Controls Toolkit in ADAMS/View GUI Familiarity Level Required: Lower Estimated Time Required: 15 minutes MSC.ADAMS 2005 r2

Topics Covered In this tutorial you will learn how to: Use Controls Toolkit Create an input-signal block Create a summing-junction block Create a gain block Modify torque function You will need to download “Lift_Mechanism_start.cmd” to be able to begin this tutorial If you have any difficulties, import the “Lift_Mechanism_complete.cmd” file and proceed from pg 14

Control Toolkit in ADAMS/View Problem This example provides a simple introduction to the Controls Toolkit that is integrated into ADAMS/View. This example closely follows the process outlined in the 'Using the Control Toolkit' section of the ADAMS/View guide. Model consists of two moving parts, one imposed motion, and one single-component torque.

What You Should Accomplish If you are successful you should end up with a working ADAMS model which illustrates an implied torque in a boom and bucket mechanism rotating about a single point.

Getting Started First, lets get familiar with what the model is made up of. There are two parts, Boom & Bucket. Boom - is constrained to the ground with a Revolute Joint and a Joint Motion that makes it oscillate. Bucket - is constrained to the Boom with a Revolute Joint. There is also a TORQUE between the Bucket and the Boom that has a magnitude of 0 right now. This is where we will be giving the output of our controls blocks. Notice as you run a simulation the Boom rotates according to the function on the joint motion, while the Bucket just randomly oscillates. We are going to use the Controls Toolkit to keep the bucket at a horizontal orientation with respect to the ground. Our Controls Block Diagram will look like this:

Importing a command file (.cmd) Select Import a file radio button Click OK a b File Import window will open Right-click File To Read text field, select Browse Locate saved file Lift_Mechanism_start.cmd Click Open Click OK d c e f

Creating Input-Signal Block Click Build menu  Controls Toolkit  Standard Control Blocks Click input-signal block tool Enter .Lift_Mechanism.theta_desired in Name text field Enter 0.0 in Function text field Click Apply b c d a e

Creating Input-Signal Block Click input-signal block tool again Enter .Lift_Mechanism.theta_actual in Name text field Click button Select Displacement from pull down arrow Click Angle about Z Click Assist a b d f c e

Creating Input-Signal Block Right-click in To Marker text field click Marker  Browse Click Torq_I_mar  Click OK Click ref_mar  Click OK Click Apply a b c d e

Creating Input-Signal Block Make sure the Define a runtime function text field reads AZ(Torq_I_mar, ref_mar) Click OK Click Apply a b c

Create a Summing-Junction Block Click summing-junction block tool Enter .Lift_Mechanism.theta_sum Right-click in Input 1 text field, select controls_input  Guesses  theta_desired Right-click in Input 2 text field, select controls_input  Guesses  theta_actual Click Apply a b d c e

Create a Gain Block Click gain block tool Enter .Lift_Mechanism.theta_gain Right-click in Input text field, select controls_input  Guesses  theta_sum Enter 1e9 in the Gain text field Click OK a b d c e

Modify Torque Function Right click on torque icon, select Torque: TORQUE  Modify Click button next to Function text field a b

Modify Torque Function a c b e Select Measure from Getting Object Data pull down arrow Right click in text field, select Runtime_Measure  Guesses  theta_gain Click Insert Object Name The name of the measure should appear in the editor above Click OK f

Verify Right click information button, click verify Make sure there are no redundant constraints and only 1 Degree of Freedom Click Close a c b

Run Simulation Click Simulation tool Select Duration from pull down menu Enter 2 in duration text field Select Steps from pull down menu Enter 100 in steps text field Click Play button a f b The Bucket should remain horizontal with respect to the ground as the Boom rotates. c d e

This is what your screen should look like when Model This is what your screen should look like when your model is complete

Topics Covered In this tutorial, you learned how to: Use Controls Toolkit Create an input-signal block Create a summing-junction block Create a gain block Modify torque function

Best Practices Check Standard Control Block to see if they are set correctly Check function input data to see if they are set correctly Check that the function tracks the Angle about Z between the two markers Make sure the torque function is set correctly