint equations
Real
1.0E-9
Real[2]
0.0 0.5
rad/s, m/s
Velocities used to define ramp function for friction loads in joint and sixdof restraints(8,9)
Real[2]
0.01 0.1
m/s
Velocities used to define the ramp function for friction contact forces.(8,10)
RAMP
RACO USE_FE_TIME_STEP Bool
OFF
Use the minimum FE time step of the selected FE models as the multi-body integration time step(6)
FE_MODEL_LIST List FE_MODEL_LIST_EXCL List
Release 7.7
Ref to FE_MODEL. List of FE models for which the minimum FE time step is searched(11) Ref to FE_MODEL. List of FE models to be removed from the FE_MODEL_LIST
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Attribute Type CONTACT_TOL
C
Real
Default
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Unit
Description Tolerance criterion for calculation of additional contact forces in CONTACT.FE_FE(5,12)
1.0E-4
CONTACT_MAX_ITER Int
Maximum iterations for calculation of additional contact forces in CONTACT.FE_FE(12)
20
FE_JOINT_GAP Real
0.005
m
SWITCH_TERMINATION Ref DEFINE_LOCAL_TO_GLOBAL Bool
OFF
This value controls the joint position accuracy(8,13) Ref to SWITCH.*.
(14)
When ON, local DEFINE elements get global scope.(15)
1. Domain: [DYNAMIC ASSEMBLE PARSE]. 2. DYNAMIC: results in determining the time history response of the model. ASSEMBLE: results in an assembly analysis of the model; this is meaningful only for models with closed chains. Intermediate steps in the assembly process are written to the kinematics files. PARSE: A run with "the end time is equal to the starting time" is performed together with all the selected output. 3. Domain: [EULER RUKU4 RUKU5 MATLAB]. 4. EULER: Explicit-implicit Euler integration method with fixed time step. RUKU4: 4th order Runge-Kutta integration method with fixed time step. RUKU5: 5th order Runge-Kutta Merson integration method with variable time step. TIME_STEP is the initial time step. The minimum time step is TIME_STEP/1024. An upper limit MAX_STEP for the time step can be specified. If no value for MAX_STEP has been entered, there is no upper limit for the time step. This method cannot be used for applications with finite element models. MATLAB: time integration method as specified for MATLAB is used; only possible for a coupled MADYMO/Simulink simulation. 5. Range: (0, ∞). 6. If USE_FE_TIME_STEP is set to ON and the smallest FE time step of the FE models in FE_MODE_LIST is smaller than the multi-body time step TIME_STEP, this FE time step will be used, unless all FE models in the list are either rigid or temporarily rigid. If no multi-body time step is specified and no FE time step is used, a default time step of 1.0E-5 s is used as multi-body time step. 7. Only valid for coupling simulations. 8. Range: [0, ∞). 9. 0 ≤ RAMP[1] ≤ RAMP[2]. (See Theory Manual).
10. 0 ≤ RACO[1] ≤ RACO[2]. Only used in CONTACT.MB_MB. (See Theory Manual). 11. If USE_FE_TIME_STEP is set to OFF (default), FE_MODEL_LIST is ignored.
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CONTROL_ANALYSIS.TIME
12. This parameter is used if in CONTACT.FE_FE the variable time step is used. See Theory Manual and CONTACT.FE_FE. 13. The value is the gap around the initial position of the parent object (corrected for the initial joint displacement) in a joint in which the position of the FE child object should lie. If the initial position of the FE child object is within this gap, the position is modified to the position of the parent object (corrected for the initial joint displacement). 14. Program execution stops when the state of the referred switch is set to ON. 15. If DEFINE_LOCAL_TO_GLOBAL is set to ON, all DEFINE elements, also those under a SYSTEM, will have global scope and can therefore be used in other systems. To prevent problems with any ’REDEFINE’ values, it is considered an error when a VAR_NAME is used multiple times when the DEFINE_LOCAL_TO_GLOBAL option is ON (i.e. in that case, redefinition of a DEFINE value is always considered an ERROR). Related Element DEFINE
One/Many
Description
Many
Variable definition to substitute attributes within the XML file. They are expanded by the parser before the attribute value is transferred to MADYMO.
Additional Information
Output time step MB time step •
FE & GF time step
Time - MB time step has to fit m times (Integer: m≥1) in OUTPUT time step. - FE and GF time step has to fit n times (Integer: n≥1) in MB time step. - For GF: Smallest time step of GF and FE is used (no sub-cycling between FE and GF). - For UP: The thermodynamic time step is: ∆tFE /nTHERMC . • The value of the TIME_STEP attribute should be no larger than the recommended time step as defined in the relevant dummy or human model _usr.xml. • The start and end time of the simulation defined for the MADYMO and MATLAB solvers does not need to be equal. However, it is preferred that the simulation time window (TIME_END - TIME_START) is less or equal than the MATLAB/Simulink simulation time window. • INT_MTH = "EULER" is mandatory when doing a coupled simulation with an external FE program. Release 7.7
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• Although DEFINE elements as child of CONTROL_ANALYSIS.TIME are (for backward compatibility reasons) still valid, it is recommended that DEFINES are placed within a GROUP_DEFINE element. A GROUP_DEFINE is allowed directly after the CONTROL_ANALYSIS.TIME element and also as first child of SYSTEM.REF_SPACE and SYSTEM.MODEL. See GROUP_DEFINE for information about the scope of DEFINE values. Examples
Program execution stops when the airbag temperature becomes larger than 1200 K during 2 ms. > ... ...
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CONTROL_DYNAMIC_RELAXATION
Element
CONTROL_DYNAMIC_RELAXATION
Parents
MADYMO
C
Description Control parameters for dynamic relaxation parameters.
Attribute Type TIME_END
Default
Real
Unit
Description
s
Maximum end time of dynamic relaxation phase.
E_KIN Real
Criterion for kinematic energy.(1,2)
1E-3
E_ELAS Criterion for elastic energy.(1,2)
1E-3 Real RELAX_ALPHA_FACTOR Real
Factor for scaling alpha down to zero after convergence criterion is reached.(3,4)
0.05
REDUCTION_FACTOR 0.9 Real MIN_ALPHA Real
Reduction factor for critical damping.(5,6)
1.0
Minimum damping coefficient during dynamic relaxation phase.(1,2)
OFF
Write kinematics during dynamic relaxation phase.(7)
WRITE_KIN Bool
WRITE_TIME_HISTORY Bool
Write time history files during dynamic relaxation phase.(7)
OFF
TIME_STEP_TIME_HISTORY Real
s
Time step interval for writing time history.(1,8)
1. Range: (0, ∞). 2. This value can be overridden per FE_MODEL with the element CONTROL_FE_DYNAMIC_RELAXATION. 3. Range: (0, 1). 4. After the criterions are satisfied, the artificial damping must be scaled down in order to guarantee stability in the simulation after the dynamic relaxation period. The damping is scaled down every time step using this factor: ALPHA = ALPHA * RELAX_ALPHA_FACTOR. 5. Range: [0, 1]. 6. This value can be overridden per FE_MODEL with the element CONTROL_FE_DYNAMIC_RELAXATION. The virtual alpha (critical damping) is calculated per element based on the mass and the stiffness of the element at the current time point. The alpha is scaled down using the REDUCTION_FACTOR. 7. The output-filenames that are generated during the dynamic relaxation phase are renamed and have the extra extension _drlx. Release 7.7
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8. If not specified the value under CONTROL_OUTPUT is used.
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Additional Information
• All features like contacts, welds, constraints, loads will work normally during the dynamic relaxation process. However for some functionality it is possible to select if it should work during the relaxation phase only, during the normal analysis only, or in both analysis using the DYNAMIC_RELAX attribute. This is implemented for: · External loads (FE and MB). · Switches. · Initial metric method.
• FEMESH data is only written out during the normal analysis.
• It is advised to use a constant gap thickness in time if the simulation is continued directly after the dynamic relaxation. Examples
In this example a dynamic relaxation analysis will be carried out and an extra kinematics file will be written with the extension _drlx.
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CONTROL_FE_DYNAMIC_RELAXATION
Element
CONTROL_FE_DYNAMIC_RELAXATION
Parents
FE_MODEL
C
Description Control parameters for dynamic relaxation parameters.
Attribute E_KIN
Type
Default
Unit
Real
Description Criterion for kinematic energy.(1,2)
E_ELAS Real REDUCTION_FACTOR Real MIN_ALPHA Real
Criterion for elastic energy.(1,2) Reduction factor for critical damping.(3,4) Minimum damping coefficient during dynamic relaxation phase.(1,2)
1. Range: (0, ∞). 2. Overrides for this FE_MODEL the value that is specified in CONTROL_DYNAMIC_RELAXATION. 3. Range: [0, 1]. 4. Overrides for this FE_MODEL the value that is specified in CONTROL_DYNAMIC_RELAXATION. The virtual alpha (critical damping) is calculated per element based on the mass and the stiffness of the element at the current time point. The alpha is scaled down using the REDUCTION_FACTOR. Additional Information
• If CONTROL_DYNAMIC_RELAXATION is not specified CONTROL_FE_DYNAMIC_RELAXATION is ignored. Examples
In this example the E_KIN for the parent FE model will be 1E-5, whereas the default value of E_KIN will be used for all other FE models. ...
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CRITICAL_ELEMENTS = "20" />
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CONTROL_FE_MODEL
Element
CONTROL_FE_MODEL
Parents
FE_MODEL
Description Defines Rayleigh damping and mass lumping method for the parent FE model.
Attribute Type ALPHA_COEF Real ALPHA_FUNC
Default
Unit
Description
0.0
s-1
Rayleigh damping coefficient(1) Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Damping coefficient function – Rayleigh damping coefficient [s-1 ] vs. time [s]
Ref ALPHA_REL_BODY
Ref to BODY.RIGID. Body reference for relative Rayleigh damping(2)
Ref MASS_LUMP_MTH String
GEOMETRICAL
Mass lumping method(3,4)
1. Range: [0, ∞). 2. The body local coordinate system in which the linear and angular velocities are defined. The structural damping nodal forces are by default calculated from the absolute nodal velocities in the reference space: fdamp = α m v. If a body is referred by ALPHA_REL_BODY the damping nodal forces are calculated relative compared to the linear and angular velocity of the reference body: fdamp = α m (v vref ). This option is recommended for FE models supported on a moving object or FE models with a prescribed free motion. 3. Domain: [WORK_EQUIVALENCE GEOMETRICAL]. 4. GEOMETRICAL means that the mass distribution depends on the element shape. WORK_EQUIVALENCE results in an equal mass distribution over the nodes and is only relevant for triangular elements with MEM* and SHELL6 properties. Related Element FUNC_USAGE.2D
One/Many
Description
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• If both ALPHA_COEF and ALPHA_FUNC are specified, the time-dependent Rayleigh damping coefficient from ALPHA_FUNC is used • Rayleigh damping with only a non-zero factor for the mass matrix is implemented: D = α M. Release 7.7
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Examples
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CONTROL_FE_TIME_STEP
Element
CONTROL_FE_TIME_STEP
Parents
FE_MODEL
Description This element allows the user to specify the range of acceptable values for the FE
model time step, and parameters used by the program to automate time step size. Attribute Type Default REDUCTION_FACTOR 0.9 Real CRITICAL_ELEMENTS Int
Unit
Description FE time step reduction factor(1) Number of elements listed in the REPRINT file with the smallest FE time step(2)
20
MIN_STEP Real MAX_STEP Real LIMIT_STEP Real TIME_INT_MTH String NR_OF_CYCLES Int
0.0
s
Minimum FE time step(3,4,5)
1.0E99
s
Maximum FE time step(6,5,7)
1.0E-08
s
If the FE time step drops below this value the solution is aborted.(6,8)
NORMAL
FE time step selection method(9,10)
0
Number of cycles after which the time step can be varied(11,12,13)
1. Range: [0, 1]. 2. Range: [1, 100]. 3. Range: [0, ∞). 4. In FE meshes where a few elements reduce the FE time step significantly due to their small size, the user can specify a minimum FE time step. For elements requiring a smaller time step, the mass density is then increased. Use this option with care and check the total added mass in the REPRINT file. When a variable FE time step is used, mass will be added to elements that require a lower time step according to the Courant condition. The energy associated with the increase in mass is computed and can be requested in the energy output. Note that the actual FE time step can still become smaller than MIN_STEP (if defined greater than 0), due to synchronisation with the MB time step. 5. If a STATE.FE_MODEL belongs to the FE model, increasing of the mass density according to MIN_STEP is performed first. After that MIN_STEP and MAX_STEP are ignored during the rigid state of the FE model. In the rigid state the multi-body integration time step is used for the FE model, whatever the values of MIN_STEP and MAX_STEP are. 6. Range: (0, ∞). 7. The actual FE time step is obtained by taking the minimum of MAX_STEP and the Courant time step and rounding the result downwards such that the multi-body time step TIME_STEP is a multiple of the actual FE time step. This actual FE time step is written to the REPRINT file. Release 7.7
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8. When coupling with an external FE_MODEL, LIMIT_STEP will be disabled.
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9. Domain: [NORMAL ACCURATE PRECISE]. 10. For elements with SHELL, SHELL3, SHELL4, MEM and MEM4* properties, different FE time step calculations methods can be selected; NORMAL, ACCURATE and PRECISE for SHELL, SHELL3 and SHELL4 and NORMAL and ACCURATE for MEM and MEM4*. The default method NORMAL yields the largest time step and method ACCURATE yields the smallest. (see Theory Manual) 11. If the input value is larger than zero the time step will be updated after the number of cycles defined and after each multi-body increment. 12. If the input value is zero the integration time step can still be changed when the current FE model or a FE model contacting it switches between flexible and rigid. 13. Only for SMP, not for MPP: If the input value is zero the integration time step can still be changed when a FE-FE contact involving this FE model or when a FE-FE contact involving a FE model which this FE model contacts is switched between OFF and ON. Examples
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CONTROL_IMM.METHOD1
Element
CONTROL_IMM.METHOD1
Parents
FE_MODEL
C
Description Parameters to control the IMM method based on a transition by initial strains.
Attribute Type Default ELAPSED_TIME 0.0 Real TIME_WINDOW Real MAX_STRETCH_PRINT Int
0
Unit
Description
s
Start time of IMM transition
s
Time duration of IMM transition(1)
-
Number of elements listed in the REPRINT file with maximum and minimum initial stretches due to IMM(1)
-
In the REPRINT file the relative difference in length of coinciding edges in the reference element connectivities are listed when the defined threshold is exceeded
-
Tolerance criterion that is used as threshold for checking difference in length of coinciding edges in the reference element connectivities(1,2)
CHECK_REF_MESH Bool
OFF
EPS_REF_MESH Real DYNAMIC_RELAX String
1.0E-6
RELAX_ONLY
Switch for dynamic relaxation(3,4)
1. Range: [0, ∞). 2. If reference elements are used, it is possible that the coinciding connectivity of adjacent elements is obtained from different reference states and can lead to different element sizes; this discontinuity in element size may cause unrealistic initial stresses. A check on the reference length of the coinciding edges of adjacent elements is performed and the relative difference in length is listed when the defined threshold is exceeded: kLi − Lj k (1) > EPS REF MESH max (Li , Lj ) where Li and Lj are respectively the coinciding edge length of the adjacent element i and j. 3. Domain: [NORMAL_ONLY RELAX_ONLY BOTH]. 4. NORMAL_ONLY: Not used during dynamic relaxation. RELAX_ONLY: Used only during dynamic relaxation. BOTH: Used both during dynamic relaxation and normal analysis. Additional Information
• The Initial Metric Method (IMM) procedure is a strain-based method, making use of the standard strain and stress calculations; this method is only valid for geometrically linear membrane elements combined with all valid airbag material models. In the table below the used strains and stresses are listed for each property type. Release 7.7
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Property type PROPERTY.MEM
stress-strain formulation ”LINEAR” ”LAGRANGE” ”GREEN LAGRANGE”
Used strains Engineering Nominal Green-Lagrange
Used stresses Engineering Nominal 2nd Piola Kirchhoff
PROPERTY.MEM3*, PROPERTY.MEM4*
”LINEAR” ”GREEN”
Engineering Green
Engineering 2nd Piola Kirchhoff
This is the preferred IMM method for properly folded airbags. When the airbag is heavily scaled without any folds, IMM method 2 might give better results. Using the IMM method, two finite element meshes for the airbag must be specified: a mesh to represent the airbag in the initial configuration (folded airbag), which is specified under COORDINATE.*, and a second, separate mesh to represent the airbag in the undeformed configuration (design state), which is specified under COORDINATE_REF.* Before the airbag simulation is started, the IMM transition should be performed during a pre-simulation. This IMM transition, i.e. the movement from the initial configuration to the reference configuration, is performed during a pre-defined time duration, which is specified by TIME_WINDOW, and will be started at the relative time specified by ELAPSED_TIME. After the IMM transition a relaxation phase is needed for obtaining an equilibrium state before the airbag is triggered. For obtaining a quasi-static equilibrium state at the end of the pre-simulation, the incorporation of sufficient system damping is a necessity (see Theory Manual, Section "Airbag models"). Examples
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CONTROL_IMM.METHOD2
Element
CONTROL_IMM.METHOD2
Parents
FE_MODEL
C
Description Parameters to control the IMM method based on a spring-damper description.
Attribute Type Default MAX_STRETCH_PRINT Int
Unit
Description
-
Number of elements listed in the REPRINT file with maximum and minimum initial stretches due to IMM(1)
-
In the REPRINT file the relative difference in length of coinciding edges in the reference element connectivities are listed when the defined threshold is exceeded
-
Tolerance criterion that is used as threshold for checking difference in length of coinciding edges in the reference element connectivities(1,2)
7.0E-1
-
Ratio between the current airbag area and the reference airbag area; threshold value after which the imposed transition of the elements still in IMM is started(1,3,4,5)
2.0E-2
s
Time window used for the imposed transition of the elements still in IMM(1)
0
CHECK_REF_MESH Bool
OFF
EPS_REF_MESH Real
1.0E-6
AIRBAG_AREA_RATIO Real TIME_WINDOW Real
1. Range: [0, ∞). 2. If reference elements are used, it is possible that the coinciding connectivity of adjacent elements is obtained from different reference states and can lead to different element sizes; this discontinuity in element size may cause unrealistic initial stresses. A check on the reference length of the coinciding edges of adjacent elements is performed and the relative difference in length is listed when the defined threshold is exceeded: kLi − Lj k (1) > EPS REF MESH max (Li , Lj ) where Li and Lj are respectively the coinciding edge length of the adjacent element i and j. 3. AIRBAG_AREA_RATIO defines the threshold airbag area ratio (current area/reference area) at which all unstretched airbag elements that are still in IMM state, are forced to transfer into material state. When using threshold values >> 1.0 (e.g. AIRBAG_AREA_RATIO=10), no imposed transition will be applied as generally the actual airbag area will not get significantly larger than the airbag reference area. In this case the MADYMO R7.3 algorithm for IMM2 will be applied. 4. The current and reference area are determined based on the total airbag area, i.e. the sum of area of all airbag chambers in an FE-model. Although possible, it is not recommended to model multiple airbags in the same FE_MODEL when this new IMM2 algorithm is applied. Release 7.7
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5. The current imposed transition algorithm is only applicable in combination with triangular membrane elements according to PROPERTY.MEM, PROPERTY.MEM3, PROPERTY.MEM3NL. The part of airbag containing (degenerated) quadrilateral membrane elements is treated according to the IMM transition algorithm as available in R7.3 and older versions. Additional Information
• This IMM is based on a discrete spring-damper model and is valid for both geometrically linear and non-linear membrane elements combined with all valid airbag material models. In the table below the used strains and stresses elements are listed for each property type. stress-strain formulation ”LINEAR” ”LAGRANGE” ”GREEN LAGRANGE” ”LOG” ”RATE OF DEFORMATION”
Used strains Engineering Nominal Green-Lagrange logarithmic logarithmic
Used stresses Engineering Nominal 2nd Piola Kirchhoff Cauchy Cauchy
PROPERTY.MEM3*, PROPERTY.MEM4*
”LINEAR” ”GREEN” ”LOG”
Engineering Green logarithmic
Engineering 2nd Piola Kirchhoff Cauchy
PROPERTY.MEM3NL*, PROPERTY.MEM4NL*
-
logarithmic
Cauchy
Property type PROPERTY.MEM
Using the IMM method, two finite element meshes for the airbag must be specified: a mesh to represent the airbag in the initial configuration (folded airbag), which is specified under COORDINATE.*, and a second, separate mesh to represent the airbag in the undeformed configuration, which is specified under COORDINATE_REF.* This IMM uses a special tension-only state of the elements: if an element is smaller compared to its size in the reference configuration, denoted as the untensioned state, no element strains and stresses are introduced. In the untensioned state fictitious element forces are generated to prevent an unstable behaviour. When during the airbag simulation the element state of an element changes from untensioned to tensioned, the element switches from the specific IMM formulation to the standard stress-strain formulation. When the threshold AIRBAG_AREA_RATIO is reached and at least one element is out of IMM, then all elements still using the IMM formulation will be forced to switch to the standard stress-strain formulation. Examples
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CONTROL_MATLAB_HOST
Element
CONTROL_MATLAB_HOST
Parents
MADYMO
C
Description Control coupling with the MATLAB/Simulink host program.
Attribute Type Default SIMULINK_MODEL String HOST_ADDRESS String HOST_PORT Int
Unit
Description Path name of the Simulink block(1)
127.0.0.1
IP address of the computer running MATLAB/Simulink model(2,3)
2500
Port number of the TCP/IP connection(4,5,6)
1. The path name of the block is defined in the Simulink model. 2. This value is overruled by the value before the colon ’:’ defined in the ’-matlabhost’ command line argument. 3. The IP address 127.0.0.1 means localhost. Localhost requires the local machine to be the host running the Simulink model. Another IP address allows MADYMO to connect to MATLAB/Simulink on that other host, however the machine architecture (platformid) of the machines has to match. 4. Range: [1024, ∞). 5. This value is overruled by the value after the colon ’:’ defined in the ’-matlabhost’ command line argument. 6. The port number of the host is used to set up the TCP/IP connection. If the port is not available, one of the following 10 ports is tried. Additional Information
• A TCP/IP connection is set up using ports. In this connection MADYMO will act as a client of MATLAB/Simulink.
This requires a running MATLAB/Simulink model with a ’madymo3d_server’ S-function block, since MADYMO expects an open connection with MATLAB/Simulink on the specified port. • The port used for the initial contact of the TCP/IP connection are not always available for the next simulation, since they might be locked by the system. The update time of the system administration can take quite some time. • MADYMO may terminate when MATLAB or MADYMO is suspended during the simulation, since no DATA can be read or written of the TCP/IP connection. • See the Coupling Manual and Application Manual for further details about the MATLAB/Simulink coupling. Release 7.7
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Examples
A coupling with the MATLAB/Simulink server is set up using port 2520 which requires the Simulink model "pendulum.mdl" to be running. The server waits for 60 seconds to establish the connection with MADYMO. This Simulink model "pendulum" contains a S-function block named "madymo3d" with appropriate parameters.
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In MATLAB/Simulink the model "pendulum.mdl" contains the madymo/pendulum block is defines as an S-function with the following values: S-function name - madymo3d_server S-function parameters - [runmad ’ pendulum.xml’] 34 -1 -1 2520 60 0.0001 where the MATLAB variable ’runmad’ represents the executable name of the command line interface. See picture below. The parameters in the S-function ’madymo3d_server’ represent the following: 1. Command to be executed when the Simulink model is started. This character string normally ends with the MADYMO model XML-filename. 2. Number of ’continuous’ states to be integrated by the MATLAB Solver using INT_MTH="MATLAB" under CONTROL_ANALYSIS.TIME. This number should be greater than or equal to the maximum number of first order differential equations in the MADYMO model. Select ’0’ when the states are integrated by MADYMO (INT_MTH="EULER") 3. Input port dimension, largest EXTERNAL_REF defined for SIGNAL.EXTERNAL_INPUT. The value -1 represents dynamically sized. 4. Output port dimension, largest EXTERNAL_REF defined for SIGNAL.EXTERNAL_OUTPUT. The value -1 represents dynamically sized. 5. Server port number, value of HOST_PORT. MADYMO connects to this port. 6. Polling time [s] for the server to wait on the connection with MADYMO. 7. Integration time step, value of TIME_STEP defined for CONTROL_ANALYSIS.TIME.
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Element
CONTROL_OUTPUT
Parents
MADYMO
Description This control block contains attributes that determine which output data are to be
written and the frequency with which this is done. The control block also contains overrides that modify the parameters of the calculation by turning them on or off on a global level Attribute Type Default Unit FILTER_IGNORE OFF Bool EXTENDED_SAMPLING_IGNORE Bool
Description Ignore filtering for output(1) Ignore extended sampling option for filtering output(2)
OFF
ISO_MME_OUTPUT_IGNORE Bool
Ignore generating output in ISO-MME format when value is ON
OFF
HYSTERESIS_IGNORE Bool
Ignore all hysteresis in the input deck when value is ON(3,4)
OFF
PADDING_TIME Real
0.01
s
SCALE_FACTOR_ANI 1.0 Real TIME_SCALE_FACTOR_ANI 1.0 Real TIME_START_OUTPUT
Scale factor for animation output(6,7) Time scale factor for animation output(6,8) s
Specifies the time after which output is written(9,10)
1.0E-4
s
Time interval for writing output to time history files(6,11)
1.0E-3
s
Time step for writing output to the animation, contour and Gasflow files(6)
s
Element data output time interval(6,12)
s
Time step for writing output to the FEMESH file(6,13)
s
Restart output time interval(6,14)
Real TIME_STEP Real
Time interval length of pre-event and post-event for filtering(5)
TIME_STEP_ANI Real
TIME_STEP_ELEMENT_DATA Real TIME_STEP_FEMESH Real TIME_STEP_RESTART Real WRITE_DEBUG String NONE WRITE_FEMESH OFF Bool MAX_FILE_SIZE Int 144
Create output DEBUG file(15,16) Write the FE mesh of all FE models(17) MB
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Attribute Type Default ZERO_SHIFTING_SWITCH Ref
CONTROL_OUTPUT
Unit
Description Ref to SWITCH.*. Switch to ’zero’ signals before using them in injury criteria.(20,21,22)
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1. This overrules any filter specifications given under time-history output sections. 2. If switched to ON, this overrules any EXTENDED_SAMPLING option given under time history output sections, i.e. has the same effect as setting EXTENDED_SAMPLING to OFF. 3. If switched to ON, this sets all hysteresis off for CHARACTERISTIC.*: For CHARACTERISTIC.* this has the same effect as setting the attribute HYS_MODEL to NONE. 4. All hysteresis is switched off, including hysteresis in encrypted data and when the simulation is restarted. 5. Range: [0, ∞). 6. Range: (0, ∞). 7. The scale factor affects the animation, contour and Gasflow files. SCALE_FACTOR_ANI="FACTOR" means that coordinate and size values in the animation output files are multiplied by the factor FACTOR compared to the default This value is overwritten by AUTO_SCALE_ANI under COUPLING. 8. In output format MAD the time is by default in ms (TIME_SCALE_FACTOR_ANI="1"), in the other formats (HDF5, D3PLOT and H3D) in s. TIME_SCALE_FACTOR_ANI="FACTOR" means that the time values in the animation output files are multiplied by the factor FACTOR compared to the default. The time scale factor enables the time in the animation output in different units (e.g. seconds), which facilitates overlay of animation files for coupling in post-processors. For example using TIME_SCALE_FACTOR_ANI="1000" when writing out animation output in D3PLOT format, results in the animation output time values being multiplied by a factor 1000, thus effectively the time is written out in ms. The time scale factor affects the animation, contour and Gasflow output in the following formats: MAD, HDF5, D3PLOT and H3D. 9. If not specified or less than the start time of the simulation, the start time of the simulation is used. 10. Output data will only be written for all animation, time history, and restart output from the first output time point after this time. 11. This value is rounded off to the nearest multiple of TIME_STEP as defined under CONTROL_ANALYSIS.TIME. Limiting the amount of output may influence the calculated peak values and injury parameters because these values are calculated from the output files. 12. When specified, the selected element data in ELEMENT_DATA will be written to the ELMDAT file with interval TIME_STEP_ELEMENT_DATA. The data is also written at TIME_END. 13. If not specified the value for TIME_STEP_ANI is chosen. 14. When specified, the restart data will be written to the file RESTART with interval TIME_STEP_RESTART.The restart data will also be written at TIME_START and TIME_END. See Appendix on Restart Analysis. Release 7.7
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15. Domain: [NONE TEXT TIME_HISTORY].
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16. TEXT: See the Appendix "Description of the MADYMO Files" for a complete description of the DEBUG file. TIME_HISTORY: Obsolete, use energy output through OUTPUT_ENERGY.TOTAL instead. 17. When the value equals ON and without FEMESH_DATA specifications the nodal coordinates w.r.t. the inertial coordinate system of each finite element model are written to the file FEMESH. When the value equals OFF the nodal coordinates of the finite element models specified under FEMESH_DATA are written to the file FEMESH. 18. Range: [1, ∞). 19. If specified, all HDF5 filenames are extended with 5 digits representing the file sequence number, starting with 00000 (e.g.: test.h5_00000, test.h5_00001, test.h5_00002, etc.). See Appendix "Description of the MADYMO Files". 20. With this switch, combined with the ZERO_SHIFTING attribute under INJURY.LOAD_CELL and/or INJURY.PEAK_JOINT_CONSTRAINT, the (filtered) joint constraint load output signals used in these INJURY elements can be given an offset making them zero at a specific time point Tshift during the simulation. Tshift is the output time point nearest to the time point at which the state of the referred switch becomes TRUE for the first time. 21. When TIME_START_OUTPUT is larger than Tshift , zero shifting is impossible and a warning is written to the Reprint file. 22. In the Reprint file the applied signal offsets together with the corresponding time point Tshift are reported. Related Element One/Many TIME_HISTORY_ISO_MME
Description
One
Specifies which of the existing time history output data are exported to ISO-MME format.
Many
Output activation and format/file selection for kinematic animation output.
Many
Activation of element data output file.
Many
Activation of specific FEMESH output.
Many
Activation of structural motion output.
Many
Activation of writing marker data to the KIN3 file.
Many
Activates output for a certain FE model.
Many
Activation of MB load and FE animation output.
Many
Activation of MB load and FE animation output.
ANIMATION
ELEMENT_DATA FEMESH_DATA MOTION_STRUCT_FE PRINT_MARKER PRINT_OUTPUT_FE RESULT_ANIMATION
RESULT_ANIMATION_FE
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CONTROL_OUTPUT
Related Element One/Many TIME_DURATION_INJURY Many
Description File and format selection for duration injury signals.
TIME_HISTORY_CONTACT Many
Activates time history output for certain contacts.
Many
Activates time history output for energy.
Many
Activates time history output for a particular FE model.
Many
Activates time history output for a particular multi-body system.
TIME_HISTORY_ENERGY TIME_HISTORY_FE TIME_HISTORY_MB
TIME_HISTORY_SYSTEM Many TIME_HISTORY_TIME_STEP
Activates time history output for systems.
Many
Output activation and format/file selection for time-step.
Many
File and format selection for injury signals.
TIME_HISTORY_INJURY
Additional Information
• When the output time step is larger than the integration time step, the filtered signal may be distorted which is caused by aliasing. This distortion on the signal can be avoided by sampling the unfiltered signal at integration time points which can be activated by setting EXTENDED_SAMPLING to ON under time history output sections. When no filter type is selected under the time history output sections, i.e. FILTER = NONE (default), the signal is filtered by a low-pass filter. If this option is switched to ON, the performance will slightly decrease; this option can be globally switched off by setting EXTENDED_SAMPLING_IGNORE to ON. Anti-aliasing requires more intermediate output for the filtering algorithms. The output is written in temporary files stored in the location set by the environment variable TMPDIR. In case the directory set by TMPDIR is limited in size and directory space is insufficient to store the intermediate output, the MADYMO Solver will abort. Examples
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CONTROL_OUTPUT
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WRITE_DEBUG = "NONE " WRITE_FEMESH = "OFF " ZERO_SHIFTING_SWITCH ="/11 " >
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... ... ... ...
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Element
CONTROL_RESTART
Parents
MADYMO_RESTART
CONTROL_RESTART
C
Description Time domain analysis data for the restarted solver.
Attribute Type Default Unit TIME_START s Real TIME_END s Real COUPLING_TIME_DISCONNECT Real
s
Description Starting time of simulation End time of simulation Simulation time at which the coupling partner is disconnected(1)
1. Only valid for coupling simulations. Additional Information
• This analysis requires a file of type RESTART. • See the Appendix "Restart Analysis".
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Element
CONTROL_SYSTEM
Parents
MADYMO SYSTEM.MODEL
Description Control module for multi-body systems.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Related Element CONTROLLER.*
One/Many
Description
Many
Controller.
Many
Operator.
Many
Signal.
OPERATOR.* SIGNAL.*
Examples
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Element
CONTROLLER.PID
Parents
CONTROL_SYSTEM
CONTROLLER.PID
C
Description Proportional Integrating and Differentiating controller.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name INPUT_CLASS String INPUT_REF
Input signal class(2,3) Ref to [CONTROLLER.* OPERATOR.* SENSOR.* SIGNAL.*]. Input signal reference
Ref GAIN Real
1.0
-
Gain
Real
0.0
s
Integration parameter(4)
Real
0.0
s
Differentiation parameter(5)
TAUI TAUD
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [CONTROLLER SIGNAL OPERATOR SENSOR]. 3. The reference defined by attribute INPUT_REF should exist for this element class. 4. The integrating part is removed when TAUI = 0.0 leading to a PD controller 5. The differentiating part is removed when TAUD = 0.0 leading to a PI controller Examples
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COORDINATE.CARTESIAN
C
MADYMO Reference manual
Element
COORDINATE.CARTESIAN
Parents
FE_MODEL
Description Nodal coordinate definition in a Cartesian coordinate system.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
X Real
m
X coordinate
Real
m
Y coordinate
Real
m
Z coordinate
Y Z
Additional Information
• A set of coordinates can be translated and/or rotated with INITIAL.PART and INITIAL.FE_MODEL. Examples
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"COORDINATE.CARTESIAN " > X Y 0 .0E +00 0.0E +00 0 .0E +00 1.0E -01 1.0E -01 0.0E +00
Z 0.0E +00 0.0E +00 0.0E +00
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COORDINATE.CYLINDRICAL
Element
COORDINATE.CYLINDRICAL
Parents
FE_MODEL
C
Description Nodal coordinate definition in a cylindrical coordinate system.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
R Real
m
Radial coordinate
Real
rad
Circumferential coordinate
Real
m
Z coordinate
THETA Z
Additional Information
• A set of coordinates can be translated and/or rotated with INITIAL.PART and INITIAL.FE_MODEL. Examples
Release 7.7
"COORDINATE.CYLINDRICAL " > R THETA 1.0E -02 1 .57079633 1.1E -02 1 .57066575 1.2E -01 1 .57155345
Z 0.0E +00 0.0E +00 0.0E +00
|
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C
MADYMO Reference manual
Element
COORDINATE_REF.CARTESIAN
Parents
FE_MODEL
Description Nodal reference definition in a Cartesian coordinate system.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
X Real
m
X coordinate
Real
m
Y coordinate
Real
m
Z coordinate
Y Z
Additional Information
• The Initial Metric Method will be used when this object is specified. If no IMM-method is specified via CONTROL_IMM.* then the IMM-method as defined under CONTROL_IMM.METHOD2 will be used. • The coordinates of all nodes in an undeformed configuration of the airbag (e.g. the design configuration) must be specified. The position and orientation of this reference mesh may differ from the initial mesh; only the reference shape of the elements is of interest. If the chosen material model requires a material direction vector, this vector is used to specify the material direction for the elements in the reference mesh. • Node numbers must be unique and may be entered in arbitrary order.
• When scaling of type IMM is used (under element SCALING), the node numbers of the reference coordinates may not be the same as the coordinates used in COORDINATE.CARTESIAN. When scaling of type SIZE is used, the node numbers of the reference coordinates must also exist in the COORDINATE.CARTESIAN element.
Examples
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"COORDINATE_REF.CARTESIAN " > X Y Z 0 .0E +00 0.0E +00 0.0E +00 0 .0E +00 1.0E -01 0.0E +00 1.0E -01 0.0E +00 0.0E +00
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COORDINATE_REF.CYLINDRICAL
Element
COORDINATE_REF.CYLINDRICAL
Parents
FE_MODEL
C
Description Nodal reference definition in a cylindrical coordinate system.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
R Real
m
Radial coordinate
Real
rad
Circumferential coordinate
Real
m
Z coordinate
THETA Z
Additional Information
• The Initial Metric Method will be used when this object is specified. If no IMM-method is specified via CONTROL_IMM.* then the IMM-method as defined under CONTROL_IMM.METHOD2 will be used. • The coordinates of all nodes in an undeformed configuration of the airbag (e.g. the design configuration) must be specified. The position and orientation of this reference mesh may differ from the initial mesh; only the reference shape of the elements is of interest. If the chosen material model requires a material direction vector, this vector is used to specify the material direction for the elements in the reference mesh. • Node numbers must be unique and may be entered in arbitrary order.
• When scaling of type IMM is used (under element SCALING), the node numbers of the reference coordinates may not be the same as the coordinates used in COORDINATE.CYLINDRICAL. When scaling of type SIZE is used, the node numbers of the reference coordinates must also exist in the COORDINATE.CYLINDRICAL element.
Examples
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"COORDINATE_REF.CYLINDRICAL " > R THETA Z 1.0E -02 1 .57079633 0.0E +00 1.1E -02 1 .57066575 0.0E +00 1.2E -01 1 .57155345 0.0E +00
|
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COUPLING
C
MADYMO Reference manual
Element
COUPLING
Parents
MADYMO
Description Specify data to be exchanged with an external solver program that is coupled to
the MADYMO solver. Coupling allows a MADYMO model to interact with an FE model in the external program. Both solvers run simultaneously in one single simulation. Attribute Type FE_MODEL
Default
Description Ref to FE_MODEL. Identification of the external FE model(1)
Ref AUTO_SCALE_ANI Bool
Unit
OFF
If set to ON, kinematic output is automatically scaled to the 3rd party length and time units.(2,3)
1. If this attribute is defined, extended coupling is used, and the coupled external solver sends selected FE model data to MADYMO. All data specified in the specified FE_MODEL will be overwritten by the data from the external program. This new data can be used in e.g. GROUP_FE or OUTPUT_NODE. 2. This overrules SCALE_FACTOR_ANI and TIME_SCALE_FACTOR_ANI under CONTROL_OUTPUT. 3. Only possible when supported by the 3rd party solver. Additional Information
• For more information, see the Appendix "Coupling with an External FE Program". Examples
To import external FE data into a single MADYMO FE model for contact evaluation in MADYMO, and to automatically scale kinematic output:
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Element
CRDSYS_OBJECT.FE
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
CRDSYS_OBJECT.FE
C
Description Defines a coordinate system by position and orientation attached to a FE
rigid_element or FE support. Attribute ID
Type Int
Default
Unit
Description Numerical identifier
NAME Name FE_MODEL Ref FE_CRDSYS
Alphanumerical identifier(1) Ref to FE_MODEL. Selection of the relevant FE model(2)
Ref
Ref to FE_CRDSYS.*. Coordinate system reference(3)
Int
Ref to COORDINATE.*. Node reference(4)
Ref
Ref to ORIENTATION.*. Orientation reference
NODE ORIENT
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Has to be specified if the element is not defined under a FE model. 3. If not specified the coordinate system of the reference space is used. The nodes selected in the FE_CRDSYS and NODE have to be related to a (the same) SUPPORT or RIGID_ELEMENT or MATERIAL.RIGID. 4. The coordinates of the node specify the position of the coordinate system. They overrule the position of the coordinate system specified under FE_CRDSYS.NODE. The nodes selected in the FE_CRDSYS and NODE have to be related to a (the same) SUPPORT or RIGID_ELEMENT or MATERIAL.RIGID. Additional Information
• This is used to attach a coordinate system to an object, which can be re-used by referencing it from within another element. • If a CRDSYS_OBJECT.FE is defined on a RIGID_ELEMENT or MATERIAL.RIGID, MADYMO creates a BODY.RIGID which has the mass and inertia properties of the RIGID_ELEMENT/MATERIAL.RIGID. The nodes of the RIGID_ELEMENT/MATERIAL.RIGID are supported on the BODY.RIGID. For RIGID_ELEMENT/MATERIAL.RIGID’s with a small mass/inertia it is advised to lower the MB time step to the FE time step (and/or define some ADD_MASS and/or ADD_INERTIA for the RIGID_ELEMENT/MATERIAL.RIGID). Examples
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In this example an FE object is defined by a coordinate system Door_joint_1_fecrdsys and positioned on node 193:
C
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Element
CRDSYS_OBJECT.MB
Parents
MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
CRDSYS_OBJECT.MB
C
Description Defines a coordinate system by position and orientation attached to a body or to
the reference space. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
Ref
Ref to BODY.*.
NAME BODY CRDSYS String
DEFAULT
Real[3]
0.0 0.0 0.0
(2)
Coordinate system in which the coordinates are expressed(3,4)
POS m
The coordinates of the origin with respect to coordinate system of BODY(5)
NODE Int
Ref to COORDINATE.*. Node reference(6)
Ref
Ref to ORIENTATION.*. Orientation reference
ORIENT
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. If BODY is not specified the reference space is used. 3. Domain: [DEFAULT REF_SPACE]. 4. DEFAULT selects the local coordinate system of the current object. REF_SPACE selects the reference space coordinate system. 5. For flexible bodies, the point should be selected by specifying a node number NODE; the point selected by POS is then not used. 6. For rigid bodies, the point should be selected by specifying the coordinates POS. Additional Information
• This is used to attach a coordinate system to an object, which can be re-used by referencing it from within another element. • For a flexible beam, the NODE must be part of the BODY. Therefore, the NODE must be referred by the BODY. This is done by the DEF_NODE_LIST in the BODY element. For a deformable body, the NODE must be part of the BODY. Therefore, the NODE must be referred by the MODE of the FE_MODEL. Both the MODE_LIST and the FE_MODEL are defined in the BODY element. • Orientations are defined relative to the body coordinate system of the body to which this coordinate system is attached. Release 7.7
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Examples
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This can be referred to as follows:
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CRDSYS_OBJECT_1.FE
Element
CRDSYS_OBJECT_1.FE
Parents
JOINT.BRAC JOINT.CYLI JOINT.FREE JOINT.FREE_BRYANT JOINT.FREE_EULER JOINT.FREE_ROT_DISP JOINT.PLAN JOINT.REVO JOINT.REVO_TRAN JOINT.SPHE JOINT.SPHE_BRYANT JOINT.SPHE_EULER JOINT.TRAN JOINT.TRAN_REVO JOINT.TRAN_UNIV JOINT.UNIV JOINT.UNIV_TRAN JOINT.USER OUTPUT_BODY OUTPUT_MARKER RESTRAINT.CARDAN RESTRAINT.FLEX_TORS RESTRAINT.POINT
C
Description Defines a coordinate system by position and orientation attached to a FE
rigid_element or FE support. Attribute Type FE_MODEL Ref FE_CRDSYS
Default
Unit
Description Ref to FE_MODEL. Selection of the relevant FE model(1)
Ref
Ref to FE_CRDSYS.*. Coordinate system reference(2)
Int
Ref to COORDINATE.*. Node reference(3)
Ref
Ref to ORIENTATION.*. Orientation reference
NODE ORIENT
1. Has to be specified if the element is not defined under a FE model. 2. If not specified the coordinate system of the reference space is used. The nodes selected in the FE_CRDSYS and NODE have to be related to a (the same) SUPPORT or RIGID_ELEMENT or MATERIAL.RIGID. 3. The coordinates of the node specify the position of the coordinate system. They overrule the position of the coordinate system specified under FE_CRDSYS.NODE. The nodes selected in the FE_CRDSYS and NODE have to be related to a (the same) SUPPORT or RIGID_ELEMENT or MATERIAL.RIGID. Release 7.7
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Additional Information
C
• If a CRDSYS_OBJECT_1.FE is defined on a RIGID_ELEMENT or MATERIAL.RIGID, MADYMO creates a BODY.RIGID which has the mass and inertia properties of the RIGID_ELEMENT/MATERIAL.RIGID and the reference space as coordinate system. The nodes of the RIGID_ELEMENT/MATERIAL.RIGID are supported on the BODY.RIGID. For RIGID_ELEMENT/MATERIAL.RIGID’s with a small mass/inertia it is advised to lower the MB time step to the FE time step (and/or define some ADD_MASS and/or ADD_INERTIA for the RIGID_ELEMENT/MATERIAL.RIGID). Examples
In this example an FE object is defined by a coordinate system Door_joint_1_fecrdsys and positioned on node 193:
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CRDSYS_OBJECT_1.MB
Element
CRDSYS_OBJECT_1.MB
Parents
JOINT.BRAC JOINT.CYLI JOINT.FREE JOINT.FREE_BRYANT JOINT.FREE_EULER JOINT.FREE_ROT_DISP JOINT.PLAN JOINT.REVO JOINT.REVO_TRAN JOINT.SPHE JOINT.SPHE_BRYANT JOINT.SPHE_EULER JOINT.TRAN JOINT.TRAN_REVO JOINT.TRAN_UNIV JOINT.UNIV JOINT.UNIV_TRAN JOINT.USER OUTPUT_BODY OUTPUT_MARKER RESTRAINT.CARDAN RESTRAINT.FLEX_TORS RESTRAINT.POINT SURFACE.CYLINDER SURFACE.ELLIPSOID SURFACE.PLANE_CENTRE
C
Description Defines the location and orientation reference of the parent coordinate system for
a joint or the first coordinate system for a rigid body, surface, restraint, or output marker. Attribute BODY
Type
Default
Unit
Ref
Ref to BODY.*.
POS Real[3]
Description
0.0 0.0 0.0
m
(1)
The coordinates of the origin with respect to the local coordinate system of BODY(2)
NODE Int
Ref to COORDINATE.*. Node reference(3)
Ref
Ref to ORIENTATION.*. Orientation reference
ORIENT
1. If BODY is not specified the reference space is used. 2. For flexible bodies, the point should be selected by specifying a node number NODE; the point selected by POS is not used. 3. For rigid bodies, the point should be selected by specifying the coordinates POS. Additional Information
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• For a flexible beam, the NODE must be part of the BODY. Therefore, the NODE must be referred by the BODY. This is done by the DEF_NODE_LIST in the BODY element. For a deformable body, the NODE must be part of the BODY. Therefore, the NODE must be referred by the MODE of the FE_MODEL. Both the MODE_LIST and the FE_MODEL are defined in the BODY element. • This is used to define the position and orientation a coordinate system in which various MADYMO objects are defined, such as contact surfaces and joints etc. If more than one coordinate system is needed, i.e. it is a joint or a restraint, then this defines the parent coordinate system. • Note that this element is referenced implicitly, and thus cannot be referenced by another element. To create a coordinate system which can be referenced, use CRDSYS_OBJECT.MB. Examples
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CRDSYS_OBJECT_1.REF
Element
CRDSYS_OBJECT_1.REF
Parents
JOINT.BRAC JOINT.CYLI JOINT.FREE JOINT.FREE_BRYANT JOINT.FREE_EULER JOINT.FREE_ROT_DISP JOINT.PLAN JOINT.REVO JOINT.REVO_TRAN JOINT.SPHE JOINT.SPHE_BRYANT JOINT.SPHE_EULER JOINT.TRAN JOINT.TRAN_REVO JOINT.TRAN_UNIV JOINT.UNIV JOINT.UNIV_TRAN JOINT.USER OUTPUT_BODY OUTPUT_MARKER RESTRAINT.CARDAN RESTRAINT.FLEX_TORS RESTRAINT.POINT SURFACE.CYLINDER SURFACE.ELLIPSOID SURFACE.PLANE_CENTRE
C
Description Refers the parent coordinate system for a joint or the first coordinate system for a
rigid body, surface, restraint, or output marker to an already-defined coordinate system. Attribute Type CRDSYS_REF Ref
Default
Unit
Description Ref to CRDSYS_OBJECT.*. Reference to a coordinate system defined as CRDSYS_OBJECT
Additional Information
• This is used to refer to a coordinate system which has already been defined. If more than one coordinate system is needed, i.e. it is a joint or a restraint, then this refers to the parent coordinate system. Examples
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CRDSYS_REF = " CoordSystemOnParentBody_cso " />
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...
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CRDSYS_OBJECT_2.FE
Element
CRDSYS_OBJECT_2.FE
Parents
OUTPUT_BODY RESTRAINT.CARDAN RESTRAINT.FLEX_TORS
C
Description Defines a coordinate system by position and orientation attached to a FE
rigid_element. Attribute Type FE_MODEL Ref FE_CRDSYS
Default
Unit
Description Ref to FE_MODEL. Selection of the relevant FE model(1)
Ref
Ref to FE_CRDSYS.*. Coordinate system reference(2)
Int
Ref to COORDINATE.*. Node reference(3)
Ref
Ref to ORIENTATION.*. Orientation reference
NODE ORIENT
1. Has to be specified if the element is not defined under a FE model. 2. If not specified the coordinate system of the reference space is used. 3. The coordinates of the node specify the position of the coordinate system. They overrule the position of the coordinate system specified under FE_CRDSYS.NODE. The nodes selected in the FE_CRDSYS and NODE have to be related to a (the same) SUPPORT or RIGID_ELEMENT or MATERIAL.RIGID. Additional Information
• If a CRDSYS_OBJECT_2.FE is defined on a RIGID_ELEMENT or MATERIAL.RIGID, MADYMO creates a BODY.RIGID which has the mass and inertia properties of the RIGID_ELEMENT/MATERIAL.RIGID and the reference space as coordinate system. The nodes of the RIGID_ELEMENT/MATERIAL.RIGID are supported on the BODY.RIGID. For RIGID_ELEMENT/MATERIAL.RIGID’s with a small mass/inertia it is advised to lower the MB time step to the FE time step (and/or define some ADD_MASS and/or ADD_INERTIA for the RIGID_ELEMENT/MATERIAL.RIGID). Examples
In this example an FE object is defined by a coordinate system Door_joint_1_fecrdsys and positioned on node 193:
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Element
CRDSYS_OBJECT_2.MB
Parents
OUTPUT_BODY RESTRAINT.CARDAN RESTRAINT.FLEX_TORS JOINT.BRAC JOINT.CYLI JOINT.FREE JOINT.FREE_BRYANT JOINT.FREE_EULER JOINT.FREE_ROT_DISP JOINT.PLAN JOINT.REVO JOINT.REVO_TRAN JOINT.SPHE JOINT.SPHE_BRYANT JOINT.SPHE_EULER JOINT.TRAN JOINT.TRAN_REVO JOINT.TRAN_UNIV JOINT.UNIV JOINT.UNIV_TRAN JOINT.USER
Description Defines the location and orientation reference of the child coordinate system for a
joint or the second coordinate system for a restraint. Attribute BODY
Type
Default
Unit
Ref
Ref to BODY.*.
POS Real[3]
Description
0.0 0.0 0.0
m
(1)
the coordinates of the origin with respect to the local coordinate system of BODY(2)
NODE Int
Ref to COORDINATE.*. Node reference(3)
Ref
Ref to ORIENTATION.*. Orientation reference
ORIENT
1. If BODY is not specified the reference space is used. 2. For flexible bodies, the point should be selected by specifying a node number NODE; the point selected by POS is not used. 3. For rigid bodies, the point should be selected by specifying the coordinates POS. Additional Information
• For a flexible beam, the NODE must be part of the BODY. Therefore, the NODE must be referred by the BODY. This is done by the DEF_NODE_LIST in the BODY element. For a deformable body, the NODE must be part of the BODY. Therefore, the NODE must be referred by the MODE of the FE_MODEL. Both the MODE_LIST and the FE_MODEL are defined in the BODY element. 168
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• This is used in a joint or a restraint to define the child coordinate system.
• Note that this element is referenced implicitly, and thus cannot be referenced by another element. To create a coordinate system which can be referenced, use CRDSYS_OBJECT.MB.
Examples
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C
CRDSYS_OBJECT_2.REF
C
MADYMO Reference manual
Element
CRDSYS_OBJECT_2.REF
Parents
OUTPUT_BODY RESTRAINT.CARDAN RESTRAINT.FLEX_TORS JOINT.BRAC JOINT.CYLI JOINT.FREE JOINT.FREE_BRYANT JOINT.FREE_EULER JOINT.FREE_ROT_DISP JOINT.PLAN JOINT.REVO JOINT.REVO_TRAN JOINT.SPHE JOINT.SPHE_BRYANT JOINT.SPHE_EULER JOINT.TRAN JOINT.TRAN_REVO JOINT.TRAN_UNIV JOINT.UNIV JOINT.UNIV_TRAN JOINT.USER
Description Refers the child coordinate system for a joint or the second coordinate system for
a restraint to an already-defined coordinate system. Attribute Type CRDSYS_REF Ref
Default
Unit
Description Ref to CRDSYS_OBJECT.*. Reference to a coordinate system defined as CRDSYS_OBJECT
Additional Information
• This is used in a joint or a restraint to refer to the child coordinate system. Examples
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CRDSYS_OBJECT_2.REF
BODY = " Child_bod " POS = "0.1 0.0 0.5" />
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DAMAGE.ISOTROPIC
D
MADYMO Reference manual
Element
DAMAGE.ISOTROPIC
Parents
MATERIAL.ISOPLA MATERIAL.ISOLIN MATERIAL.ORTHOPLA
Description Isotropic damage.
Attribute EPSC
Type
Default
Unit
Description
Real
-
Threshold strain for damage evolution(1)
Real
-
Parameter in damage evolution law(1)
P1 P2 Real
0.0
-
Parameter in damage evolution law
Real
0.0
-
Parameter in damage evolution law
Real
0.999
-
Damage threshold above which the element stiffness is removed(2)
Real
0.0
m
Damage process zone(3)
P3 DC ZONE
1. Range: (0, ∞). 2. Range: (0, 1). 3. In order to reduce the mesh sensitivity a material dependent length scale can be specified at which the local failure process takes place. If the parameter ZONE is 0.0 no corrections regarding the mesh sensitivity are made. Additional Information
• The evolution law for brittle damage is defined as: χP2 ˙ = P1 χ˙ D P (1 − D) 3 where P1, P2 and P3 are material parameters, χ is the elastic strain energy and D is the current damage state. For elastic-plastic material behaviour the effective plastic strain rate dǫpl /dt will be used i.s.o. the elastic strain energy rate dχ/dt . For damage growth P1 > 0.0. Examples
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Element
DAMAGE.ORTHOTROPIC
Parents
MATERIAL.ORTHOLIN MATERIAL.ORTHOLIN_LAYERED
D
Description Orthotropic damage.
Attribute XT
Type
Default
Unit
Description
Real
N/m2
Tensile strength in fibre direction(1)
Real
N/m2
Transverse tensile strength(1)
Real
N/m2
Shear strength in 1-2 plane(1)
Real
N/m2
Compressive strength in fibre direction(2)
Real
N/m2
Transverse compressive strength(2)
Real
-
Parameter in damage evolution law(1)
-
Parameter in damage evolution law
-
Parameter in damage evolution law(1)
YT S12 XC YC P1 P2 Real
0.0
P4 Real P5 Real
0.0
-
Parameter in damage evolution law
Real
0.999
-
Damage threshold above which the element stiffness is removed(3)
Real
0.0
m
Damage process zone(4)
DC ZONE
1. Range: (0, ∞). 2. Range: (-∞, 0]. 3. Range: (0, 1). 4. In order to reduce the mesh sensitivity a material dependent length scale can be specified at which the local failure process takes place. If the parameter ZONE is 0.0 no corrections regarding the mesh sensitivity are made. Additional Information
• For orthotropic material models, two in-plane damage modes can be taken into account. The evolution law associated with damage mode j is: ˙ j = Pj1 χPj j2 χ˙ j D where j = 1 corresponds to fibre failure and j = 2 corresponds to matrix cracking. The parameters in the damage evolution law are chosen as: P1 = P11 P2 = P12 Release 7.7
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P4 = P21 P5 = P22
D
Examples
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DAMAGE.RESULTANT_STRESS
Element
DAMAGE.RESULTANT_STRESS
Parents
MATERIAL.SPOTWELD
D
Description A failure model based on stress resultants for spotwelds.
Attribute Type MAXFXX Real MAXFXY
Default
Unit
Description
N
Maximum axial force resultant Nxxmax(1)
Real
N
Maximum shear force resultant Qxymax in local y-direction(1,2)
Real
N
Maximum shear force resultant Qxzmax in local z-direction(1,2)
Real
Nm
Maximum torsional moment resultant Mxxmax around the local x-axis(1,2)
Real
Nm
Maximum bending moment resultant Myymax around the local z-axis(1,2)
Real
Nm
Maximum bending moment resultant Mzzmax around the local y-axis(1,2)
MAXFXZ MAXMXX MAXMYY
MAXMZZ
1. Range: (0, ∞). 2. If not specified, failure due to this component is not taken into account. Additional Information
• The entire spotweld fails if the resultants are outside of the failure surface defined by: 2 Q 2 2 Qxz max(Nxx ,0) xy + + + Nxx Qxy Q max 2 xzmax2 max 2 M Mxx + Myyyy > 1 + MMzzzz Mxx max
max
max
where Nxx , Qxy , Qxz , Mxx , Myy and Mzz are the stress resultants calculated in the local coordinate-system of the cross section, and Nxx max , Qxy max , Qxz max , Mxx max , Myy max and Mzz max are the specified failure forces en moments defining the failure surface. Z Nxx = σxx dA ZA Qxy = σxy dAsy ZA Qzx = σxz dAsz ZA Mxx = σyz drdA ZA Myy = σxx dydA ZA Mzz = σxx dzdA A
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DAMAGE.STRAIN_PLASTIC
D
MADYMO Reference manual
Element
DAMAGE.STRAIN_PLASTIC
Parents
MATERIAL.ISOPLA MATERIAL.SPOTWELD
Description A plastic strain based failure model.
Attribute EPSF
Type
Default
Unit
Description
Real
-
Equivalent plastic strain at material failure to define initiation of damage(1,2)
Real
-
Equivalent plastic strain at material rupture to define fully damaged state(1,3)
EPSR
1. Range: (0, ∞). 2. Each integration point in the element fails independently if the corresponding equivalent plastic strain ǫp exceeds the failure strain ǫf specified by EPSF. 3. The post-failure behaviour of each integration point is controlled by the rupture strain measure ǫr specified by EPSR: σeq = (1 − D) σeqf where σeq f is the effective Von Mises stress at failure and D is a damage parameter defined by 0 if εp < εf εp −εf if εf < εp < εr D= εr −εf 1 if εp > εr It is recommended to specify a realistic rupture strain measure to avoid instabilities.
Additional Information
• Each integration point of the element fails independently; the whole element fails if all integration points have been failed. After failure of an integration point the post-failure behaviour controls the stress removal. The concept of effective stress is used to reduce the stress state; the effective Von Mises stress is reduced according to σeq = (1 − D) σeqf The stress tensor σij is reduced in according to the ratio σeq / σeq f : ! σeq σij = σijf σeqf Examples
A simple damage model is used for the post failure behaviour of a plasticity model. Failure of an integration point occurs if the equivalent plastic strain exceeds the failure strain EPSF. An integration point is fully damaged when the equivalent plastic strain is beyond the rupture strain EPSR. An element is deleted when all integration points are damaged. 176
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DEFINE
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Element
DEFINE
Parents
CONTROL_ANALYSIS.TIME GROUP_DEFINE
Description Variable definition to substitute attributes within the XML file. They are expanded
by the parser before the attribute value is transferred to MADYMO. Attribute Type VAR_NAME Name VALUE String REDEFINE String
Default
Unit
Description Name of defined variable(1) The value of the variable
WARNING
Redefine value belonging to define(2,3)
1. When referring to the variable, put a # in front of VAR_NAME 2. Domain: [OK IGNORE WARNING ERROR]. 3. This attribute indicates what should be done when the variable is redefined. OK: redefinition is allowed. IGNORE: redefinition will be silently ignored. WARNING: redefinition will be ignored and a warning will be issued. ERROR: MADYMO will abort with an error. Additional Information
• It is possible to use multiple variables like: POS = "#X_val #Y_val 0.03".
• When a VAR_NAME is being REDEFINED, the value of the REDEFINE attribute cannot be less strict than that of the previous definition. The order of escalation is < OK, IGNORE, WARNING, ERROR >. This means that, although one can set the value of REDEFINE to ’OK’, where it earlier was ’ERROR’, any later DEFINE for the same VAR_NAME will still be considered an ’ERROR’. • If there is more than one match for a variable (e.g. R1 and R12 for ’#R123’), the longest match possible (greedy parsing) will be selected (i.e. ’#R123’ will be evaluated as ’#R12’+’3’).
• XMLtranslator will fail when nested includes are used. This implies that for the FILE attribute, the DEFINE and the reference to it must be in the same XML file. You may need to translate files with nested defines individually. Examples
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DEFINE
D
... ...
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DISABLE
Element
D
MADYMO Reference manual
DISABLE
Description Disables (’comments out’) valid XML elements.
Related Element ANY
One/Many
Description
One
Reserved XML element.
Additional Information
• This element is identical to COMMENT. It can be used in all other elements whenever related elements with cardinality MANY can be entered, or as the last related element. See also Section "Special XML elements". • Invalid XML elements under DISABLE are still read by the parser and the simulation will abort. CDATA tags can be used to overcome this according to the example displayed below. Examples
]] >
Note: The CDATA tags ("") are required for the parser to read past < and >, which are otherwise interpreted as special XML characters causing the INCLUDE element to be validated. By encapsulating the currently invalid INCLUDE element, the parser will skip it and treat it as just text. 180
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ELEMENT.HEXA8
Element
ELEMENT.HEXA8
Parents
FE_MODEL
E
Description Eight node hexahedral (brick) element.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE.*. Node 1
Int
Ref to COORDINATE.*. Node 2
Int
Ref to COORDINATE.*. Node 3
Int
Ref to COORDINATE.*. Node 4
Int
Ref to COORDINATE.*. Node 5
Int
Ref to COORDINATE.*. Node 6
Int
Ref to COORDINATE.*. Node 7
Int
Ref to COORDINATE.*. Node 8
PART N1 N2 N3 N4 N5 N6 N7 N8
1. Only the integer ID is allowed as reference. Additional Information
• Valid element/property combinations are listed in the table under the PART element.
• The node numbers of an 8-node hexahedral element must be specified in a specific order yielding a positive element volume.
w
i
N
v
i
8
i=1,...,8
u
i
N
N
5
N N
N6
4
N
1
N Release 7.7
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3
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If a screw is rotated from N1 past N2 to N3 the translation of the screw determines the positive direction of the normal vector on the lower plane. The nodes of the upper plane, N5 to N8, must be in the positive direction of the normal vector on the lower plane yielding a positive element volume.
E
• An element can be degenerated by collapsing one or more nodes to, for example, a wedge or a pentahedron by repeating numbers for coinciding nodes. A wedge is obtained when node numbers 5 and 6 coincide respectively with node numbers 8 and 7. When node number 5 coincides with node number 6 and node number 7 coincides with node number 8, also a wedge is obtained. For obtaining a pentahedron node numbers 6, 7 and 8 must coincide with node number 5. Example: N1=5 N2=3 N3=7 N4=8 N5=1 N6=2 N7=2 N8=1 (wedge) N1=5 N2=3 N3=7 N4=8 N5=1 N6=1 N7=2 N8=2 (wedge) N1=3 N2=2 N3=1 N4=5 N5=4 N6=4 N7=4 N8=4 (pentahedron) However, this degeneration results in a loss of accuracy and should therefore be avoided when possible. Examples
| ID PART N1 N2 N3 1001 1 1 2 3
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N5 5
N6 6
N7 7
N8 | 8
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Element
ELEMENT.LINE2
Parents
FE_MODEL
ELEMENT.LINE2
E
Description Two node line element.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE.*. Node 1
Int
Ref to COORDINATE.*. Node 2
PART N1 N2
1. Only the integer ID is allowed as reference. Additional Information
• Valid element/property combinations are listed in the table under the PART element. • The LINE2 element connects 2 nodes N1 and N2.
W1
V1
ξ
W2
V2 U2
U1 The element x-axis points from node N1 to node N2. • The LINE2 element may only be assigned to PARTs with PROPERTY.TRUSS2. Examples
| ID PART N1 N2 | 2001 2 1 2
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ELEMENT.LINE3
E
MADYMO Reference manual
Element
ELEMENT.LINE3
Parents
FE_MODEL
Description Two node line element with third node for section orientation.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE.*. Node 1
Int
Ref to COORDINATE.*. Node 2
Int
Ref to COORDINATE.*. Node 3
PART N1 N2 N3
1. Only the integer ID is allowed as reference. Additional Information
• Valid element/property combinations are listed in the table under the PART element.
• The LINE3 element connects two nodes N1 and N2. The third node N3 is optional and is used to specify the element coordinate system. The third node N3 may only be ommitted if the cross sectional area is symmetric (like a circular cross-section) or the cross sectional properties are symmetrical (Iyy=Izz).
3 ζ W1
V1
W2
η ξ
V2 U2
U1 When the third node N3 is specified: The nodes N1, N2 and N3 form the element xy-plane. The element x-axis points from node N1 to node N2. The local z-axis is perpendicular to the xy-plane pointing outwards. The local y-axis is perpendicular to the zx-plane pointing into the direction of N3. When the third node N3 is not specified: The element x-axis points from node N1 to N2. A local z’-axis is chosen in the direction of the smallest vector component of the N1-N2 direction vector V21. Next the local y-axis is setup perpendicular to the z’x-plane pointing outwards and finally the local z-axis is corrected to be perpendicular to the xy-plane. • The LINE3 element may only be assigned to PARTs with PROPERTY.BEAM2_*. Examples
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ELEMENT.LINE3
1
2
3
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ELEMENT.LINE3_PART
E
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Element
ELEMENT.LINE3_PART
Parents
FE_MODEL
Description This is a two node line element that connects two parts, using one node to define
the position of the element. This node is automatically moved so that it lies on another element’s surface, and a second node is automatically generated that lies on a separate element’s surface. An optional third node may be used to define the section orientation when the element cross section is non symetrical. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE.*. Node 1 specifying the position of the element
Int
Ref to COORDINATE.*. Node 3 for defining element orientation(2)
Ref
Ref to PART. for first node(3)
Ref
Ref to PART. for second node(4)
PART N1
N3 PART1 PART2
1. Only the integer ID is allowed as reference. 2. This node is required for the section orientation of a BEAM2 element formulation if the element has non symmetrical cross section definitions. See the appropriate PROPERTY element for this information. 3. This part should always belong to the FE model where this element is specified. 4. This part can belong to any FE model. Additional Information
• Valid element/property combinations are listed in the table under the PART element.
• This element is designed to be used with tied surfaces (see TIED_SURFACE.*) to create mesh independent spotwelds. • The LINE3_PART element is equivalent to the LINE3 element, except that for this element the coordinates of the first (N1) and second (N2) nodes are automatically generated. For the definition of the element axes of this element refer to the additional information under ELEMENT.LINE3. • If node N1 does not already lie on an element surface of an element in PART1, then N1 is moved to a position N1’ on the surface of the closest element to N1 in PART1, where a normal to that element passes through N1. The new coordinates of N1 are given in the REPRINT file. If PART1 is not specified, all elements of the FE model containing this element are considered. Only elements with a surface are considered, i.e. LINE elements are ignored. All surfaces of solid elements are considered. If no elements are found that satisfy the condition that
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the normal to the element surface passes through N1, then the LINE3_PART element is ignored and this is reported in the REPRINT file.
E N1
distance
N1´ generated first node
• Node N2 is automatically generated such that it lies on the closest element surface in PART2, where the normal to the element containing N1’ in PART1 passes through the surface of PART2. The coordinates and the generated node number for N2 are reported in the REPRINT file. If the line through N1’ normal to the PART1 element surface does not intersect any elements in PART2, the LINE3_PART element is ignored and this is reported in the REPRINT file. If PART2 is not specified, all elements of all FE models are considered. Only elements with a surface are considered, i.e. LINE elements are ignored. All surfaces of solid elements are considered. generated second node N2
distance
N1
N1´ generated first node
Examples
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PART2 = " /2/1/ part_3 " />
E
Element 1 will generate coordinates of the first node (node ID 10) on an element of part "part_1" and coordinates of the second node (whose node ID is generated automatically) on an element of part "/2/1/part_3". For section orientation node ID 4 is used. Element 2 will generate coordinates of the first node (node ID 20) on an element from the FE model containing this element and will generate coordinates of a second node (whose node ID is generated automatically) on an element from any FE model (in any system). No third node is specified so this element can only be given a BEAM2 property that does not need a section orientation (otherwise an error will be generated). Element 3 will generate coordinates of the first node (node ID 30) on an element from the FE model containing this element and will generate coordinates of the second node (whose node ID is generated automatically) on an element of part "/System_2/FE_model_1/part_3". Again, no third node is specified for a section orientation as in Element 2.
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Element
ELEMENT.MASS1
Parents
FE_MODEL
ELEMENT.MASS1
E
Description Nodal mass element.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to COORDINATE.*. Node 1
N1 MASS Real MASS_INERTIA Real
kg 0.0
Mass of the element(1)
kgm/rad Rotational mass of the element(2)
1. Range: (0, ∞). 2. Range: [0, ∞). Examples
| ID N1 MASS | 4001 1 20.0E -3
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ELEMENT.QUAD4
E
MADYMO Reference manual
Element
ELEMENT.QUAD4
Parents
FE_MODEL
Description Four node quadrilateral element.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE.*. Node 1
Int
Ref to COORDINATE.*. Node 2
Int
Ref to COORDINATE.*. Node 3
Int
Ref to COORDINATE.*. Node 4
PART N1 N2 N3 N4 THICK Real
m
0.0
Element thickness(2,3)
1. Only the integer ID is allowed as reference. 2. Range: [0, ∞). 3. If THICK is not defined or ’0’ is selected the proper element thickness needs to be defined in the property definition. Note that a thickness > 0.0 here in the element definition overwrites the thickness in the property definition. Cannot be used for layered properties. Additional Information
• Valid element/property combinations are listed in the table under the PART element. • The QUAD4 element connects 4 nodes N1 to N4. w4 v4
w3
ζ w1
u4 v1
η ξ
u1
w2
v3 u3
v2 u2
The diagonals N1-N3 and N2-N4 form the element xy-plane. The local z-axis is perpendicular to the xy-plane pointing outwards; if a right handed screw is rotated from N1 past N2 to N3 the translation of the screw is in the positive direction of the z-axis of the local coordinate system. The element x-axis points from the middle of edge N1-N4 to the middle of edge N2-N3. The local y-axis lies in the xy-plane pointing into the direction of edge N3-N4. • Degenerated elements are automatically converted to triangular elements. Examples
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| ID PART N1 N2 N3 5001 5 1 2 3
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N4 4
|
E
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ELEMENT.TETRA4
E
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Element
ELEMENT.TETRA4
Parents
FE_MODEL
Description Four node tetrahedral element.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE.*. Node 1
Int
Ref to COORDINATE.*. Node 2
Int
Ref to COORDINATE.*. Node 3
Int
Ref to COORDINATE.*. Node 4
PART N1 N2 N3 N4
1. Only the integer ID is allowed as reference. Additional Information
• Valid element/property combinations are listed in the table under the PART element.
• The node numbers of a 4-node tetrahedral element must be specified in a specific order yielding a positive element volume. w4 v4
u4
w3 v3
w1
u3
v1 u1
w2 v2 u2
If a screw is rotated from N1 past N2 to N3 the translation of the screw determines the positive direction of the normal vector on the bottom plane. The 4-th node must be in the positive direction of the normal vector on the bottom plane yielding a positive element volume. 192
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Examples
| ID PART N1 N2 N3 6001 6 1 2 3
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|
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ELEMENT.TRIAD3
E
MADYMO Reference manual
Element
ELEMENT.TRIAD3
Parents
FE_MODEL
Description Three node triangular element.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE.*. Node 1
Int
Ref to COORDINATE.*. Node 2
Int
Ref to COORDINATE.*. Node 3
PART N1 N2 N3 THICK 0.0
Real
m
Element thickness(2,3)
1. Only the integer ID is allowed as reference. 2. Range: [0, ∞). 3. If THICK is not defined or ’0’ is selected the proper element thickness needs to be defined in the property definition. Note that a thickness > 0.0 here in the element definition overwrites the thickness in the property definition. Cannot be used for layered properties. Additional Information
• Valid element/property combinations are listed in the table under the PART element. • The TRIAD3 element connects 3 nodes N1 to N3. w3 v3
u3 ζ w1 v1
η ξ
w2
v2
u2 u1 The nodes N1, N2 and N3 form the element xy-plane. The local z-axis is perpendicular to the xy-plane pointing outwards; if a right handed screw is rotated from N1 past N2 to N3 the translation of the screw is in the positive direction of the z-axis of the local coordinate system. The element x-axis points from node N1 to node N2 The local y-axis lies in the xy-plane pointing into the direction of N3. Examples
| ID PART N1 N2 N3 | 194
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7
ELEMENT.TRIAD3
1
2
3
E
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ELEMENT.TRIAD6
E
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Element
ELEMENT.TRIAD6
Parents
FE_MODEL
Description Six node triangular element.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE.*. Node 1
Int
Ref to COORDINATE.*. Node 2
Int
Ref to COORDINATE.*. Node 3
Int
Ref to COORDINATE.*. Node 4
Int
Ref to COORDINATE.*. Node 5
Int
Ref to COORDINATE.*. Node 6
PART N1 N2 N3 N4 N5 N6 THICK 0.0
Real
m
Element thickness(2,3)
1. Only the integer ID is allowed as reference. 2. Range: [0, ∞). 3. If THICK is not defined or ’0’ is selected the proper element thickness needs to be defined in the property definition. Note that a thickness > 0.0 here in the element definition overwrites the thickness in the property definition. Cannot be used for layered properties. Additional Information
• Valid element/property combinations are listed in the table under the PART element. • The TRIAD6 element connects 6 nodes N1 to N6. w3 v3
φ6 w1 v1
u3
ζ
φ5
η ξ
w2
v2
u2 φ4 The nodes N1, N2 and N3 form the element xy-plane. The local z-axis is perpendicular to the xy-plane pointing outwards; if a right handed screw is rotated from N1 past N2 to N3, the translation of the screw is in the positive direction of the z-axis of the local coordinate u1
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ELEMENT.TRIAD6
system. The element x-axis points from node N1 to node N2. The local y-axis lies in the xy-plane pointing into the direction of N3. • The initial curvature of the element can be specified by the coordinates of the mid-side nodes N4, N5 and N6. The distance out of the xy-plane from the mid-side nodes is used for defining the initial curvature. If the coordinates of the mid-side nodes are specified as <0,0,0> then it is assumed that the initial configuration of the element is flat. Examples
| ID PART N1 N2 N3 8001 8 1 2 3
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N4 4
N5 5
N6 6
|
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E
ELEMENT_DATA
E
MADYMO Reference manual
Element
ELEMENT_DATA
Parents
CONTROL_OUTPUT
Description Activation of element data output file.
Attribute Type FILENAME String EXTENSION String FE_MODEL
Default
Unit
Ref ELEMENT_DATA_OUTPUT_LIST List
Description Filename without extension(1) Filename extension(1) Ref to FE_MODEL. Selection of the relevant FE model Ref to OUTPUT_ELEMENT_DATA. List of output element data for which output is printed
ELEMENT_DATA_OUTPUT_LIST_EXCL List
Ref to OUTPUT_ELEMENT_DATA. List of output element data to be removed from the ELEMENT_DATA_OUTPUT_LIST
1. See Appendix "Description of the MADYMO Files". Additional Information
• The time step for the element data output is controlled by the parameter TIME_STEP_ELEMENT_DATA in CONTROL_OUTPUT. If this parameter is not specified, no output is generated. Examples
In the next example element data output is activated and will be written to the file "element_data_filenam.eld" because the default filename extension is "eld" and the filename is specified as "element_data_filenam". Of FE model /System1/Fem the selection specified in OUTPUT_ELEMENT_DATA 1:4, 7:10 is activated.
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ELEMENT_REF.QUAD4
Element
ELEMENT_REF.QUAD4
Parents
FE_MODEL
E
Description Reference state of four node quadrilateral element.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE_REF.*. Node 1(2)
Int
Ref to COORDINATE_REF.*. Node 2(2)
Int
Ref to COORDINATE_REF.*. Node 3(2)
Int
Ref to COORDINATE_REF.*. Node 4(2)
PART N1 N2 N3 N4
1. This value is ignored. Instead, the PART attribute specified in ELEMENT.QUAD4 of the corresponding element is used as a reference to a PART. 2. If no reference coordinate is specified for this node, the coordinate will be used for the reference state. Additional Information
• For each ELEMENT_REF.QUAD4 there must be a corresponding ELEMENT.QUAD4 with the same ID. • The specified coordinates define the reference state of the element.
• Degenerated elements are automatically converted to triangular elements.
Examples
| ID N1 N2 N3 N4 | 5001 1 2 3 4
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Element
ELEMENT_REF.TRIAD3
Parents
FE_MODEL
Description Reference state of three node triangular element.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Int
Ref to PART. Part numerical reference(1)
Int
Ref to COORDINATE_REF.*. Node 1(2)
Int
Ref to COORDINATE_REF.*. Node 2(2)
Int
Ref to COORDINATE_REF.*. Node 3(2)
PART N1 N2 N3
1. This value is ignored. Instead, the PART attribute specified in ELEMENT.TRIAD3 of the corresponding element is used as a reference to a PART. 2. If no reference coordinate is specified for this node, the coordinate will be used for the reference state. Additional Information
• For each ELEMENT_REF.TRIAD3 there must be a corresponding ELEMENT.TRIAD3 with the same ID • The specified coordinates define the reference state of the element. Examples
| ID N1 N2 N3 | 7001 1 2 3
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Element
ENCRYPTED
ENCRYPTED
Description Element containing any number of encrypted elements.
Attribute CRC
Type
Default
Int ACTUATOR_LIST List AIRBAG_CHAMBER_LIST List
Unit
E
Description Numerical identifier(1,2) Ref to ACTUATOR.*. List of accessible ACTUATOR elements Ref to AIRBAG_CHAMBER. List of accessible AIRBAG_CHAMBER elements
AMPLIFICATION_LIST List BELT_LIST List BELT_FUSE_LIST List
Ref to AMPLIFICATION.*. List of accessible AMPLIFICATION elements Ref to BELT. List of accessible BELT elements Ref to BELT_FUSE. List of accessible BELT_FUSE elements
BELT_LOAD_LIMITER_LIST List
Ref to BELT_LOAD_LIMITER. List of accessible BELT_LOAD_LIMITER elements
BELT_PRETENSIONER_LIST List
Ref to BELT_PRETENSIONER.*. List of accessible BELT_PRETENSIONER elements
BELT_RETRACTOR_LIST List
Ref to BELT_RETRACTOR. List of accessible BELT_RETRACTOR elements
BELT_SEGMENT_LIST List
Ref to BELT_SEGMENT. List of accessible BELT_SEGMENT elements
BELT_TYING_LIST List
Ref to BELT_TYING. List of accessible BELT_TYING elements
BODY_LIST List CHARACTERISTIC_LIST List COMPONENT_LIST List CONSTRAINT_LIST List CONTACT_LIST List
Release 7.7
Ref to BODY.*. List of accessible BODY elements Ref to CHARACTERISTIC.*. List of accessible CHARACTERISTIC elements Ref to COMPONENT. List of accessible COMPONENT elements Ref to CONSTRAINT.*. List of accessible CONSTRAINT elements Ref to CONTACT.*. List of accessible CONTACT elements
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Attribute Type Default CONTACT_EVALUATE_LIST
E
List
Unit
Description Ref to CONTACT_EVALUATE. List of accessible CONTACT_EVALUATE elements
CONTROL_SYSTEM_LIST List
Ref to CONTROL_SYSTEM. List of accessible CONTROL_SYSTEM elements
CONTROLLER_LIST List CRDSYS_OBJECT_LIST List
Ref to CONTROLLER.*. List of accessible CONTROLLER elements Ref to CRDSYS_OBJECT.*. List of accessible CRDSYS_OBJECT elements
ELEMENT_LIST iList ELEMENT_REF_LIST iList
Ref to ELEMENT.*. List of accessible elements under ELEMENT Ref to ELEMENT_REF.*. List of accessible elements under ELEMENT_REF
FE_CRDSYS_LIST List
Ref to FE_CRDSYS.*. List of accessible FE_CRDSYS elements
FE_CRDSYS_MOTION_LIST List
Ref to FE_CRDSYS_MOTION.NODE. List of accessible FE_CRDSYS_MOTION elements
FE_MODEL_LIST List
Ref to FE_MODEL. List of accessible FE_MODEL elements
FE_ORIENT_VECTOR_LIST List
Ref to FE_ORIENT_VECTOR.*. List of accessible FE_ORIENT_VECTOR elements
FUNCTION_LIST List FUNCTION_3D_LIST List
Ref to FUNCTION.*. List of accessible FUNCTION elements Ref to FUNCTION_3D.*. List of accessible FUNCTION_3D elements
GAS_LIST List GROUP_COMPOUND_LIST List
Ref to GAS. List of accessible GAS elements Ref to GROUP_COMPOUND. List of accessible GROUP_COMPOUND elements
GROUP_FE_LIST List
Ref to GROUP_FE. List of accessible GROUP_FE elements
GROUP_MB_LIST List
Ref to GROUP_MB. List of accessible GROUP_MB elements
INFLATOR_LIST List
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Attribute Type Default INFLATOR_CHAR_LIST List
ENCRYPTED
Unit
Description Ref to INFLATOR_CHAR. List of accessible INFLATOR_CHAR elements
INPUT_ELEMENT_DATA_LIST List JET_LIST List JET_CHAR_LIST List
Ref to INPUT_ELEMENT_DATA. List of accessible INPUT_ELEMENT_DATA elements Ref to JET.*. List of accessible JET elements Ref to JET_CHAR.*. List of accessible JET_CHAR elements
JOINT_LIST List MATERIAL_LIST List MODE_LIST List MUSCLE_LIST List MUSCLE_SEGMENT_LIST List
Ref to JOINT.*. List of accessible JOINT elements Ref to MATERIAL.*. List of accessible MATERIAL elements Ref to MODE. List of accessible MODE elements Ref to MUSCLE.*. List of accessible MUSCLE elements Ref to MUSCLE_SEGMENT. List of accessible MUSCLE_SEGMENT elements
MUSCLE_TYING_LIST List
Ref to MUSCLE_TYING. List of accessible MUSCLE_TYING elements
NODE_LIST iList NODE_REF_LIST iList
Ref to COORDINATE.*. List of accessible node references under COORDINATE Ref to COORDINATE_REF.*. List of accessible node references under COORDINATE_REF
OPERATOR_LIST List ORIENTATION_LIST List PART_LIST List POINT_OBJECT_LIST List
Ref to OPERATOR.*. List of accessible OPERATOR elements Ref to ORIENTATION.*. List of accessible ORIENTATION elements Ref to PART. List of accessible PART elements Ref to POINT_OBJECT.*. List of accessible POINT_OBJECT elements
PROPERTY_LIST List Release 7.7
Ref to PROPERTY.*. List of accessible PROPERTY elements 203
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Attribute Type RESTRAINT_LIST
E
Default
List RIGID_ELEMENT_LIST List
Unit
Description Ref to RESTRAINT.*. List of accessible RESTRAINT elements Ref to RIGID_ELEMENT. List of accessible RIGID_ELEMENT elements
ROAD_LIST List SENSOR_LIST List SIGNAL_LIST List STRAP_LIST List SURFACE_LIST List SWITCH_LIST List SYSTEM_LIST List TIED_SURFACE_LIST List
Ref to ROAD.*. List of accessible ROAD elements Ref to SENSOR.*. List of accessible SENSOR elements Ref to SIGNAL.*. List of accessible SIGNAL elements Ref to STRAP. List of accessible STRAP elements Ref to SURFACE.*. List of accessible SURFACE elements Ref to SWITCH.*. List of accessible SWITCH elements Ref to SYSTEM.*. List of accessible SYSTEM elements Ref to TIED_SURFACE.*. List of accessible TIED_SURFACE elements
TYRE_LIST List TYRE_DATA_LIST List
Ref to TYRE. List of accessible TYRE elements Ref to TYRE_DATA. List of accessible TYRE_DATA elements
AIRBAG_OUTPUT_LIST List ANIMATION_OUTPUT_LIST List
Ref to OUTPUT_AIRBAG_CHAMBER. List of accessible OUTPUT_AIRBAG_CHAMBER elements Ref to OUTPUT_ANIMATION. List of accessible OUTPUT_ANIMATION elements
ANIMATION_GF_OUTPUT_LIST List BELT_OUTPUT_LIST List
204
Ref to OUTPUT_ANIMATION_GF. List of accessible OUTPUT_ANIMATION_GF elements Ref to OUTPUT_BELT. List of accessible OUTPUT_BELT elements
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Attribute Type Default BODY_OUTPUT_LIST
ENCRYPTED
Unit
List
Description Ref to OUTPUT_BODY. List of accessible OUTPUT_BODY elements
E
BODY_REL_OUTPUT_LIST List
Ref to OUTPUT_BODY_REL. List of accessible OUTPUT_BODY_REL elements
BODY_STATE_OUTPUT_LIST List
Ref to OUTPUT_BODY_STATE. List of accessible OUTPUT_BODY_STATE elements
CONTACT_OUTPUT_LIST List
Ref to OUTPUT_CONTACT. List of accessible OUTPUT_CONTACT elements
CONTROL_SYSTEM_OUTPUT_LIST List CROSS_SECTION_OUTPUT_LIST List ELEMENT_OUTPUT_LIST List
Ref to OUTPUT_CONTROL_SYSTEM. List of accessible OUTPUT_CONTROL_SYSTEM elements Ref to OUTPUT_CROSS_SECTION. List of accessible OUTPUT_CROSS_SECTION elements Ref to OUTPUT_ELEMENT. List of accessible OUTPUT_ELEMENT elements
ELEMENT_DATA_OUTPUT_LIST List ELEMENT_INITIAL_OUTPUT_LIST List ENERGY_OUTPUT_LIST List
Ref to OUTPUT_ELEMENT_DATA. List of accessible OUTPUT_ELEMENT_DATA elements Ref to OUTPUT_ELEMENT_INITIAL. List of accessible OUTPUT_ELEMENT_INITIAL elements Ref to OUTPUT_ENERGY.*. List of accessible OUTPUT_ENERGY elements
GAS_STATE_OUTPUT_LIST List
Ref to OUTPUT_GAS_STATE. List of accessible OUTPUT_GAS_STATE elements
INJURY_LIST List JET_OUTPUT_LIST List
Ref to INJURY.*. List of accessible INJURY elements Ref to OUTPUT_JET. List of accessible OUTPUT_JET elements
JOINT_CONSTRAINT_OUTPUT_LIST List
Ref to OUTPUT_JOINT_CONSTRAINT. List of accessible OUTPUT_JOINT_CONSTRAINT elements
JOINT_DOF_OUTPUT_LIST List
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Attribute Type Default MARKER_OUTPUT_LIST
E
Unit
Description Ref to OUTPUT_MARKER. List of accessible OUTPUT_MARKER elements
List MOTION_STRUCT_OUTPUT_LIST
Ref to OUTPUT_MOTION_STRUCT. List of accessible OUTPUT_MOTION_STRUCT elements
List MUSCLE_OUTPUT_LIST
Ref to OUTPUT_MUSCLE. List of accessible OUTPUT_MUSCLE elements
List NODE_OUTPUT_LIST
Ref to OUTPUT_NODE. List of accessible OUTPUT_NODE elements
List NODE_INITIAL_OUTPUT_LIST List NODE_REL_OUTPUT_LIST
Ref to OUTPUT_NODE_INITIAL. List of accessible OUTPUT_NODE_INITIAL elements Ref to OUTPUT_NODE_REL. List of accessible OUTPUT_NODE_REL elements
List RESTRAINT_OUTPUT_LIST
Ref to OUTPUT_RESTRAINT. List of accessible OUTPUT_RESTRAINT elements
List SENSOR_OUTPUT_LIST
Ref to OUTPUT_SENSOR. List of accessible OUTPUT_SENSOR elements
List STRAP_OUTPUT_LIST
Ref to OUTPUT_STRAP. List of accessible OUTPUT_STRAP elements
List SWITCH_OUTPUT_LIST
Ref to OUTPUT_SWITCH. List of accessible OUTPUT_SWITCH elements
List SYSTEM_COG_OUTPUT_LIST
Ref to OUTPUT_SYSTEM_COG. List of accessible OUTPUT_SYSTEM_COG elements
List
1. Range: [1, ∞). 2. This attribute is generated by the encryption function. Related Element #PCDATA
One/Many
Description
One
Reserved XML element containing plain text or XML elements.
Additional Information
• ENCRYPTED elements can only be created with the use of the MADYMO pre-processor 206
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ENCRYPTED
XMADgic, which is included in the MADYMO/Workspace product-suite. • The CRC attribute is generated by the encryption functionality in XMADgic and is not to be edited by the user. • The elements listed in the *_LIST attributes identify those encrypted elements which, despite their encrypted status, can be referred to from other (non-encrypted) elements. • Be sure to remember your encryption key to be able to edit the encrypted elements in a new session. After XMADgic has been closed the encryption key is lost and has to be entered again in a new session. Examples
This example shows how FE_MODEL ’FeModel_1’ (under a SYSTEM.MODEL) in an xmldeck is encrypted in XMADgic. First select the complete FE model in XMADgic. Release 7.7
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E
Then right-click and select the encryption function. Now the user is prompted to enter the encryption-key, used to encrypt the selected part. This encryption key is used for all parts that require encryption within this session. After release the following result is shown.
Defining the list(s) of accessible elements is done in XMADgic by selecting the proper attribute list, double-click and select the proper reference from the shown list. Lists of accessible elements can be modified only when the encryption key is specified. Decrypting an ENCRYPTED element is performed by specifying the used encryption key first and then selecting the encrypted element, right-click and select the decrypt function.
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EQUATION.MASTER
Element
EQUATION.MASTER
Parents
CONSTRAINT.LINEAR
E
Description Dependent part of linear constraint equation (eliminated degree of freedom).
Attribute Type NODE_ID Ref DIRECTION String FACTOR Real
Default
Unit
Description Ref to COORDINATE.*. Full node reference(1) Direction of interaction(2,3)
1.0
-
Factor(4)
1. The reference should contain the full path identifier (include FE_MODEL) if the CONSTRAINT is not defined under FE_MODEL. If it is defined under FE_MODEL the path identifier is not needed if the node is related to that FE_MODEL. 2. Domain: [D1 D2 D3 R1 R2 R3 ALL]. 3. Degree of freedom w.r.t. reference space. If all DOF’s of the MASTER NODE are equal to the corresponding DOF’s of the SLAVE NODE, ALL can be used as a shortcut. 4. Scale factor for selected degree(s) of freedom Examples
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Element
EQUATION.SLAVE
Parents
CONSTRAINT.LINEAR
Description Independent part linear constraint equation (retained degrees of freedom).
Attribute Type NODE_ID Ref DIRECTION String FACTOR Real
Default
Unit
Description Ref to COORDINATE.*. Full node reference(1) Direction of interaction(2,3)
1.0
-
Factor(4)
1. The reference should contain the full path identifier (include FE_MODEL) if the CONSTRAINT is not defined under FE_MODEL. If it is defined under FE_MODEL the path identifier is not needed if the node is related to that FE_MODEL. 2. Domain: [D1 D2 D3 R1 R2 R3 ALL]. 3. Degree of freedom w.r.t. reference space. If all DOF’s of the MASTER NODE are equal to the corresponding DOF’s of the SLAVE NODE, ALL can be used as a shortcut. 4. Scale factor for selected degree(s) of freedom Examples
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Element
FE_CRDSYS.COOR
Parents
FE_MODEL
FE_CRDSYS.COOR
F
Description Coordinate system for FE elements.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME POINT_1 Real[3]
m
Reference point 1.
Real[3]
m
Reference point 2.
Real[3]
m
Reference point 3.
POINT_2 POINT_3 ORIENT Ref
Ref to ORIENTATION.*. Orientation reference
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Additional Information
• This coordinate system will be rotated automatically if a rotation of the mesh under INITIAL.PART or INITIAL.FE_MODEL is specified. • The position of point 1 is the origin of the coordinate system.
• The orientation of the model is determined by a coordinate system (n1 , n2 , n3 ), which is calculated from three user-specified points p1 , p2 , p3 as follows: n1 = (p2 - p1 )/ p2 - p1 , n’2 = (p3 - p1 )/ p3 - p1 , n3 = (n1 x n’2 )/ n1 x n’2 , n2 = n3 x n1 .
p3 n2
n3
n2’
p1
n1
p2
n1 , n2 , n3 are rotated using ORIENT if defined. Examples
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F
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Element
FE_CRDSYS.NODE
Parents
FE_MODEL
FE_CRDSYS.NODE
F
Description Coordinate system for FE elements.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
Int
Ref to COORDINATE.*. Reference point 1
Int
Ref to COORDINATE.*. Reference point 2
Int
Ref to COORDINATE.*. Reference point 3
Ref
Ref to ORIENTATION.*. Orientation reference
NAME NODE1 NODE2 NODE3 ORIENT
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Additional Information
• This coordinate system will be rotated automatically if a rotation of the mesh under INITIAL.PART or INITIAL.FE_MODEL is specified. • The position of NODE1 is the origin of the coordinate system.
• The coordinate system (n1 , n2 , n3 ) is calculated from three points p1 , p2 , p3 which are the coordinates of the 3 nodes as follows: n1 = (p2 - p1 )/ p2 - p1 , n’2 = (p3 - p1 )/ p3 - p1 , n3 = (n1 x n’2 )/ n1 x n’2 , n2 = n3 x n1 .
p3 n2
n3
n2’
p1
n1
p2
n1 , n2 , n3 are rotated using ORIENT if defined. • ORIENT is not used if FE_CRDSYS.NODE is referred under JET.* Examples
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In this example a FE coordinate system is defined using 3 nodes: 10, 20 and 11.
F
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FE_CRDSYS_MOTION.NODE
Element
FE_CRDSYS_MOTION.NODE
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
F
Description Coordinate system for FE models which translates and rotates according to the
displacement of the nodes. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
Int
Ref to COORDINATE.*. Reference point 1
Int
Ref to COORDINATE.*. Reference point 2
Int FE_MODEL_1
Ref to COORDINATE.*. Reference point 3
NAME NODE1 NODE2 NODE3
Ref FE_MODEL_2 Ref FE_MODEL_3 Ref
Ref to FE_MODEL. FE model containing NODE1(2) Ref to FE_MODEL. FE model containing NODE2(2) Ref to FE_MODEL. FE model containing NODE3(2)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This attribute is mandatory if the coordinate system is not defined under FE_MODEL. Additional Information
• The coordinate system (n1 , n2 , n3 ) is calculated from three points p1 , p2 , p3 which are the coordinates of the 3 nodes as follows: n1 = (p2 - p1 )/ p2 - p1 , n’2 = (p3 - p1 )/ p3 - p1 , n3 = (n1 x n’2 )/ n1 x n’2 , n2 = n3 x n1 .
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F p3 n2
n3
n2’
p1
n1
p2
• This coordinate system will update its location and orientation according to the displacement of the nodes. • It is advised to choose the nodes such that a stable configuration is achieved, thus minimizing the probability that due to the movement of the nodes, the reference system either becomes singular or swaps axis directions. • This coordinate system will be reorientated if INITIAL.PART or INITIAL.FE_MODEL is specified for any of three FE models. • The position of NODE1 is the origin of the coordinate system.
• FE_CRDSYS_MOTION.NODE is currently only supported for selection under the OUTPUT_NODE_REL element. • FE_CRDSYS_MOTION.NODE is not supported for nodes from an external FE model. Examples
In this example a FE coordinate system is defined using 3 nodes: 10, 20 and 11.
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FE_MODEL
Element
FE_MODEL
Parents
SYSTEM.MODEL SYSTEM.REF_SPACE
F
Description Finite Element model.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Related Element One/Many CONTROL_FE_MODEL One
Description Defines Rayleigh damping and mass lumping method for the parent FE model.
CONTROL_FE_TIME_STEP One
This element allows the user to specify the range of acceptable values for the FE model time step, and parameters used by the program to automate time step size.
CONTROL_FE_DYNAMIC_RELAXATION One
Control parameters for dynamic relaxation parameters.
CONTROL_AIRBAG One CONTROL_IMM.METHOD1 CONTROL_IMM.METHOD2
Parameters to control airbag model behaviour.
One
Parameters to control IMM method. Method 1 is based on a transition by initial strains, Method 2 is based on a spring-damper model.
One
Finite element model state change (rigid/non-rigid).
Many
Defines special characteristics of a finite-element structure which models an airbag.
Many
Characteristic.
Many
Scaling and shifting parameter of a characteristic on a global level.
Many
Linear constraint for FE nodes.
STATE.FE_MODEL
AIRBAG_CHAMBER
CHARACTERISTIC.* CHAR_MOD
CONSTRAINT.LINEAR
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FE_MODEL
Related Element CONSTRAINT.SIMPLE
F
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One/Many
Description
Many
Simple constraints for FE nodes.
Many
Rigid elements and rigid parts that form one rigid FE entity.
CONSTRAINT.RIGID_FE
CONTACT.FE_FE Many COORDINATE.CARTESIAN Many
Contact between finite element surfaces. Nodal coordinate definition in a Cartesian coordinate system.
COORDINATE.CYLINDRICAL Many
Nodal coordinate definition in a cylindrical coordinate system.
COORDINATE_REF.CARTESIAN Many
Nodal reference definition in a Cartesian coordinate system.
COORDINATE_REF.CYLINDRICAL Many
Nodal reference definition in a cylindrical coordinate system.
Many
Defines a coordinate system by position and orientation attached to a FE rigid_element or FE support.
Many
Element.
Many
Reference state of element.
CRDSYS_OBJECT.FE
ELEMENT.* ELEMENT_REF.* FE_CRDSYS.* Many FE_CRDSYS_MOTION.NODE
Coordinate system for FE elements.
Many
Coordinate system for FE models which translates and rotates according to the displacement of the nodes.
Many
Orientation vector for FE elements.
Many
Function.
Many
3D function.
Many
Scaling and shifting of functions on a global level.
Many
Specify a gas (molecular weight and specific heat coefficients).
Many
Assembles a selected set of finite element objects within an FE model into a group.
FE_ORIENT_VECTOR.* FUNCTION.* FUNCTION_3D.* FUNC_MOD GAS
GROUP_FE
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Related Element INFLATOR_CHAR
FE_MODEL
One/Many
Description
Many
Inflator characteristic.
Many
Initial nodal displacement.
Many
Initial nodal velocity.
Many
Initial position and orientation of parts of an FE model.
Many
Input of element data from a file.
Many
Jet characteristics.
Many
Joint.
Many
Time dependent edge load.
Many
Time dependent acceleration field applied to finite elements.
Many
Time dependent point loads (forces and moments) applied to nodes.
Many
Time dependent pressure perpendicular to TRIAD3, TRIAD6 and QUAD elements.
Many
Material.
Many
Flexible body deformation mode shape.
Many
Prescribed nodal displacement.
Many
Prescribed nodal velocity.
Many
Prescribed structural motion displacement input.
Many
Prescribed structural motion velocity input.
Many
Orientation.
Many
FE output.(1)
F
INITIAL.NODE_DISP INITIAL.NODE_VEL INITIAL.PART INPUT_ELEMENT_DATA JET_CHAR.* JOINT.* LOAD.EDGE LOAD.ELEMENT_ACC LOAD.NODE
LOAD.PRES
MATERIAL.* MODE MOTION.NODE_DISP MOTION.NODE_VEL MOTION.STRUCT_DISP
MOTION.STRUCT_VEL ORIENTATION.* OUTPUT_*
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Related Element PART
MADYMO Reference manual
One/Many
Description
Many
All finite elements of the same formulation, properties and material are assigned to a part. This XML element indicates which property and material parameters are to be applied to a given part.
Many
Point on a node that is part of a rigid element or support.
Many
Points specified by a list of finite element nodes. Used when connecting a multi-body belt segment to a non-rigid internal finite element model (i.e. a finite element belt).
Many
Property.
Many
Elements and/or nodes that form a rigid part.
Many
Road profile described by a mesh of an FE model
F
POINT_OBJECT.FE
POINT_OBJECT.BELT_FE
PROPERTY.* RIGID_ELEMENT ROAD.MESH SCALING Many SENSOR.AIRBAG_CHAMBER
Scaling of coordinates.
Many
The output of this sensor is an airbag chamber value (pressure, temperature, volume or outflow to a specified chamber or the environment).
Many
Sensor for contact loads.
Many
Sensor to measure the actual distance between two nodes.
SENSOR.CONTACT SENSOR.NODE_DIST SENSOR.SWITCH Many SPOTWELD.NODE_NODE Many SPOTWELD.THREE_NODE Many STRAP
Node-node spotweld. Three node spotweld.
Many
Massless linear tension-only spring between two nodes.
Many
Define which degrees of freedom of nodes are constrained, by supporting them on a rigid body or the reference space.
SUPPORT
220
Sensor for switch state.
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Related Element SUPPORT_RESTRAINT
FE_MODEL
One/Many
Description
Many
Defines which FE nodes are supported on a MADYMO rigid body or the reference space, by means of a force-based support using a point-restraint. The restraint consists of three mutually perpendicular parallel springs and dampers.
Many
Switch.
Many
Tying connection.
Many
Includes named file content at current location.
SWITCH.* TIED_SURFACE.* INCLUDE
1. Only the following references are allowed here: OUTPUT_AIRBAG_CHAMBER, OUTPUT_ANIMATION, OUTPUT_ANIMATION_GF, OUTPUT_CONTACT, OUTPUT_CROSS_SECTION, OUTPUT_ELEMENT, OUTPUT_ELEMENT_INITIAL, OUTPUT_GAS_STATE, OUTPUT_JET, OUTPUT_NODE, OUTPUT_NODE_INITIAL, OUTPUT_SENSOR, OUTPUT_STRAP and OUTPUT_MOTION_STRUCT. Additional Information
• An FE model can be positioned by using the element INTIAL.FE_MODEL.
• If an AIRBAG_CHAMBER is defined, CONTROL_AIRBAG must also be defined.
Examples
| ID X Y 1 0 .0E +00 0.0E +00 2 0 .0E +00 1.0E -01 3 1.0E -01 0.0E +00 | ID PART N1 N2 Release 7.7
Z 0.0E +00 0.0E +00 0.0E +00
N3
|
| 221
F
FE_MODEL
1 1 1
F
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FE_ORIENT_VECTOR.NODE_PLANE
Element
FE_ORIENT_VECTOR.NODE_PLANE
Parents
FE_MODEL
F
Description Orientation vector for FE elements.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
Int
Ref to COORDINATE.*. Reference node(2)
Int
Ref to COORDINATE.*. Reference node(2)
NAME NODE1 NODE2
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The normal vector of the projection plane is calculated from NODE1 to NODE2. Examples
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FE_ORIENT_VECTOR.NODE_VECTOR
F
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Element
FE_ORIENT_VECTOR.NODE_VECTOR
Parents
FE_MODEL
Description Orientation vector for FE elements.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
Int
Ref to COORDINATE.*. Reference node(2)
Int
Ref to COORDINATE.*. Reference node(2)
NAME NODE1 NODE2
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The orientation vector is calculated from NODE1 to NODE2. Examples
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FE_ORIENT_VECTOR.PLANE
Element
FE_ORIENT_VECTOR.PLANE
Parents
FE_MODEL
F
Description Orientation vector for FE elements.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name NORMAL_DIR Real[3]
Alphanumerical identifier(1) Normal vector of the projection plane.(2)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This normal vector will be rotated automatically if a rotation of a mesh under INITIAL.PART or INITIAL.FE_MODEL is specified. Examples
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Element
FE_ORIENT_VECTOR.VECTOR
Parents
FE_MODEL
Description Orientation vector for FE elements.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
Real[3]
Orientation vector.(2)
NAME VECTOR
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This orientation vector will be rotated automatically if a rotation of a mesh under INITIAL.PART or INITIAL.FE_MODEL is specified. Examples
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Element
FEMESH_DATA
Parents
CONTROL_OUTPUT
FEMESH_DATA
F
Description Activation of specific FEMESH output.
Attribute Type FILENAME String EXTENSION String FE_MODEL
Default
Unit
Filename without extension(1) Filename extension(1)
fms
Ref to FE_MODEL. Selection of the relevant FE model
Ref TIME_END_ONLY Bool
Description
If value equals ON write only data at the end time of the simulation. If value equals OFF the output time step for FEMESH files is used
OFF
BODY Ref
Ref to BODY.*.
POS Real[3]
0.0 0.0 0.0
m
(2)
The coordinates of the origin with respect to the local coordinate system of BODY(3)
ORIENT Ref REF_NODE Int
Ref to ORIENTATION.*. Orientation reference(3) Ref to COORDINATE.*. Reference node(4,3)
1. See Appendix "Description of the MADYMO Files". 2. If BODY is not specified the reference space is used. 3. The coordinates of the FE model are expressed in a coordinate system with its origin either in point POS (w.r.t. body BODY) or in node REF_NODE. An orientation can be specified w.r.t. the body local coordinate system using ORIENT. If ORIENT is not specified the coordinate system is parallel to the body local coordinate system. If BODY is not specified the reference space is used. 4. Range: [1, ∞). Additional Information
• The time step for the output is controlled by the parameter TIME_STEP_FEMESH under CONTROL_OUTPUT. Examples
In the next example the nodal coordinates of FE model /System1/Fem will be written to the file "femesh_data_filenam.fms", because the default filename extension is "fms" and the filename is specified as "femesh_data_filenam".
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FE_MODEL ="/ System1 /Fem " />
F
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Element
FUNC_MOD
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
FUNC_MOD
F
Description Scaling and shifting of functions on a global level.
Attribute FUNC
Type
Default
Unit
Description Ref to [FUNCTION.DECRYPTED FUNCTION.ENCRYPTED FUNCTION.XY]. Function reference
Ref X_SCALE Real
1.0
Scaling factor in x-direction(1)
Real
1.0
Scaling factor in y-direction
Real
0.0
Shift factor in x-direction
Real
0.0
Shift factor in y-direction
Y_SCALE X_SHIFT Y_SHIFT
1. Range: (0, ∞) Additional Information
• Scaling is first applied, followed by shifting: X’ = X_SCALE*X + X_SHIFT Y’ = Y_SCALE*Y + Y_SHIFT • The referred function is overwritten by the scaled function. This means that wherever this function is used, the new scaled function will be applied. • Note that, even when a FUNC_MOD element is defined under e.g. an FE_MODEL element, this FUNC_MOD will redefine the referred function for all uses in the deck. • When FUNC_MOD is used in combination with FUNC_USAGE.2D, FUNC_MOD is applied first, followed by FUNC_USAGE.2D. • Only one FUNC_MOD is allowed per FUNCTION. Having more than one FUNC_MOD referring to the same FUNCTION.* will lead to a validation error. Examples
When the above FUNC_MOD is used with the following LOAD.PRES and FUNCTION.XY:
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F
| XI YI | 0.00 0.00 1.00 1.00
The effective function then is: X’ | Y’ ----------------------------------2.0 | 1.0 3.0 | 1.64
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Element
FUNC_USAGE.2D
Parents
BELT_PRETENSIONER.FORCE_PAYOUT BELT_PRETENSIONER.PAYIN_TIME BELT_TYING CHARACTERISTIC.CONTACT CHARACTERISTIC.LOAD CHARACTERISTIC.MATERIAL COMP_TRIPLE_JOINT CONTACT.MB_MB CONTACT_FORCE.ADAPTIVE CONTACT_FORCE.CHAR CONTACT_FORCE.PENALTY CONTROL_FE_MODEL GAP_TYPE.FUNC GAP_TYPE.MASTER GAP_TYPE.SLAVE GAP_TYPE.SURFACE GLOBAL_DISCHARGE HARDENING.FUNC HARDENING_DESHPFL.FUNC HOLE.MODEL1 HOLE.MODEL2 HOLE.MODEL3 INFLATOR.DEF INFLATOR_CHAR JET.CENTRE_VEL JET.CONSTANT_MOMENTUM JET.IDELCHIK JET_CHAR.CENTRE_VEL JET_CHAR.CONSTANT_MOMENTUM JET_CHAR.IDELCHIK LOAD.BODY_ACC LOAD.EDGE LOAD.ELEMENT_ACC LOAD.NODE LOAD.PRES LOAD.SYSTEM_ACC MATERIAL.BEAM2_CONCEPT MATERIAL.FABRIC_SHEAR MATERIAL.HONEYCOMB_PLASTIC MOMENT_Y.2D MOMENT_Z.2D MOTION.JOINT_ACC MOTION.JOINT_POS MOTION.NODE_DISP MOTION.NODE_VEL MUSCLE_CONTRACTILE MUSCLE_PASSIVE OPERATOR.FUNC
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F
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PERMEABILITY.GLOBAL PERMEABILITY.GLOBAL_ISENTROPIC PERMEABILITY.MODEL1 PERMEABILITY.MODEL2 PERMEABILITY.STVENANT_WANTZEL RATE.FUNC RESTRAINT.FLEX_TORS SIGNAL.FUNC ZETA_ISOLINE
F
Description Used to select interpolation type for X-Y function descriptions, or to modify func-
tion data by shifting and/or scaling. Attribute FUNC
Type
Ref INTERPOLATION String X_SCALE Real Y_SCALE Real X_SHIFT Real Y_SHIFT Real
Default
Unit
Description Ref to FUNCTION.XY. Function reference
LINEAR
Interpolation method(1,2)
1.0
Scaling factor in x-direction(3)
1.0
Scaling factor in y-direction
0.0
Shift factor in x-direction
0.0
Shift factor in y-direction
1. Domain: [LINEAR SPLINE SPLINE_5]. 2. LINEAR: linear interpolation SPLINE: spline interpolation using a 3th degree polynomial SPLINE_5: spline interpolation using a 5th degree polynomial 3. Range: (0, ∞) Additional Information
• Scaling is first applied, followed by shifting: x‘ = x_scale * x + x_shift y‘ = y_scale * y + y_shift • Using SPLINE interpolation ensures a continuous first derivative of the function.
• Using SPLINE_5 interpolation ensures a continuous first and second derivative of the function
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DESCRIPTION FUNC INTERPOLATION Y_SCALE X_SHIFT
FUNC_USAGE.2D
= = = = =
" Modify a parent function " " PressureX_fun " " SPLINE " "0.80 " "1.00 "
F
/>
| XI YI 0.0 0.0 10 .0 10 .0
|
The effective function after shifting and scaling will be: X’ | Y’ --------------------------------1.0 | 0.0 11 .0 | 8.0
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Element
FUNC_USAGE.3D
Parents
HARDENING.FUNC_3D MATERIAL.FOAM_FU_CHANG MOMENT_Y.3D MOMENT_Z.3D
Description Used to select interpolation type for 3 dimensional functions, or to modify function
data by shifting and/or scaling. Attribute Type FUNC_3D
Default
Unit
Ref to FUNCTION_3D.ISO. 3D function reference
Ref INTERPOLATION String X_SCALE Real Y_SCALE Real ZETA_SCALE Real X_SHIFT Real Y_SHIFT Real ZETA_SHIFT Real
Description
LINEAR
Interpolation method(1,2)
1.0
Scaling factor in x-direction(3)
1.0
Scaling factor in y-direction(3)
1.0
Scaling factor in zeta-direction
0.0
Shift factor in x-direction
0.0
Shift factor in y-direction
0.0
Shift factor in zeta-direction
1. Domain: [LINEAR SPLINE SPLINE_5]. 2. LINEAR: linear interpolation SPLINE: 3th degree spline interpolation. In this case, the two dimensional functions defined in ZETA_ISOLINE will get also SPLINE interpolation. SPLINE_5: 5th degree spline interpolation. In this case, the two dimensional functions defined in ZETA_ISOLINE will get also SPLINE_5 interpolation. 3. Range: (0, ∞) Additional Information
• Scaling is first applied, followed by shifting: x‘ = x_scale * x + x_shift y‘ = y_scale * y + y_shift zeta‘ = zeta_scale * zeta + zeta_shift • Using SPLINE interpolation ensures a continuous first derivative of the function.
• Using SPLINE_5 interpolation ensures a continuous first and second derivative of the function
Examples
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<.... ... HARDENING_FUNC_3D = " Hardening_fun " >
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Element
FUNCTION.CONTROL_SIGNAL
Parents
FE_MODEL INFLATOR_CHAR JET_CHAR.CENTRE_VEL JET_CHAR.CONSTANT_MOMENTUM JET_CHAR.IDELCHIK MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Provides the definition of a function whose value is defined by a signal.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME YMIN Real
m, -
Output signal value lower boundary(2)
Real
m, -
Output signal value upper boundary(2)
YMAX
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The function value is the control system or sensor signal value multiplied by the factor FACTOR specified under SIGNAL_VALUE. If lower than YMIN or greater than YMAX the function value becomes YMIN respectively YMAX. Related Element SIGNAL_VALUE
One/Many
Description
One
Signal value.(1)
1. The attribute SEQ_NR under SIGNAL_VALUE is not used. Additional Information
• The function may only be used as a function dependent on simulation time. • Scaling and/or shifting is not allowed for the independent variable.
• The actual boundaries depend on the values of Y_SCALE and Y_SHIFT specified under the FUNC_USAGE.2D element. If scaling and/or shifting for the dependent variable is used the values for the boundaries become: YMIN’ = YSCALE*YMIN + YSHIFT YMAX’ = YSCALE*YMAX + YSHIFT
• Airbag inflator and airbag fabric related functions are dependent on the relative time in most cases. Use of FUNCTION.CONTROL_SIGNAL implies that the corresponding 236
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switches should be activated at the start of the simulation. This holds for the following functions: · INFLATOR: MASS_FLOW_RATE_FUNC, TEMP_FUNC and EXIT_PRES_FUNC · JET: EFAC_FUNC · GLOBAL_DISCHARGE: TF_FUNC, ENERGY_DISSIPATION_FUNC · HOLE.MODEL1: CDT_FUNC · HOLE.MODEL2: TF_FUNC · HOLE.MODEL3: TF_FUNC · PERMEABILITY.GLOBAL_ISENTROPIC: TIME_SCALE_FUNC · PERMEABILITY.GLOBAL: TIME_SCALE_FUNC · PERMEABILITY.MODEL1: PT_FUNC · PERMEABILITY.MODEL2: P4_FUNC
• Signals from the controller can be delayed by the integration time step. This holds for acceleration, loading, etc. signals. Examples
In this example the motion of a joint acceleration degree of freedom is prescribed. The value of the external signal is multiplied by a factor 0.1. If the obtained value is lower than -1000 it is set to -1000, if greater than 1000 it is set to 1000. ... ...
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/>
F
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FUNCTION.XY
Element
FUNCTION.XY
Parents
FE_MODEL INFLATOR_CHAR JET_CHAR.CENTRE_VEL JET_CHAR.CONSTANT_MOMENTUM JET_CHAR.IDELCHIK MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE FUNCTION_3D.ISO MADYMO_RESTART
F
Description Provides a definition of a function, described as a series of X-Y pairs.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Related Element XY_PAIR
One/Many
Description
Many
Data for function: Y = function(X)
Additional Information
• The order of the XY_PAIRs will be arranged by increasing x value of the XY_PAIRs. Examples
Or, in table format:
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FUNCTION.XY
TYPE = " XY_PAIR " > | XI YI 0.0 0.0 1.0 1.0
F
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FUNCTION_3D.ISO
Element
FUNCTION_3D.ISO
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
F
Description Provides a definition of a 3 dimensional function, described as a series of 2 dimen-
sional functions. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Related Element ZETA_ISOLINE
One/Many
Description
Many
Function reference for constant zeta value.
Many
2D functions.
FUNCTION.XY
Additional Information
• The order of the ZETA_ISOLINE’s must be arranged by increasing zeta value of the ZETA_ISOLINE’s. At least two ZETA_ISOLINE’s must be specified. The functions specified in each ZETA_ISOLINE should have preferably the same domain in order to avoid extrapolation. Examples
In this example the function has the following values: (x, y, z) ⇒ 0, 0, 0 (x, y, z) ⇒ 0, 10, 11 (x, y, z) ⇒ 1, 2, 1 (x, y, z) ⇒ 1, 5, 3 Release 7.7
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F
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YI = "0.0"/> YI = "11.0"/>
YI = "1.0"/> YI = "3.0"/>
In this example the function has the following values: (x, y, z) ⇒ 0, 0, 0 (x, y, z) ⇒ 0, 10, 11 (x, y, z) ⇒ 1, 0, 0 (x, y, z) ⇒ 1, 20, 22
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GAP_TYPE.FUNC
Element
GAP_TYPE.FUNC
Parents
CONTACT_METHOD.NODE_TO_SURFACE_CHAR CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT CONTACT_METHOD.NODE_TO_SURFACE CONTACT_METHOD.SURFACE_TO_SURFACE
G
Description Defines the contact thickness (gap) by means of a time function. This contact thick-
ness holds for the whole contact surface. Attribute Type GAP_FUNC
Default
Unit
Description Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Contact thickness function – thickness [m] vs. time [s](1)
Ref
1. The gap function should be greater than zero in the time domain. Related Element FUNC_USAGE.2D
One/Many
Description
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Examples
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Element
GAP_TYPE.MASTER
Parents
CONTACT_METHOD.NODE_TO_SURFACE_CHAR CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT
Description Defines the contact thickness (gap) as the element thickness of the master surface
which can be scaled with a time function. Attribute Type SCALE_FUNC
Default
Unit
Description Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Contact thickness scale factor function – contact thickness scale factor [-] vs. time [s](1)
Ref
1. The gap scale function should be greater than zero in the time domain. Related Element FUNC_USAGE.2D
One/Many
Description
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• If no scale function is specified a scale factor of 1.0 is used. Examples
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GAP_TYPE.SLAVE
Element
GAP_TYPE.SLAVE
Parents
CONTACT_METHOD.NODE_TO_SURFACE_CHAR CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT
G
Description Defines the contact thickness (gap) as the element thickness of the slave surface
scaled with a time function. Attribute Type SCALE_FUNC
Default
Unit
Description Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Contact thickness scale factor function – contact thickness scale factor [-] vs. time [s](1)
Ref
1. The gap scale function should be greater than zero in the time domain. Related Element FUNC_USAGE.2D
One/Many
Description
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• If no scale function is specified a scale factor of 1.0 is used. Examples
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Element
GAP_TYPE.SURFACE
Parents
CONTACT_METHOD.NODE_TO_SURFACE CONTACT_METHOD.SURFACE_TO_SURFACE
Description Defines the contact thickness (gap) as the element thickness of the slave surface
for the slave surface and the element thickness of the master surface for the master surface and both scaled with a time function. Attribute Type SCALE_FUNC
Default
Unit
Description Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Contact thickness scale factor function – contact thickness scale factor [-] vs. time [s](1)
Ref
1. The gap scale function should be greater than zero in the time domain. Related Element FUNC_USAGE.2D
One/Many
Description
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• If no scale function is specified a scale factor of 1.0 is used. Examples
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Element
GAS
Parents
FE_MODEL INFLATOR_CHAR MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
GAS
G
Description Specify a gas (molecular weight and specific heat coefficients).
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1,2)
NAME MW Real
kg mol-1
Real
J mol-1 K-1 Specific heat coefficient a
Molecular weight(3)
CP_A CP_B Real
0.0
J mol-1 K-2 Specific heat coefficient b
Real
0.0
J mol-1 K-3 Specific heat coefficient c
Real
0.0
J mol-1 K-4 Specific heat coefficient d
Real
0.0
J mol-1 K
Real
0.0
J mol-1 K-5 Specific heat coefficient f
CP_C CP_D CP_E Specific heat coefficient e
CP_F
1. This identifier can not be equal to one of the predefined gas names listed under GAS_FRACTION. 2. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 3. Range: (0, ∞). Additional Information
• The coefficients CP_A to CP_F can be used within the frame of the general cp formulation cp = a + bT + cT2 + dT3 + e/T2 + fT4 . Examples
Example of a user-defined gas with the specific heat depending linearly on the gas temperature.
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CP_A = "1.0E +01 " CP_B = "1.0E -02 " />
G
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Element
GAS_FLOW_GRID
Parents
AIRBAG_CHAMBER
GAS_FLOW_GRID
G
Description Parameters for the Gasflow-USM (Uniform Scaled Mesh) method.
Attribute BODY
Type
Default
Unit
Description (1,2)
Ref
Ref to BODY.RIGID.
Int[3]
Grid parameters defining the number of cells in local I-, J- and K-directions.
GRID
GRID_I_DIR Direction vector for the local I-direction of the Gasflow grid
Real[3] GRID_J_DIR
Direction vector for the local J-direction of the Gasflow grid
Real[3] MIN_SIZE Real[3]
1.0E-6 1.0E-6 1.0E-6
Real[3]
0.0 0.0 0.0
OFFSET
m
Minimum cell size in I-, J- and K- directions.(3) Offset applied to the Gasflow grid in local I-, J- and K-direction.
ANTI_THROUGH_FLOW Bool INFLATOR_MTH String
OFF
Switch to activate Anti-Through-Flow algorithm.(4)
MOMENTUM
Inflator method.(5,6,7)
1. The Gasflow grid is attached to the coordinate system which is referred by BODY. Hence the inflator opening will follow translation and rotation when body is defined. Note that the initial position is corrected with INITIAL.FE_MODEL of the airbag chamber. 2. If BODY is not specified the reference space is used. 3. Dimension of Gasflow cell in direction N is determined as: MIN( MIN_SIZE_N, (AIRBAG_N / (GRID_N - 1) ) ) With: MIN_SIZE_N is MIN_SIZE in N-direction AIRBAG_N is dimension of airbag-mesh in N-direction at initialisation GRID_N is number of cells in N-direction for N in (I,J,K) 4. It is advised to use ANTI_THROUGH_FLOW="ON" for folded airbags and for airbags with tethers (see ”Additional Information” below). 5. Domain: [MOMENTUM SONIC_CELL]. 6. Momentum based: The gas velocity in those Gasflow cells that directly receive gas from the inflator is calculated from the momentum of the added inflator gas. Sonic-cell based: The gas velocity in those Gasflow cells that directly receive gas from the inflator is set to the sonic velocity of the inflator gas. Release 7.7
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7. Using the sonic-cell based method can give inaccurate results when the inflator dimension is much smaller than the cell dimension.
G
Related Element One/Many GAS_FLOW_INIT_DELAY One
Description Provides a means to start a Gasflow-USM simulation as a Uniform Pressure simulation and switch to Gasflow-USM later.
Additional Information
• The Uniform Scaled Mesh (USM) method is based on a 3-dimensional Finite-Volume description of the flow in an airbag. Each airbag chamber is resolved by an individual uniform mesh (constant number of cells) which grows or shrinks to cover the varying geometry of the chamber. The chambers can exchange gas through holes (defined by hole models) or through permeable airbag fabric. • The Gasflow-USM method is used when one or more jets of type JET.GAS_FLOW are specified in combination with the GAS_FLOW_GRID element. • The Gasflow-USM simulation is started by triggering a jet or by using a GAS_FLOW_TRIGGER element. Due to file synchronisation, a very small grid can be seen before triggering. However, this is not an active Gasflow grid and therefore can be ignored. • The Anti-Through-Flow (ATF) algorithm prevents erroneous flow across airbag fabric when two different airbag regions come together within a single cell, i.e. when the basic Gasflow-USM method can not resolve them anymore as two separate flow regions. This situation can occur in folded airbags when the folds are thinner than the cell size and two or even more folds pass through a single cell. Examples
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Element
GAS_FLOW_INIT_DELAY
Parents
GAS_FLOW_GRID
Description Provides a means to start a Gasflow-USM simulation as a Uniform Pressure simu-
lation and switch to Gasflow-USM later. Attribute Type SWITCH
Default
Unit
Ref to SWITCH.*. Switch from Uniform Pressure to Gasflow-USM(1)
Ref TIME_STEP Real
Description
s
Time interval between attempts to switch from Uniform Pressure to Gasflow-USM(2,1)
1. The process to switch from Uniform Pressure to Gasflow-USM for this chamber is started once the SWITCH assumes the state TRUE. If switching the simulation type was not successful it is retried after a period of TIME_STEP. This is repeated until the Gasflow-USM simulation is running. 2. Range: (0, ∞). Additional Information
• To successfully switch from Uniform Pressure to Gasflow-USM two conditions need to be fulfilled. The first condition is that 5% of the cells in the chamber must be active. The second condition is that at least one cell that is cut by a segment of type HOLE.MODEL3 is active. When the chamber has no HOLE.MODEL3 segments, the second condition is omitted. • Switching from Uniform Pressure to Gasflow-USM implies that the Gasflow grid is initialized with a zero flow velocity and the mass and energy of the gas evenly distributed over the active cells. • When using the Uniform Pressure method for an airbag chamber some features are not supported or dealt with differently. Jets are not supported. When HOLE.MODEL3 is defined, HOLE.MODEL1 will be used as long as one of the chambers of the FE model uses the Uniform Pressure method. • This feature is helpful to solve folded multiple chamber airbags that suffer from "zero active cells". The accuracy of the solutions can decrease when using this feature. Examples
In this example a Uniform Pressure simulation is started in airbag chamber 2. When the switch "/status_swi" assumes the state TRUE the simulation type switches to GasflowUSM but only if the additional conditions mentioned above are fulfilled (at least 5% of the cells active and one cell near a HOLE.MODEL3 segment active). If the conditions are not fulfilled the switch is retried 0.002 seconds later. This is repeated until it is successful.
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Element
GAS_FLOW_TRIGGER
Parents
CONTROL_AIRBAG
Description Trigger to start a Gasflow simulation with time delay.
Attribute Type SWITCH
Default
Unit
Ref to SWITCH.*. Switch to trigger the Gasflow method.
Ref TIME_DELAY Real
Description
0.0
s
Time delay between the triggering of the Gasflow method and the actual start of the Gasflow simulation.(1)
1. Range: [0, ∞). Additional Information
• The element is applicable to the Gasflow-USM method.
• When this element is defined the Gasflow simulation is started once the SWITCH assumes the state true and the TIME_DELAY is passed. When using Gasflow-USM at least one inflator is required in the FE_MODEL. For further information see "Additional Information" under AIRBAG_CHAMBER. • When this element is not defined the Gasflow simulation starts when the first inflator is triggered. Examples
Consider a model in which the inflator is triggered by a switch. When GAS_FLOW_TRIGGER is not defined, the Gasflow simulation starts on trigger time t = 0.01 s. However, due to a zero massflow rate for the first 2 ms no gas is injected from t = 0.01 s to t = 0.012 s. Including this phase in the Gasflow simulation can be computationally expensive but gives no added value. When GAS_FLOW_TRIGGER is defined with a delay time of 2 ms the Gasflow simulation is started at t = 0.01 s + 0.002 s = 0.012 s thus reducing the CPU time of the simulation. ... ... 254
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...
G
... | XI YI 0.0E -00 0.0 2.0E -03 0.0 4.0E -03 1.0E -4 1.0E -02 1.2E -4 8.0E -02 1.5E -4
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Element
GAS_FRACTION
Parents
GAS_MIXTURE.CONSTANT GAS_MIXTURE.VARIABLE
Description Molar fraction of the specified GAS in the mixture.
Attribute Type GAS_NAME Ref MOL_FRACTION Real
Default
Unit
Description Ref to GAS. Gas name(1) Molar fraction(2)
1. GAS_NAME can be a reference to a user-defined gas specified under GAS or a name of one of the predefined gases: GAS NAME
Description
N2 O2 CO2 CO HE NE AR H2 H2O NH3 H2S C6H6 N2O
Nitrogen Oxygen Carbon dioxide Carbon monoxide Helium Neon Argon Hydrogen Water vapour Ammonia Hydrogen sulphide Benzene Nitrous oxide
2. Range: [0, 1]. Additional Information
• If the molar fractions of the different gases do not sum to 1.0, they are scaled so they do.
• Two different cp formulations can be used for predefined gases by setting CP_FORM under CONTROL_AIRBAG. • When a gas is defined as child of either the parent of INFLATOR_CHAR or INFLATOR_CHAR itself, it can be referenced without a path. See also the example at INFLATOR_CHAR for further information.
Examples
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GAS_MIXTURE.CONSTANT
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Element
GAS_MIXTURE.CONSTANT
Parents
CONTROL_AIRBAG INFLATOR.DEF INFLATOR_CHAR
Description Gas mixture with a fixed composition.
Related Element GAS_FRACTION
One/Many
Description
Many
Molar fraction of the specified GAS in the mixture.
Additional Information
• If the molar fractions of the different gases do not sum to 1.0, they are scaled so they do. • Air has the following composition: N2: 0.78084 O2: 0.20946 CO2: 0.00033 AR: 0.00937
Examples
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GAS_MIXTURE.VARIABLE
Element
GAS_MIXTURE.VARIABLE
Parents
INFLATOR.DEF INFLATOR_CHAR
G
Description Gas mixture at a fixed time after inflator triggering.
Attribute TIME
Type
Default
Real
Related Element GAS_FRACTION
Unit
Description
s
Elapsed time after the inflator is triggered
One/Many
Description
Many
Molar fraction of the specified GAS in the mixture.
Additional Information
• This element must be repeated for each TIME - GAS_FRACTION pair.
• If the molar fractions of the different gases do not sum to 1.0, they are scaled so they do.
Examples
| GAS_NAME MOL_FRACTION | N2 1.00 CO2 0 .00 H2O 0 .00 | GAS_NAME MOL_FRACTION | N2 0.80 CO2 0 .17 H2O 0 .03
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GLOBAL_DISCHARGE
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Element
GLOBAL_DISCHARGE
Parents
AIRBAG_CHAMBER
Description Global leakage of mass and/or energy.
Attribute Type PF_FUNC
Default
Unit
Description
Ref
Ref to FUNCTION.XY. Gas outflow rate function – volume outflow rate [m3 /s] vs pressure [N/m2 ](1)
Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Gas outflow rate scale function – scale factor [-] vs. time [s](1)
TF_FUNC
ENERGY_DISSIPATION_FUNC Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Global energy dissipation rate function – energy rate [Nm/s] vs. time [s](2)
Ref
1. The overall mass outflow rate of the airbag chamber to the surrounding atmosphere is calculated from: ˙ ex = ρfpf (∆p) ftf (t) m where ρ is the gas density in the airbag chamber, ∆p is the over-pressure in the airbag chamber, fpf is the scale factor due to overall airbag leakage as a function of the over-pressure and ftf is the scale factor due to overall airbag leakage as a function of time. The product fpf ftf defines a leakage rate (m3 /s) for the gas flowing out of the airbag chamber into the surrounding atmosphere. Gas outflow properties can also be defined with the MATERIAL definition. If PF_FUNC or TF_FUNC is not specified it will be set to 1.0. 2. The overall energy outflow rate of the airbag chamber to the surrounding atmosphere is calculated from: ˙ = fged (t) Q For positive function values, energy is extracted from the chamber. For negative function values, energy is added to the chamber. Related Element FUNC_USAGE.2D
One/Many
Description
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
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• TF_FUNC and ENERGY_DISSIPATION_FUNC are time-dependent functions. If OUTFLOW_SWITCH is defined in CONTROL_AIRBAG, the functions will treat the triggertime as t=0, the functions cannot be of type CONTROL_SIGNAL, because no function values at previous time points are available. If OUTFLOW_SWITCH is not defined, the functions will use simulation time. • Note that TF_FUNC and PF_FUNC determine global mass discharge, and ENERGY_DISSIPATION_FUNC determines global energy discharge. Global mass discharge and global energy discharge are independent of each other. • See table at AIRBAG_CHAMBER for availability of this feature in combination with the different gas flow models. Examples
To use global discharge for airbags that are triggered not by time but by events, you should define OUTFLOW_SWITCH to determine the origin of the relative time-axis. The energy dissipation function is now defined as function of a relative time scale.
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GROUP_COMPOUND
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Element
GROUP_COMPOUND
Parents
MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Assembles a selected set of finite elements and multi-body groups into a com-
pound. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME SYSTEM Ref FE_MODEL_LIST List FE_MODEL_LIST_EXCL List
Ref to SYSTEM.*.
(2)
Ref to FE_MODEL. List of FE models Ref to FE_MODEL. List of objects to be removed from the FE_MODEL_LIST
GROUP_MB_LIST List
Ref to GROUP_MB. List of groups of bodies, joints, restraints and belts(3)
GROUP_MB_LIST_EXCL List
Ref to GROUP_MB. List of objects to be removed from the GROUP_MB_LIST
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. SYSTEM is ignored if the group is defined under a system, as that system is automatically selected. 3. Only the bodies, joints, restraints and belts referred in each GROUP_MB are selected. - Selection of bodies implicitly selects the actuators, joints, restraints interconnected between the selected bodies. - Explicit selection of restraints is only applicable for the definition of the boundary of the compound. This is useful for restraints that define the interaction between compounds. Additional Information
• Only FE models and MB groups related to the referred SYSTEM can be selected.
• If ALL is used instead of specifying a list, all the objects of that type in the system are selected.
• The inertial space is assumed when SYSTEM refers to the SYSTEM.REF_SPACE and no object (i.e. FE model and MB group) is selected. Examples
Define a compound for the Chest which contains all MB objects (i.e. bodies, joints, restraints) and the FE model defining Rib section. 262
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GROUP_DEFINE
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Element
GROUP_DEFINE
Parents
MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Assembles a number of DEFINE elements in a group
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Related Element DEFINE
One/Many
Description
Many
Variable definition to substitute attributes within the XML file. They are expanded by the parser before the attribute value is transferred to MADYMO.
Many
Includes named file content at current location.
INCLUDE
Additional Information
• A GROUP_DEFINE is allowed directly after the CONTROL_ANALYSIS.TIME element and also as first child of SYSTEM.REF_SPACE and SYSTEM.MODEL. • When a GROUP_DEFINE has MADYMO as its parent, the scope of the DEFINE values under this GROUP_DEFINE is ’global’. This means that these DEFINE names/values are known/valid within the context of the complete MADYMO model. • When the GROUP_DEFINE is a child of a SYSTEM, the scope of the DEFINE values under this GROUP_DEFINE is ’local’. This means that these DEFINE names/values are known/valid only within the context of their parent SYSTEM. • DEFINE values with a global scope can be overruled (redefined) within the local scope of a SYSTEM. In order to do so, the REDEFINE attribute of the ’global scope definition’ of the DEFINE need to be set to ’OK’ (note that the default value of REDEFINE is ’WARNING’). See also example below. • Note that when you refer from within a SYSTEM that contains a DEFINE element, defining e.g. value ’A’, to an element outside the SYSTEM (either at MADYMO level or within another SYSTEM) that uses ’#A’, then the value of ’#A’ is determined by the scope of the element that’s being referred to. See Example. 264
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GROUP_DEFINE
Examples
Specify the basic parameter values for this model
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’#A’ is used in the global ( MADYMO ) scope , and value will always evaluate to ’1’ (in current example )
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Element
GROUP_FE
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
GROUP_FE
G
Description Assembles a selected set of finite element objects within an FE model into a group.
Attribute ID
Type
Default
Int
Unit
Description Numerical identifier
NAME Name FE_MODEL Ref ELEMENT_LIST iList ELEMENT_LIST_EXCL iList
Alphanumerical identifier(1) Ref to FE_MODEL. Selection of the relevant FE model(2) Ref to ELEMENT.*. List of numerical element references Ref to ELEMENT.*. List of numerical element references to be removed from the ELEMENT_LIST
NODE_LIST iList NODE_LIST_EXCL iList
Ref to COORDINATE.*. List of numerical node references Ref to COORDINATE.*. List of numerical node references to be removed from the NODE_LIST
PART_LIST List PART_LIST_EXCL List PROPERTY_LIST List PROPERTY_LIST_EXCL List MATERIAL_LIST List MATERIAL_LIST_EXCL List CONTACT_CHAR Ref
Ref to PART. List of parts Ref to PART. List of parts to be removed from the PART_LIST Ref to PROPERTY.*. List of properties Ref to PROPERTY.*. List of properties to be removed from the PROPERTY_LIST Ref to MATERIAL.*. List of materials Ref to MATERIAL.*. List of materials to be removed from the MATERIAL_LIST Ref to CHARACTERISTIC.CONTACT.
(3)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Release 7.7
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2. FE_MODEL is ignored if the group is defined under a FE model, as that FE model is automatically selected.
G
3. Only relevant if the group is selected in the master or slave surface of CONTACT.FE_FE or CONTACT.MB_FE. If not defined the characteric defined under MATERIAL.NULL is used. Related Element BOUNDING_BOX
One/Many
Description
Many
Rectangular box with faces parallel to the FE model coordinate system to select nodes and elements.
Additional Information
• Only objects related to the referred FE_MODEL can be selected.
• For each group, a set of elements and a set of nodes are determined. The selected elements and nodes are reported to the reprint file. Depending on where the group is used, MADYMO will use the nodes or the elements of the group. • For materials, parts and properties all elements and nodes connected to those items are selected. • For BOUNDING_BOX, the elements are selected that have an average nodal position that lies inside the bounding box. The bounding box values are in the coordinate system of the FE model before any initial conditions are applied. • If elements are selected, also the nodes connected to those elements will be selected. • If nodes are selected, also the elements connected to all the nodes will be selected.
• Every selected item is added to the group. This means that if a part and a property are selected, then all elements and nodes connected to that part will be selected and all element and nodes connected to the property will be selected.
Examples
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Element
GROUP_MB
Parents
MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
GROUP_MB
G
Description Assembles a selected set of multibody objects into a group.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
Ref
Ref to SYSTEM.*.
NAME SYSTEM BELT_LIST List BELT_LIST_EXCL List BODY_LIST List BODY_LIST_EXCL List JOINT_LIST List JOINT_LIST_EXCL List RESTRAINT_LIST List RESTRAINT_LIST_EXCL List SURFACE_LIST List SURFACE_LIST_EXCL List
Ref to BELT. Belt list Ref to BELT. List of belts to be removed from the BELT_LIST Ref to BODY.*. Body list Ref to BODY.*. List of bodies to be removed from the BODY_LIST Ref to JOINT.*. Joint list Ref to JOINT.*. List of joints to be removed from the JOINT_LIST Ref to RESTRAINT.*. Restraint list Ref to RESTRAINT.*. List of restraints to be removed from the RESTRAINT_LIST Ref to SURFACE.*. Surface list Ref to SURFACE.*. List of surfaces to be removed from the SURFACE_LIST
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Additional Information
• Any absolute paths in the *_LIST and *_LIST_EXCL attributes will be ignored if the GROUP_MB is defined under a SYSTEM.* or when a SYSTEM attribute is specified. • Only objects related to the referred SYSTEM can be selected. • If ALL is used instead of specifying a list, all the objects of that type in the system are selected. Release 7.7
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Examples
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Note that for a contact , only surfaces will be used
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HARDENING.ANALYTIC
Element
HARDENING.ANALYTIC
Parents
MATERIAL.ISOPLA MATERIAL.ORTHOPLA
H
Description Predefined hardening formulations for the hardening behaviour in plasticity mod-
els. Related Element One/Many YIELD_STRESS.KRUPK YIELD_STRESS.POWER One
Description
Predefined hardening formulation for hardening behavior.
Examples
The hardening behaviour of an isotropic Von Mises plasticity model is defined by an analytical yield stress function. A power law is used to specify the yield curve. Under the related element YIELD_STRESS.POWER the specification of this hardening formulation is defined.
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Element
HARDENING.COEF
Parents
MATERIAL.ISOPLA MATERIAL.ORTHOPLA
Description Plastic hardening modulus for bi-linear hardening behaviour in plasticity models.
Attribute E_TAN
Type
Real RATE_AMP Real STRENGTH_MAX Real
Default
Unit
Description
N/m2
Tangent modulus of elasticity(1) Rate dependency amplification factor(2,3)
0.0 1.0E+20
N/m2
Upper limit of the yield stress(1)
1. Range: (0, ∞). 2. Range: [0, 1]. 3. The amplification of the strain rate flow function with respect to the hardening part of the yield stress is: σy = g(¯ε˙ )σy + γg(¯ε˙ ) + 1 − γ σy (εp ) 0
1
where γ is the rate dependency amplification factor RATE_AMP. The default value RATE_AMP=0 results in: σy = g(¯ε˙ )σy0 + σy1(εp )
Additional Information
• The yield stress is a function of the effective plastic strain ep and the plastic hardening modulus EP . The total yield stress is defined by: σy = min σmax , σy0 + Ep ep where σy0 is the initial yield stress defined under the parent element and σmax is the upper limit of the yield stress defined by STRENGTH_MAX. The plastic hardening modulus is determined from the tangent modulus ET defined by E_TAN and the initial modulus of elasticity E0 defined under the parent element: E0 ET Ep = E0 − ET
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. σmax = 4 × 108
H ETan =
1 3
× 1011 σ = 2 × 108 y0 (a)
E = 2 × 1011
σ
total strain ǫ 4 × 108
EP = 0.4 × 1011
2 × 108
(b) σy 0
0.005 equivalent plastic strain ǫp
Figure 1: Derivation of hardening diagram The Tangent modulus ET is checked to be smalller than the initial modulus of elasticity E0 . Examples
The hardening of a generic Von Mises plasticity model is assumed to show a linear behaviour. The bi-linear behaviour is defined via a tangent modulus E_TAN. Strain rate dependency effects on the total yield stress are accounted for by defining a strain rate scale function under the parent element and a strain rate amplification factor via RATE_AMP.
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Element
HARDENING.FUNC
Parents
MATERIAL.ISOPLA MATERIAL.ORTHOPLA
Description Characteristic defining the yield stress path; i.e. the hardening behaviour in plas-
ticity material models. Attribute Type Default HARDENING_FUNC
String
Description Ref to FUNCTION.XY. Yield stress function – yield stress [N/m2 ] vs. total or plastic strain [-](1)
Ref RATE_AMP Real DATA_TYPE
Unit
0.0
Rate dependency amplification factor(2,3) Data type used for the stress-strain definition.(4,5)
1. The yield stress function can be generated from uniaxial test data. The yield stress function must be defined as uniaxial stress versus uniaxial total strain or uniaxial plastic strain. 2. Range: [0, 1]. 3. The amplification of the strain rate flow function with respect to the hardening part of the yield stress is: σy = g(¯ε˙ )σy0 + γg(¯ε˙ ) + 1 − γ σy1(εp ) where γ is the rate dependency amplification factor RATE_AMP. The default value RATE_AMP=0 results in: σy = g(¯ε˙ )σy0 + σy1(εp ) 4. Domain: [PLASTIC TOTAL TOTAL_R62]. 5. The derivation of the hardening diagram from the referenced stress-strain function is dependent of the specified strain measure under DATA_TYPE: PLASTIC: the strain is defined as uniaxial plastic strain: the stress-strain curve is directly transformed to yield stress versus effective plastic strain; the first yield stress at ’zero’ plastic strain in the hardening diagram must match the inital yield stress. TOTAL: the strain is defined as uniaxial total strain: the stress-strain curve is transformed to yield stress versus effective plastic strain according the modulus of elasticity defined under the parent element; the first yield stress in the hardening diagram will match the initial yield stress σ y0 in the stress-strain function and is calculated by a linear interpolation between the nearest stress-strain points. TOTAL_R6.2: the strain is defined as uniaxial total strain: the stress-strain curve is transformed to yield stress versus effective plastic strain according the modulus of elasticity defined under the parent element; the first yield stress in the hardening diagram does match the stress-strain point in the stress-strain function that is nearest to the initial yield stress-strain point (σ y0 , σ y0 /E). This procedure is used in versions upto and including MADYMO 6.2.
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Related Element FUNC_USAGE.2D
HARDENING.FUNC
One/Many
Description
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• The following checks are performed on the referenced stress-strain curve; if an inconsistency is detected, MADYMO will print the recommended values in the REPRINT file: DATA_TYPE="PLASTIC" (1) the yield stress at zero plastic strain in the yield stress curve is checked against the specified initial yield stress defined under the parent element DATA_TYPE="TOTAL" (1) the initial slope in the stress-strain curve is checked against the initial modulus of elasticity defined under the parent element (2) the initial yield stress defined under the parent element is checked to match with a stress-strain point in the stress-strain curve (3) the tangential slopes in the stress-strain curve are checked to be smaller than the initial modulus of elasticity defined under the parent element DATA_TYPE="TOTAL_R62" (1) the initial yield point, i.e. (σ y0 , E/σ y0 ) is checked to match a stress-strain point in the stress-strain curve (2) the tangential slopes in the stress-strain curve are checked to be smaller than the initial modulus of elasticity defined under the parent element 4 × 108
4 × 108
3 × 108
3 × 108
2 × 108
(a)
σy0
(c)
σy0 1 × 108
σ
E = 2 × 1011 0.001
•
0.003
E = 2 × 1011 σ
0.008 total strain ǫ
4 × 108
0.003
0.008 total strain ǫ
4 × 108
3 × 108 2 × 108
0.0005
3 × 108 EP =
2 3
× 1011
σy
(b)
2 × 108
EP =
4 3
× 1011 (d)
σy 0 0.0015 0.006 equivalent plastic strain ǫp
0 0.00075 0.00525 equivalent plastic strain ǫp
Figure 1: Derivation of hardening diagram The Tangent modulus ET is checked to be smalller than the initial modulus of elasticity E0 . Release 7.7
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• The definition of stress-strain characteristic in the yield stress function must be according to the used strains and stresses in the stress-strain formulation. In the table below the used strains and stresses are listed for each property type. Property type PROPERTY.SOLID*
stress-strain formulation -
Used strains logarithmic
Used stresses Cauchy
PROPERTY.SHELL*
-
logarithmic
Cauchy
PROPERTY.MEM
”LINEAR” ”LAGRANGE” ”GREEN LAGRANGE” ”LOG” ”RATE OF DEFORMATION”
Engineering Nominal Green-Lagrange logarithmic logarithmic
Engineering Nominal 2nd Piola Kirchhoff Cauchy Cauchy
PROPERTY.MEM3*, PROPERTY.MEM4*
”LINEAR” ”GREEN” ”LOG”
Engineering Green logarithmic
Engineering 2nd Piola Kirchhoff Cauchy
PROPERTY.MEM3NL*, PROPERTY.MEM4NL*
-
logarithmic
Cauchy
PROPERTY.BEAM2 *
-
logarithmic
Cauchy
Examples
The hardening behaviour of a Von Mises plasticity model is defined by a yield stress function; the yield curve is specified as total stress versus total uniaxial strain when DATA_TYPE="TOTAL". The stress-strain measure to be used in the yield curve is dependent of the element type; for solid and shell element types the stresses and strains are interpreted respectively as Cauchy stress and logarithmic strain (see table under additional information). Strain rate dependency effects on the total yield stress are accounted for by defining a strain rate scale function under the parent element and a strain rate amplification factor via RATE_AMP.
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HARDENING.FUNC_3D
Element
HARDENING.FUNC_3D
Parents
MATERIAL.ISOPLA
Description Stress-strain characteristics for different strain rates defining the hardening be-
haviour in isotropic plasticity models. Attribute Type Default HARDENING_FUNC_3D
Unit
Description Ref to FUNCTION_3D.ISO. 3D yield stress function – yield stress [N/m2 ] vs. total or plastic strain [-] and strain rate [s-1 ](1,2)
Ref DATA_TYPE
Data type used for the stress-strain definition.(3,4)
String FREQUENCY_CUT_OFF Real
Hz
Cut-off frequency for smoothing the strain rate(5,6)
1. Rates effects are accounted for by defining a series of yield stress curves. For each defined strain rate a yield stress function is defined as an uniaxial stress versus an uniaxial total strain plastic or uniaxial plastic strain. Each stress-strain curve is defined via a related element ZETA_ISOLINE under FUNCTION_3D.ISO : the strain rate value by the ZETA attribute and the corresponding stressstrain curve by a reference to a function via XY_FUNC. 2. If an actual strain rate value fall out of range, extrapolation is not used: · The yield stress curve for the lowest value of the strain rate is used if the strain rate falls below the minimum defined value ·The yield stress curve for the highest value of the strain rate is used if the strain rate exceeds the maximum defined value. The yield stress for intermediate strain rate values are found by linear interpolating between the yield stress curves. 3. Domain: [PLASTIC TOTAL]. 4. The derivation of each strain rate dependent hardening diagram from the referenced strain-stress function is dependent of the specified strain measure under DATA_TYPE: PLASTIC: the strain is defined as uniaxial plastic strain: the stress-strain curve is directly transformed to yield stress versus effective plastic strain; the first yield stress at ’zero’ plastic strain in the hardening diagram may not be below the inital yield stress. TOTAL: the strain is defined as uniaxial total strain: the stress-strain curve is transformed to yield stress versus effective plastic strain according the modulus of elasticity defined under the parent element. The first yield stress at ’zero’ plastic strain in the hardening diagram will match the initial yield strain σ0 /E in the stress-strain function and is calculated by a linear interpolation between the nearest stress-strain points; this start yield stress may not be below the initial yield stress. 5. Range: (0, ∞). 6. Explicit solutions may contain unrealistic peaks and oscillations in the velocity gradients, leading to rapid jumps along the strain rate dependency function, causing instability. Release 7.7
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High frequency vibrations can be smoothed out and the stability behaviour can be improved by using a linear recursive filter for the strain rate: ¯ε˙ F n+1 = α ¯ε˙ n+1 + (1 − α) ¯ε˙ F n
H
where ¯ε˙ F n+1 is the filtered strain rate at time t+dt, ¯ε˙ n+1 is the calculated (unfiltered) strain rate at time t+dt, ¯ε˙ F n is the filtered strain rate at time t α is a function of the time step dt and an user defined cut-off frequency fc : α = 2 π dt fc A cut-off frequency fc between 1000 Hz and 10000 Hz can produce a good smoothing effect on the strain rate, with lower values resulting in a more strongly filtered signal. When the FREQUENCY_CUT_OFF is not specified, the filtering procedure on the strain rate is turned off. Related Element FUNC_USAGE.3D
One/Many
Description
One
Used to select interpolation type for 3 dimensional functions, or to modify function data by shifting and/or scaling.
Additional Information
• A series of yield stress functions can be generated for different strain rates from uniaxial test data. The following checks are performed on each referenced strain rate dependent stress-strain curve; if an inconsistency is detected, MADYMO will print the recommended values in the REPRINT file: DATA_TYPE="PLASTIC" (1) the yield stress at zero plastic strain in the yield stress curve is checked to be beyond initial yield stress defined under the parent element DATA_TYPE="TOTAL" (1) the initial slope in the stress-strain curve is checked against the initial modulus of elasticity defined under the parent element (2) the first yield stress at zero plastic strain is checked to be beyond the initial yield stress defined under the parent element (3) the tangential slopes in the stress-strain curve are checked to be smaller than the initial modulus of elasticity defined under the parent element • The definition of stress-strain characteristic in the yield stress function must be according to the used strains and stresses in the stress-strain formulation. In the table below the used strains and stresses are listed for each property type.
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Property type PROPERTY.SOLID*
stress-strain formulation -
Used strains logarithmic
Used stresses Cauchy
PROPERTY.SHELL*
-
logarithmic
Cauchy
PROPERTY.MEM
”LINEAR” ”LAGRANGE” ”GREEN LAGRANGE” ”LOG” ”RATE OF DEFORMATION”
Engineering Nominal Green-Lagrange logarithmic logarithmic
Engineering Nominal 2nd Piola Kirchhoff Cauchy Cauchy
PROPERTY.MEM3*, PROPERTY.MEM4*
”LINEAR” ”GREEN” ”LOG”
Engineering Green logarithmic
Engineering 2nd Piola Kirchhoff Cauchy
PROPERTY.MEM3NL*, PROPERTY.MEM4NL*
-
logarithmic
Cauchy
PROPERTY.BEAM2 *
-
logarithmic
Cauchy
4.0 x108
4.0 x108
2.0 x108
2.0 x108 ǫy0 =
E σ y0
(a)
˙ = 0 ǫ 0.001
0.003
0.006
.
2.5 x108 ǫy0 =
E σ y0
(b)
˙ = 5 ǫ
(f) ˙ = 5 ǫ
0.001
0.003
0.008
6.0 x108
0 0.001375
0.00575 .
4.5 x108
4.5 x108
3.0 x108
3.0 x108 ǫy0 = σ
E σ y0
(g)
(c) σy
˙ = 10 ǫ ˙ ǫ
0 0.0015
3.7 x108
2.5 x108
6.0 x108
(e) ˙ = 0 ǫ 5.0 x108
0.008
3.7 x108
•
.
3.0 x108
3.0 x108
5.0 x108
H
˙ = 10 ǫ 0.001
0.003
0.008 total strain ǫ
˙ ǫ
0 0.00125 0.0055 equivalent plastic strain ǫ
Figure 1: Derivation of hardening diagram Examples
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For accounting strain rate effects on the actual yield stress, the hardening behaviour of an isotropic Von Mises plasticity model is defined by a series of yield functions. For a given strain rate value a yield stress function is defined by a reference to stress-strain characteristic. Each yield curve is specified as total stress versus uniaxial total strain when DATA_TYPE="TOTAL". The stress-strain measure in the yield curves is dependent of the element type; for elements with SHELL* properties the stresses and strains are interpreted as Cauchy stress and logarithmic strain (see table under additional information).
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In this example yield stress functions are defined for four different strain rates: 0, 200, 400 and 600 s-1 . The corresponding yield curves are defined by scaling the stress values (Y_SCALE) of the yield characteristic at strain rate zero.
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HARDENING_DESHPFL.COEF
Element
HARDENING_DESHPFL.COEF
Parents
MATERIAL.ISOPLA_DESHPFL
Description Plastic hardening model for bi-linear hardening behaviour in the Deshpande-Fleck
plasticity model. Attribute E_TAN
Type
Default
Real
Unit
Description
N/m2
Tangent modulus of elasticity(1)
N/m2
Tangent bulk modulus(1,2)
K_TAN Real RATE_AMP Real STRENGTH_MAX Real
Rate dependency amplification factor(3,4)
0.0 1.0E+20
Upper limit of the yield stress(1)
N/m2
1. Range: (0, ∞). 2. A simplified hardening model is used when the tangent bulk modulus is not defined. 3. Range: [0, 1]. 4. The amplification of the strain rate flow function with respect to the hardening part of the yield stress is: σy = g(¯ε˙ )σy0 + γg(¯ε˙ ) + 1 − γ σy1(εp ) where γ is the rate dependency amplification factor RATE_AMP. The default value RATE_AMP=0 results in: σy = g(¯ε˙ )σy0 + σy1(εp )
Additional Information
• The yield stress is a function of the effective plastic strain eP and the plastic hardening modulus EP . The total yield stress is defined by: σy = min σmax , σy0 + σy1 where σy0 is the initial yield stress and is defined under the parent element, σy1 is the increase of the yield stress due to the hardening effect, and σmax is the upper limit of the yield stress defined by STRENGTH_MAX. The increase of the yield stress is defined as: Zt Zt σy1 = σy = Ep ep 0
0
where EP is the instantaneous plastic tangent modulus and eP is the equivalent plastic strain rate. • A self-simular hardening model is obtained when a tangent bulk modulus under hydrostatic loading is defined. In this hardening model the increase of the instantaneous yield stress is given by: dσy = Ep [t σ dep where EP is the instantaneous plastic tangent modulus and deP is the increase of the equivalent plastic strain. The instantaneous plastic tangent modulus EP is defined by: Release 7.7
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t
t σe σe 1 − + H pres tσ tσ v v with Hσ as the plastic tangent modulus under uniaxial loading and HP as the plastic tangent modulus under hydrostatic loading. The plastic tangent modulus Hσ under uniaxial laoding is defined in terms of the tangent modules ET , defined by E_TAN, and the initial modulus of elasticity E0 , defined under the parent element, as: E0 ET Hσ = E0 − ET The plastic tangent modulus Hpres under hydrostatic loading is defined in terms of the tangent bulk modules KT , defined by K_TAN and the initial bulk modulus of K0 , as: K0 KT Hpres = K0 − KT where the initial bulk modules K0 is derived from the initial modulus of elasticity E and Poisson’s ratio ν by E K= 3 (1 − 2ν) Ep = Hσ
H
• A simplified hardening model is obtained when the tangent modulus under hydrostatic loading is not defined. In this simplified hardening model the increase of the instantaneous yield stress is given by: dσy = Ep dep with EP as the plastic tangent modulus derived from the tangent modulus ET and the initial modulus of elasticity E0 . Examples
The hardening of the Deshpande-Fleck plasticity model is assumed to show a bi-linear behaviour both for uniaxial loading as for hydrostatic loading. The bi-linear hardening behaviour is specified by two tangent moduli E_TAN and K_TAN respectively for the uniaxial loading behaviour and hydrostatic loading behaviour. The maximum yield stress is limited by the STRENGTH_MAX parameter.
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HARDENING_DESHPFL.FUNC
Element
HARDENING_DESHPFL.FUNC
Parents
MATERIAL.ISOPLA_DESHPFL
Description Stress-strain characteristics defining the yield stress path; i.e. the hardening be-
haviour in the Deshpande-Fleck plasticity model. Attribute Type Default HARDENING_SIGD_FUNC
Unit
Description Ref to FUNCTION.XY. Yield stress function – yield stress under uniaxial loading [N/m2 ] vs. uniaxial total strain or uniaxial plastic strain [-]
Ref HARDENING_PRES_FUNC
Ref to FUNCTION.XY. Yield stress function – yield stress under hydrostatic loading [N/m2 ] vs. volumetric total strain or volumetric plastic strain [-](1)
Ref RATE_AMP Real DATA_TYPE
Rate dependency amplification factor(2,3)
0.0
Data type used for the stress-strain definition.(4,5)
String
1. The yield stress functions can be generated from both uniaxial and hydrostatic test data. The yield stress function must be defined as stress versus total strain or plastic strain. 2. Range: [0, 1]. 3. The amplification of the strain rate flow function with respect to the hardening part of the yield stress is: σy = g(¯ε˙ )σy + γg(¯ε˙ ) + 1 − γ σy (εp ) 0
1
where γ is the rate dependency amplification factor RATE_AMP. The default value RATE_AMP=0 results in: σy = g(¯ε˙ )σy0 + σy1(εp )
4. Domain: [PLASTIC TOTAL]. 5. The derivation of the hardening diagram from the referenced stress-strain function is dependent of the specified strain measure under DATA_TYPE: PLASTIC: the strain is defined as uniaxial or volumetric plastic strain: the stress-strain curve is directly transformed to yield stress versus effective plastic strain; the first yield stress at ’zero’ plastic strain in the hardening diagram must match the inital yield stress. TOTAL: the strain is defined as uniaxial or volumetric total strain: the stress-strain curve is transformed to yield stress versus effective plastic strain according the modulus of elasticity defined under the parent element or the bulk modules derived from Young’s modulus and Poisson’s ratio; the first yield stress in the hardening diagram will match the initial yield stress σy0 in the stress-strain function and is calculated by a linear interpolation between the nearest stress-strain points. Release 7.7
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4 × 108
4 × 108
3 × 108
3 × 108
2 × 108
(a)
σy0
(c)
σy0 1 × 108
σ
E = 2 × 1011 0.001
0.003
E = 2 × 1011 σ
0.008 total strain ǫ
4 × 108
0.003
0.008 total strain ǫ
4 × 108
3 × 108 2 × 108
0.0005
3 × 108 EP =
2 3
×
1011
σy
(b)
2 × 108
EP =
4 3
× 1011 (d)
σy 0 0.0015 0.006 equivalent plastic strain ǫp
0 0.00075 0.00525 equivalent plastic strain ǫp
Figure 1: Derivation of hardening diagram Related Element FUNC_USAGE.2D
One/Many
Description
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• The following checks are performed on the referenced stress-strain curves; if an inconsistency is detected, MADYMO will print the recommended values in the REPRINT file: DATA_TYPE="PLASTIC" (1) the yield stress at zero plastic strain in the stress-strain curve both under uniaxial as hydrostatic loading is checked against the specified initial yield stress defined under the parent element DATA_TYPE="TOTAL" (1) the initial slope in the stress-strain curve under uniaxial loading is checked against the initial modulus of elasticity defined under the parent element (2) the initial yield stress defined under the parent element is checked to match with a stress-strain point in the stress-strain curve under uniaxial loading (3) the tangential slopes in the stress-strain curve under uniaxial loading are checked to be smaller than the initial modulus of elasticity defined under the parent element (4) the initial slope in the stress-strain curve under hydrostatic loading is checked against the initial bulk modulus defined under the parent element (5) the initial yield stress defined under the parent element is checked to match with a stress-strain point in the stress-strain curve under hydrostatic loading
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HARDENING_DESHPFL.FUNC
(6) the tangential slopes in the stress-strain curve under hydrostatic loading are checked to be smaller than the initial bulk modulus defined under the parent element • A self-simular hardening model is obtained when a stress-strain function under hydrostatic loading is referenced. In this hardening model the increase of the instantaneous yield stress is given by: dσy = Ep t κ,t σ dep where EP is the instantaneous plastic tangent modulus and deP is the increase of the equivalent plastic strain. The instantaneous plastic tangent modulus EP is defined by: t t σe σe Ep = Hσ t κ t + Hpres t κ 1 − t σv σv with Hσ as the plasic tangent modulus derived from the yield stress curve under uniaxial loading referenced by HARDENING_SIGD_FUNC and Hpres as the plastic tangent modulus derived from the yield stress curve under hydrostatic loading referenced by HARDENING_PRES_FUNC. • A simplified hardening model is obtained when a stress-strain function under hydrostatic loading is not referenced. In this simplified hardening model the increase of the instantaneous yield stress is given by: dσy = Ep t κ dep with EP as the tangent modulus derived from the yield stress curve under uniaxial loading referenced by HARDENING_SIGD_FUNC. • The total yield stress is defined by:
t+∆t
σy = t σy + dσy
where t σy is the instantaneous yield stress with 0 σy = σ y0 as the initial yield stress defined under the parent element. • The definition of stress-strain characteristic in the yield stress function must be according to the used strains and stresses in the stress-strain formulation. In the table below the used strains and stresses are listed for available property types. Property type PROPERTY.SOLID*
stress-strain formulation -
Used strains logarithmic
Used stresses Cauchy
Examples
The hardening behaviour of the Deshpande-Fleck plasticity model is defined by two stress-strain functions: a stress-strain characteristic under uniaxial loading referenced by HARDENING_SIGD_FUNC and a stress-strain characteristic under hydrostatic loading referenced by HARDENING_PRES_FUNC. The stress-strain curves are specified as total uniaxial stress versus total uniaxial strain (uniaxial loading) and total mean stress versus total volumetric strain (hydrostatic loading) if DATA_TYPE="TOTAL". The stress-strain measure to be used in the stress-strain curves is dependent of the element Release 7.7
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type; for solid element types the stresses and strains are interpreted respectively as Cauchy stress and logarithmic strain.
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Element
HOLE.MODEL1
Parents
AIRBAG_CHAMBER MATERIAL.HOLE
HOLE.MODEL1
H
Description In this model, which is applicable only to Uniform Pressure and Gasflow-USM
simulations, the flow of gas through holes in the airbag fabric is approximated by a one-dimensional, quasi-steady, isentropic description. Attribute Type BLOCK_FLOW Real CDEX
Default
Unit
Description Gas outflow reduction factor(1,2)
Real
1.0
-
Discharge coefficient for the exhaust openings or area scale factor(3,4)
Real
0.0
N/m2
Over-pressure or pressure difference for opening the hole(5)
Real
0.0
s
Contiguous time interval for opening the hole
Real
0.0
s
Elapsed time for opening the hole after pressure condition is satisfied(3)
DPEX
DTEX DELTEX
SWITCH Ref
Ref to SWITCH.*. Switch which defines the start of hole opening evaluation(6)
SWITCH_SCALE Ref
Ref to SWITCH.*. Switch which defines the start of outflow scaling evaluation(7)
SCALE_FUNC Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Outflow scaling factor after activation of SWITCH_SCALE – factor [-] vs. time [s](8)
CDP_FUNC Ref
Ref to FUNCTION.XY. Discharge pressure function – discharge pressure coefficient [-] vs. pressure [N/m2 ]
CDT_FUNC Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Discharge time function – discharge time coefficient [-] vs. time [s](9)
1. Range: [0, 1]. 2. The gas outflow through those elements of the airbag that are in contact is reduced by multiplying it by a factor (1 - BLOCK_FLOW). This value overwrites the value specified in CONTROL_AIRBAG. 3. Range: [0, ∞). 4. The discharge coefficient CDEX can be used to account for the non-isentropic flow effects. If the area of the hole does not match the effective hole outflow area, this can also be Release 7.7
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adapted by multiplying the discharge coefficient by an area scale factor. Therefore values larger than 1 are allowed.
H
5. A hole opens and stays open (unless SWITCH_SCALE is specified) when the specified over-pressure level (w.r.t. the ambient air) or pressure difference (between two chambers) DPEX has been exceeded during a contiguous time interval DTEX. The actual opening occurs DELTEX s after this condition is satisfied. 6. When specified the evaluation of DTEX and DPEX starts after the switch has become TRUE. 7. After activation the hole closes immediately unless SCALE_FUNC is specified, in that case the outflow is multiplied by the value of that function. 8. Time zero in this function is the time point at which SWITCH_SCALE is activated, independent of the hole opening. If SWITCH_SCALE is not specified this function is obsolete. The outflow after activation of SWITCH_SCALE is multiplied by the value of this function. When this value becomes negative (e.g. due to extrapolation) the factor becomes zero. 9. The time function can be used to disable holes for a certain time period. Related Element One/Many HOLE_AREA.ACTUAL HOLE_AREA.REFERENCE HOLE_AREA.SCALE_ACTUAL HOLE_AREA.SCALE_REFERENCE One HOLE_SUBSEGMENT.AUTO HOLE_SUBSEGMENT.USER
Description
Area type.(1)
One
Used to select division of the hole segments into subsegments, to increase the accuracy of the outflow calculations.(2)
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
FUNC_USAGE.2D
1. Area that is used for outflow. When nothing is selected, HOLE_AREA.ACTUAL is used by default. 2. Applicable to Gasflow-USM only. When omitted, no hole subsegments are created. Additional Information
• The discharge coefficient CDex is defined by: CDex = CDEX × CDP_FUNC × CDT_FUNC. If CDP_FUNC or CDT_FUNC is not specified it will be set to 1.0. • General information about hole modelling can be found under element AIRBAG_CHAMBER. • CDT_FUNC is a time-dependent function. If OUTFLOW_SWITCH is defined in CONTROL_AIRBAG, the function will treat the trigger-time as t=0, the function cannot be of 288
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HOLE.MODEL1
type CONTROL_SIGNAL, because no function values at previous time points are available. If OUTFLOW_SWITCH is not defined, the function will use simulation time. • See table at AIRBAG_CHAMBER for availability of this feature in combination with the different gas flow models. Examples
This hole will open 0.001 s when the relative pressure in the chamber exceeds 0.5E5 Pa over a period of 0.002 s.
"0.8" "0.002 " "0.001 " "0.5E5 "
This hole will open 0.001 s after the relative pressure in the chamber exceeds 0.5E5 Pa over a period of 0.002 s. The first 0.0025 s of the pressure signal is not evaluated for this criterion. (assuming that the airbag is triggered at t = 0.0)
Hole opening will be based on switch /hole_open_swi. This switch is TRUE after the absolute pressure in the chamber exceeds 1.5E5 Pa over a period of 0.002 s, delayed by a period of 0.001 s.
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/>
Assume that: the measured area (of the untensioned hardware airbag) is 0.034 m2 , the area of the part in the reference state is 0.036 m2 ; the actual area at a certain time point is 0.041 m2 . Using method ACTUAL:
H
The effective outflow area equals actual area Aeffective = 0.041 (actual updated value) Using method REFERENCE:
The effective outflow area equals reference area Aeffective = 0.036 (fixed value) Using method SCALE_REFERENCE:
The area scale factor is calculated as the ratio of the user-defined area and the reference area. The effective outflow area is calculated as area scale factor times reference area Aeffective = (0.034/0.036 ) * 0.036 Since method SCALE_REFERENCE effectively uses user-defined area, this can also be written as : Aeffective = 0.034 (fixed value), i.e. the effective outflow area equals user-defined area. Using method SCALE_ACTUAL:
The area scale factor is calculated as the ratio of the user-defined area and the reference area. The effective outflow area is calculated as area scale factor times actual area Aeffective = (0.034/0.036 ) * 0.041 (actual updated value) 290
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Element
HOLE.MODEL2
Parents
AIRBAG_CHAMBER MATERIAL.HOLE
HOLE.MODEL2
H
Description In this model, which is applicable only to Uniform Pressure and Gasflow-USM
simulations, the mass flow rate of gas through holes in the airbag fabric is approximated by defined function characteristics for specific leakage factors. Attribute Type BLOCK_FLOW Real CDEX
Default
Unit
Description Gas outflow reduction factor(1,2)
Real
1.0
-
Discharge coefficient for the exhaust openings or area scale factor(3,4)
Real
0.0
N/m2
Over-pressure or pressure difference for opening the hole(5)
Real
0.0
s
Contiguous time interval for opening the hole
Real
0.0
s
Elapsed time for opening the hole after pressure condition is satisfied(3)
DPEX
DTEX DELTEX
SWITCH Ref
Ref to SWITCH.*. Switch which defines the start of hole opening evaluation(6)
SWITCH_SCALE Ref
Ref to SWITCH.*. Switch which defines the start of outflow scaling evaluation(7)
SCALE_FUNC Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Outflow scaling factor after activation of SWITCH_SCALE – factor [-] vs. time [s](8)
Ref
Ref to FUNCTION.XY. Specific leakage rate function – specific leakage rate [m /s] vs. pressure [N/m 2 ]
Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Mass flow rate scale function – scale factor [-] vs. time [s](9)
PF_FUNC
TF_FUNC
1. Range: [0, 1]. 2. The gas outflow through those elements of the airbag that are in contact is reduced by multiplying it by a factor (1 - BLOCK_FLOW). This value overwrites the value specified in CONTROL_AIRBAG. 3. Range: [0, ∞). 4. The discharge coefficient CDEX can be used to account for the non-isentropic flow effects. If the area of the hole does not match the effective hole outflow area, this can also be Release 7.7
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adapted by multiplying the discharge coefficient by an area scale factor. Therefore values larger than 1 are allowed.
H
5. A hole opens and stays open (unless SWITCH_SCALE is specified) when the specified over-pressure level (w.r.t. the ambient air) or pressure difference (between two chambers) DPEX has been exceeded during a contiguous time interval DTEX. The actual opening occurs DELTEX s after this condition is satisfied. 6. When specified the evaluation of DTEX and DPEX starts after the switch has become TRUE. 7. After activation the hole closes immediately unless SCALE_FUNC is specified, in that case the outflow is multiplied by the value of that function. 8. Time zero in this function is the time point at which SWITCH_SCALE is activated, independent of the hole opening. If SWITCH_SCALE is not specified this function is obsolete. The outflow after activation of SWITCH_SCALE is multiplied by the value of this function. When this value becomes negative (e.g. due to extrapolation) the factor becomes zero. 9. The time function can be used to disable holes for a certain time period. Related Element One/Many HOLE_AREA.ACTUAL HOLE_AREA.REFERENCE HOLE_AREA.SCALE_ACTUAL HOLE_AREA.SCALE_REFERENCE One HOLE_SUBSEGMENT.AUTO HOLE_SUBSEGMENT.USER
Description
Area type.(1)
One
Used to select division of the hole segments into subsegments, to increase the accuracy of the outflow calculations.(2)
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
FUNC_USAGE.2D
1. Area that is used for outflow. When nothing is selected, HOLE_AREA.ACTUAL is used by default. 2. Applicable to Gasflow-USM only. When omitted, no hole subsegments are created. Additional Information
• The mass outflow rate due to holes is calculated as: ˙ ex = ρCDex fpf (∆p) ftf (t) A m • If PF_FUNC or TF_FUNC is not specified it will be set to 1.0.
• General information about hole modelling can be found under element AIRBAG_CHAMBER.
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HOLE.MODEL2
• TF_FUNC is a time-dependent function. If OUTFLOW_SWITCH is defined in CONTROL_AIRBAG, the function will treat the trigger-time as t=0, the function cannot be of type CONTROL_SIGNAL, because no function values at previous time points are available. If OUTFLOW_SWITCH is not defined, the function will use simulation time. • See table at AIRBAG_CHAMBER for availability of this feature in combination with the different gas flow models. Examples
Example of hole outflow using a specific leakage rate - pressure function. ... | XI YI | -1.0E +03 1.0 0.0E +00 1.0 1.0E +04 1.3 1.0E +06 1.5
For other examples, see HOLE.MODEL1.
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H
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Element
HOLE.MODEL3
Parents
AIRBAG_CHAMBER MATERIAL.HOLE
Description Model for establishing a flow connection between two airbag chambers in a
Gasflow-USM simulation. Attribute Type BLOCK_FLOW Real CDEX
Default
Unit
Description Gas outflow reduction factor(1,2)
Real
1.0
-
Discharge coefficient for the exhaust openings or area scale factor(3,4)
Real
0.0
N/m2
Over-pressure or pressure difference for opening the hole(5)
Real
0.0
s
Contiguous time interval for opening the hole
Real
0.0
s
Elapsed time for opening the hole after pressure condition is satisfied(3)
DPEX
DTEX DELTEX
SWITCH Ref
Ref to SWITCH.*. Switch which defines the start of hole opening evaluation(6)
SWITCH_SCALE Ref
Ref to SWITCH.*. Switch which defines the start of outflow scaling evaluation(7)
SCALE_FUNC Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Outflow scaling factor after activation of SWITCH_SCALE – factor [-] vs. time [s](8)
Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Mass outflow rate scale function – scale factor [-] vs. time [s](9)
TF_FUNC
1. Range: [0, 1]. 2. The gas outflow through those elements of the airbag that are in contact is reduced by multiplying it by a factor (1 - BLOCK_FLOW). This value overwrites the value specified in CONTROL_AIRBAG. 3. Range: [0, ∞). 4. The discharge coefficient CDEX can be used to account for the non-isentropic flow effects. If the area of the hole does not match the effective hole outflow area, this can also be adapted by multiplying the discharge coefficient by an area scale factor. Therefore values larger than 1 are allowed. 5. A hole opens and stays open (unless SWITCH_SCALE is specified) when the specified over-pressure level (w.r.t. the ambient air) or pressure difference (between two chambers) 294
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DPEX has been exceeded during a contiguous time interval DTEX. The actual opening occurs DELTEX s after this condition is satisfied. 6. When specified the evaluation of DTEX and DPEX starts after the switch has become TRUE. 7. After activation the hole closes immediately unless SCALE_FUNC is specified, in that case the outflow is multiplied by the value of that function. 8. Time zero in this function is the time point at which SWITCH_SCALE is activated, independent of the hole opening. If SWITCH_SCALE is not specified this function is obsolete. The outflow after activation of SWITCH_SCALE is multiplied by the value of this function. When this value becomes negative (e.g. due to extrapolation) the factor becomes zero. 9. The time function can be used to disable holes for a certain time period. Related Element One/Many HOLE_AREA.ACTUAL HOLE_AREA.REFERENCE HOLE_AREA.SCALE_ACTUAL HOLE_AREA.SCALE_REFERENCE One HOLE_SUBSEGMENT.AUTO HOLE_SUBSEGMENT.USER
Description
Area type.(1)
One
Used to select division of the hole segments into subsegments, to increase the accuracy of the outflow calculations.(2)
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
FUNC_USAGE.2D
1. Area that is used for outflow. When nothing is selected, HOLE_AREA.ACTUAL is used by default. 2. When omitted, no hole subsegments are created. Additional Information
• This model can be used only with the Gasflow-USM method (see table in the description of the AIRBAG_CHAMBER element). • The transport of gas through the hole element is described on FE segment level. The flow contributions depend on the local state of the gas in the cells adjacent to the hole FE segments. • TF_FUNC is a time-dependent function. If OUTFLOW_SWITCH is defined in CONTROL_AIRBAG, the function will treat the trigger-time as t=0, the function cannot be of type CONTROL_SIGNAL, because no function values at previous time points are available. If OUTFLOW_SWITCH is not defined, the function will use simulation time. • If TF_FUNC is not specified it will be set to 1.0. Release 7.7
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• Using hole model3 in combination with the ANTI_THROUGH_FLOW option can locally affect the ANTI_THROUGH_FLOW algorithm, because hole model 3 will override deactivation of cells around hole segments. Examples
In this example, the hole area is scaled with a factor of 0.8 (to compensate for the difference between physical area and the area in the mesh). The hole is disabled (no gas flowing through it) from t=0.003 to t=0.005. Note that this time is relative when an OUTFLOW_SWITCH is defined in CONTROL_AIRBAG. ... | XI YI | 0.0 1.0 0 .00299 1.0 0.003 0.0 0.005 0.0 0 .00501 1.0 1.0 1.0
For other examples, see HOLE.MODEL1.
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Element
HOLE_AREA.ACTUAL
Parents
HOLE.MODEL1 HOLE.MODEL2 HOLE.MODEL3
HOLE_AREA.ACTUAL
H
Description Actual hole area used for outflow. Additional Information
• Note that all areas mentioned are areas of the part that contains this material. When HOLE.MODEL* is specified under AIRBAG_CHAMBER, a virtual part will be created. • The actual area is used for outflow calculation Aeffective = Aactual(t) * Bactual (blockflow) Aactual (t) is the actual area of the part at time t. Bactual (blockflow) is the actual blockflow, depending on both blockflow factor and the actual contact state of the nodes of this part.
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H
Element
HOLE_AREA.REFERENCE
Parents
HOLE.MODEL1 HOLE.MODEL2 HOLE.MODEL3
MADYMO Reference manual
Description Reference hole area used for outflow. Additional Information
• Note that all areas mentioned are areas of the part that contains this material. When HOLE.MODEL* is specified under AIRBAG_CHAMBER, a virtual part will be created. • The reference area is used for outflow calculation Aeffective = A0 ref * Bactual (blockflow) A0 ref is the area of the part in the reference state. Bactual (blockflow) is the actual blockflow, depending on both blockflow factor and the actual contact state of the nodes of this part.
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HOLE_AREA.SCALE_ACTUAL
Element
HOLE_AREA.SCALE_ACTUAL
Parents
HOLE.MODEL1 HOLE.MODEL2 HOLE.MODEL3
H
Description Scaled actual hole area used for outflow.
Attribute AREA
Type Real
Default
Unit
Description
m2
User specified area for this part(1)
1. Range: (0, ∞). Additional Information
• Note that all areas mentioned are areas of the part that contains this material. When HOLE.MODEL* is specified under AIRBAG_CHAMBER, a virtual part will be created. • The effective area used for outflow calculation equals the actual area, scaled with a factor Auser /A0 ref . Aeffective = (Auser /A0 ref ) * Aactual (t) * Bactual (blockflow) Auser is the user specified area. A0 ref is the area of the part in the reference state. Aactual (t) is the actual area of the part at time t. Bactual (blockflow) is the actual blockflow, depending on both blockflow factor and the actual contact state of the nodes of this part.
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Element
HOLE_AREA.SCALE_REFERENCE
Parents
HOLE.MODEL1 HOLE.MODEL2 HOLE.MODEL3
Description Scaled reference hole area used for outflow.
Attribute AREA
Type Real
Default
Unit
Description
m2
User specified area for this part(1)
1. Range: (0, ∞). Additional Information
• Note that all areas mentioned are areas of the part that contains this material. When HOLE.MODEL* is specified under AIRBAG_CHAMBER, a virtual part will be created. • The effective area used for outflow calculation equals the reference area, scaled with a factor Auser /A0 ref . Aeffective = (Auser /A0 ref ) * A0 ref * Bactual (blockflow) = Auser * Bactual(blockflow) Auser is the user specified area. A0 ref is the area of the part in the reference state. Bactual (blockflow) is the actual blockflow, depending on both blockflow factor and the actual contact state of the nodes of this part.
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Element
HOLE_SUBSEGMENT.AUTO
Parents
HOLE.MODEL1 HOLE.MODEL2 HOLE.MODEL3
HOLE_SUBSEGMENT.AUTO
H
Description When using Gasflow-USM, hole segments are divided into subsegments to in-
crease the accuracy of the calculation of the flow through these holes. Additional Information
• Quadrangular hole segments are divided into two triangular hole segments to begin with. MADYMO automatically calculates the number of subdivisions of each triangular hole segment side using VOLUME_REF specified under AIRBAG_CHAMBER. It is calculated in such a way that the faces of the Euler cells have similar dimensions as the hole subsegments when the bag is fully inflated. VOLUME_REF should be specified for both chambers if flow through holes between 2 chambers is modelled. • Hole subsegments are not used for Uniform Pressure airbag calculations.
• Hole segments can originate from FE elements or can be automatically generated when AUTO_VOLUME is used. Examples
The number of subdivisions of each (triangular) hole segment side is calculated by MADYMO, using VOLUME_REF under AIRBAG_CHAMBER. ...
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HOLE_SUBSEGMENT.USER
H
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Element
HOLE_SUBSEGMENT.USER
Parents
HOLE.MODEL1 HOLE.MODEL2 HOLE.MODEL3
Description When using Gasflow-USM, hole segments are divided into subsegments to in-
crease the accuracy of the calculation of the flow through these holes. Attribute Type Default SUBSEGMENT_DIV Int
Unit
Description Number of subdivisions of each triangular segment side to create subsegments(1)
1. Range: [1, ∞). Additional Information
• Quadrangular hole segments are divided into two triangular segments to begin with. Each side of a triangular hole segment is divided into SUBSEGMENT_DIV subdivisions, creating (SUBSEGMENT_DIV)2 subsegments for each triangular hole segment. • Hole subsegments are not used for Uniform Pressure airbag calculations.
• Hole segments can originate from FE elements or can be automatically generated when AUTO_VOLUME is used. Examples
Each triangular hole segment is subdivided into 22 =4 subsegments. Each quadrangular hole segment is divided into 2 * 22 = 8 subsegments.
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INCLUDE
Element
INCLUDE
Parents
AIRBAG_CHAMBER FE_MODEL GROUP_DEFINE INFLATOR.DEF MADYMO PRODUCT_INFORMATION SYSTEM.MODEL SYSTEM.REF_SPACE TYPEDEFS
I
Description Specifies a MADYMO include file to be read in. The model data contained in
the include file will be inserted into the analysis at the location of the INCLUDE command. Attribute FILE
Type
Default
Unit
String
Description Filename(1,2)
1. The name of the included file will be printed in the .log file. 2. For input files, if no path is specified in the file name, MADYMO searches in the directories specified by the environment variable MADINCPATH and the standard MADYMO directories. Different directories can be specified by MADINCPATH separated with a colon (:) on LINUX and a semicolon (;) on Windows platforms. If a path is specified, it is preferred to use forward slashes as path separator to make sure that the model will be able to run on both Linux and Windows platforms. Additional Information
• The included file must have a MADYMO_INCLUDE root element. • An include must only contain one or more complete elements. It is not possible to include, for example, only a portion of the text for an element, where the rest is in the parent file. • The XML element ordering rules also apply to this XML element, and may restrict where it can legally be used. Only optional XML elements with cardinality ’many’ can be included. Examples
The files nodes.xml and elements.xml contain: ...
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Element
INFLATOR.DEF
Parents
AIRBAG_CHAMBER
Description Injection of gas (mixture) into an airbag chamber.
Attribute ID
Type
Default
Int
Unit
Description Numerical identifier
NAME Name OUTFLOW_TYPE String SONIC MASS_FLOW_RATE_FUNC Ref
Alphanumerical identifier(1) Type of inflator flow model(2) Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Mass flow rate function – mass flow rate [kg/s] vs. time [s](3,4)
TEMP_FUNC Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Inflator exit temperature function – temperature [K] vs. time [s](3,5,6)
EXIT_PRES_FUNC Ref POLYTROPIC_CONSTANT 1.0 Real SWITCH Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Inflator exit pressure function - pressure [N/m2 ] vs. time [s](3,6,7) Polytropic constant(8) Ref to SWITCH.*. Inflator triggering switch
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [SONIC VARIABLE]. 3. The following combinations of functions are valid (combinations indicated per row):
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VARIABLE
UP Gasflow-USM UP Gasflow-USM
PC=1(∗) PC>1(∗∗)
TEMP FUNC
SONIC
INFLATOR.DEF
MASS FLOW RATE FUNC
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× × × × ×
× × × × ×
EXIT PRES FUNC
I
× × ×
POLYTROPIC CONSTANT = 1 POLYTROPIC CONSTANT > 1 4. The mass flow rate stops at the last time point specified after triggering of inflator. So, no extrapolation will take place. ∗
∗∗
5. The function defines the gas temperature in the inflator exit plane. 6. When used in an Uniform Pressure simulation the following applies: For POLYTROPIC_CONSTANT >1 the EXIT_PRES_FUNC must be defined to calculate the supply temperature Ts (see Theory manual and Table). In the limit of isothermal expansion (POLYTROPIC_CONSTANT = 1) the supply temperature Ts is identical to the gas temperature in the inflator exit plane Texit given by TEMP_FUNC. In case of isothermal expansion and SONIC specified as OUTFLOW_TYPE, EXIT_PRES_FUNC can be omitted. 7. The function defines the gas pressure in the inflator exit plane. 8. Applicable only to Uniform Pressure method. The valid range is 1 ≤ POLYTROPIC_CONSTANT ≤ γ with γ representing the ratio of the constant pressure heat capacity Cp and the constant volume heat capacity Cv of the inflator gas mixture. The limiting values of 1 and γ represent isothermal and isentropic expansion, respectively. Related Element One/Many GAS_MIXTURE.CONSTANT One STATE.INFLATOR One JET.* Many GAS_MIXTURE.VARIABLE
Description Gas mixture with a fixed composition. Inflator state change. Gas jet definition.(1)
Many
Gas mixture at a fixed time after inflator triggering.
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
FUNC_USAGE.2D
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INFLATOR.DEF
Related Element INCLUDE
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One/Many
Description
Many
Includes named file content at current location.
1. For multiple jets the mass flow rate is distributed over the jets weighted by jet-area. Additional Information
• It is not possible to define both GAS_MIXTURE.CONSTANT and GAS_MIXTURE.VARIABLE(s). However, one of them is required. • Time zero in all functions is the time point at which the inflator is triggered.
• SWITCH.* or STATE.INFLATOR specifies which condition or combination of conditions is used to activate the igniter of the inflator. If no SWITCH is defined, and no STATE.INFLATOR (either as child of INFLATOR.* or as child of MADYMO) is defined, the inflator will never be activated. • The inflator exit plane is assumed to be the minimum flow cross section between inflator and airbag. For the SONIC flow model it is assumed that the flow in the exit plane is choked and that the flow state is defined by two functions (for the UP method EXIT_PRES_FUNC is not required for the flow state in the exit plane but to calculate the polytropic expansion with POLYTROPIC_CONSTANT>1). For the VARIABLE flow model the user must provide three functions. The flow in the exit plane can be either subsonic or supersonic depending on the current function values. In case of supersonic flow, all three functions are used to define the flow state. In case of subsonic flow, only two functions are used to define the flow state because a third state variable is extrapolated from the flow solution in the airbag to the inflator exit plane (upstream effect). Examples
Example of an inflator definition for a Uniform Pressure simulation, using the Idelchik jet model. ...
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INFLATOR.DEF
BODY = "/ Airbag_sys / AirbagModule_bod " CENTRE = "0.02 0.0 0.0" OUTFLOW_DIR = "1.0 0.0 0.0" >
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Element
INFLATOR.REF
Parents
AIRBAG_CHAMBER
Description Injection of gas (mixture) into an airbag chamber with includable characteristics.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name INFLATOR_CHAR Ref
Ref to INFLATOR_CHAR. Reference to inflator characteristic
Ref
Ref to SWITCH.*. Inflator triggering switch
SWITCH
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Related Element STATE.INFLATOR
One/Many
Description
One
Inflator state change.
Many
Gas jet definition.(1)
JET.*
1. For multiple jets the massflow rate is distributed over the jets weighted by jet-area. Additional Information
• All properties that are defined in INFLATOR_CHAR are used for this INFLATOR.
• SWITCH.* or STATE.INFLATOR specifies which condition or combination of conditions is used to activate the igniter of the inflator. If no SWITCH is defined, and no STATE.INFLATOR (either as child of INFLATOR.* or as child of MADYMO) is defined, the inflator will never be activated. Examples
This example shows how to pack all airbag characteristics together and put them in an include file. ... ... 308
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inflator_char_supplierA.xml contains: ... ... Release 7.7
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Element
INFLATOR_CHAR
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
INFLATOR_CHAR
I
Description Inflator characteristic.
Attribute ID
Type
Default
Int
Unit
Description Numerical identifier
NAME Name OUTFLOW_TYPE String SONIC MASS_FLOW_RATE_FUNC Ref
Alphanumerical identifier(1) Type of inflator flow model(2) Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Mass flow rate function – mass flow rate [kg/s] vs. time [s](3,4)
TEMP_FUNC Ref
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Inflator exit temperature function – temperature [K] vs. time [s](3,5,6)
EXIT_PRES_FUNC Ref POLYTROPIC_CONSTANT 1.0 Real
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Inflator exit pressure function - pressure [N/m2 ] vs. time [s](3,6,7) Polytropic constant(8)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [SONIC VARIABLE]. 3. The following combinations of functions are valid (combinations indicated per row):
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SONIC
VARIABLE
UP Gasflow-USM UP Gasflow-USM
PC=1(∗) PC>1(∗∗)
× × × × ×
× × × × ×
EXIT PRES FUNC
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TEMP FUNC
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MASS FLOW RATE FUNC
INFLATOR_CHAR
× × ×
POLYTROPIC CONSTANT = 1 POLYTROPIC CONSTANT > 1 4. The mass flow rate stops at the last time point specified after triggering of inflator. So, no extrapolation will take place. ∗
∗∗
5. The function defines the gas temperature in the inflator exit plane. 6. When used in an Uniform Pressure simulation the following applies: For POLYTROPIC_CONSTANT >1 the EXIT_PRES_FUNC must be defined to calculate the supply temperature Ts (see Table above). In the limit of isothermal expansion (POLYTROPIC_CONSTANT = 1) the supply temperature Ts is identical to the gas temperature in the inflator exit plane Texit given by TEMP_FUNC. In case of isothermal expansion and SONIC specified as OUTFLOW_TYPE, EXIT_PRES_FUNC can be omitted. 7. The function defines the gas pressure in the inflator exit plane. 8. Applicable only to Uniform Pressure method. The valid range is 1 ≤ POLYTROPIC_CONSTANT ≤ γ with γ representing the ratio of the constant pressure heat capacity Cp and the constant volume heat capacity Cv of the inflator gas mixture. The limiting values of 1 and γ represent isothermal and isentropic expansion, respectively. Related Element One/Many GAS_MIXTURE.CONSTANT One GAS_MIXTURE.VARIABLE
Description Gas mixture with a fixed composition.
Many
Gas mixture at a fixed time after inflator triggering.
Many
Specify a gas (molecular weight and specific heat coefficients).
Many
Function.
GAS
FUNCTION.*
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Related Element FUNC_USAGE.2D
INFLATOR_CHAR
One/Many
Description
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Examples
INFLATOR_CHAR can be defined under MADYMO, SYSTEM or FE_MODEL and contains all inflator characteristics, except switches and jets. Note that GAS and FUNCTION can be defined on multiple levels. When defined as children of either the parent of INFLATOR_CHAR or INFLATOR_CHAR itself, the reference can be without a path. Release 7.7
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Element
INITIAL.FE_MODEL
Parents
SYSTEM.MODEL SYSTEM.REF_SPACE
INITIAL.FE_MODEL
I
Description Initial position, orientation, and velocity of an FE model.
Attribute BODY
Type
Default
Unit
Ref FE_MODEL
Ref to BODY.*.
(1)
Ref to FE_MODEL. Selection of the relevant FE model
Ref POS Real[3]
Description
0.0 0.0 0.0
m
The coordinates of the origin with respect to the local coordinate system of BODY
ORIENT Ref
Ref to ORIENTATION.*. Orientation reference
Real[3]
Linear velocity expressed in the coordinate system of the reference space or the specified body coordinate system
VEL 0.0 0.0 0.0
m/s
REF_NODE Int
Ref to COORDINATE.*. Reference node(2,3)
1. If BODY is not specified the reference space is used. 2. Range: [1, ∞). 3. All nodes are translated in the same way as the reference node and will have the same initial linear velocity as this node. When REF_NODE is not defined the origin (0,0,0) of the FE Model is used as reference instead of the coordinates of a node. Additional Information
• The initial position of the finite element coordinate system is by default parallel to the reference space coordinate system. If a body is referred the body local coordinate system is used instead. When using ORIENT this orientation can be changed. • INITIAL.FE_MODEL may be used in combination with INITIAL.PART. Then the coordinates are first adjusted for INITIAL.FE_MODEL and then INITIAL.PART. • INITIAL.FE_MODEL has no effect on the coordinates of nodes which are used in BODY.DEFORMABLE or BODY.FLEXIBLE_BEAM. • INITIAL.FE_MODEL will also adjust the directions of MATERIALs and ADD_INERTIA of RIGID_ELEMENTs. Examples
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Element
INITIAL.JOINT_POS
Parents
MADYMO SYSTEM.MODEL
INITIAL.JOINT_POS
I
Description Initial positioning by joint position degrees of freedom.
Attribute JOINT
Type
Default
Unit
Description Ref to JOINT.*.
Ref D1 Real
0.0
m
Translation in joint ξ-direction
Real
0.0
m
Translation in joint η-direction
Real
0.0
m
Translation in joint ζ-direction
Real
0.0
rad
Rotation about the joint ξ-axis(1)
Real
0.0
rad
Rotation about the joint η-axis
Real
0.0
rad
Rotation about the joint ζ-axis
Real
0.0
-, m, rad
Joint position degree of freedom 1(2)
Real
0.0
-, m, rad
Joint position degree of freedom 2
Real
0.0
-, m
Joint position degree of freedom 3
Real
0.0
-
Joint position degree of freedom 4
Real
0.0
m
Joint position degree of freedom 5
Real
0.0
m
Joint position degree of freedom 6
Real
0.0
m
Joint position degree of freedom 7
D2 D3 R1 R2 R3 Q1 Q2 Q3 Q4 Q5 Q6 Q7 ORIENT Ref
Ref to ORIENTATION.*. Orientation reference(3)
1. For a joint of type FREE or SPHE, the successive rotation sequence is first the rotation R1 about the joint ξ-axis, followed by the rotation R2 about the new joint η-axis and finally the rotation R3 about the new joint ζ-axis 2. For a joint of type FREE, FREE_ROT_DISP or SPHE, an identity rotation matrix is obtained by setting joint degree of freedom Q1 equal to 1.0, and Q2, Q3 and Q4 to 0.0 3. ORIENT can only be used for the joint types FREE, FREE_ROT_DISP and SPHE. It overwrites initial orientations specified with R1, R2, R3 or Q1, Q2, Q3, Q4. Additional Information
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• This element overwrites any initial joint position degrees of freedom specified under JOINT.*.
I
• The definition of the joint degrees of freedom can be found in the Theory Manual, Section "Kinematic joints". • If one of the joint position degrees of freedom Q1, ..., Q7 is not equal to zero then the values of D1, D2, D3 and R1, R2, R3 will be overwritten. • To position the root body of one system relative to a body of a second system, simply create a joint at the MADYMO level between the two systems and specify the appropriate joint initial conditions.
•
Examples
JOINT. BRAC CYLI FREE FREE BRYANT FREE EULER FREE ROT DISP PLAN REVO REVO TRAN SPHE SPHE BRYANT SPHE EULER TRAN TRAN REVO TRAN UNIV UNIV UNIV TRAN
Joint Position Degrees of Freedom Q1 Q2 Q3 Q4 Q5 Q6 Q7
q0
1 1 q0
q0
s q1
2 2 q1 s
s q1
1 1
2 2
1 1 1
2 2 2
s
s
3 3
q2
q3 s s q3
q2
q3
q2 s
3 3
s s s s
s s s s
s s
s s
Or:
Or:
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INITIAL.JOINT_POS
DESCRIPTION = " Orientation for FREE or SPHE joints only " JOINT = " Free_jnt " D1 = "1.0" D2 = " -1.0" ORIENT = " Free_Jt_IC_ori "
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/>
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Element
INITIAL.JOINT_STATUS
Parents
MADYMO SYSTEM.MODEL
Description Initial joint status.
Attribute JOINT
Type
Default
Unit
Description Ref to JOINT.*.
Ref STATUS String
FREE
Initial status of the joint(1,2)
1. Domain: [FREE LOCK INITIAL]. 2. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Additional Information
• This status overrides the joint attribute STATUS specified under JOINT. Examples
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Element
INITIAL.JOINT_VEL
Parents
MADYMO MADYMO_RESTART SYSTEM.MODEL
INITIAL.JOINT_VEL
I
Description Initial velocity by joint velocity degrees of freedom.
Attribute JOINT
Type
Default
Unit
Description Ref to JOINT.*.
Ref V1 Real
0.0
m/s
Initial linear velocity in joint ξ-direction
Real
0.0
m/s
Initial linear velocity in joint η-direction
Real
0.0
m/s
Initial linear velocity in joint ζ-direction
Real
0.0
rad/s
Initial angular velocity about the joint ξ-axis
Real
0.0
rad/s
Initial angular velocity about the joint η-axis
Real
0.0
rad/s
Initial angular velocity about the joint ζ-axis
Real
0.0
-, m/s, rad/s
Joint velocity degree of freedom 1
Real
0.0
-, m/s, rad/s
Joint velocity degree of freedom 2
Real
0.0
-, m/s, rad/s
Joint velocity degree of freedom 3
Real
0.0
-, m/s, rad/s
Joint velocity degree of freedom 4
Real
0.0
-, m/s, rad/s
Joint velocity degree of freedom 5
Real
0.0
-, m/s, rad/s
Joint velocity degree of freedom 6
V2 V3 W1 W2 W3 QD1 QD2 QD3 QD4 QD5 QD6
Additional Information
• If one of the joint velocity degrees of freedom QD1, ..., QD6 is not equal to zero, then the specified values for V1, V2, V3 and W1, W2, W3 will be overwritten. • If STATUS = LOCK, these quantities do not have to be specified because they are automatically set to zero. • The variables W1, W2, W3 represent the angular velocities with respect to the joint coordinate system for the joint types FREE and SPHE. Release 7.7
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•
Examples
JOINT. BRAC CYLI FREE FREE BRYANT FREE EULER FREE ROT DISP PLAN REVO REVO TRAN SPHE SPHE BRYANT SPHE EULER TRAN TRAN REVO TRAN UNIV UNIV UNIV TRAN
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Joint Velocity Degrees of Freedom QD1 QD2 QD3 QD4 QD5 QD6 _ ! _ 1 _ 1 ! _ _ _ ! _ 1 _ 1
s_
! _ 2 _ 2 !
! _ 3 _ 3 !
s_
s_
s_
! _ 2 _ 2
s_
s_
s_
s_
s_
s_
s_ s_
s_ s_
s_ s_
! _ 3 _ 3
s_
_ _ 1 _ 1 _ 1
s_
_ 2 _ 2 _ 2
s_ s_
Or
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Element
INITIAL.NODE_DISP
Parents
FE_MODEL
INITIAL.NODE_DISP
I
Description Initial nodal displacement.
Attribute Type NODE_LIST
Default
Unit
Description Ref to COORDINATE.*. List of numerical node references
iList NODE_LIST_EXCL
Ref to COORDINATE.*. List of numerical node references to be removed from the NODE_LIST
iList GROUP_LIST
Ref to GROUP_FE. List of groups containing objects
List GROUP_LIST_EXCL
Ref to GROUP_FE. List of groups containing objects to be removed from the GROUP_LIST
List DX Real
0.0
m
Initial displacement in X-direction of the coordinate system in which the node is specified
Real
0.0
m
Initial displacement in Y-direction of the coordinate system in which the node is specified
Real
0.0
m
Initial displacement in Z-direction of the coordinate system in which the node is specified
Real
0.0
rad
Initial rotation about X-direction of the coordinate system in which the node is specified
Real
0.0
rad
Initial rotation about Y-direction of the coordinate system in which the node is specified
Real
0.0
rad
Initial rotation about Z-direction of the coordinate system in which the node is specified
DY
DZ
RX
RY
RZ
Additional Information
• INITIAL.NODE_DISP may be used in combination with INITIAL.FE_MODEL, in which case the displacements will be added. Release 7.7
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Examples
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Element
INITIAL.NODE_VEL
Parents
FE_MODEL
INITIAL.NODE_VEL
I
Description Initial nodal velocity.
Attribute Type NODE_LIST
Default
Unit
Description Ref to COORDINATE.*. List of numerical node references
iList NODE_LIST_EXCL
Ref to COORDINATE.*. List of numerical node references to be removed from the NODE_LIST
iList GROUP_LIST
Ref to GROUP_FE. List of groups containing objects
List GROUP_LIST_EXCL
Ref to GROUP_FE. List of groups containing objects to be removed from the GROUP_LIST
List VX Real
0.0
m/s
Initial velocity in reference space X-direction
Real
0.0
m/s
Initial velocity in reference space Y-direction
Real
0.0
m/s
Initial velocity in reference space Z-direction
Real
0.0
rad/s
Initial rotational velocity about the reference space X-axis
Real
0.0
rad/s
Initial rotational velocity about the reference space Y-axis
Real
0.0
rad/s
Initial rotational velocity about the reference space Z-axis
VY VZ WX
WY
WZ
Additional Information
• INITIAL.NODE_VEL may be used in combination with INITIAL.FE_MODEL, in which case the contributions will be added. Examples
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INITIAL.PART
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Element
INITIAL.PART
Parents
FE_MODEL
Description Initial position and orientation of parts of an FE model.
Attribute BODY
Type
Default
Unit
Ref PART_LIST List PART_LIST_EXCL
Ref to BODY.*.
(1)
Ref to PART. List of parts(2) Ref to PART. List of parts to be removed from the PART_LIST
List REF_NODE Int POS Real[3]
Description
Ref to COORDINATE.*. Reference node(3,4) 0.0 0.0 0.0
m
The coordinates of the origin with respect to the local coordinate system of BODY
ORIENT Ref
Ref to ORIENTATION.*. Orientation reference
1. If BODY is not specified the reference space is used. 2. INITIAL.PART is applied for all the nodes connected to the parts selected in the PART_LIST. 3. Range: [1, ∞). 4. This node can be any node. It does not have to be one referred to in PART_LIST. All nodes are translated in the same way as the reference node. When REF_NODE is not defined the origin (0,0,0) of the FE Model is used as reference instead of the coordinates of a node. Additional Information
• A node can only belong to one INITIAL.PART. • INITIAL.PART will also adjust the directions of MATERIALs and ADD_INERTIA of RIGID_ELEMENTs. • INITIAL.PART may be used in combination with INITIAL.FE_MODEL. Then the coordinates are first adjusted for INITIAL.FE_MODEL followed by INITIAL.PART. • INITIAL.PART has no effect on the coordinates of nodes which are related to BODY.DEFORMABLE or BODY.FLEXIBLE_BEAM. Examples
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Element
INITIAL.REF_SPACE
Parents
MADYMO
INITIAL.REF_SPACE
Description Initial position of the reference space with respect to the global space, in order to
position a MADYMO model with respect to an external FE model in a coupled simulation. Attribute POS
Type
Real[3]
Default
Unit
Description
0.0 0.0 0.0
m
The coordinates of the origin of the reference space coordinate system with respect to the global coordinate system
Additional Information
• The reference space coordinate system coincides, by default, with the global coordinate system. When using POS, the position of the origin of the reference space coordinate system can be changed. • The external FE model in a coupled simulation is defined in the global space. By specifying POS under INITIAL.REF_SPACE, the complete MADYMO model can be translated with respect to the external FE model. • If POS is not equal to (0.0 0.0 0.0), all output quantities (time history files, animation files) which are normally written with respect to the reference space coordinate system will be written with respect to the global coordinate system. Examples
An example in which the origin of the reference space is translated to (1.0 1.0 0.0) in the global space.
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Element
INITIAL_TYPE.CHECK
Parents
CONTACT_METHOD.NODE_TO_SURFACE_CHAR CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT CONTACT_METHOD.NODE_TO_SURFACE CONTACT_METHOD.SURFACE_TO_SURFACE
Description Checks for initial intersections (crossing contact segments) in a contact definition.
No contact forces are generated. Additional Information
• The initial intersections are reported in the REPRINT file. In general it is not recommended to have initial intersections in a contact definition.
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INITIAL_TYPE.MASTER
Element
INITIAL_TYPE.MASTER
Parents
CONTACT_METHOD.NODE_TO_SURFACE_CHAR CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT
I
Description Checks for initial intersections (crossing contact segments) in a contact definition.
Contact forces are generated based on the normal of the master surface. Additional Information
• The normal of the master surface is used for the penetration (see figure)
node surface
element surface
- The initial intersections are reported in the REPRINT file. - The normals on the two surfaces must be opposite in the contact area. (See Theory Manual).
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Element
INITIAL_TYPE.SLAVE
Parents
CONTACT_METHOD.NODE_TO_SURFACE_CHAR CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT
Description Checks for initial intersections (crossing contact segments) in a contact definition.
Contact forces are generated based on the normal of the slave surface. Additional Information
• The normal of the slave surface is used for the penetration (see figure)
node surface
element surface
- The initial intersections are reported in the REPRINT file. - The normals on the two surfaces must be opposite in the contact area. (See Theory Manual).
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INITIAL_TYPE.USER
Element
INITIAL_TYPE.USER
Parents
CONTACT_METHOD.NODE_TO_SURFACE_CHAR CONTACT_METHOD.NODE_TO_SURFACE_INTERSECT
I
Description Checks for initial intersections (crossing contact segments) in a contact definition.
Contact forces are generated based on a user defined normal. Attribute Type USNORM Real[3]
Default
Unit
Description
-
Normal to be used for calculation of the penetration
Additional Information
• The user defined normal is used for the penetration (see figure)
node surface
(X,Y,Z)
element surface
- The initial intersections are reported in the REPRINT file. - The normals on the two surfaces must be opposite in the contact area. (See Theory Manual). Examples
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INJURY.APF
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MADYMO Reference manual
Element
INJURY.APF
Parents
MADYMO SYSTEM.MODEL
Description Abdominal Peak Force (APF) based injury criterion.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_FORCE_1
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref OUTPUT_FORCE_2
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref OUTPUT_FORCE_3
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref SELECT_OBJECT String COMP String PEAK_TYPE String
CHILD
Object type(3,4)
Y
Component(5,6)
ABS_MAX
Peak type selector.(7,8)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This joint constraint force signal should be filtered with a CFC600 filter. 3. Domain: [PARENT CHILD]. 4. PARENT selects the force on the parent body; CHILD the force on the child body. 5. Domain: [X Y Z]. 6. X, Y, Z selects the component of the joint constraint force with respect to the ξ-, η-, ζ-axis, respectively, of the joint coordinate system on the body selected by SELECT_OBJECT. 7. Domain: [ABS_MIN ABS_MAX]. 8. ABS_MIN selects minimum peak value (Flateral,front + Flateral,middle + Flateral,rear ) , ABS_MAX selects maximum peak value (Flateral,front + Flateral,middle + Flateral,rear ) . Additional Information
• The joint constraint force signals of the front, middle and rear abdomen load cells should be selected. At each output time point Flateral,front + Flateral,middle + Flateral,rear is calculated and written as time history output (signal type INJURY). SELECT_OBJECT and COMP should be defined such that the lateral forces are taken, with 332
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the polarity according to SAE conventions. PEAK_TYPE should to be defined such that the compressive peak force is selected for the injury criterion. The value of the injury criterion is defined as ABS_MAX ( Flateral,front + Flateral,middle + Flateral,rear ) or ABS_MIN ( Flateral,front + Flateral,middle + Flateral,rear ), depending on whether compressive forces are defined as positive or negative in the force signal. The APF scalar value is also placed in the INJURY PARAMETERS section of the .peak and .pkx files. Examples
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INJURY.BRIC
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Element
INJURY.BRIC
Parents
MADYMO SYSTEM.MODEL
Description Brain Injury Criterion (BrIC) based on the angular velocity signals of the head.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_ANGVEL
Ref to OUTPUT_BODY. Body angular velocity output reference(2)
Ref CRITICAL_ANGVEL Real[3]
rad/s
Critical angular velocity component values ω xC , ω yC , ω zC (3)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Angular velocity signal should be filtered with a CFC60 filter. 3. Range: (0 0 0, ∞). Additional Information
• The BrIC scalar value is placed in the INJURY PARAMETERS section of the .peak and .pkx files. • The resulting time history curve has signal type INJURY. • Reference: Erik G. Takhounts et al., Development of Brain Injury Criteria (BrIC), Stapp Car Crash Journal, Vol. 57 (November 2013), pp. 243-266. Examples
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Element
INJURY.CIAPF
Parents
MADYMO SYSTEM.MODEL
INJURY.CIAPF
I
Description Combined Iliac Crest and Acetabular Peak Force (CIAPF) based injury criterion.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_FORCE_1
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref OUTPUT_FORCE_2
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref SELECT_OBJECT String COMP String PEAK_TYPE String
CHILD
Object type(3,4)
Y
Component(5,6)
ABS_MAX
Peak type selector.(7,8)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Both signals should be filtered with the same filter : a CFC600 or CFC1000 filter. 3. Domain: [PARENT CHILD]. 4. PARENT selects the force on the parent body; CHILD the force on the child body. 5. Domain: [X Y Z]. 6. X, Y, Z selects the component of the joint constraint force with respect to the ξ-, η-, ζ-axis, respectively, of the joint coordinate system on the body selected by SELECT_OBJECT. 7. Domain: [ABS_MIN ABS_MAX]. 8. ABS_MIN selects minimum peak value (Flateral,iliac + Flateral,acetabular) , ABS_MAX selects maximum peak value (Flateral,iliac + Flateral,acetabular) . Additional Information
• The joint constraint force signals of the iliac crest and acetabulum load cells should be selected. At each output time point Flateral,iliac + Flateral,acetabular is calculated and written as time history output (signal type INJURY). SELECT_OBJECT and COMP should be defined such that the lateral forces are taken, with the polarity according to SAE conventions. PEAK_TYPE should to be defined such that the compressive peak force is selected for the injury criterion. The value of the injury criterion is defined as Release 7.7
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ABS_MAX ( Flateral,iliac + Flateral,acetabular ) or ABS_MIN ( Flateral,iliac + Flateral,acetabular ), depending on whether compressive forces are defined as positive or negative in the force signal. The CIAPF scalar value is also placed in the INJURY PARAMETERS section of the .peak and .pkx files.
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INJURY.CONTIGUOUS_3MS
Element
INJURY.CONTIGUOUS_3MS
Parents
MADYMO SYSTEM.MODEL
I
Description Injury criterion based on the highest acceleration or load level that has been ex-
ceeded during a contiguous time interval of 3 ms. Attribute ID
Type
Default
Int
Unit
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_ACC
Ref to OUTPUT_BODY. Body linear acceleration output reference(2)
Ref OUTPUT_LOAD
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint load output reference(2)
Ref SELECT_OBJECT String
CHILD
Object type only needed when OUTPUT_LOAD is specified(3,4)
R
Component(5,6,7)
ORIG
Signal type selector(8,9,7)
COMP String SIGNAL_TYPE String
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Either OUTPUT_ACC or OUTPUT_LOAD must be defined. 3. Domain: [PARENT CHILD]. 4. PARENT selects the load on the joint parent body; CHILD selects the load on the joint child body. 5. Domain: [R X Y Z]. 6. When OUTPUT_ACC is used R selects the resultant acceleration. X, Y, Z select the X-, Yand Z component of the acceleration respectively. When OUTPUT_LOAD is used R selects the resultant load; X, Y, Z select the component of the load with respect to the ξ-, η-, ζ-axis, respectively, of the joint coordinate system on the body selected by SELECT_OBJECT. 7. If COMP=R, SIGNAL_TYPE=ABS_NEG results in a value zero. 8. Domain: [ORIG ABS_ORIG POS ABS_NEG]. 9. ORIG : the criterion is calculated using both the positive and negative values of the signal. First the value belonging to the positive signal values is calculated (vp ), then the value belonging to the negative signal values (vn ). When vp > vn the value of the criterion is vp , else the value of the criterion is vn . ABS_ORIG : the criterion is calculated using the absolute values of the signal. POS : the criterion is calculated using only the positive values of the signal. Release 7.7
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ABS_NEG : the criterion is based on the absolute value of the signals with a negative value.
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Examples
Example where the 3MS contiguous criterion is calculated using the absolute value of the thorax vertical acceleration. ...
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INJURY.CONTIGUOUS_XMS
Element
INJURY.CONTIGUOUS_XMS
Parents
MADYMO SYSTEM.MODEL
I
Description Injury criterion based on the highest acceleration or load level that has been ex-
ceeded during a contiguous time interval of X ms. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_ACC
Ref to OUTPUT_BODY. Body linear acceleration output reference(2)
Ref OUTPUT_LOAD
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint load output reference(2)
Ref SELECT_OBJECT String
Object type only needed when OUTPUT_LOAD is specified(3,4)
CHILD
TIME_WINDOW s
Real
Time window used for determination of the injury(5,6)
COMP String SIGNAL_TYPE String
R
Component(7,8,9)
ORIG
Signal type selector(10,11,9)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Either OUTPUT_ACC or OUTPUT_LOAD must be defined. 3. Domain: [PARENT CHILD]. 4. PARENT selects the load on the joint parent body; CHILD selects the load on the joint child body. 5. Range: [0, ∞). 6. The window size represents the maximum size of the time window considered in determining the XMS. If the value zero is specified, the window size is equal to the size of the complete simulation time interval. 7. Domain: [R X Y Z]. 8. When OUTPUT_ACC is used R selects the resultant acceleration. X, Y, Z select the X-, Yand Z component of the acceleration respectively. When OUTPUT_LOAD is used R selects the resultant load; X, Y, Z select the component of the load with respect to the ξ-, η-, ζ-axis, respectively, of the joint coordinate system on the body selected by SELECT_OBJECT. 9. If COMP=R, SIGNAL_TYPE=ABS_NEG results in a value zero. Release 7.7
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10. Domain: [ORIG ABS_ORIG POS ABS_NEG].
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11. ORIG : the criterion is calculated using both the positive and negative values of the signal. First the value belonging to the positive signal values is calculated (vp ), then the value belonging to the negative signal values (vn ). When vp > vn the value of the criterion is vp , else the value of the criterion is vn . ABS_ORIG : the criterion is calculated using the absolute values of the signal. POS : the criterion is calculated using only the positive values of the signal. ABS_NEG : the criterion is based on the absolute value of the signals with a negative value. Examples
Example where the XMS contiguous criterion is calculated for a contiguous time window of 4.5 ms using the absolute value of the thorax vertical acceleration. ...
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Element
INJURY.CTI
Parents
MADYMO SYSTEM.MODEL
INJURY.CTI
I
Description Combined Thoracic Index (CTI), injury criterion based on the maximum sternal
deflection and the 3 ms clip maximum value of the resultant spinal cord acceleration. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_ACC
Ref to OUTPUT_BODY. Spinal cord acceleration output reference(2)
Ref OUTPUT_DISP
Ref to OUTPUT_BODY_REL. Sternal deflection output reference. The displacement signal type must be DIST_VEL, REL_DISP or REL_POS(3)
Ref INTERCEPT_ACC Real INTERCEPT_DISP Real COMP String
R
m/s2
Acceleration intercept value(4)
m
Displacement intercept value(4) Component for the selection of the sternal deflection signal related to OUTPUT_DISP(5,6)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This acceleration signal should be filtered with a CFC180 filter. 3. This displacement signal should be filtered with a CFC600 filter. 4. Range: (0, ∞). 5. Domain: [R X Y Z]. 6. Only used when signal type OUTPUT_DISP is not equal to DIST_VEL.The negative value of the measured displacement is used if a component in the X, Y or Z direction is selected. See SAE J1733 for sign conventions. Additional Information
• In the injury calculation, the displacement signal is offset such that the initial displacement is zero. • For acceleration intercept values and displacement intercept values, see table below.
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Dummy
INTERCEPT ACC
INTERCEPT DISP
850 850 850 700 550
0.102 0.083 0.063 0.057 0.049
Hybrid III 50th % Hybrid III 5th % 6 year 3 year Crabi
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Examples
Example of requesting the Combined Thoracic Index for a Hybrid III 50th percentile dummy, based on the sternal deflection and the resultant spinal cord acceleration. Note that the sternal deflection is using the X component of the relative displacement output signal: ... ...
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INTERCEPT_DISP = "0.102 " />
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Element
INJURY.CUMULATIVE_3MS
Parents
MADYMO SYSTEM.MODEL
Description Injury criterion based on the highest acceleration or load level that has been ex-
ceeded during a cumulative time interval of 3 ms. Attribute ID
Type
Default
Int
Unit
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_ACC
Ref to OUTPUT_BODY. Body linear acceleration output reference(2)
Ref OUTPUT_LOAD
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint load output reference(2)
Ref SELECT_OBJECT String
CHILD
Object type only needed when OUTPUT_LOAD is specified(3,4)
R
Component(5,6,7)
ORIG
Signal type selector(8,9,7)
COMP String SIGNAL_TYPE String
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Either OUTPUT_ACC or OUTPUT_LOAD must be defined. 3. Domain: [PARENT CHILD]. 4. PARENT selects the load on the joint parent body; CHILD selects the load on the joint child body. 5. Domain: [R X Y Z]. 6. When OUTPUT_ACC is used R selects the resultant acceleration. X, Y, Z select the X-, Yand Z component of the acceleration respectively. When OUTPUT_LOAD is used R selects the resultant load; X, Y, Z select the component of the load with respect to the ξ-, η-, ζ-axis, respectively, of the joint coordinate system on the body selected by SELECT_OBJECT. 7. If COMP=R, SIGNAL_TYPE=ABS_NEG results in a value zero. 8. Domain: [ORIG ABS_ORIG POS ABS_NEG]. 9. ORIG : the criterion is calculated using both the positive and negative values of the signal. First the value belonging to the positive signal values is calculated (vp ), then the value belonging to the negative signal values (vn ). When vp > vn the value of the criterion is vp , else the value of the criterion is vn . ABS_ORIG : the criterion is calculated using the absolute values of the signal. POS : the criterion is calculated using only the positive values of the signal. 344
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ABS_NEG : the criterion is based on the absolute value of the signals with a negative value.
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Examples
Example where the 3MS cumulative criterion is calculated using the absolute value of the thorax vertical acceleration. ...
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Element
INJURY.CUMULATIVE_XMS
Parents
MADYMO SYSTEM.MODEL
Description Injury criterion based on the highest acceleration or load level that has been ex-
ceeded during a cumulative time interval of X ms. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_ACC
Ref to OUTPUT_BODY. Body linear acceleration output reference(2)
Ref OUTPUT_LOAD
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint load output reference(2)
Ref SELECT_OBJECT String
Object type only needed when OUTPUT_LOAD is specified(3,4)
CHILD
TIME_WINDOW s
Real
Time window used for determination of the injury(5,6)
COMP String SIGNAL_TYPE String
R
Component(7,8,9)
ORIG
Signal type selector(10,11,9)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Either OUTPUT_ACC or OUTPUT_LOAD must be defined. 3. Domain: [PARENT CHILD]. 4. PARENT selects the load on the joint parent body; CHILD selects the load on the joint child body. 5. Range: [0, ∞). 6. The window size represents the maximum size of the time window considered in determining the XMS. If the value zero is specified, the window size is equal to the size of the complete simulation time interval. 7. Domain: [R X Y Z]. 8. When OUTPUT_ACC is used R selects the resultant acceleration. X, Y, Z select the X-, Yand Z component of the acceleration respectively. When OUTPUT_LOAD is used R selects the resultant load; X, Y, Z select the component of the load with respect to the ξ-, η-, ζ-axis, respectively, of the joint coordinate system on the body selected by SELECT_OBJECT. 9. If COMP=R, SIGNAL_TYPE=ABS_NEG results in a value zero. 346
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10. Domain: [ORIG ABS_ORIG POS ABS_NEG]. 11. ORIG : the criterion is calculated using both the positive and negative values of the signal. First the value belonging to the positive signal values is calculated (vp ), then the value belonging to the negative signal values (vn ). When vp > vn the value of the criterion is vp , else the value of the criterion is vn . ABS_ORIG : the criterion is calculated using the absolute values of the signal. POS : the criterion is calculated using only the positive values of the signal. ABS_NEG : the criterion is based on the absolute value of the signals with a negative value. Examples
Example where the XMS cumulative criterion is calculated for a cumulative time window of 4.5 ms using the absolute value of the thorax vertical acceleration. ...
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INJURY.FFC
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Element
INJURY.FFC
Parents
MADYMO SYSTEM.MODEL
Description Femur injury criterion based on the femur axial force as measured by the femur
load cell. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_FORCE
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref DIRECTION String
BOTH
Loading direction for the injury criterion(3,4)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This joint constraint force signal should be filtered with a CFC600 filter. 3. Domain: [BOTH NEGATIVE POSITIVE]. 4. The injury criterion can measure the load in negative and positive direction using DIRECTION="NEGATIVE" and DIRECTION="POSITIVE". Two curves are written out when DIRECTION="BOTH". The first describing the negative loading and the second describing the positive loading direction. Additional Information
• Each resulting time history curve has signal type INJURY. The cumulative load-duration output of signal type DURINJ is calculated as prescribed for Euro NCAP assessment protocol. • The duration curve must not exceed the corresponding duration curve shown in the Theory Manual. Examples
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Element
INJURY.GSI
Parents
MADYMO SYSTEM.MODEL
INJURY.GSI
I
Description Gadd Severity Index (GSI), injury criterion based on the linear acceleration signal
for the centre of gravity of the head. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name OUTPUT_ACC Ref
Alphanumerical identifier(1) Ref to OUTPUT_BODY. Body linear acceleration output reference(2)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This acceleration signal should be filtered with a CFC1000 filter. Examples
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INJURY.HCD
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Element
INJURY.HCD
Parents
MADYMO SYSTEM.MODEL
Description Head Contact Duration (HCD) based on HIC value during contact.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name OUTPUT_ACC Ref
Alphanumerical identifier(1) Ref to OUTPUT_BODY. Body linear acceleration output reference(2)
OUTPUT_FORCE Ref
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(3)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This acceleration signal should be filtered with a CFC1000 filter. 3. This joint constraint force signal should be filtered with a CFC1000 filter. Additional Information
• The child body of the joint specified under OUTPUT_JOINT_CONSTRAINT should be the same body as under OUTPUT_BODY. The components of the acceleration should be expressed in the body local coordinate system Examples
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Element
INJURY.HIC
Parents
MADYMO SYSTEM.MODEL
Description Head Injury Criterion (HIC) based on the linear acceleration signal for the centre
of gravity of the head. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_ACC
Ref to OUTPUT_BODY. Body linear acceleration output reference(2)
Ref TIME_WINDOW Real
s
Time window used for determination of the injury(3,4)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This acceleration signal should be filtered with a CFC1000 filter. 3. Range: [0, ∞). 4. The window size represents the maximum size of the time window considered in determining the HIC. If the value zero is specified, the window size is equal to the size of the complete simulation time interval. Examples
...
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Element
INJURY.HIC_D
Parents
MADYMO SYSTEM.MODEL
INJURY.HIC_D
I
Description Head Injury Criterion (HIC(d)) based on the linear acceleration signal for the centre
of gravity of the head. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name OUTPUT_ACC Ref
Alphanumerical identifier(1) Ref to OUTPUT_BODY. Body linear acceleration output reference(2)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. This acceleration signal should be filtered with a CFC1000 filter. Examples
...
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Element
INJURY.LNL
Parents
MADYMO SYSTEM.MODEL
Description Lower Neck Load Index. Neck injury criterion for rear impact based on the load
transferred through the lower neck load cell. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_FORCE
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref OUTPUT_MOMENT
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint moment output reference(3)
Ref SHEAR_FORCE Real TENSION_FORCE Real BENDING_TORQUE Real ECCENTRICITY_X Real
N
Critical shear force(4)
N
Critical tension force(4)
Nm
Critical bending torque(4)
0.0
m
x-coordinate of the centre of the T1-vertebra in the lower neck load cell coordinate system
0.0
m
z-coordinate of the centre of the T1-vertebra in the lower neck load cell coordinate system
ECCENTRICITY_Z Real
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The joint constraint force signal should be filtered with a CFC600 filter. 3. The joint constraint moment signal should be filtered with a CFC600 filter. 4. Range: (0, ∞). Additional Information
• Time history output is of signal type INJURY.
• The values of SHEAR_FORCE, TENSION_FORCE, BENDING_TORQUE and ECCENTRICITY_* for different dummies are shown in the following table: Dummy RID-2 Hybrid III 50th %
SHEAR FORCE
TENSION FORCE
BENDING TORQUE
ECCENTRICITY X
Z
250 250
900 900
15 15
0.0 0.0508
0.0 -0.0282
• See Theory Manual for the corrected moment. 354
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Examples
Example of requesting the Lower Neck Load Index for a RID2 dummy, based on shear force, tension force and bending torque in the lower neck load cell: ... ...
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INJURY.LOAD_CELL
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Element
INJURY.LOAD_CELL
Parents
MADYMO SYSTEM.MODEL
Description Injury criterion based on a joint constraint load.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_LOAD
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint load output reference
Ref SELECT_OBJECT String COMP String ZERO_SHIFTING Bool
Object type(2,3) Component(4,5) OFF
Flag for shifting output signal value(s).(6)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [PARENT CHILD]. 3. PARENT selects the load on the parent body; CHILD the load on the child body. 4. Domain: [R X Y Z]. 5. R selects the resultant load; X, Y, Z selects the component of the joint constraint load with respect to the ξ-, η-, ζ-axis, respectively, of the joint coordinate system on the body selected by SELECT_OBJECT. 6. When the attribute value is ON, the output signal is given an offset such that the injury signal equals zero at the output time point nearest to time Tshift . Tshift is controlled by the ZERO_SHIFTING_SWITCH attribute under CONTROL_OUTPUT. Additional Information
• The resulting time history signal has signal type INJURY. Examples
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Element
INJURY.MOC
Parents
MADYMO SYSTEM.MODEL
Description Injury criterion for the Total Moment about Occipital Condyle.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_FORCE
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref OUTPUT_MOMENT
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint moment output reference(2)
Ref ECCENTRICITY
Real
m
Distance between the upper neck load cell and the occipital condyle; positive when the occipital condyle is in the positive z-direction of the upper neck load cell coordinate system(3)
COMP String
Component(4)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Following the safety protocols for which this injury criterion is defined, the output signal should be filtered with either a CFC600 or a CFC1000 filter. 3. See table of INJURY.NIJ. 4. Domain: [X Y]. Additional Information
• See Theory Manual for the corrected moment.
• The resulting time history signal has signal type INJURY. Examples
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INJURY.MOC
NAME = " NeckUp_lce_T " JOINT = " NeckUpLC_joint " SIGNAL_TYPE = " TORQUE " FILTER = " CFC600 "
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/> ...
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INJURY.NIC_FORWARD
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Element
INJURY.NIC_FORWARD
Parents
MADYMO SYSTEM.MODEL
Description Neck injury criterion based on the load transferred through the head/neck inter-
face. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_FORCE
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref OUTPUT_MOMENT
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint moment output reference(3)
Ref COMP
Component(4,5)
String ECCENTRICITY
Real DIRECTION String DURATION String
0.0
m
Distance between the upper neck load cell and the occipital condyle; positive when the occipital condyle is in the positive z-direction of the upper neck load cell coordinate system.(6)
BOTH
Loading direction for the injury criterion(7,8)
CONTINUOUS
Flag for duration output(9,10)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The joint constraint force signal should be filtered with a CFC1000 filter. 3. The joint constraint moment signal should be filtered with a CFC600 filter. This reference is required only if COMP = "BENDING". 4. Domain: [BENDING SHEAR TENSION]. 5. BENDING selects the constraint moment on the Head body in the direction of the joint η-axis, SHEAR selects the constraint force on the Head body in the direction of the joint ξ-axis, TENSION selects the constraint force on the Head body in the direction of the joint ζ-axis. 6. See table of INJURY.NIJ. 7. Domain: [BOTH NEGATIVE POSITIVE]. 8. The injury criterion can measure the load in negative and positive direction using DIRECTION="NEGATIVE" and DIRECTION="POSITIVE". Two curves are written out when DIRECTION="BOTH". The first describing the negative loading and the second describing the positive loading direction. 360
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INJURY.NIC_FORWARD
9. Domain: [CONTINUOUS CUMULATIVE]. 10. The continuous load-duration output of signal type DURINJ is calculated as described in SAE J1727. The cumulative load-duration output of signal type DURINJ is calculated as prescribed for Euro NCAP assessment protocol. Additional Information
• Each resulting time history curve has signal type INJURY and the corresponding duration curve has signal type DURINJ. • The duration curve must not exceed the corresponding duration curve shown in the Theory Manual. • See Theory Manual for the corrected moment. Examples
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INJURY.NIC_REARWARD
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Element
INJURY.NIC_REARWARD
Parents
MADYMO SYSTEM.MODEL
Description Neck injury criterion with a rear impact.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name OUTPUT_ACC_1 Ref OUTPUT_ACC_2 Ref
Alphanumerical identifier(1) Ref to OUTPUT_BODY. Acceleration output reference(2) Ref to OUTPUT_BODY. Acceleration output reference(3)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The acceleration of the first chest vertebra in x-direction. The acceleration should be filtered with a CFC60 or CFC180 filter. 3. The acceleration in x-direction at the centre of gravity of the head. The acceleration should be filtered with a CFC60 or CFC180 filter. Additional Information
• The resulting time history curve has signal type INJURY.
• References: Crash Analysis Criteria Description, version 2.1.1, Arbeitskreis Messdatenverarbeitung Fahrzeugsicherheit. A CFC180 filter is prescribed in this document. EUROPEAN NEW CAR ASSESSMENT PROGRAMME (Euro NCAP), THE DYNAMIC ASSESSMENT OF CAR SEATS FOR NECK INJURY PROTECTION, TESTING PROTOCOL, Version 2.9, February 2009, Section 12.5. A CFC60 filter is prescribed in this document. Examples
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/>
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INJURY.NIJ
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Element
INJURY.NIJ
Parents
MADYMO SYSTEM.MODEL
Description Neck injury criterion based on the load transferred through the head/neck inter-
face. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_FORCE
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref OUTPUT_MOMENT
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint moment output reference(2)
Ref NIJ_TYPE
Cervical injury type(3)
String AXIAL_FORCE Real BENDING_TORQUE Real ECCENTRICITY Real
0.0
N
Critical axial force(4)
Nm
Critical bending torque(4)
m
Distance between the upper neck load cell and the occipital condyle; positive when the occipital condyle is in the positive z-direction of the upper neck load cell coordinate system.
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Following the safety protocols for which this injury criterion is defined, the output signal should be filtered with either a CFC600 or a CFC1000 filter. 3. Domain: [NTE NTF NCE NCF]. 4. Range: (0, ∞). Additional Information
• The resulting time history curve has signal type INJURY.
• The values for BENDING_TORQUE, AXIAL_FORCE and ECCENTRICITY for different dummies are shown in the following table:
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INJURY.NIJ
Dummy tension Hybrid III 50th % (IP) Hybrid III 5th % (IP) Hybrid III 5th % (OOP) 6 year (OOP) 3 year (OOP) CRABI 12 month (OOP)
6806 4287 3880 2800 2120 1460
AXIAL FORCE BENDING TORQUE ECCENTRICITY compression flexion extension 6160 3880 3880 2800 2120 1460
310 155 155 93 68 43
135 67 61 37 27 17
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0.01778 0.01778 0.01778 0.01778 0.0 0.0058
• See Theory Manual for the corrected moment. Examples
... ...
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INJURY.NKM
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Element
INJURY.NKM
Parents
MADYMO SYSTEM.MODEL
Description Neck injury criterion for rear impact based on the load transferred through the
head/neck interface. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_FORCE
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref OUTPUT_MOMENT
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint moment output reference(3)
Ref NKM_TYPE String SHEAR_FORCE Real BENDING_TORQUE Real ECCENTRICITY Real
(4,5)
0.0
N
Critical shear force(6)
Nm
Critical bending torque(6)
m
z-coordinate of the occipital condyle in the upper neck load cell coordinate system
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The joint constraint force signal should be filtered with a CFC600 filter. 3. The joint constraint moment signal should be filtered with a CFC600 filter. 4. Domain: [NFA NEA NFP NEP]. 5. NFA: Flexion anterior. Moment flexion (forwards bending) My > 0; Forces anterior (head backwards, torso forwards), Fx > 0 NEA: Extension anterior. Moment extension (backwards extension) My < 0; Forces anterior (head backwards, torso forwards), Fx > 0 NFP: Flexion posterior. Moment flexion (forwards bending) My > 0; Forces posterior (head forwards, torso backwards) Fx < 0 NEP: Extension posterior. Moment extension (backwards extension), My < 0; Forces posterior (head forwards, torso backwards), Fx < 0 6. Range: (0, ∞). Additional Information
• The resulting time history curve has signal type INJURY. • The values of SHEAR_FORCE, BENDING_TORQUE and ECCENTRICITY for different dummies are shown in the following table: 366
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Dummy Hybrid III 50th % BioRID II
INJURY.NKM
SHEAR FORCE BENDING TORQUE ECCENTRICITY positive negative flexion extension 845 845
845 845
88.1 88.1
47.5 47.5
0.0178 0.0178
Examples
An example of requesting NFA, calculated from the shear force and bending torque in the upper neck load cell of a Hybrid III, male 50th %ile: ... ...
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INJURY.PEAK_BODY
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Element
INJURY.PEAK_BODY
Parents
MADYMO SYSTEM.MODEL
Description Injury criterion related to a body output signal.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name OUTPUT_BODY Ref COMP String PEAK_TYPE String
Alphanumerical identifier(1) Ref to OUTPUT_BODY. Body output reference(2) Component(3,4) Peak type selector.(5,6)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. A signal type equal to ANG_DISP or ANG_POS is excluded. 3. Domain: [R X Y Z R_ZX R_XY R_YZ]. 4. R selects the resultant; X, Y, Z select the X, Y and Z component; R_ZX selects the resultant of the Z and X components; R_XY selects the resultant of the X and Y components; R_YZ selects the resultant of the Y and Z components. 5. Domain: [MIN ABS_MIN MAX ABS_MAX PEAK ABS_PEAK NEG ABS_NEG POS]. 6. MIN selects the lowest value, MAX selects the highest value, PEAK selects either the lowest or the highest value based on the absolute maximum of the two values. NEG selects the lowest negative value and gives zero when the signal is completely positive, POS selects the highest positive value and gives zero when the signal is completely negative, ABS_* selects the unsigned value. Examples
Example of requesting the peak head acceleration for a Hybrid III 50th percentile dummy, based on resultant head acceleration.
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INJURY.PEAK_BODY
POS = "0 .0178 0.0 0 .0343" />
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INJURY.PEAK_BODY_REL
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Element
INJURY.PEAK_BODY_REL
Parents
MADYMO SYSTEM.MODEL
Description Injury criterion of body relative output signals
Attribute ID
Type
Default
Int
Unit
Description Numerical identifier
NAME Name OUTPUT_BODY_REL Ref
Alphanumerical identifier(1) Ref to OUTPUT_BODY_REL. Body relative output reference(2,3,4)
BODY_REL_OUTPUT_LIST List
Ref to OUTPUT_BODY_REL. List of body relative output references(2,3,4,5)
BODY_REL_OUTPUT_LIST_EXCL List
Ref to OUTPUT_BODY_REL. List of body relative output references to be removed from BODY_REL_OUTPUT_LIST(3,5,6)
COMP String PEAK_TYPE String
Component(7) Peak type selector.(8,9)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. A signal type equal to DIST_VEL is excluded. 3. Either OUTPUT_BODY_REL or BODY_REL_OUTPUT_LIST must be specified, not both. If BODY_REL_OUTPUT_LIST is specified, then BODY_REL_OUTPUT_LIST_EXCL should not remove all body relative output references from BODY_REL_OUTPUT_LIST. 4. Peak values are written to the .peak and .pkx file in m. 5. If multiple signals are referenced, only the overall peak level of all signals is determined, not the peak level of each signal separately. 6. BODY_REL_OUTPUT_LIST_EXCL can only be used in combination with BODY_REL_OUTPUT_LIST. 7. Domain: [R X Y Z]. 8. Domain: [MIN ABS_MIN MAX ABS_MAX PEAK ABS_PEAK NEG ABS_NEG POS]. 9. MIN selects the lowest value, MAX selects the highest value, PEAK selects either the lowest or the highest value based on the absolute maximum of the two values. NEG selects the lowest negative value and gives zero when the signal is completely positive, POS selects the highest positive value and gives zero when the signal is completely negative, ABS_* selects the unsigned value. Examples
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Example of requesting the Abdomen Compression of the THOR 50th Male dummy. Note that the Abdomen Compression is using the X component of the left and right relative displacement output signals, filtered at CFC600: ... ...
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INJURY.PEAK_JOINT_CONSTRAINT
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Element
INJURY.PEAK_JOINT_CONSTRAINT
Parents
MADYMO SYSTEM.MODEL
Description Injury criterion related to joint constraint load output signals
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name OUTPUT_JOINT_CONSTRAINT
Alphanumerical identifier(1) Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint load output reference(2,3)
Ref JOINT_CONSTRAINT_OUTPUT_LIST
Ref to OUTPUT_JOINT_CONSTRAINT. List of joint constraint load output references(2,3,4)
List JOINT_CONSTRAINT_OUTPUT_LIST_EXCL
Ref to OUTPUT_JOINT_CONSTRAINT. List of joint constraint load output references to be removed from JOINT_CONSTRAINT_OUTPUT_LIST(2,4,5)
List SELECT_OBJECT String COMP String PEAK_TYPE String ZERO_SHIFTING Bool
Object type(6,7) Component(8,9) Peak type selector.(10,11) OFF
Flag for shifting output signal value(s).(12)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Either OUTPUT_JOINT_CONSTRAINT or JOINT_CONSTRAINT_OUTPUT_LIST must be specified, not both. If JOINT_CONSTRAINT_OUTPUT_LIST is specified, then JOINT_CONSTRAINT_OUTPUT_LIST_EXCL should not remove all joint constraint load output references from JOINT_CONSTRAINT_OUTPUT_LIST. 3. Peak forces are written to the .peak and .pkx file in N, peak torques are written in Nm. 4. If multiple signals are referenced, only the overall peak level of all signals is determined, not the peak level of each signal separately. 5. JOINT_CONSTRAINT_OUTPUT_LIST_EXCL can only be used in combination with JOINT_CONSTRAINT_OUTPUT_LIST. 6. Domain: [PARENT CHILD]. 7. PARENT selects the load on the parent body; CHILD the load on the child body. 8. Domain: [R X Y Z R_XY].
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9. R selects the resultant load; X, Y, Z selects the component of the joint constraint load(s) with respect to the ξ-, η-, ζ-axis, respectively, of the joint coordinate system on the body (bodies) selected by SELECT_OBJECT. R_XY selects the resultant joint constraint load(s) of the ξ- and η- components only with respect to the joint coordinate system on the body (bodies) selected by SELECT_OBJECT. 10. Domain: [MIN ABS_MIN MAX ABS_MAX PEAK ABS_PEAK NEG ABS_NEG POS]. 11. MIN selects the lowest value, MAX selects the highest value, PEAK selects either the lowest or the highest value based on the absolute maximum of the two values. NEG selects the lowest negative value and gives zero when the signal is completely positive, POS selects the highest positive value and gives zero when the signal is completely negative, ABS_* selects the unsigned value. 12. When the attribute value is ON, the output signal(s) is/are given each their own offset such that the signal(s) used for this injury criterion equal(s) zero at the output time point nearest to time Tshift . Tshift is controlled by the ZERO_SHIFTING_SWITCH attribute under CONTROL_OUTPUT. Next, the value of the criterion is determined. Examples
An example of requesting the peak joint constraint load, based on the shear force in the upper neck load cell of a Hybrid III, male 50th percentile: ...
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INJURY.PEAK_JOINT_DOF
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Element
INJURY.PEAK_JOINT_DOF
Parents
MADYMO SYSTEM.MODEL
Description Injury criterion related to a joint position, velocity or acceleration degree of free-
dom output signal Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name OUTPUT_JOINT_DOF Ref COMP String PEAK_TYPE String
Alphanumerical identifier(1) Ref to OUTPUT_JOINT_DOF. Output reference(2) Component(3,4) Peak type selector.(5,6)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. If under OUTPUT_JOINT_DOF more than one joint is selected a warning is given that for only one joint the injury values are written to the PEAK files. 3. Domain: [Q1 Q2 Q3 Q4 Q5 Q6 Q7]. 4. COMP depends on the value of SIGNAL_TYPE in the OUTPUT_JOINT_DOF element : SIGNAL_TYPE=POS : Qi = joint position degree of freedom i (i=1,7) SIGNAL_TYPE=VEL or ACC : Qi = joint velocity or acceleration degree of freedom i (i=1,6) 5. Domain: [MIN ABS_MIN MAX ABS_MAX PEAK ABS_PEAK NEG ABS_NEG POS]. 6. MIN selects the lowest value, MAX selects the highest value, PEAK selects either the lowest or the highest value based on the absolute maximum of the two values. NEG selects the lowest negative value and gives zero when the signal is completely positive, POS selects the highest positive value and gives zero when the signal is completely negative, ABS_* selects the unsigned value. Examples
An example of requesting the peak joint degree of freedom: ... 374
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INJURY.PEAK_JOINT_DOF
< INJURY.PEAK_JOINT_DOF ID = "1" NAME = " JntDOF_out_inj " OUTPUT_JOINT_DOF = " JntDOF_out " COMP = "Q1" PEAK_TYPE = " ABS_PEAK " />
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INJURY.TCFC
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Element
INJURY.TCFC
Parents
MADYMO SYSTEM.MODEL
Description Tibia Compression Force Criterion (TCFC) based on the axial force transferred
through the tibia load cell. Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Name OUTPUT_FORCE Ref
Alphanumerical identifier(1) Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The joint constraint force signal should be filtered with a CFC600 filter. Additional Information
• The resulting time history curve has signal type INJURY. Examples
...
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Element
INJURY.TI
Parents
MADYMO SYSTEM.MODEL
INJURY.TI
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Description Tibia Index (TI) based on the load transferred through the tibia load cell.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_FORCE
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint force output reference(2)
Ref OUTPUT_MOMENT
Ref to OUTPUT_JOINT_CONSTRAINT. Joint constraint moment output reference(2)
Ref COMPRESSIVE_FORCE Real BENDING_TORQUE Real ECCENTRICITY Real
0.0
N
Critical compressive force(3)
Nm
Critical bending torque(3)
m
Distance to correct the moment about the Y-axis.
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The signal should be filtered with a CFC600 filter. 3. Range: (0, ∞). Additional Information
• The resulting time history curve has signal type INJURY.
• Critical values for adult Hybrid III dummies, taken from SAE J1727 8/96, are shown in the table below: Dummy Hybrid III 95th% Hybrid III 50th% Hybrid III 5th%
COMPRESSIVE FORCE
BENDING TORQUE
44200 35900 22900
307.0 225.0 115.0
• MY adjusted = MY measured - FZ measured * ECCENTRICITY The ECCENTRICITY attribute is only required in the IIHS Frontal Offset Crashworthiness Evaluation test protocol. The following values should be given for the 50th percentile Hybrid III when the tibia load cell is specified according to the SAE J1733 sign convention : ECCENTRICITY=0.02832 for the upper tibia load cell and ECCENTRICITY=-0.006398 for the lower tibia load cell. References : http://www.iihs.org/ratings/protocols/pdf/test_protocol_high.pdf Release 7.7
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Examples
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Element
INJURY.TTI
Parents
MADYMO SYSTEM.MODEL
INJURY.TTI
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Description Thoracic Trauma Index (TTI) based injury criterion.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_ACC_1
Ref to OUTPUT_BODY. Acceleration output reference
Ref OUTPUT_ACC_2
Ref to OUTPUT_BODY. Acceleration output reference
Ref OUTPUT_ACC_3
Ref to OUTPUT_BODY. Acceleration output reference
Ref COMP_1 String
Y
Component of the OUTPUT_ACC_1 signal(2)
String
Y
Component of the OUTPUT_ACC_2 signal(2)
String
Y
Component of the OUTPUT_ACC_3 signal(2)
COMP_2 COMP_3
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [X Y Z]. Additional Information
• The linear acceleration signals of the 4th and 8th "Rib" bodies, OUTPUT_ACC_1 and OUTPUT_ACC_2, and the "LowerSpine" body, OUTPUT_ACC_3, should be selected. The components of the acceleration signals must be calculated with respect to the accelerometer coordinate system. For each acceleration signal CRDSYS="OBJECT_1" is required. • These acceleration signals should be filtered with a FIR100 filter. Examples
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POS = "0.0 0.0 0.0" ORIENT = " RibUp_ori " /> ... ...
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Element
INJURY.VC
Parents
MADYMO SYSTEM.MODEL
INJURY.VC
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Description Viscous Injury Response (VC) based thorax injury criterion.
Attribute ID
Type
Default
Unit
Int
Description Numerical identifier
NAME Alphanumerical identifier(1)
Name OUTPUT_DISP
Ref to OUTPUT_BODY_REL. The signal type must be DIST_VEL, REL_DISP or REL_POS(2)
Ref CHEST_DEPTH Real COMP String SCALE_FACTOR Real
m
Chest depth of the dummy(3)
R
Component for selection of the output signal(4,5)
1.0
Scale factor
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The velocity is computed with numerical differentiation from the position if not present. The signal should be filtered with a CFC180 or a CFC600 filter. 3. Range: (0, ∞). 4. Domain: [R X Y Z]. 5. Only used when signal type OUTPUT_DISP does not equal DIST_VEL. Additional Information
• VC = SCALE_FACTOR * max{ (dD(t)/dt) (D(t)/CHEST_DEPTH) } in which D(t) is the rib deflection. CHEST_DEPTH is a thorax dimension, for example, half the torso width for side impacts. In the calculations, it is assumed that the initial deflection is zero. • The resulting time history curve (SCALE_FACTOR * (dD(t)/dt) * (D(t)/CHEST_DEPTH) ) has signal type INJURY. • Values for selected dummies, taken from SAE J1727 issued Aug 1996, are shown in the table below:
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Dummy
CHEST DEPTH
SCALE FACTOR
0.254 0.229 0.187 0.175 0.140 0.140 0.138
1.3 1.3 1.3 1.0 1.0 1.0 1.0
Hybrid III 95th % Hybrid III 50th % Hybrid III 5th % BioSID EuroSID-1 ES-2 SID IIs
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• See SAE J1727 and dummy hardware or regulatory specifications for output filtering prescriptions. Examples
...
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INPUT_ELEMENT_DATA
Element
INPUT_ELEMENT_DATA
Parents
FE_MODEL
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Description Input of element data from a file.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME FILE String ORIGINAL_FE_MODEL Ref PART_LIST List PART_LIST_EXCL
Filename of element data file(2) Ref to FE_MODEL. FE model in restart file(3) Ref to PART. List of parts Ref to PART. List of parts to be removed from the PART_LIST
List TIME Real
s
Time point in element data file which should be used for reading the element data
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. For input files, if no path is specified in the file name, MADYMO searches in the directories specified by the environment variable MADINCPATH and the standard MADYMO directories. Different directories can be specified by MADINCPATH separated with a colon (:) on LINUX and a semicolon (;) on Windows platforms. If a path is specified, it is preferred to use forward slashes as path separator to make sure that the model will be able to run on both Linux and Windows platforms. 3. Only needs to be specified if the number of FE models in the element data file is larger than 1. If only one FE model is present in the element data file, this FE model will be used. Additional Information
• With this feature, element data (stresses, strains, history variables, nodal displacements) of another simulation can be used in a simulation.This data is read from a file that can be generated using the feature OUTPUT_ELEMENT_DATA. The following conditions must be fulfilled: - The element numbers, element connectivity and node numbers of the elements and nodes selected in the part list must be equal to the model in which the element data file was created. Part identifiers and FE model identifiers are allowed to be different. It is required that the elements have exactly the same material and geometry properties as used in the model in which the element data has been created. - The coordinates related to the parts selected in the part list can be specified as undeformed shape or deformed shape. Both rotation and translation of the nodes is allowed. - Rigid elements which have nodes related to the parts selected must be fully covered by the parts, i.e. every node of the rigid element must be part of the selected parts. The rigid Release 7.7
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element must also be present in the model in which the element data file was created. - Supports, tied surfaces and spotwelds which have nodes which are related to the selected parts will initially use the deformed shape and not the undeformed shape. - The element data file is release and patch dependent. The file must have been created with the same release and patch as where it is used. - The element data file is platform independent. It may have been created on any other platform.
I
• A list of time points and FE models which are found in the element data file will be printed in the REPRINT file. Examples
In this example from the file "output_element_data.eld" element data is imported for all parts except part 334. Time point 0.03 s from the element data file is used.
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ISO_MME_BELT
Element
ISO_MME_BELT
Parents
ISO_MME_CHANNEL
Description Select a belt time history signal and specify the corresponding ISO_MME code.
Attribute Type OUTPUT_REF Ref SIGNAL_TYPE
Default
Unit
Description Ref to OUTPUT_BELT. Output reference(1) Selection of output signal type according to Appendix D, Table D1.(2)
String CHANNEL
Selection of channel number according to Appendix D, Table D1.(3,4)
Int ISO_MME_CODE
ISO-MME channel code (size 16 characters) of the selected signal(5)
Isoname ISO_MME_NAME String
ISO-MME channel name(6)
1. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 2. Domain: [FORCES RELONG OUTLET]. 3. Domain: [1 2 3 4]. 4. The next table explains the relation between INPUT_CLASS under OUTPUT_BELT, SIGNAL_TYPE and CHANNEL. INPUT CLASS BELT
SIGNAL TYPE OUTLET
BELT LOAD LIMITER BELT PRETENSIONER.*
OUTLET OUTLET
BELT RETRACTOR
OUTLET
BELT SEGMENT
FORCES RELONG FORCES OUTLET
BELT TYING
CHANNEL 1 2 1 1 2 1 2 1,2,3,4 1,2,3,4 4 1 2
REMARKS untensioned belt length, tensioned belt length pretensioner payout, pretensioner payout velocity outlet, outlet minus pret. inlet See Appendix D, Table D1 See Appendix D, Table D1 slip slip velocity
5. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. When the user specifies "?" on position 16, this position is filled by MADYMO with the code for the used filter class. When the user specifies in positions 1, 2 or 16 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 6. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces
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"S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X"
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Examples
see under TIME_HISTORY_ISO_MME.
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Element
ISO_MME_BODY
Parents
ISO_MME_CHANNEL
ISO_MME_BODY
Description Select a body time history signal and specify the corresponding ISO_MME code.
Attribute Type OUTPUT_REF Ref CHANNEL
Default
Unit
Description Ref to OUTPUT_BODY. Output reference.(1) Selection of channel number according to Appendix D, Table D1.(2,3)
Int ISO_MME_CODE
ISO-MME channel code (size 16 characters) of the selected signal(4)
Isoname ISO_MME_NAME String
ISO-MME channel name(5)
1. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 2. Domain: [1 2 3 4]. 3. The table below shows the possible signal types and channel numbers. Signal Type ANGACC ANGDIS ANGPOS ANGVEL LINACC LINDIS LINPOS LINVEL
CHANNEL 1,2,3,4 1,2,3 1,2,3 1,2,3,4 1,2,3,4 1,2,3,4 1,2,3,4 1,2,3,4
REMARKS Angular acc.: Resultant, X-, Y- and Z-components Bryant angles phi, theta and psi Bryant angles phi, theta and psi Angular vel.: Resultant, X-, Y- and Z-components Linear acc.: Resultant, X-, Y- and Z-components Displacement : Resultant, X-, Y- and Z-components Position : Resultant, X-, Y- and Z-components Linear vel.: Resultant, X-, Y- and Z-components
4. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. When the user specifies "?" on position 16, this position is filled by MADYMO with the code for the used filter class. When the user specifies in positions 1, 2 or 16 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 5. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces "S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X" Examples
see under TIME_HISTORY_ISO_MME.
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ISO_MME_BODY_REL
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Element
ISO_MME_BODY_REL
Parents
ISO_MME_CHANNEL
Description Select a body time history signal and specify the corresponding ISO_MME code.
Attribute Type OUTPUT_REF
Default
Unit
Description Ref to OUTPUT_BODY_REL. Output Reference.(1)
Ref CHANNEL
Selection of channel number according to Appendix D, Table D1.(2,3)
Int ISO_MME_CODE
ISO-MME channel code (size 16 characters) of the selected signal(4)
Isoname ISO_MME_NAME String
ISO-MME channel name(5)
1. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 2. Domain: [1 2 3 4]. 3. The table below shows the possible signal types and channel numbers. Signal Type DISVEL RELDIS
CHANNEL 1 2 1,2,3,4
REMARKS Distance Velocity Displacement:Resultant, X-, Y- and Z-components
4. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. When the user specifies "?" on position 16, this position is filled by MADYMO with the code for the used filter class. When the user specifies in positions 1, 2 or 16 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 5. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces "S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X" Examples
see under TIME_HISTORY_ISO_MME.
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ISO_MME_CHANNEL
Element
ISO_MME_CHANNEL
Parents
TIME_HISTORY_ISO_MME
Description Selection of time history signals and specifying the corresponding ISO_MME code.
Attribute Type Default TEST_OBJECT_NUMBER Int TEST_OBJECT_TYPE
Unit
Description Test object number. Test object type, position 1 in the ISO-MME channel code.(1)
String POSITION_CODE String
Position code, position 2 in the ISO-MME channel code.(1)
Ref
Ref to SYSTEM.*.
SYSTEM
(2)
1. When in the ISO_CODE attribute in a related element in position 1 and/or 2 another symbol than "?" is specified, this symbol is used instead of the value specified under TEST_OBJECT_TYPE and/or POSITION_CODE. 2. If specified only output requests under the specified system are selected under the related elements. Related Element ISO_MME_BELT
One/Many
Description
Many
Select a belt time history signal and specify the corresponding ISO_MME code.
Many
Select a body time history signal and specify the corresponding ISO_MME code.
Many
Select a body time history signal and specify the corresponding ISO_MME code.
ISO_MME_BODY
ISO_MME_BODY_REL
ISO_MME_CONTROL_SYSTEM Many
Select a control system time history signal and specify the corresponding ISO_MME code.
Many
Select an injury time history signal and specify the corresponding ISO_MME code.
ISO_MME_INJURY
ISO_MME_JOINT_CONSTRAINT Many
Select a constraint load time history signal and specify the corresponding ISO_MME code.
Many
Select a joint degree of freedom time history signal and specify the corresponding ISO_MME code.
Many
Select a restraint time history signal and specify the corresponding ISO_MME code.
ISO_MME_JOINT_DOF
ISO_MME_RESTRAINT
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Related Element ISO_MME_SENSOR
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One/Many
Description
Many
Select a sensor time history signal and specify the corresponding ISO_MME code.
Many
Select a switch status time history signal and specify the corresponding ISO_MME code.
ISO_MME_SWITCH
Additional Information
• For airbag related signals the ISO_MME_SENSOR element can be used.
• Another method for joint constraint loads uses the ISO_MME_INJURY element with a reference to an INJURY.LOAD_CELL element.
Examples
see under TIME_HISTORY_ISO_MME.
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ISO_MME_CONTROL_SYSTEM
Element
ISO_MME_CONTROL_SYSTEM
Parents
ISO_MME_CHANNEL
Description Select a control system time history signal and specify the corresponding ISO_-
MME code. Attribute Type OUTPUT_REF
Default
Unit
Ref
Description Ref to OUTPUT_CONTROL_SYSTEM. Output reference(1)
ISO_MME_CODE Isoname ISO_MME_NAME String
ISO-MME channel code (size 16 characters) of the selected signal(2) ISO-MME channel name(3)
1. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 2. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. When the user specifies "?" on position 16, this position is filled by MADYMO with the code for the used filter class. When the user specifies in positions 1, 2 or 16 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 3. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces "S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X" Examples
see under TIME_HISTORY_ISO_MME.
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ISO_MME_HEADER
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Element
ISO_MME_HEADER
Parents
TIME_HISTORY_ISO_MME
Description MME file according to ISO/TS 13499.
Related Element #PCDATA
One/Many
Description
Many
Reserved XML element containing plain text or XML elements.
Additional Information
• The user can specify here the mandatory and optional fields in the test descriptor file. • Each line, including its leading spaces, should not be longer than 80 characters. • Position 29 must contain the symbol ":".
• Make sure that spaces are used and tabs are avoided. Examples
Data format edition number :NOVALUE Laboratory name :NOVALUE Laboratory contact name :NOVALUE Laboratory contact phone :NOVALUE Laboratory contact fax :NOVALUE Laboratory contact email :NOVALUE Laboratory test ref. number :NOVALUE Customer name :NOVALUE Customer test ref. number :NOVALUE Customer project ref. number:NOVALUE Customer order number :NOVALUE Customer cost unit :NOVALUE Customer test engineer name :NOVALUE Customer test engineer phone:NOVALUE Customer test engineer fax :NOVALUE Customer test engineer email:NOVALUE Title :NOVALUE Medium No. / number of media :NOVALUE Timestamp :NOVALUE Type of the test :Frontal Subtype of the test :NOVALUE Regulation :EuroNCAP Reference temperature :NOVALUE Relative air humidity :NOVALUE Date of the test :NOVALUE Number of test objects :2 Comments : Comments :Description test object 1 Comments :
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ISO_MME_HEADER
Name of test object 1 :Vehicle A Velocity test object 1 :16.0 Mass test object 1 :1400.00 Driver position object 1 :1 Impact side test object 1 :FR Type of test object 1 :1 Class of test object 1 :A0 Code of test object 1 :LittleCar Ref. number of test object 1 :NOVALUE Comments : Comments :Description test object 2 Comments : Name of test object 2 :Fixed barrier with load cell matrix Velocity test object 2 :0.00 Mass test object 2 :NOVALUE Driver position object 2 :NOVALUE Impact side test object 2 :FR Type of test object 2 :B Class of test object 2 :NOVALUE Code of test object 2 :NOVALUE Ref. number of test object 2 :NOVALUE Barrier width 2 :3.2 Barrier height 2 :1.64 Yaw angle 2 :>-1 .507 Reference system 2 :laboratory Origin X 2 :0.12 Origin Y 2 : -1.4 Origin Z 2 : -1.8 Number of loaddcells 2 :64
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Element
ISO_MME_INJURY
Parents
ISO_MME_CHANNEL
Description Select an injury time history signal and specify the corresponding ISO_MME code.
Attribute Type OUTPUT_REF Ref DIRECTION String ISO_MME_CODE
Default
Unit
Isoname ISO_MME_NAME String
Description Ref to INJURY.*. Output reference(1) Loading direction for the injury criterion.(2,3) ISO-MME channel code (size 16 characters) of the selected signal(4) ISO-MME channel name(5)
1. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 2. Domain: [NEGATIVE POSITIVE]. 3. Only relevant for INJURY.FFC and INJURY.NIC_FORWARD in combination with DIRECTION=BOTH. In that case the user should specify here the value POSITIVE or NEGATIVE. 4. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. When the user specifies "?" on position 16, this position is filled by MADYMO with "X". When the user specifies in positions 1, 2 or 16 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 5. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces "S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X" Additional Information
• ISO_MME output requests through ISO_MME_INJURY will provide the time history data that are stored in the *.injury output file. This means that output in ISO_MME format will only be generated for the following INJURY elements: INJURY.APF, INJURY.BRIC, INJURY.CIAPF, INJURY.FFC, INJURY.LNL, INJURY.LOAD_CELL, INJURY.MOC, INJURY.NIC_FORWARD, INJURY.NIC_REARWARD, INJURY.NIJ, INJURY.NKM, INJURY.TCFC, INJURY.TI and INJURY.VC. Examples
see under TIME_HISTORY_ISO_MME.
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ISO_MME_JOINT_CONSTRAINT
Element
ISO_MME_JOINT_CONSTRAINT
Parents
ISO_MME_CHANNEL
Description Select a constraint load time history signal and specify the corresponding ISO_-
MME code. Attribute Type OUTPUT_REF
Default
Unit
Description Ref to OUTPUT_JOINT_CONSTRAINT. Output reference(1)
Ref CHANNEL
Selection of channel number according to Appendix D, Table D1.(2)
Int SELECT_OBJECT
Flag to select the joint parent or joint child body.(3,4)
String ISO_MME_CODE
ISO-MME channel code (size 16 characters) of the selected signal(5)
Isoname ISO_MME_NAME String
ISO-MME channel name(6)
1. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 2. Domain: [1 2 3 4 5 6 7 8 9 10]. 3. Domain: [PARENT CHILD]. 4. The table below shows the possible signal types and channel numbers. SIGNAL TYPE REACTF REACTF REACTT REACTT
CHANNEL 1,..,10 1,..,10 1,..,10 1,..,10
SELECT OBJECT PARENT CHILD PARENT CHILD
5. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. When the user specifies "?" on position 16, this position is filled by MADYMO with the code for the used filter class. When the user specifies in positions 1, 2 or 16 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 6. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces "S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X" Examples
see under TIME_HISTORY_ISO_MME.
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ISO_MME_JOINT_DOF
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Element
ISO_MME_JOINT_DOF
Parents
ISO_MME_CHANNEL
Description Select a joint degree of freedom time history signal and specify the corresponding
ISO_MME code. Attribute Type OUTPUT_REF
Default
Unit
Description Ref to OUTPUT_JOINT_DOF. Output reference(1,2)
Ref CHANNEL
Selection of channel number according to Appendix D, Table D1.(3,4)
Int ISO_MME_CODE
ISO-MME channel code (size 16 characters) of the selected signal(5)
Isoname ISO_MME_NAME String
ISO-MME channel name(6)
1. When under OUTPUT_JOINT_DOF more than one joint is selected, a warning is given that only for the first joint in the list ISO_MME output is obtained. 2. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 3. Domain: [1 2 3 4 5 6 7]. 4. The table below shows the possible signal types and channel numbers. Signal Type JNTACC JNTPOS JNTVEL
CHANNEL 1,...,6 1,...,7 1,...,6
5. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. When the user specifies "?" on position 16, this position is filled by MADYMO with the code for the used filter class. When the user specifies in positions 1, 2 or 16 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 6. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces "S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X" Examples
see under TIME_HISTORY_ISO_MME.
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ISO_MME_RESTRAINT
Element
ISO_MME_RESTRAINT
Parents
ISO_MME_CHANNEL
Description Select a restraint time history signal and specify the corresponding ISO_MME
code. Attribute Type OUTPUT_REF Ref SIGNAL_TYPE String
Default
Unit
Description Ref to OUTPUT_RESTRAINT. Output reference(1,2) Selection of output signal type according to Appendix D, Table D1.(3)
CHANNEL Int
Selection of channel number according to Appendix D, Table D1.(4,5)
ISO_MME_CODE Isoname ISO_MME_NAME String
ISO-MME channel code (size 16 characters) of the selected signal(6) ISO-MME channel name(7)
1. When under OUTPUT_RESTRAINT more than one restraint is selected, a warning is given that only for the first restraint in the list ISO_MME output is obtained. 2. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 3. Domain: [CARANG FLEANG FORCES PNTRST RELONG TORQU1 TORQU2 TORQU3]. 4. Domain: [1 2 3 4 5 6 7 8 9 10 11 12 13]. 5. The table below specifies the relation between restraint type, signal type and channel number.
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Restraint Type RESTRAINT.CARDAN
SIGNAL TYPE CARANG TORQU1
RESTRAINT.FLEX TORS
FLEANG TORQU2
RESTRAINT.JOINT
TORQU3
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CHANNEL 1,2,3 1 2,3,4 5,6,7 8,9,10 11,12,13 1,2,3 1 2,3 4,5 1,2,3,4 5,6,7,8 9,10,11,12
RESTRAINT.KELVIN
FORCES RELONG
RESTRAINT.MAXWELL
FORCES RELONG
RESTRAINT.POINT
FORCES PNTRST
1,2,3,4 1,2 3,4 1,2,3,4 1,2 3,4 1,2,3,4 1,..,12
REMARKS Bryant angles phi, theta and psi Resultant torque Elastic torque m(phi), m(theta) and m(psi) Damping torque m(phi), m(theta) and m(psi) Friction torque m(phi), m(theta) and m(psi) Resultant torque m(phi), m(theta) and m(psi) Flexion, torsion and direc. depend. angle Resultant torque Elastic flexion and torsion torque Damping torque and friction torque Resultant, elastic, damping and friction load d.o.f. 1 Resultant, elastic, damping and friction load d.o.f. 2 Resultant, elastic, damping and friction load d.o.f. 3 Resultant, elastic, damping and friction force Relative Elongation and Elongation Untensioned length and tensioned length Resultant, elastic, damping and friction force Relative elongation and elongation Untensioned length and tensioned length Resultant, elastic, damping and friction force See Table D.1
6. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. When the user specifies "?" on position 16, this position is filled by MADYMO with the code for the used filter class. When the user specifies in positions 1, 2 or 16 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 7. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces "S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X" Examples
see under TIME_HISTORY_ISO_MME.
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Element
ISO_MME_SENSOR
Parents
ISO_MME_CHANNEL
ISO_MME_SENSOR
Description Select a sensor time history signal and specify the corresponding ISO_MME code.
Attribute Type OUTPUT_REF
Default
Unit
Ref ISO_MME_CODE Isoname ISO_MME_NAME String
Description Ref to OUTPUT_SENSOR. Output reference(1) ISO-MME channel code (size 16 characters) of the selected signal(2) ISO-MME channel name(3)
1. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 2. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. When the user specifies "?" on position 16, this position is filled by MADYMO with the code for the used filter class. When the user specifies in positions 1, 2 or 16 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 3. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces "S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X" Examples
see under TIME_HISTORY_ISO_MME.
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ISO_MME_SWITCH
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Element
ISO_MME_SWITCH
Parents
ISO_MME_CHANNEL
Description Select a switch status time history signal and specify the corresponding ISO_MME
code. Attribute Type OUTPUT_REF
Default
Unit
Ref ISO_MME_CODE Isoname ISO_MME_NAME String
Description Ref to OUTPUT_SWITCH. Output reference(1,2) ISO-MME channel code (size 16 characters) of the selected signal(3) ISO-MME channel name(4)
1. When under OUTPUT_SWITCH more than one switch is selected, a warning is given that only for the first switch in the list ISO_MME output is obtained. 2. If SYSTEM is specified under ISO_MME_CHANNEL, only output requests specified in that SYSTEM are used and the system reference path is not needed. 3. When the user specifies "?" on positions 1 and/or 2, these positions are filled by the values specified under the TEST_OBJECT_TYPE and/or POSITION_CODE attributes under ISO_MME_CHANNEL. Position 16 is filled by MADYMO with "0" (no filtering). When the user specifies in positions 1 or 2 an alfanumerical value unequal to "?" this value is not changed by MADYMO. 4. The specified name replaces the default name created by MADYMO, e.g. ISO_MME_NAME="Head Acceleration X" replaces "S1HEAD0000H3ACXA / /3/1001 ( /Hybrid_III_50th/HeadCG_acc ) CFC1000 -- Xcomp. acceleration (m/s**2)" by "S1HEAD0000H3ACXA / Head Acceleration X" Examples
see under TIME_HISTORY_ISO_MME.
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ISOBARIC_SWITCH.TIME
Element
ISOBARIC_SWITCH.TIME
Parents
CONTROL_AIRBAG
I
Description Switch from Gasflow-USM to Uniform Pressure calculation.
Attribute Type TIME_DELAY Real
Default
Unit
Description
0.0
s
Time delay between trigger and activation of isobaric switch(1)
0.001
s
Time window taken to switch from Gasflow-USM to Uniform pressure(1,2)
TIME_WINDOW Real SWITCH Ref
Ref to SWITCH.*. Switch from Gasflow-USM to Uniform pressure
1. Range: [0, ∞). 2. Time window that is taken to scale local pressures from local to average: t − ts t − ts pnew = ploc ∗ 1 − + pcham ∗ ∆t ∆t where: pnew is the scaled local pressure ploc is the current local pressure due to Gasflow-USM pcham is the average pressure of the chamber t is the current time ts time point that SWITCH is switched + TIME_DELAY ∆t is TIME_WINDOW. Additional Information
• The isobaric switch start when TIME = TIME_TRIGGER + TIME_DELAY, over a period TIME WINDOW the pressure distribution on elements is scaled to a average pressure. • After switching, HOLE.MODEL3 will be transformed into HOLE.MODEL1; TF_FUNC is transferred to CDT_FUNC. • After switching, inflators still work, but jets are no longer taken into account.
• When the volume differs between uniform pressure and Gasflow-USM, the difference in volume will be kept as initial volume CHAMBER_V0 to enforce continuity. • The kinetic energy inside the Gasflow grid, will be added as internal energy in the uniform pressure model. This may lead to a small discontinuity in temperature.
Examples
Consider a model in which the inflator is triggered by the mentioned switch. From t = 0.01 to t = (0.01 +0.04) the simulation runs Gasflow-USM From t = (0.01 + 0.04) to t = (0.01 + 0.04 + 0.002) the simulation runs Gasflow-USM, but scales the element pressures to average pressure value From t = (0.01 + 0.04 + 0.002) to the end, the simulation performs uniform pressure calculations Note that the switch.time can also be replaced by an event trigger. Release 7.7
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Consider a model with 2 chambers, both with inflators that are triggered separately. The event that triggers SWITCH /1 is at t = 0.01 The event that triggers SWITCH /2 is at t = 0.013 So SWITCH /3 is triggered at t = 0.01 The isobaric switch is activated 0.042 s after one of the switches is triggered. From t = 0.01 to t = (0.01 +0.04) the simulation runs Gasflow-USM From t = (0.01 + 0.04) to t = (0.01 + 0.04 + 0.002) the simulation runs Gasflow-USM, but scales the element pressures to average pressure value From t = (0.01 + 0.04 + 0.002) to the end, the simulation performs uniform pressure calculations Note that the switch.time can also be replaced by an event trigger. ...
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Element
JET.CENTRE_VEL
Parents
INFLATOR.DEF INFLATOR.REF
JET.CENTRE_VEL
J
Description Gas jet definition of type centre velocity for Uniform Pressure method.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME BODY Ref FE_CRDSYS
Ref to BODY.RIGID.
(2,3)
Ref to FE_CRDSYS.NODE. Coordinate system reference(3,4)
Ref CENTRE Real[3] OUTFLOW_DIR Real[3] EFAC Real EFAC_FUNC
m
Centre(5) Jet outflow direction(5) Jet efficiency factor(6)
1.0
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Jet efficiency function – jet efficiency factor [-] vs. relative time [s](7)
Ref ELEMENT_LIST
Ref to ELEMENT.*. List of numerical element references(8)
iList ELEMENT_LIST_EXCL
Ref to ELEMENT.*. List of numerical element references to be removed from the ELEMENT_LIST
iList GROUP_LIST
Ref to GROUP_FE. List of groups containing objects(8)
List GROUP_LIST_EXCL
Ref to GROUP_FE. List of groups containing objects to be removed from the GROUP_LIST
List ALPHA Real
rad
Half angle of jet divergence(9)
C Real VEL_FUNC Ref
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Jet parameter(10) Ref to FUNCTION.XY. Relative centre line velocity function – relative centre line velocity vmax /v0 [-] vs. relative distance to jet outlet [-](11)
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1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters.
J
2. The jet is attached to this body and follows its translation and rotation. Initial joint position and orientation do not influence the initial position and orientation of the jet. 3. The reference space is used when neither BODY nor FE_CRDSYS is specified. Either BODY or FE_CRDSYS can be specified, not both. 4. The jet is attached to this coordinate system and follows its translation and rotation. The initial position and orientation of this coordinate system do not influence the initial position and orientation of the jet. 5. Defined in the same coordinate system as the FE model (not in the body local coordinate system nor in the coordinate system referenced by FE_CRDSYS), so initial position and orientation of the FE model in INITIAL.FE_MODEL also affect the initial position and orientation of the jet. 6. Range: (0, 2]. 7. If specified, the total jet efficiency factor is calculated as the product of EFAC and EFAC_FUNC: efac = EFAC * EFAC_FUNC(t-ttrigger). If not specified the function is taken as 1: efac = EFAC. Note that the value of efac should be in the interval [0, 2] and that the relative time is specified w.r.t. inflator trigger time. 8. Specifies the elements on which the jet works. 9. Range: [0, 1.5708]. 10. The velocity profile in a cross section at distance z from the inflator outlet is determined according to: 2 −r 2 V = e 2S Vmax with r the distance to the centre line of a cone-shaped jet or the distance to the centre plane of a wedge-shaped jet. The standard deviation S is specified as: S = C D(z) with D(z) representing the local jet radius (at distance z of the outlet opening) for a coneshaped jet or the local jet half-width for a wedge-shaped jet. 11. vmax /v0 is prescribed as a function of z/RADIUS for a circular outlet, or as z/(0.5 SHORT_LENGTH) for a rectangular outlet. f(0) = 1.0, f(z) ≤ 1.0 for z > 0.0. Related Element One/Many JET_SHAPE.CIRCULAR JET_SHAPE.RECTANGULAR One FUNC_USAGE.2D Many
Description
Gas outlet jet shape. Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
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JET.CENTRE_VEL
• If both ELEMENT_LIST and GROUP_LIST are not specified, then the jet works on all the elements which are selected for the airbag chamber. • An initial zone of infinite length can be approximated by adding coordinate pairs (1.0E20, 1.0) and (1.01E20, 0.99) or similar values defining the end of the initial zone in the function table of function VEL_FUNC. Examples
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JET.CONSTANT_MOMENTUM
J
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Element
JET.CONSTANT_MOMENTUM
Parents
INFLATOR.DEF INFLATOR.REF
Description Gas jet definition of type constant momentum for Uniform Pressure method.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME BODY Ref FE_CRDSYS
Ref to BODY.RIGID.
(2,3)
Ref to FE_CRDSYS.NODE. Coordinate system reference(3,4)
Ref CENTRE Real[3] OUTFLOW_DIR Real[3] EFAC Real EFAC_FUNC
m
Centre(5) Jet outflow direction(5) Jet efficiency factor(6)
1.0
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Jet efficiency function – jet efficiency factor [-] vs. relative time [s](7)
Ref ELEMENT_LIST
Ref to ELEMENT.*. List of numerical element references(8)
iList ELEMENT_LIST_EXCL
Ref to ELEMENT.*. List of numerical element references to be removed from the ELEMENT_LIST
iList GROUP_LIST
Ref to GROUP_FE. List of groups containing objects(8)
List GROUP_LIST_EXCL
Ref to GROUP_FE. List of groups containing objects to be removed from the GROUP_LIST
List ALPHA Real
rad
Half angle of jet divergence(9)
C Real
Jet parameter(10)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The jet is attached to this body and follows its translation and rotation. Initial joint position and orientation do not influence the initial position and orientation of the jet. 406
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3. The reference space is used when neither BODY nor FE_CRDSYS is specified. Either BODY or FE_CRDSYS can be specified, not both. 4. The jet is attached to this coordinate system and follows its translation and rotation. The initial position and orientation of this coordinate system do not influence the initial position and orientation of the jet. 5. Defined in the same coordinate system as the FE model (not in the body local coordinate system nor in the coordinate system referenced by FE_CRDSYS), so initial position and orientation of the FE model in INITIAL.FE_MODEL also affect the initial position and orientation of the jet. 6. Range: (0, 2]. 7. If specified, the total jet efficiency factor is calculated as the product of EFAC and EFAC_FUNC: efac = EFAC * EFAC_FUNC(t-ttrigger). If not specified the function is taken as 1: efac = EFAC. Note that the value of efac should be in the interval [0, 2] and that the relative time is specified w.r.t. inflator trigger time. 8. Specifies the elements on which the jet works. 9. Range: [0, 1.5708]. 10. The velocity profile in a cross section at distance z from the inflator outlet is determined according to: 2 −r 2 V = e 2S Vmax with r the distance to the centre line of a cone-shaped jet or the distance to the centre plane of a wedge-shaped jet. The standard deviation S is specified as: S = C D(z) with D(z) representing the local jet radius (at distance z of the outlet opening) for a coneshaped jet or the local jet half-width for a wedge-shaped jet. Related Element One/Many JET_SHAPE.CIRCULAR One FUNC_USAGE.2D One
Description The radius of a circular inflator outlet. Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Additional Information
• If both ELEMENT_LIST and GROUP_LIST are not specified, then the jet works on all the elements which are selected for the airbag_chamber. Examples
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CENTRE = "0.0 0.0 0.0" OUTFLOW_DIR = "0 1 0" ALPHA = "0.11 " C = "0.5" >
J
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Element
JET.GAS_FLOW
Parents
INFLATOR.DEF INFLATOR.REF
JET.GAS_FLOW
J
Description Gas jet definition for the Gasflow-USM method.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME BODY Ref FE_CRDSYS
Ref to BODY.RIGID.
(2,3)
Ref to FE_CRDSYS.NODE. Coordinate system reference(3,4)
Ref CENTRE Real[3] OUTFLOW_DIR Real[3]
m
Centre(5) Jet outflow direction(5)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The jet is attached to this body and follows its translation and rotation. Initial joint position and orientation do not influence the initial position and orientation of the jet. 3. The reference space is used when neither BODY nor FE_CRDSYS is specified. Either BODY or FE_CRDSYS can be specified, not both. 4. The jet is attached to this coordinate system and follows its translation and rotation. The initial position and orientation of this coordinate system do not influence the initial position and orientation of the jet. 5. Defined in the same coordinate system as the FE model (not in the body local coordinate system nor in the coordinate system referenced by FE_CRDSYS), so initial position and orientation of the FE model in INITIAL.FE_MODEL also affect the initial position and orientation of the jet. Related Element One/Many JET_SHAPE.CIRCULAR JET_SHAPE.RECTANGULAR One
Description
Gas outlet jet shape.
Additional Information
• See table at AIRBAG_CHAMBER for availability of this feature in combination with the different methods for modelling gas flow.
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Examples
J
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Element
JET.IDELCHIK
Parents
INFLATOR.DEF INFLATOR.REF
JET.IDELCHIK
J
Description Gas jet definition of type Idelchik for the Uniform Pressure method.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME BODY Ref FE_CRDSYS
Ref to BODY.RIGID.
(2,3)
Ref to FE_CRDSYS.NODE. Coordinate system reference(3,4)
Ref CENTRE Real[3] OUTFLOW_DIR Real[3] EFAC Real EFAC_FUNC
m
Centre(5) Jet outflow direction(5)
1.0
Ref
Jet efficiency factor(6) Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Jet efficiency function – jet efficiency factor [-] vs. relative time [s](7)
ELEMENT_LIST iList ELEMENT_LIST_EXCL iList
Ref to ELEMENT.*. List of numerical element references(8) Ref to ELEMENT.*. List of numerical element references to be removed from the ELEMENT_LIST
GROUP_LIST List
Ref to GROUP_FE. List of groups containing objects(8)
GROUP_LIST_EXCL List
Ref to GROUP_FE. List of groups containing objects to be removed from the GROUP_LIST
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The jet is attached to this body and follows its translation and rotation. Initial joint position and orientation do not influence the initial position and orientation of the jet. 3. The reference space is used when neither BODY nor FE_CRDSYS is specified. Either BODY or FE_CRDSYS can be specified, not both. 4. The jet is attached to this coordinate system and follows its translation and rotation. The
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initial position and orientation of this coordinate system do not influence the initial position and orientation of the jet.
J
5. Defined in the same coordinate system as the FE model (not in the body local coordinate system nor in the coordinate system referenced by FE_CRDSYS), so initial position and orientation of the FE model in INITIAL.FE_MODEL also affect the initial position and orientation of the jet. 6. Range: (0, 2]. 7. If specified, the total jet efficiency factor is calculated as the product of EFAC and EFAC_FUNC: efac = EFAC * EFAC_FUNC(t-ttrigger). If not specified the function is taken as 1: efac = EFAC. Note that the value of efac should be in the interval [0, 2] and that the relative time is specified w.r.t. inflator trigger time. 8. Specifies the elements on which the jet works. Related Element One/Many JET_SHAPE.CIRCULAR JET_SHAPE.RECTANGULAR One FUNC_USAGE.2D
Description
Gas outlet jet shape. Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
One
Additional Information
• If both ELEMENT_LIST and GROUP_LIST are not specified, then the jet works on all the elements which are selected for the airbag_chamber. • Reference:Idelchik, I.E., Handbook of Hydraulic Resistance, Hemisphere Publishing corp., Washington, U.S.A., 1986. Examples
Example of a jet using the Idelchik model.
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Element
JET.REF
Parents
INFLATOR.DEF INFLATOR.REF
JET.REF
J
Description Gas jet with includable characteristics.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME BODY Ref FE_CRDSYS
Ref to BODY.RIGID.
(2,3)
Ref to FE_CRDSYS.NODE. Coordinate system reference(3,4)
Ref CENTRE Real[3] OUTFLOW_DIR Real[3] JET_CHAR Ref ELEMENT_LIST iList ELEMENT_LIST_EXCL iList
m
Centre(5) Jet outflow direction(5) Ref to JET_CHAR.*. Reference to jet characteristics Ref to ELEMENT.*. List of numerical element references(6) Ref to ELEMENT.*. List of numerical element references to be removed from the ELEMENT_LIST
GROUP_LIST List
Ref to GROUP_FE. List of groups containing objects(6)
GROUP_LIST_EXCL List
Ref to GROUP_FE. List of groups containing objects to be removed from the GROUP_LIST
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. The jet is attached to this body and follows its translation and rotation. Initial joint position and orientation do not influence the initial position and orientation of the jet. 3. The reference space is used when neither BODY nor FE_CRDSYS is specified. Either BODY or FE_CRDSYS can be specified, not both. 4. The jet is attached to this coordinate system and follows its translation and rotation. The initial position and orientation of this coordinate system do not influence the initial position and orientation of the jet. 5. Defined in the same coordinate system as the FE model (not in the body local coordinate system nor in the coordinate system referenced by FE_CRDSYS), so initial position and Release 7.7
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orientation of the FE model in INITIAL.FE_MODEL also affect the initial position and orientation of the jet.
J
6. If JET_CHAR refers to JET_CHAR.CENTRE_VEL, JET_CHAR.IDELCHIK or JET_CHAR.CONSTANT_MOMENTUM (all Uniform Pressure) then the elements/groups on which the jet works are specified here. If no element/groups are specified, the jet potentially works on all elements of the airbag chamber. If JET_CHAR refers to JET_CHAR.GAS_FLOW, the elements specified here become obsolete. Additional Information
• ELEMENT_LIST and GROUP_LIST are limited to the elements defining the airbag chamber. • All properties (inclusive jet-type) that are defined in JET_CHAR are used for this JET. Examples
Example of a circular jet definition of which the centre line gas velocity is prescribed. ... ... ... ...
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JET_CHAR.CENTRE_VEL
Element
JET_CHAR.CENTRE_VEL
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
J
Description Characteristic of gas jet type CENTRE_VEL.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME EFAC Real EFAC_FUNC
Jet efficiency factor(2)
1.0
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Jet efficiency function – jet efficiency factor [-] vs. relative time [s](3)
Ref ALPHA Real
rad
Half angle of jet divergence(4)
C Real VEL_FUNC Ref
Jet parameter(5) Ref to FUNCTION.XY. Relative centre line velocity function – relative centre line velocity vmax /v0 [-] vs. relative distance to jet outlet [-](6)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Range: (0, 2]. 3. If specified, the total jet efficiency factor is calculated as the product of EFAC and EFAC_FUNC: efac = EFAC * EFAC_FUNC(t-ttrigger). If not specified the function is taken as 1: efac = EFAC. Note that the value of efac should be in the interval [0, 2] and that the relative time is specified w.r.t. inflator trigger time. 4. Range: [0, 1.5708]. 5. The velocity profile in a cross section at distance z from the inflator outlet is determined according to: 2 −r 2 V = e 2S Vmax with r the distance to the centre line of a cone-shaped jet or the distance to the centre plane of a wedge-shaped jet. The standard deviation S is specified as: S = C D(z) with D(z) representing the local jet radius (at distance z of the outlet opening) for a coneshaped jet or the local jet half-width for a wedge-shaped jet. Release 7.7
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6. vmax /v0 is prescribed as a function of z/RADIUS for a circular outlet, or as z/(0.5 SHORT_LENGTH) for a rectangular outlet. f(0) = 1.0, f(z) ≤ 1.0 for z > 0.0. Related Element One/Many JET_SHAPE.CIRCULAR JET_SHAPE.RECTANGULAR One FUNC_USAGE.2D
Description
Gas outlet jet shape.
Many
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Many
Function.
FUNCTION.*
Additional Information
• When a function is defined as child of either the parent of the JET_CHAR or JET_CHAR itself, it can be referenced without a path. Examples
In this example both VEL_FUNC and EFAC_FUNC use a local reference to point to a function. However the function CentreLineVel_fun is defined as child of JET_CHAR.CENTRE_VEL and Efficiency_fun as child of SYSTEM.MODEL both functions can be dealt by a local reference (without path) ...
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JET_CHAR.CENTRE_VEL
> ...
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Element
JET_CHAR.CONSTANT_MOMENTUM
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Characteristic of gas jet type CONSTANT_MOMENTUM.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME EFAC Real EFAC_FUNC
Jet efficiency factor(2)
1.0
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Jet efficiency function – jet efficiency factor [-] vs. relative time [s](3)
Ref ALPHA Real
rad
Half angle of jet divergence(4)
C Real
Jet parameter(5)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Range: (0, 2]. 3. If specified, the total jet efficiency factor is calculated as the product of EFAC and EFAC_FUNC: efac = EFAC * EFAC_FUNC(t-ttrigger). If not specified the function is taken as 1: efac = EFAC. Note that the value of efac should be in the interval [0, 2] and that the relative time is specified w.r.t. inflator trigger time. 4. Range: [0, 1.5708]. 5. The velocity profile in a cross section at distance z from the inflator outlet is determined according to: 2 −r 2 V = e 2S Vmax with r the distance to the centre line of a cone-shaped jet or the distance to the centre plane of a wedge-shaped jet. The standard deviation S is specified as: S = C D(z) with D(z) representing the local jet radius (at distance z of the outlet opening) for a coneshaped jet or the local jet half-width for a wedge-shaped jet. Related Element One/Many JET_SHAPE.CIRCULAR One
418
Description The radius of a circular inflator outlet.
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Related Element FUNC_USAGE.2D
JET_CHAR.CONSTANT_MOMENTUM
One/Many
Description
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Many
Function.
FUNCTION.*
Additional Information
• When a function is defined as child of either the parent of the JET_CHAR or JET_CHAR itself, it can be referenced without a path. See also the example at JET_CHAR.CENTRE_VEL for further information. Examples
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JET_CHAR.GAS_FLOW
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Element
JET_CHAR.GAS_FLOW
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
Description Characteristic of gas jet type for Gasflow-USM calculations.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Related Element One/Many JET_SHAPE.CIRCULAR JET_SHAPE.RECTANGULAR One
Description
Gas outlet jet shape.
Examples
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JET_CHAR.IDELCHIK
Element
JET_CHAR.IDELCHIK
Parents
FE_MODEL MADYMO SYSTEM.MODEL SYSTEM.REF_SPACE
J
Description Characteristic of gas jet type IDELCHIK.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME EFAC Real EFAC_FUNC
Jet efficiency factor(2)
1.0
Ref to [FUNCTION.CONTROL_SIGNAL FUNCTION.XY]. Jet efficiency function – jet efficiency factor [-] vs. relative time [s](3)
Ref
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Range: (0, 2]. 3. If specified, the total jet efficiency factor is calculated as the product of EFAC and EFAC_FUNC: efac = EFAC * EFAC_FUNC(t-ttrigger). If not specified the function is taken as 1: efac = EFAC. Note that the value of efac should be in the interval [0, 2] and that the relative time is specified w.r.t. inflator trigger time. Related Element One/Many JET_SHAPE.CIRCULAR JET_SHAPE.RECTANGULAR One FUNC_USAGE.2D
Description
Gas outlet jet shape.
One
Used to select interpolation type for X-Y function descriptions, or to modify function data by shifting and/or scaling.
Many
Function.
FUNCTION.*
Additional Information
• When a function is defined as child of either the parent of the JET_CHAR or JET_CHAR itself, it can be referenced without a path. See also the example at JET_CHAR.CENTRE_VEL for further information. Examples
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JET_SHAPE.CIRCULAR
Element
JET_SHAPE.CIRCULAR
Parents
JET.CENTRE_VEL JET.GAS_FLOW JET.IDELCHIK JET_CHAR.CENTRE_VEL JET_CHAR.GAS_FLOW JET_CHAR.IDELCHIK JET.CONSTANT_MOMENTUM JET_CHAR.CONSTANT_MOMENTUM
J
Description The radius of a circular inflator outlet.
Attribute RADIUS
Type
Default
Real
Unit
Description
m
Radius(1)
1. Range: (0, ∞). Examples
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Element
JET_SHAPE.RECTANGULAR
Parents
JET.CENTRE_VEL JET.GAS_FLOW JET.IDELCHIK JET_CHAR.CENTRE_VEL JET_CHAR.GAS_FLOW JET_CHAR.IDELCHIK
Description Rectangular jet outlet.
Attribute Type SHORT_LENGTH Real
Default
Unit
Description
m
Length of the short side of a rectangular jet outlet(1,2)
m
Length of the long side of a rectangular jet outlet(1,2)
LONG_LENGTH Real LONG_DIR
Direction of the longer side of a rectangular jet outlet(3)
Real[3]
1. Range: (0, ∞). 2. For a rectangular jet outlet, a Gaussian velocity profile is used for the direction parallel to the shorter side of the inflator outlet only. The user should specify the dimensions such that SHORT_LENGTH < LONG_LENGTH. For outlets where SHORT_LENGTH = LONG_LENGTH, it is advisable to model these as an equivalent circular rather than a rectangular outlet. 3. The direction vector is specified in the same coordinate system as the gas outflow direction and should be perpendicular to the gas outflow direction. If not, the component of this vector along a plane perpendicular to the outflow direction is used instead of LONG_DIR. If the deviation is too large ( ≥ 0.01 rad), a warning is given. If both vectors are parallel, an error message is given. Examples
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JOINT.BRAC
Element
JOINT.BRAC
Parents
FE_MODEL MADYMO SYSTEM.MODEL
J
Description Bracket joint. This joint has no DOFs.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF
Description
One
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
One
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME.
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ξi,ξj ζi,ζj
J •
j
i
ηi,ηj
Examples
In this example, a bracket joint is defined between the reference space and a deformable body. This joint and the deformable body are defined in the same SYSTEM.MODEL.
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JOINT.CYLI
Element
JOINT.CYLI
Parents
FE_MODEL MADYMO SYSTEM.MODEL
J
Description Cylindrical joint. The joint position DOFs are the rotation R1 about the joint ξ-axis,
and the translation D1 in the joint ξ-direction. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
m
Translation in joint ξ-direction
Real
0.0
rad
Rotation about the joint ξ-axis
D1 R1
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF
Description
One
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
One
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
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Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. Joint Position Degrees of Freedom
•
D1
R1
s
φ
ηi ξi s
ζi
φ
ηj
ξj i
ζj
j
Examples
In this example, a cylindrical joint is defined between an FE structure and a rigid body. This joint, the FE structure and the rigid body are defined in the same SYSTEM.MODEL. 428
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JOINT.FREE
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MADYMO Reference manual
Element
JOINT.FREE
Parents
FE_MODEL MADYMO SYSTEM.MODEL
Description Free joint using Euler parameters. The joint position DOFs are the translations in
joint ξ-, η-, and ζ-directions and 4 Euler parameters. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
m
Translation in joint ξ-direction(4)
Real
0.0
m
Translation in joint η-direction(4)
Real
0.0
m
Translation in joint ζ-direction(4)
Real
0.0
rad
Rotation about the joint ξ-axis(5)
Real
0.0
rad
Rotation about the joint η-axis(5)
Real
0.0
rad
Rotation about the joint ζ-axis(5)
Real
0.0
-, m, rad
Joint position degree of freedom 1(5)
Real
0.0
-, m, rad
Joint position degree of freedom 2(5)
Real
0.0
-, m
Joint position degree of freedom 3(5)
Real
0.0
-
Joint position degree of freedom 4(5)
Real
0.0
m
Joint position degree of freedom 5(4)
Real
0.0
m
Joint position degree of freedom 6(4)
Real
0.0
m
Joint position degree of freedom 7(4)
D1 D2 D3 R1 R2 R3 Q1 Q2 Q3 Q4 Q5 Q6 Q7 ORIENT Ref
Ref to ORIENTATION.*. Orientation reference(5)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 430
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JOINT.FREE
2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. 4. Two methods are provided for specifying the initial joint position: - three translations D1, D2, D3 - directly setting of Q5, Q6, Q7 If one of the joint degrees of freedom Q1,...,Q7 is unequal to zero the specified values for D1, D2, D3 will be overwritten by Q5, Q6, Q7 respectively. 5. Three methods are provided for specifying the initial joint orientation: - Three rotations R1, R2, R3 - Directly setting of Q1, Q2, Q3, Q4 - Using the ORIENT reference If one of the joint degrees of freedom Q1,...,Q7 is unequal to zero the specified values for R1, R2, R3 are ignored and Q1, Q2, Q3 and Q4 are used. If the ORIENT reference is specified it overwrittes the orientation defined by R1, R2, R3 or defined by Q1, Q2, Q3, Q4. The successive rotation sequence is first the rotation R1 about the joint ξ-axis, followed by the rotation R2 about the new joint η-axis and finally the rotation R3 about the new joint ζ-axis. An identity rotation matrix is obtained by setting joint degree of freedom Q1 equal to 1.0, and Q2, Q3 and Q4 to 0.0 Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF
Description
One
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
One
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. Release 7.7
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MADYMO Reference manual
A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME.
J
• The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. Joint Position Degrees of Freedom
•
Q1
Q2
Q3
Q4
q0
q1
q2
q3
ηj
Q5 D1 sξ
Q6 D2 sη
Q7 D3 sζ
ζj
ξi ξj sξ sζ j
ζi sη ηi i
Examples
In this example, a free joint is defined between a rigid body of another SYSTEM.MODEL and a rigid body of the current SYSTEM.MODEL. 432
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JOINT.FREE_BRYANT
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MADYMO Reference manual
Element
JOINT.FREE_BRYANT
Parents
FE_MODEL MADYMO SYSTEM.MODEL
Description Free joint using Bryant angles. The joint position DOFs are the translations in joint
ξ-, η-, and ζ-directions, the rotation R1 about joint ξ-axis, the rotation R2 about the joint η-axis, and the rotation R3 about the joint ζ-axis. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
m
Translation in joint ξ-direction
Real
0.0
m
Translation in joint η-direction
Real
0.0
m
Translation in joint ζ-direction
Real
0.0
rad
Rotation about the joint ξ-axis
Real
0.0
rad
Rotation about the joint η-axis
Real
0.0
rad
Rotation about the joint ζ-axis
D1 D2 D3 R1 R2 R3
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF One 434
Description
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object. Release 7.7
MADYMO Reference manual
JOINT.FREE_BRYANT
Related Element One/Many CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF One
Description
J Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. • This joint is intended to be used only in combination with prescribed joint position degrees of freedom, as it is possible to get gimbal lock in this joint. To avoid gimbal lock ensure that the ξ and ζ axes do not aline, i.e. the angle around the η axis should never equal π/2±nπ. • Bryant angles can also be prescribed for a joint with Euler parameters.
•
Release 7.7
Joint Position Degrees of Freedom
R1
R2
R3
D1
D2
D3
φ1
φ2
φ3
sξ
sη
sζ
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φ2 φ1
J
ζ i’
ζj j
ηj ξ’i
ζi
i
φ2
sξ ξi
φ3
φ3
η’i
ξj
φ1 sζ
sη
ηi
Examples
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JOINT.FREE_EULER
Element
JOINT.FREE_EULER
Parents
FE_MODEL MADYMO SYSTEM.MODEL
J
Description Free joint using Euler angles. The joint position DOFs are the translations in joint
ξ-, η-, and ζ-directions, the rotation R1 about joint ξ-axis, the rotation R2 about the joint η-axis, and the rotation R3 about the floating joint ξ-axis. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
m
Translation in joint ξ-direction
Real
0.0
m
Translation in joint η-direction
Real
0.0
m
Translation in joint ζ-direction
Real
0.0
rad
Rotation about the joint ξ-axis
Real
0.0
rad
Rotation about the joint η-axis
Real
0.0
rad
rotation about the joint ξ-axis
D1 D2 D3 R1 R2 R3
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF One Release 7.7
Description
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object. 437
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MADYMO Reference manual
Related Element One/Many CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF One
Description
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. • This joint is intended to be used only in combination with prescribed joint position degrees of freedom, as it is possible to get gimbal lock in this joint. To avoid gimbal lock ensure that the ξ and ξ” axes do not aline, i.e. the angle around the η axis should never equal 0±nπ. Joint Position Degrees R1 R2 R3 D1 D2 D3 • of Freedom φ1 φ2 φ3 sξ sη sζ
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JOINT.FREE_EULER
φ2 φ 1 φ3 ζi’
J
ζj ηj
j ξi’
ξj
φ2
ζi
η’i
φ2 φ1
i sξ ξi
sη
sζ
ηi
Examples
Release 7.7
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JOINT.FREE_ROT_DISP
J
MADYMO Reference manual
Element
JOINT.FREE_ROT_DISP
Parents
FE_MODEL MADYMO SYSTEM.MODEL
Description Free joint using Euler parameters. The joint position DOFs are 4 Euler parameters
and the translations in joint ξ-, η-, and ζ-directions on the child body. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
m
Translation in joint ξ-direction(4)
Real
0.0
m
Translation in joint η-direction(4)
Real
0.0
m
Translation in joint ζ-direction(4)
Real
0.0
rad
Rotation about the joint ξ-axis(5)
Real
0.0
rad
Rotation about the joint η-axis(5)
Real
0.0
rad
Rotation about the joint ζ-axis(5)
Real
0.0
-, m, rad
Joint position degree of freedom 1(5)
Real
0.0
-, m, rad
Joint position degree of freedom 2(5)
Real
0.0
-, m
Joint position degree of freedom 3(5)
Real
0.0
-
Joint position degree of freedom 4(5)
Real
0.0
m
Joint position degree of freedom 5(4)
Real
0.0
m
Joint position degree of freedom 6(4)
Real
0.0
m
Joint position degree of freedom 7(4)
D1 D2 D3 R1 R2 R3 Q1 Q2 Q3 Q4 Q5 Q6 Q7 ORIENT Ref
Ref to ORIENTATION.*. Orientation reference(5)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 440
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JOINT.FREE_ROT_DISP
2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. 4. Two methods are provided for specifying the initial joint position: - three translations D1, D2, D3 - directly setting of Q5, Q6, Q7 If one of the joint degrees of freedom Q1,...,Q7 is unequal to zero the specified values for D1, D2, D3 will be overwritten by Q5, Q6, Q7 respectively. 5. Three methods are provided for specifying the initial joint orientation: - Three rotations R1, R2, R3 - Directly setting of Q1, Q2, Q3, Q4 - Using the ORIENT reference If one of the joint degrees of freedom Q1,...,Q7 is unequal to zero the specified values for R1, R2, R3 are ignored and Q1, Q2, Q3 and Q4 are used. If the ORIENT reference is specified it overwrittes the orientation defined by R1, R2, R3 or defined by Q1, Q2, Q3, Q4. The successive rotation sequence is first the rotation R1 about the joint ξ-axis, followed by the rotation R2 about the new joint η-axis and finally the rotation R3 about the new joint ζ-axis. An identity rotation matrix is obtained by setting joint degree of freedom Q1 equal to 1.0, and Q2, Q3 and Q4 to 0.0 Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF
Description
One
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
One
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. Release 7.7
441
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JOINT.FREE_ROT_DISP
MADYMO Reference manual
A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME.
J
• The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. • This joint is intended to be used only in combination with prescribed joint acceleration degrees of freedom. These accelerations must be expressed relative to the child local body coordinate system. Examples
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JOINT.PLAN
Element
JOINT.PLAN
Parents
FE_MODEL MADYMO SYSTEM.MODEL
J
Description Planar joint. The joint position DOFs are the rotation R1 about the joint ξ-axis,
the translation D2 in the joint η-direction, and the translation D3 in the joint ζdirection. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
rad
Rotation about the joint ξ-axis
Real
0.0
m
Translation in joint η-direction
Real
0.0
m
Translation in joint ζ-direction
R1 D2 D3
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF One
Release 7.7
Description
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
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JOINT.PLAN
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MADYMO Reference manual
Related Element One/Many CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
Description
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
One
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. Joint Position Degrees of Freedom
•
R1
D2
D3
φ
sη
sζ
j ξi ζi
ξj
sζ
ζj
sη ηi
φ
ηj
i
Examples
Release 7.7
MADYMO Reference manual
JOINT.PLAN
NAME = " Planar_jnt " R1 = "0.707 " D2 = "0.5" D3 = "1.0" >
Release 7.7
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445
JOINT.REVO
J
MADYMO Reference manual
Element
JOINT.REVO
Parents
FE_MODEL MADYMO SYSTEM.MODEL
Description Revolute joint. The joint position DOF is the rotation R1 about the joint ξ-axis.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS String
FREE
Real
0.0
Initial status of the joint(2,3)
R1 rad
Rotation about the joint ξ-axis
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF
Description
One
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
One
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
Additional Information
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JOINT.REVO
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. Joint Position Degrees of Freedom
•
R1 φ
ξi,ξj
φ
ζj j
ζi ηi ηj i Examples
In this example, a revolute joint is defined between 2 rigid bodies of different systems. The entire body path must be specified when it is defined as child element of element MADYMO. Often, ORIENT is the same for parent and child body, meaning that the corresponding body coordinate systems are initially parallel for default initial conditions.
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JOINT.REVO
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POS = "0.0 0.6 0.5" ORIENT = "OrientVector1 " />
J
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JOINT.REVO_TRAN
Element
JOINT.REVO_TRAN
Parents
FE_MODEL MADYMO SYSTEM.MODEL
J
Description Combined revolute-translational joint. The joint position DOFs are the rotation R2
about the joint η-axis, and the translation D1 in the joint ξ-direction. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
rad
Rotation about the joint η-axis
Real
0.0
m
Translation in joint ξ-direction
R2 D1
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF
Description
One
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
One
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
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MADYMO Reference manual
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. Joint Position Degrees of Freedom
•
R2
D1
φ
s ζj
ζi
φ
s
ηi
ηj
ξj
ξi
j
i
Examples
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MADYMO Reference manual
JOINT.REVO_TRAN
J
Release 7.7
451
JOINT.SPHE
J
MADYMO Reference manual
Element
JOINT.SPHE
Parents
FE_MODEL MADYMO SYSTEM.MODEL
Description Spherical joint using 4 Euler parameters as joint position DOFs.
Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
rad
Rotation about the joint ξ-axis(4)
Real
0.0
rad
Rotation about the joint η-axis(4)
Real
0.0
rad
Rotation about the joint ζ-axis(4)
Real
0.0
-, m, rad
Joint position degree of freedom 1(4)
Real
0.0
-, m, rad
Joint position degree of freedom 2(4)
Real
0.0
-, m
Joint position degree of freedom 3(4)
Real
0.0
-
Joint position degree of freedom 4(4)
R1 R2 R3 Q1 Q2 Q3 Q4 ORIENT Ref
Ref to ORIENTATION.*. Orientation reference(4)
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. 4. Three methods are provided for specifying the initial joint orientation: - Three rotations R1, R2, R3 - Directly setting of Q1, Q2, Q3, Q4 452
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MADYMO Reference manual
JOINT.SPHE
- Using the ORIENT reference If one of the joint degrees of freedom Q1,...,Q4 is unequal to zero the specified values for R1, R2, R3 are ignored and Q1, Q2, Q3 and Q4 are used. If the ORIENT reference is specified it overwrittes the orientation defined by R1, R2, R3 or defined by Q1, Q2, Q3, Q4. The successive rotation sequence is first the rotation R1 about the joint ξ-axis, followed by the rotation R2 about the new joint η-axis and finally the rotation R3 about the new joint ζ-axis. An identity rotation matrix is obtained by setting joint degree of freedom Q1 equal to 1.0, and Q2, Q3 and Q4 to 0.0 Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF
Description
One
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
One
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. •
Release 7.7
Joint Position Degrees of Freedom
Q1
Q2
Q3
Q4
q0
q1
q2
q3
453
J
JOINT.SPHE
MADYMO Reference manual
ζj
J ζi
ηj j ηi
ξj ξi
i Examples
In this example, a spherical joint is defined between 2 rigid bodies. The joint and the bodies are defined in the same SYSTEM.MODEL.
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Release 7.7
MADYMO Reference manual
JOINT.SPHE_BRYANT
Element
JOINT.SPHE_BRYANT
Parents
FE_MODEL MADYMO SYSTEM.MODEL
J
Description Spherical joint using Bryant angles. The joint position DOFs are the rotation R1
about joint ξ-axis, the rotation R2 about the joint η-axis, and the rotation R3 about the joint ζ-axis. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
rad
Rotation about the joint ξ-axis
Real
0.0
rad
Rotation about the joint η-axis
Real
0.0
rad
Rotation about the joint ζ-axis
R1 R2 R3
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF One
Release 7.7
Description
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
455
JOINT.SPHE_BRYANT
J
MADYMO Reference manual
Related Element One/Many CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF One
Description
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. • This joint is intended to be used only in combination with prescribed joint position degrees of freedom, as it is possible to get gimbal lock in this joint. To avoid gimbal lock ensure that the ξ and ζ axes do not aline, i.e. the angle around the η axis should never equal π/2±nπ. • Bryant angles can also be prescribed for a joint with Euler parameters.
•
456
Joint Position Degrees of Freedom
R1
R2
R3
φ1
φ2
φ3
Release 7.7
MADYMO Reference manual
JOINT.SPHE_BRYANT
φ2
φ1
J
ζi
ζj
j ηj ξiφ2 ξj
φ3
φ3
ηi
φ1
i
Examples
Release 7.7
457
JOINT.SPHE_EULER
J
MADYMO Reference manual
Element
JOINT.SPHE_EULER
Parents
FE_MODEL MADYMO SYSTEM.MODEL
Description Spherical joint using Euler angles. The joint position DOFs are the rotation R1
about the joint ξ-axis, the rotation R2 about the joint η-axis, and the rotation R3 about the floating joint ξ-axis. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS Initial status of the joint(2,3)
String
FREE
Real
0.0
rad
Rotation about the joint ξ-axis
Real
0.0
rad
Rotation about the joint η-axis
Real
0.0
rad
rotation about the joint ξ-axis
R1 R2 R3
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF One
458
Description
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
Release 7.7
MADYMO Reference manual
JOINT.SPHE_EULER
Related Element One/Many CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
Description
J Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
One
Additional Information
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. • This joint is intended to be used only in combination with prescribed joint position degrees of freedom, as it is possible to get gimbal lock in this joint. To avoid gimbal lock ensure that the ξ and ξ” axes do not aline, i.e. the angle around the η axis should never equal 0±nπ. Joint Position Degrees R1 R2 R3 • of Freedom φ1 φ2 φ3 φ2 φ1 φ3 ζi ζj ηj ξi φ2
ξj
ηi
j
φ2 φ1
i
Release 7.7
459
JOINT.SPHE_EULER
MADYMO Reference manual
Examples
J
460
Release 7.7
MADYMO Reference manual
JOINT.TRAN
Element
JOINT.TRAN
Parents
FE_MODEL MADYMO SYSTEM.MODEL
J
Description Translational joint. The joint position DOF is the translation D1 in the joint ξ-
direction. Attribute ID
Type
Default
Unit
Description
Int
Numerical identifier
Name
Alphanumerical identifier(1)
NAME STATUS String
FREE
Real
0.0
Initial status of the joint(2,3)
D1 m
Translation in joint ξ-direction
1. The total length of a full path of a NAME attribute (including ID and NAME and strings generated by madymo) may not exceed 256 characters. 2. Domain: [FREE LOCK INITIAL]. 3. FREE defines that the joint degrees of freedom are free, LOCK defines that the joint degrees of freedom are fixed, and INITIAL defines that the joint degrees of freedom are estimates. INITIAL is only used for joints in closed chains. For every closed chain, INITIAL must be set for joints which have in total exactly 6 velocity degrees of freedom. During the assembly process the initial values of the degrees of freedom of the joints for which FREE is specified, will be kept constant to the specified values; the initial values of the degrees of freedom of the joints for which INITIAL is specified may be changed. MADYMO will always keep the degrees of freedom for joints with a prescribed motion constant. Related Element One/Many CRDSYS_OBJECT_1.FE CRDSYS_OBJECT_1.MB CRDSYS_OBJECT_1.REF
Description
One
Coordinate system 1 (or reference to it) attached to a MB object or to a FE object.
One
Coordinate system 2 (or reference to it) attached to a MB object or point 2 (or reference to it) attached to a FE object.
CRDSYS_OBJECT_2.MB CRDSYS_OBJECT_2.REF POINT_OBJECT_2.FE POINT_OBJECT_2.REF
Additional Information
Release 7.7
461
JOINT.TRAN
J
MADYMO Reference manual
• The parent body is referred within the CRDSYS_OBJECT_1.* element. A MB child object is referred within the CRDSYS_OBJECT_2.MB or the CRDSYS_OBJECT_2.REF element; the reference space cannot be used as child object. A FE child object is referred within the POINT_OBJECT_2.FE or the POINT_OBJECT_2.REF element. It is not allowed to define an FE child object if the parent is a MB object. The coordinate system of a FE child object is defined by the initial joint dof and the coordinate system of the parent object. The correct initial position of the FE child object with respect to the initial joint dof has to be defined by the user in the FE model, otherwise the program is aborted. A gap around the initial position of the parent object (corrected for initial joint displacement) in which the initial position of the FE child object should lie can be defined under CONTROL_ANALYSIS.TIME. • The initial joint position degrees of freedom can also be specified under INITIAL.JOINT_POS. The initial joint velocity degrees of freedom can be specified under INITIAL.JOINT_VEL. Joint Position Degrees D1 • of Freedom s
ηi ζi
ξi
s
ηj
i
j ζj
ξj
Examples
