机械系统分析软件ADAMS简介及其计算方法

ADAMSU461.4101832201318RideComfortTestSimulationResearchonCarPassengerwithAirSuspensionBasedonMulti-bodySystemDynamics20011220031ADAMSDD6115HADAMSADAMSADAMS11.111.1.111.1.211.221.341.441.571.69ADAMS122.1ADAMS122.2ADAMS132.3142.3.1142.3.2142.3.3152.3.4182.4ADAMS212.522233.1233.226284.1284.2284.3294.3.1324.3.2334.3.3364.437385.1385.1.1385.1.2405.1.3415.1.4ADAMS455.2485.3505.4515.5525.6535.7535.85758ADAMS6.1586.2606.3636.465667.1667.2677.3686971751.11.1.11¾¾ADAMS1.1.260LikingsHookerMargaliesRobersonWittenburgR-W19771983NATO-NSF-ARIowa1984IUTAMIFTOMNCAEComputerAidedEngineeringCAAComputerAidedAnalysisWSchiehlenMulti-bodySystemHandbook20ADAMS(AutomaticDynamicAnalysisofMechanicalSystem)DADS(DynamicAnalysisandDesignSystem)21.2¾¾¾BqA=••AB346N(N)FJqMT=+••λη=qJMJADAMS¾¾¾1.31.4¾CADComputerAidedDesign¾FEA(FinitElementsAnalysis),¾¾ADAMS¾¾501960---DYANADynamicAnalyzer--DYANADYANA1964IBMKAMKinematicAnalysisMethodMichiganM.A.ChaceKAMDYANAM.A.Chace1964DAMN(DynamicAnalysisofMechanicalNetworks),D.A.Smith1969DRAMDynamicResponseofArticulatedMechinery1972WisconsinJ.J.UickerIMPIntegratedMechanismsProgram1973MichiganN.OrlandeaM.A.ChaceADAMS1977IowaCADE.F.HaugDADS1.519471964553810080%FordBenzManNeoplanVolvoBenz300SEBenz600NewayRidewellFirestoneGoodyearSAFBPWJREVANS19701994KatsuyaYoyofukuADAMSJonBunneRogerJableJohnwoodrooffeAlfHomeyer19571958T23461112Hz17%5060SY66261987CA151D18SFQ6981AKL6120HF3HFF6120D0519911999WD6890HNewayRC420GB1161289GB/T1306191GDFFGDFNewayRidewellSAF1.6ADAMSADAMS¾Pro/E¾F-S¾F-V¾¾¾¾¾¾¾¾85¾ADAMS¾ADAMSADAMS2.1ADAMSADAMS(AutomaticDynamicAnalysisMechanicalSystem)ADAMSADAMSX-YADAMSADAMSCADFLEX3ADAMSADAMSViewADAMSSolverADAMSViewADAMSCADIGESADAMSView,ADAMSViewExchangeWAVE--FRONTADAMSSolverADAMSADAMSSolverADAMSFlexADAMSFlexADAMSFlexADAMSFlexANSYSMSCNASTRAN1-DEAS(NeutralFile)ADAMSADAMS/Car()ABSADAMSCarABSAudiBMWFordRenaultVolveADAMS/CarADAMSTire()ADAMSTireADAMSADAMSLinear()Exchange()Controls()MECHANISMPro()Vehicle()Animation()ADAMS/Driver()2.2ADAMS,ADAMSADAMS¾ADAMS¾¾¾¾¾¾¾ADAMSANSYSNASTRANABAQUS¾¾ADAMS4342.3ADAMSADAMS52.3.1ADAMSi()[][]TTnTTiiqqqzyxq,,,,,,,,1⋅⋅⋅==ϕθψ2.3.2ADAMSQqTqTdtdTqTqTT=++∂∂−∂∂••µθρφ)()(0),(=tqφ0),,(=•tqqθ2.1TqQρµ2.3.3(2.1)0),,,,(=•tuuqFλ0),(=−=••ququG0),(=Φtq2.2quq,•λ()φTTTTuqy],,[λ=(2.2)0),,(=•tyyg2.3ADAMS¾GSTIFF,DSTIFFBDF()ADAMS¾ABAMGear2.2Taylor...!212221+∂∂+∂∂+=+htyhtyyynnnn2.4nntth−=+12.2GearK+1()2.211101+−=+•+∑+−=inkiinnyyhyαβ2.51+ny)(ty1+=nttiαβ,0Gear2.5][111101+−=++•∑−−=inkiinnyyhyαβ2.62.21+=ntt0),,,,(11111==+++•++nnnnntuuqFλ0),(11=++nnquG0)(1,1=Φ++nntq2.7ADAMSNewtonRaphson0=∆∂∂+∆∂∂+∆∂∂+∆∂∂+••jjjjjFuuFuuFqqFFλλ0=∆∂∂+∆∂∂+jjjuuGqqGG0=∆∂Φ∂+Φjjqq2.8jjjjjqqq−=∆+1jjjuuu−=∆+1jjjλλλ−=∆+12.92.6jjuhu∆−=∆•)1(0β2.102.7IuGIhqG=∂∂=∂∂,)1(0β2.112.102.112.8∂Φ∂∂Φ∂∂∂−∂∂∂∂•00)(0)1()()1(00qIIhquFhuFqFTββjuq∆∆∆λjGFΦ−−−2.122.12qF∂∂uF∂∂•∂∂uFjjjuqλ∆∆∆,,,1+jq,1+ju,1+jλ,1+•jq,1+•ju,1+•jλ,ADAMS-2.3.42.3.4.12.13jTqqqF∂Φ∂∂Φ∂∂∂0)(jq∆∆λjFΦ−−2.132.3.4.20),(=Φntq0q2.14NewtonRaphson),(njjjtqqqΦ−=∆∂Φ∂2.15jjjqqq−=∆+1jjnttqq∂Φ∂−=∂Φ∂•)(2.16∂Φ∂∂∂+∂Φ∂∂∂+∂∂Φ∂+∂Φ∂−=∂Φ∂••==••••∑∑qtqqqtqqqqtqqnknllklk)()()(11222(2.17)nt})()({)(QTqTqTdtdqTT+∂∂+∂∂−=∂Φ∂•λ(2.18)2.3.4.3ADAMS10LjmjjiiniiqqWLΦ+−=∑∑==102010)(21λ2.19nm0,jjλΦiq0iWiq0iq0iWiq0iWiq0iWiq0iW0L0,0000=∂∂=∂∂jiLqLλ0)(100=∂Φ∂+−∑=ijmjjiiiqqqWλ=i12n0=Φj=j12m2.200),(0=lkiqfλ=k12nADAMS0)(=kjqg=l12m2.21NewtonRaphson=∆∆∂Φ∂∂Φ∂∂∂Φ∂+∑∑∑∑====01111200)(lknkkjmjijnkmjikjjiqqqqqWλλΦ−∂Φ∂−−−∑=)()(100kpjpmjijjpiipiqqqqWλ2.22pkpkpkqqq,1,,−=∆+oplplpl,01,0,λλλ∆−∆=∆+pp(2)1LdtdqqWLjmjjiiniiΦ+−=∑∑=••=1'201'1)(21λ2.23iq0•'iWiq0•01=∂Φ∂+∂Φ∂=Φ•=∑tqqdtdjknkkjj'jλ1L0,0'11=∂∂=∂∂•jiLqLλ0)()(10'1∑=•••=∂Φ∂+−=∂∂mjijijiiiiqqqWqLλi12n01'1=∂Φ∂+∂Φ∂=∂∂•=∑tqqLjknkkjjλ=j12m2.24∂Φ∂−=∂Φ∂∂Φ∂••==∑∑tqWqqqWjkkjknkkjmjkjk0''11'0)(λ=k1n=j1m2.25',jkqλ•2.22',jkqλ•32.4ADAMSADAMS()(BDFGstiffDstiff)ABAMADAMS62.4.11)IFFunctionADAMS2)USERFunctionFORTRANCADAMS3)PSITHETAPHIAXAYAZ4)5)6)2.4.21)IFSTEPSTEP5,Impact2)3)2.5ADAMSADAMSADAMS3.1723-11RR172150FOC3-23-33-23-323-43-43ASL202A3-5A3-5A43-63-65255PLV719R2803-73-73.2DD6115HNEWAYASNEWAYAD3-83-9Pro/EDD6115H1234252672823-812-342562782923-94.1CADPro/EPro/ECAD41m36.2kg251013.2mmkgIxx⋅×=261058.4mmkgIyy⋅×=261041.4mmkgIzz⋅×=4-1CAD4.2DD6115H4-14-12046(mm)5700mm1834(mm)14.6(deg)1357(N/mm)4.1(deg)01(deg)2714(N/mm)3-6(deg)05551kg2000kg500(mm)10911kg4600kg500(mm)4.3/6.0MPa3.3e+05Nm/kg76Nm/kg115Nm/kg178Nm/kg280Nm/kg508Nm/kg1016Nm/kg1)2)4-2ab4-23)S4-3-4)4-3-5)6)7)8)9)SCHENCKDD6115H4-44.3.14-54-5SCHENCK10KN5KN10mm4-54.3.24.3.2.1464-61.1)205mm295mm2775.5kg5455.5kg2)+80mm+80mm53)10mm/min-70mm4)-70mm510mm/min80mm5)6)205mm295mm2000kg4625kg7)252.0.5Hz1.0Hz2.0Hz4.0Hz6.0Hz8.0Hz0.4MPa4.3.2.21.4-74-104-74-84-94-10S2.4-114-114-114.3.34.3.3.1s100mm0.5Hz1Hz2Hz4.3.3.24-124-134-124-134.4ADAMSPro/EDD6115H5.1ADAMSBMATLABADAMSB5.1.18rx5-15-1)(nGxrwxrxrnnnGnG−=)/)(()(005-1n1−m0n1.00=n1−m)(0nGxr12/−mmw85-1)(0nGxr2=w5-181012601.0/10)(−−−=×mnmmnGxr11383.2011.010−−−×mnmmxrσABCDEFGH832128512204881923276813107216