Coupled Dynamic Simulation

Coupled Dynamic Simulation

In coupled simulation the state equations of both Simcenter Amesim and Simcenter 3D Motion are solved as a complete set by the Simcenter 3D Motion simulation solver. This is in contrast to the co-simulation approach where each simulation package runs its own solver, which is in turn synched with the other solver.

Mechanism Equations of Motion

The Simcenter 3D Motion solver creates a set of Differential-Algebraic equations (DAE) of motion. A DAE is a combination of differential and algebraic equations. In the mechanism these equations are represented in Newton-Euler format. Simcenter 3D Motion uses a maximal set of coordinates and then removes the extra degrees of freedom by applying a library of joint constraint equations.

q is the vector of generalized position coordinates

v is the vector of generalized coordinate velocities

M = Mass matrix

Qa= vector of Applied forces

Φ (q) is the vector joint constraint equations

λ is the vector of LaGrange Multipliers.