Trademarks and Legal Notices

CAUTIONARY NOTICE TO USERS: This manual is intended for qualied users who will exercise sound engineering judgment and expertise in the use of the ABAQUS Software. The ABAQUS Software is inherently complex, and the examples and procedures in this manual are not intended to be exhaustive or to apply to any particular situation. Users are cautioned to satisfy themselves as to the accuracy and results of their analyses. ABAQUS, Inc. will not be responsible for the accuracy or usefulness of any analysis performed using the ABAQUS Software or the procedures, examples, or explanations in this manual. ABAQUS, Inc. shall not be responsible for the consequences of any errors or omissions that may appear in this manual. ABAQUS, INC. DISCLAIMS ALL EXPRESS OR IMPLIED REPRESENTATIONS AND WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE CONTENTS OF THIS MANUAL. IN NO EVENT SHALL ABAQUS, INC. OR ITS THIRD-PARTY PROVIDERS BE LIABLE FOR ANY INDIRECT, INCIDENTAL, PUNITIVE, SPECIAL, OR CONSEQUENTIAL DAMAGES (INCLUDING WITHOUT LIMITATION DAMAGES FOR LOSS OF BUSINESS PROFITS, BUSINESS INTERRUPTION, OR LOSS OF BUSINESS INFORMATION) EVEN IF ABAQUS, INC. HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. The ABAQUS Software described in this manual is available only under license from ABAQUS, Inc. and may be used or reproduced only in accordance with the terms of such license. This manual and the software described in this manual are subject to change without prior notice. No part of this manual may be reproduced or distributed in any form without prior written permission of ABAQUS, Inc. ABAQUS, Inc. 2004. All rights reserved. Printed in the United States of America. U.S. GOVERNMENT USERS: The ABAQUS Software and its documentation are commercial items, specically commercial computer software and commercial computer software documentation, and consistent with FAR 12.212 and DFARS 227.7202, as applicable, are provided under license to the U.S. Government, with restricted rights. TRADEMARKS The trademarks and service marks (trademarks) in this manual are the property of ABAQUS, Inc. or third parties. You are not permitted to use these trademarks without the prior written consent of ABAQUS, Inc. or such third parties. The following are trademarks or registered trademarks of ABAQUS, Inc. or its subsidiaries in the United States and/or other countries: ABAQUS, ABAQUS/Standard, ABAQUS/Explicit, ABAQUS/CAE, ABAQUS/Viewer, ABAQUS/Aqua, ABAQUS/Design, ABAQUS/Foundation, and the ABAQUS Logo. Other company, product, and service names may be trademarks or service marks of their respective owners. For additional information, see the Trademark and License Notices in the ABAQUS Version 6.5 Release Notes.

ABAQUS Ofces and Representatives

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Preface

This section lists various resources that are available for help with using ABAQUS, including technical engineering and systems support, training seminars, and documentation.
Support

ABAQUS, Inc., offers both technical engineering support and systems support for ABAQUS. Technical engineering and systems support are provided through the nearest local support ofce. You can contact our ofces by telephone, fax, electronic mail, the ABAQUS web-based support system, or regular mail. Information on how to contact each ofce is listed in the front of each ABAQUS manual. The ABAQUS Online Support System (AOSS) is accessible through the MY ABAQUS section of the ABAQUS Home Page (www.abaqus.com). When contacting your local support ofce, please specify whether you would like technical engineering support (you have encountered problems performing an ABAQUS analysis or creating a model in ABAQUS) or systems support (ABAQUS will not install correctly, licensing does not work correctly, or other hardware-related issues have arisen). The ABAQUS Online Support System has a knowledge database of ABAQUS Answers. The ABAQUS Answers are solutions to questions that we have had to answer or guidelines on how to use ABAQUS. We welcome any suggestions for improvements to the support program or documentation. We will ensure that any enhancement requests you make are considered for future releases. If you wish to le a complaint about the service or products provided by ABAQUS, refer to the ABAQUS Home Page.
Technical engineering support

ABAQUS technical support engineers can assist in clarifying ABAQUS features and checking errors by giving both general information on using ABAQUS and information on its application to specic analyses. If you have concerns about an analysis, we suggest that you contact us at an early stage, since it is usually easier to solve problems at the beginning of a project rather than trying to correct an analysis at the end. Please have the following information ready before calling the technical engineering support hotline, and include it in any written contacts:

Your site identier, which can be obtained by typing abaqus whereami at your system prompt (or by selecting HelpOn Version from the main menu bar in ABAQUS/CAE or ABAQUS/Viewer). The version of ABAQUS that are you using. The version numbers for ABAQUS/Standard and ABAQUS/Explicit are given at the top of the data (.dat) le. The version numbers for ABAQUS/CAE and ABAQUS/Viewer can be found by selecting HelpOn Version from the main menu bar. The version numbers for the ABAQUS Interface for MOLDFLOW and the ABAQUS Interface for MSC.ADAMS are output to the screen. The version number for ABAQUS for CATIA V5 can be found by selecting HelpAbout ABAQUS for CATIA V5 from the main menu bar in either of the ABAQUS for CATIA V5 workbenches.

The type of computer on which you are running ABAQUS. The symptoms of any problems, including the exact error messages, if any. Workarounds or tests that you have already tried.

When calling for support about a specic problem, any available ABAQUS output les may be helpful in answering questions that the support engineer may ask you. The support engineer will try to diagnose your problem from the model description and a description of the difculties you are having. The support engineer may need model sketches, which can be sent via fax, e-mail, or regular mail. Plots of the nal results or the results near the point that the analysis terminated may also be needed to understand what may have caused the problem. If the support engineer cannot diagnose your problem from this information, you may be asked to supply the input data. The data can be attached to a support incident in the ABAQUS Online Support System. It may also be sent by means of e-mail, tape, disk, or ftp. Please check the ABAQUS Home Page (http://www.abaqus.com) for the media formats that are currently accepted. All support incidents are tracked in the ABAQUS Online Support System. This enables you (as well as the support engineer) to monitor the progress of a particular problem and to check that we are resolving support issues efciently. To use the ABAQUS Online Support System, you need to register with the system. Visit the MY ABAQUS section of the ABAQUS Home Page for instructions on how to register. If you are contacting us by means outside the AOSS to discuss an existing support problem and you know the incident number, please mention it so that we can consult the database to see what the latest action has been and, thus, give you more efcient support as well as avoid duplication of effort. In addition, please give the receptionist the support engineers name if contacting us via telephone or include it at the top of any e-mail correspondence.
Systems support

ABAQUS systems support engineers can help you resolve issues related to the installation and running of ABAQUS, including licensing difculties, that are not covered by technical engineering support. You should install ABAQUS by carefully following the instructions in the ABAQUS Installation and Licensing Guide. If you are able to complete the installation, please make sure that the product verication procedure was run successfully at the end of the installation procedure. Successful verication for licensed products would indicate that you can run these products on your computer; unsuccessful verication for licensed products indicates problems with the installation or licensing (or both). If you encounter problems with the installation, licensing, or verication, rst review the instructions in the ABAQUS Installation and Licensing Guide to ensure that they have been followed correctly. If this does not resolve the problems, consult the ABAQUS Answers database in the ABAQUS Online Support System for information about known installation problems. If this does not address your situation, please create an incident in the AOSS and describe your problem, including the output from abaqus info=support. If you call, mail, e-mail, or fax us about a problem (instead of using the AOSS), please provide the output from abaqus info=support. It is important that you provide as much information as possible about your problem: error messages from an aborted analysis, output from the abaqus info=support command, etc.

ii

ABAQUS Web server

For users connected to the Internet, many questions can be answered by visiting the ABAQUS Home Page on the World Wide Web at http://www.abaqus.com The information available on the ABAQUS Home Page includes:

Link to the AOSS ABAQUS systems information and computer requirements ABAQUS performance data Error status reports ABAQUS documentation price list Training seminar schedule ABAQUS Insights newsletter Technology briefs

Anonymous ftp site

For users connected to the Internet, ABAQUS maintains useful documents on an anonymous ftp account on the computer ftp.abaqus.com. Simply ftp to ftp.abaqus.com. Login as user anonymous, and type your e-mail address as your password. Directions will come up automatically upon login.
Writing to technical support

Address of ABAQUS Headquarters: ABAQUS, Inc. 166 Valley Street Providence, RI 02909, USA Attention: Technical Support Addresses for other ofces and representatives are listed in the front of each manual.
Support for academic institutions

Under the terms of the Academic License Agreement we do not provide support to users at academic institutions. Academic users can purchase technical support on an hourly basis. For more information, please see the ABAQUS Home Page or contact your local ABAQUS support ofce.
Training

All ABAQUS ofces offer regularly scheduled public training classes.

iii

The Introduction to ABAQUS seminar covers basic modeling using ABAQUS/CAE and linear and nonlinear applications, such as large deformation, plasticity, contact, and dynamics using ABAQUS/Standard and ABAQUS/Explicit. Workshops provide as much practical experience with ABAQUS as possible. Advanced seminars cover topics of interest to customers with experience using ABAQUS, such as engine analysis, metal forming, fracture mechanics, and heat transfer. We also provide training seminars at customer sites. On-site training seminars can be one or more days in duration, depending on customer requirements. The training topics can include a combination of material from our introductory and advanced seminars. Workshops allow customers to exercise ABAQUS on their own computers. For a schedule of seminars, see the ABAQUS Home Page or call ABAQUS, Inc., or your local ABAQUS representative.
Documentation

The following documentation and publications are available from ABAQUS, unless otherwise specied, in printed form and through the ABAQUS online documentation. For more information on accessing the online books, refer to the discussion of execution procedures in the ABAQUS Analysis Users Manual.
Modeling and Visualization

ABAQUS/CAE Users Manual: This reference document for ABAQUS/CAE includes detailed descriptions of how to use ABAQUS/CAE for model generation, analysis, and results evaluation and visualization. ABAQUS/Viewer users should refer to the information on the Visualization module in this manual.

Analysis

ABAQUS Analysis Users Manual: This volume contains a complete description of the elements, material models, procedures, input specications, etc. It is the basic reference document for ABAQUS/Standard and ABAQUS/Explicit. Both input le usage and ABAQUS/CAE usage information are provided in this manual.

Examples

This volume contains more than 125 detailed examples designed to illustrate the approaches and decisions needed to perform meaningful linear and nonlinear analysis. Typical cases are large motion of an elastic-plastic pipe hitting a rigid wall; inelastic buckling collapse of a thin-walled elbow; explosive loading of an elastic, viscoplastic thin ring; consolidation under a footing; buckling of a composite shell with a hole; and deep drawing of a metal sheet. It is generally useful to look for relevant examples in this manual and to review them when embarking on a new class of problem. ABAQUS Benchmarks Manual: This online-only volume contains over 250 benchmark problems and standard analyses used to evaluate the performance of ABAQUS; the tests are multiple element tests of simple geometries or simplied versions of real problems. The NAFEMS benchmark problems are included in this manual.
ABAQUS Example Problems Manual:

iv

Training

Getting Started with ABAQUS: This document is a self-paced tutorial designed to help new users become familiar with using ABAQUS/CAE to create solid, shell, and framework models and ABAQUS/Standard or ABAQUS/Explicit to perform static, quasi-static, and dynamic stress analysis simulations. It contains a number of fully worked examples that provide practical guidelines for performing structural analyses with ABAQUS. In addition, three comprehensive tutorials are provided to introduce users familiar with the ABAQUS solver products to the ABAQUS/CAE interface. Getting Started with ABAQUS/Standard: Keywords Version:

This online-only document is designed to help new users become familiar with the ABAQUS/Standard input le syntax for static and dynamic stress analysis simulations. The ABAQUS/Standard keyword interface is used to model examples similar to those included in Getting Started with ABAQUS.

Getting Started with ABAQUS/Explicit: Keywords Version: This online-only document is designed to help new users become familiar with the ABAQUS/Explicit input le syntax for quasi-static and dynamic stress analysis simulations. The ABAQUS/Explicit keyword interface is used to model examples similar to those included in Getting Started with ABAQUS. Lecture Notes: These notes are available on many topics to which ABAQUS is applied. They are used in the technical seminars that ABAQUS, Inc., presents to help users improve their understanding and usage of ABAQUS (see the Training section above for more information about these seminars). While not intended as stand-alone tutorial material, they are sufciently comprehensive that they can usually be used in that mode. The list of available lecture notes is included in the Documentation Price List.

Documentation Information

Using ABAQUS Online Documentation: This online-only manual contains instructions for viewing and searching the ABAQUS online documentation.

Reference

ABAQUS Keywords Reference Manual:

This volume contains a complete description of all the input options that are available in ABAQUS/Standard and ABAQUS/Explicit.

ABAQUS Theory Manual: This online-only volume contains detailed, precise discussions of all theoretical aspects of ABAQUS. It is written to be understood by users with an engineering background. ABAQUS Verication Manual: This online-only volume describes more than 12,000 basic test cases, providing verication of each individual program feature (procedures, output options, MPCs, etc.) against exact calculations and other published results. It may be useful to run these problems when learning to use a new capability. In addition, the supplied input data les provide good starting points to check the behavior of elements, materials, etc. Quality Assurance Plan: This document describes the QA procedures followed by ABAQUS. It is a controlled document, provided to customers who subscribe to either the Nuclear QA Program or the Quality Monitoring Service.

Update Information

ABAQUS Release Notes: This document contains brief descriptions of the new features available in the latest release of the ABAQUS product line.

Programming

ABAQUS Scripting Users Manual: This online-only manual provides a description of the ABAQUS Scripting Interface. The manual describes how commands can be used to create and analyze ABAQUS/CAE models, to view the results of the analysis, and to automate repetitive tasks. It also contains information on using the ABAQUS Scripting Interface or C++ as an application programming interface (API) to the output database. ABAQUS Scripting Reference Manual: This online-only manual provides a command reference that lists the syntax of each command in the ABAQUS Scripting Interface. ABAQUS GUI Toolkit Users Manual: This online-only manual provides a description of the ABAQUS GUI Toolkit. The manual describes the components and organization of the ABAQUS GUI. It also describes how you can customize the ABAQUS GUI to build a particular application. ABAQUS GUI Toolkit Reference Manual:

This online-only manual provides a command reference that lists the syntax of each command in the ABAQUS GUI Toolkit.

Interfaces

ABAQUS Interface for MSC.ADAMS Users Manual: This document describes how to use the ABAQUS Interface for MSC.ADAMS, which creates ABAQUS models of MSC.ADAMS components and converts the ABAQUS results into an MSC.ADAMS modal neutral le that can be used by the ADAMS/Flex program. It is the basic reference document for the ABAQUS Interface for MSC.ADAMS. ABAQUS Interface for MOLDFLOW Users Manual: This document describes how to use the ABAQUS Interface for MOLDFLOW, which creates a partial ABAQUS input le by translating results from a MOLDFLOW polymer processing simulation. It is the basic reference document for the ABAQUS Interface for MOLDFLOW.

Installation and Licensing

ABAQUS Installation and Licensing Guide:

This document describes how to install ABAQUS and how to congure the installation for particular circumstances. Some of this information, of most relevance to users, is also provided in the ABAQUS Analysis Users Manual.

vi

CONTENTS

CONTENTS 1. Introduction What information does this manual contain? What is the ABAQUS Interface for MSC.ADAMS? What are the procedures for using the ABAQUS Interface for MSC.ADAMS? What are the contents of the modal neutral le? 2. Preparing the ABAQUS input le The ABAQUS substructure model Setting up the ABAQUS model to create a modal neutral le without stress or strain Setting up the ABAQUS model to create a modal neutral le with stress or strain Supported ABAQUS elements 3. Creating the MSC.ADAMS modal neutral le Units Executing the adams command to create a modal neutral le without stress or strain Executing the adams command to create a modal neutral le with stress or strain

Creating the second input le Creating the modal neutral le from two results les
Translating modes with negative eigenvalues Diagnosing error messages and problems 4. Examples Example 1: Link modeled with solid elements Example 2: Link modeled with beam elements Example 3: Tire

3.3.1 3.3.2

vii

INTRODUCTION

1.

INTRODUCTION
This chapter provides an overview of the ABAQUS Interface for MSC.ADAMS. The following topics are covered:

What information does this manual contain?, Section 1.1 What is the ABAQUS Interface for MSC.ADAMS?, Section 1.2 What are the procedures for using the ABAQUS Interface for MSC.ADAMS?, Section 1.3 What are the contents of the modal neutral le?, Section 1.4

The installation of the ABAQUS Interface for MSC.ADAMS is included in the ABAQUS product installation. For information on installing ABAQUS, see the ABAQUS Installation and Licensing Guide.

1.1

What information does this manual contain?

This manual explains how to use the ABAQUS Interface for MSC.ADAMS. For general information about using MSC.ADAMS, see the MSC.ADAMS collection of documentation. You might nd the following MSC.ADAMS manuals particularly useful:

1.2

Using ADAMS/Flex Using ADAMS/View

What is the ABAQUS Interface for MSC.ADAMS?

The ADAMS/Flex product from MSC.Software Corporation can be used to account for exibility in a component when performing a dynamic analysis in MSC.ADAMS. ADAMS/Flex relies on a nite element analysis code such as ABAQUS to provide the components exibility information in a form that is usable by MSC.ADAMS. The ABAQUS Interface for MSC.ADAMS can be used to create ABAQUS models of MSC.ADAMS components and to convert the ABAQUS results into an MSC.ADAMS modal neutral (.mnf) le, the format required by ADAMS/Flex. The ABAQUS Interface for MSC.ADAMS Version 6.5 requires a results le created by ABAQUS Version 6.2 or later. The ABAQUS Interface for MSC.ADAMS creates modal neutral les compatible with ADAMS Version 10.1 and later. Modal stress and strain, if present in the modal neutral le, require ADAMS Version 12 or later.

11

INTRODUCTION

1.3

What are the procedures for using the ABAQUS Interface for MSC.ADAMS?
The typical usage of the ABAQUS Interface for MSC.ADAMS involves creating a modal neutral le without stress or strain from a single results le and requires one ABAQUS analysis and one ABAQUS Interface for MSC.ADAMS step. The following procedure summarizes the typical usage of the ABAQUS Interface for MSC.ADAMS:
To use the ABAQUS Interface for MSC.ADAMS: 1. Create an ABAQUS model for each exible component of the MSC.ADAMS model.

Each

component is modeled as an ABAQUS substructure.

2. Run the ABAQUS analysis. 3. Run the ABAQUS Interface for MSC.ADAMS to read the ABAQUS results le produced by the

analysis and to create the modal neutral (.mnf) le for MSC.ADAMS.

4. Read the modal neutral le into MSC.ADAMS. A separate modal neutral le must be created for

each exible part in MSC.ADAMS. If you want the ABAQUS Interface for MSC.ADAMS to translate stress or strain to the modal neutral le, you can modify the general procedure. In the modied procedure the ABAQUS Interface for MSC.ADAMS creates a modal neutral le from two results les and requires two ABAQUS analyses and two ABAQUS Interface for MSC.ADAMS steps. For more information, see Setting up the ABAQUS model to create a modal neutral le with stress or strain, Section 2.3, and Executing the adams command to create a modal neutral le with stress or strain, Section 3.3. The remaining sections of this manual discuss these procedures in detail.

1.4

What are the contents of the modal neutral le?

The ABAQUS Interface for MSC.ADAMS translates data from one or more ABAQUS results (.fil) les and creates an MSC.ADAMS modal neutral (.mnf) le. Depending on the contents of the results les and the translation parameters, the ABAQUS Interface for MSC.ADAMS creates a modal neutral le containing the data blocks shown in Table 11.

12

INTRODUCTION

Table 11 Block Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 to 26 27 28 29 Contents Version code Header Content summary Nodal coordinates <Not used>

Modal neutral le contents. Created by the ABAQUS Interface for MSC.ADAMS Yes Yes Yes Yes N/A Yes Yes Yes Yes Yes Yes Yes Yes Yes No Yes Yes Optional Yes Yes No Optional

Global mass properties Eigenvalues Mode shapes Nodal masses Nodal inertias Units Generalized stiffness matrix Generalized mass matrix Element faces Generalized damping Mode shape transformation Interface nodes Modal stress Inertia invariants Modal preload Modal loads Modal strain

13

PREPARING THE ABAQUS INPUT FILE

2.

PREPARING THE ABAQUS INPUT FILE

This chapter describes the preparation of an ABAQUS input le that will produce the results quantities required by ADAMS/Flex.

2.1

The ABAQUS substructure model

The rst step in accounting for a components exibility in MSC.ADAMS is to model that component as an ABAQUS substructure. This process involves creating an ABAQUS nite element model of the component. General guidelines for building ABAQUS models with substructures are described in Using substructures, Section 7.2.1 of the ABAQUS Analysis Users Manual. The specic requirements for building substructure models that can be exported to MSC.ADAMS are described in the following sections. The ABAQUS Interface for MSC.ADAMS creates modal neutral les that do not contain stress or strain from a single results le that is written by an ABAQUS analysis, as described in Setting up the ABAQUS model to create a modal neutral le without stress or strain, Section 2.2. If you want the ABAQUS Interface for MSC.ADAMS to translate stress or strain to the modal neutral le, a second ABAQUS analysis is required, as discussed in Setting up the ABAQUS model to create a modal neutral le with stress or strain, Section 2.3.

2.2

Setting up the ABAQUS model to create a modal neutral le without stress or strain
If you want the ABAQUS Interface for MSC.ADAMS to create a modal neutral le without stress or strain, you can use the following template to prepare an input le for the ABAQUS analysis: *HEADING ... ******************** *STEP *FREQUENCY, EIGENSOLVER=... ... *BOUNDARY ... *ELEMENT MATRIX OUTPUT, MASS=YES, ELSET=... *NODE FILE U, *END STEP ********************

21

PREPARING THE ABAQUS INPUT FILE

*STEP, UNSYMM=NO *SUBSTRUCTURE GENERATE, TYPE=Z..., RECOVERY MATRIX=YES, MASS MATRIX=YES *RETAINED NODAL DOFS ... *RETAINED EIGENMODES ... *SUBSTRUCTURE LOAD CASE, NAME=... *CLOAD ... *SUBSTRUCTURE MATRIX OUTPUT, RECOVERY MATRIX=YES, MASS=YES, STIFFNESS=YES, SLOAD=YES *END STEP ******************** The history section of the input le must contain a *FREQUENCY step to calculate the xedinterface normal modes, followed by a *SUBSTRUCTURE GENERATE step. The *FREQUENCY step may be preceded by any number of steps to apply a desired preload to the model. Note the following points about the *FREQUENCY step: The *FREQUENCY step must apply zero boundary conditions to every degree of freedom that will be retained in the *SUBSTRUCTURE GENERATE step. Other degrees of freedom may be constrained as appropriate. This step must write element mass matrices and eigenvectors to the results le. Note the following points about the *SUBSTRUCTURE GENERATE step:

The UNSYMM=NO parameter on the *STEP option is optional but recommended. Certain preloading histories (for example, contact with high friction coefcients) may create unsymmetric stiffness matrices. The substructure matrix created after such a preloading history will in all cases be symmetric. However, by default, ABAQUS will create and write the full substructure matrix to the results le if the stiffness matrix was unsymmetric earlier in the analysis. Using UNSYMM=NO saves computation time and storage space without affecting accuracy. The *SUBSTRUCTURE GENERATE option must include the parameters RECOVERY MATRIX=YES and MASS MATRIX=YES. The list of *RETAINED NODAL DOFS must be equal to or a subset of the list of DOFs set to zero in the preceding *FREQUENCY step. The list of *RETAINED EIGENMODES must be equal to or a subset of the eigenmodes computed in the *FREQUENCY step. If the list is a subset, unused eigenmodes must not be written to the results le. The *SUBSTRUCTURE MATRIX OUTPUT option must write the recovery matrix, stiffness matrix, and mass matrix to the results le.

22

PREPARING THE ABAQUS INPUT FILE

If the SLOAD=YES parameter is used on the *SUBSTRUCTURE MATRIX OUTPUT option, modal load components corresponding to all internal and external loads acting on the substructure will be translated to modal preloads (block 27) in the modal neutral le. The *SUBSTRUCTURE LOAD CASE option is optional. If the option is present, *CLOAD data should duplicate the loading dened in an earlier general step to represent the effect of other parts of the model on the substructure. As noted in the preceding paragraph, if SLOAD=YES is used on the *SUBSTRUCTURE MATRIX OUTPUT option, these external loads (along with any internal loads) will be written to the preload data block of the modal neutral le. The NAME used for the load case is immaterial.

The history section of the ABAQUS input le may include general steps preceding the required *FREQUENCY and *SUBSTRUCTURE GENERATE steps. Note the following points about these optional general steps:

Displacements written to the results le in these steps will be used to update the nodal coordinates written to the modal neutral le. Displacements for later steps will update those of earlier steps. Therefore, if displacements for a subset of nodes have been written for any step, the nal step should write displacements for all nodes of the substructure; otherwise, some nodes will be translated with their original coordinates, and others will be translated with their deformed coordinates. Loads from these steps may be translated to modal preloads (block 27) in the modal neutral le if SLOAD=YES is used on the *SUBSTRUCTURE MATRIX OUTPUT option. Internal and external loads are treated differently: Internal loads include distributed loads (such as self-weight) and boundary conditions. These loads are considered to be an intrinsic part of the substructure. All *DLOAD data and the reaction forces due to boundary conditions are treated as internal loads. The resultant of internal loads may be nonzero. For example, if a gravity load is applied to a structure restrained from rigid body motion, a net force equal to the weight of the body will act on the rest of the MSC.ADAMS model through the retained degrees of freedom. External loads represent the effect of other parts of the model on the substructure. All *CLOAD options are considered to be external loads. To translate these loads to MSC.ADAMS, the *CLOADs in a general step must be replicated as *SUBSTRUCTURE LOAD CASE data in the *SUBSTRUCTURE GENERATE step.

2.3

Setting up the ABAQUS model to create a modal neutral le with stress or strain
If you want the ABAQUS Interface for MSC.ADAMS to translate stress or strain to the modal neutral le, you must modify the template in the previous section to prepare an input le for the rst ABAQUS analysis. You must include an output request for stress or strain in the *FREQUENCY step, as shown in the following example:

23

PREPARING THE ABAQUS INPUT FILE

******************** *EL FILE, POSITION=NODES, DIRECTIONS=YES 1, S, E, ******************** Note the following points about the output request:

The POSITION=NODES parameter is required. The DIRECTIONS=YES parameter is recommended for all models. This parameter is required for models containing shell elements. The section point number (1, on the line following *EL FILE, in this example) is required for models containing shell elements. The section point number will be ignored for solid elements. Stress or strain for only a single section point can be translated to the modal neutral le. The output variables stress (S), strain (E), or both can be written to the results le.

In addition, you must run a second ABAQUS analysis to recover stress or strain in the substructure for the static constraint modes. You can automatically create the input le for the second ABAQUS analysis using the procedure described in Creating the second input le, Section 3.3.1.

2.4

Supported ABAQUS elements

The ABAQUS Interface for MSC.ADAMS is designed to support most ABAQUS elements that have displacement degrees of freedom at any node. However, there are a few limitations and considerations. Innite elements (for example, CIN3D8), coupled thermal-structural elements (for example, C3D8T), generalized axisymmetric elements (for example, CGAX3), and frame elements (for example, FRAME3D) are not supported.

24

CREATING THE MSC.ADAMS MODAL NEUTRAL FILE

3.

CREATING THE MSC.ADAMS MODAL NEUTRAL FILE

This chapter describes the procedures used to create the MSC.ADAMS modal neutral (.mnf) le from the ABAQUS results les. The procedure varies depending on whether stress or strain are to be translated to the modal neutral le, as described in Executing the adams command to create a modal neutral le without stress or strain, Section 3.2, and Executing the adams command to create a modal neutral le with stress or strain, Section 3.3.

3.1

Units
The MSC.ADAMS programs require that the user dene the units used in the component model, while ABAQUS does not. Therefore, during the creation of the modal neutral le the user must declare explicitly the units used in the model. The approach to doing this in the ABAQUS Interface for MSC.ADAMS is very similar to the way it is done in the ADAMS/View Units Settings dialog box. A predened units system can be specied by using the units option on the ABAQUS Interface for MSC.ADAMS execution procedure. Alternatively, the individual length, mass, force, and time units can be specied by using the length, mass, force, and time options on the ABAQUS Interface for MSC.ADAMS execution procedure. Any individual units that are specied override the corresponding units in the units system. The default units system is mks. The valid units systems for the units option are listed in Table 31. Table 31 Units System mks mmks cgs ips Length Units meters millimeters centimeters inches Valid units systems. Force Units Newtons Newtons dyne pound-force Time Units seconds seconds seconds seconds

Mass Units kilograms kilograms grams slugs

The valid options for each of the length, mass, force, and time options are as follows:
Length units

Valid options for the length units are

meters millimeters, mm centimeters, cm kilometers, km inches, inch, in

31

CREATING THE MSC.ADAMS MODAL NEUTRAL FILE

3.2

feet, foot, ft mile

Mass units

Valid options for the mass units are kilograms, kg megagram, tonne gram, g pound_mass, lbm, pound slug kpound_mass ounce_mass

Force units

Valid options for the force units are Newtons, N kNewton, kN kilogram_force, kgf dyne ounce_force pound_force, lbf, pound kpound_force

Time units

Valid options for the time units are seconds, sec milliseconds, ms minutes, min hours

Executing the adams command to create a modal neutral le without stress or strain
The adams command is used to read the ABAQUS results le produced by the multi-step ABAQUS analysis and to produce an MSC.ADAMS modal neutral (.mnf) le. There are several specic requirements on the format of the results le. Creating an input le to satisfy these requirements is

32

CREATING THE MSC.ADAMS MODAL NEUTRAL FILE

described in Setting up the ABAQUS model to create a modal neutral le without stress or strain, Section 2.2. abaqus adams job=job-name
[input=input-le] [units=mmks | mks | cgs | ips] [length=length-units-name] [mass=mass-units-name] [time=time-units-name] [force=force-units-name] job

This option species the input and output le names to use during results le translation. The jobname value is used to construct the default input le name, job-name.fil. The output modal neutral le is given the name job-name.mnf. If this option is omitted from the command line, the user will be prompted for this value.
input

This option species the name of the results le if it is different from job-name.fil.
units

This option species the units system for the model. The possible values are mmks, mks, cgs, or ips, which correspond to the ADAMS/View options with the same names. The default value is mks.
length

This option species the length units for the model. If this option is specied, it overrides the length units of the specied units system.
mass

This option species the mass units for the model. If this option is specied, it overrides the mass units of the specied units system.
time

This option species the time units for the model. If this option is specied, it overrides the time units of the specied units system.
force

This option species the force units for the model. If this option is specied, it overrides the force units of the specied units system.

33

CREATING THE MSC.ADAMS MODAL NEUTRAL FILE

Default values for the units options can be dened in the ABAQUS environment le (abaqus_v6.env). The default for the units option can be dened with the adams_units_family parameter. The defaults for the length, mass, time, and force options can be dened with the adams_length_units, adams_mass_units, adams_time_units, and adams_force_units parameters, respectively.

3.3

Executing the adams command to create a modal neutral le with stress or strain
To create a modal neutral le containing stress or strain, the ABAQUS Interface for MSC.ADAMS must read data from two results les. You create the rst results le according to the requirements described in Setting up the ABAQUS model to create a modal neutral le with stress or strain, Section 2.3. Next, you use the adams command to create an input le for the second ABAQUS analysis as described in Creating the second input le, Section 3.3.1. You then run the second ABAQUS analysis, which writes the second results le. Finally, you use the adams command to create the modal neutral le as described in Creating the modal neutral le from two results les, Section 3.3.2.

3.3.1

Creating the second input le

To create the input le for the second ABAQUS analysis, execute the ABAQUS Interface for MSC.ADAMS using the following command: abaqus adams job=job-name
[input=input-le] [make_se_recovery] [stress_modes={ON | OFF}] [strain_modes={ON | OFF}] [section_point=section_point_number] job

This option controls the name of the new input le that will be created. The job-name value is used to construct the new input le name, job-name_se_recovery.inp. If this option is omitted from the command line, the user will be prompted for this value.
input

This option species the name of the results le from the rst ABAQUS analysis, if it is different from job-name.fil.

34

CREATING THE MSC.ADAMS MODAL NEUTRAL FILE

make_se_recovery

This option species that the translator is to create a new ABAQUS input le. A modal neutral le will not be created.
stress_modes

This option species that the new ABAQUS input le will contain commands to write stress to the results le. The possible values are ON and OFF. The default value is ON.
strain_modes

This option species that the new ABAQUS input le will contain commands to write strain to the results le. The possible values are ON and OFF. The default value is OFF.
section_point

This option species the section point at which shell stresses and/or strains will be written to the results le. The default value is 1. This option will be ignored for three-dimensional continuum elements.

3.3.2

Creating the modal neutral le from two results les

After running the two ABAQUS analyses, as described above, you create a modal neutral le containing modal stress or strain by executing the ABAQUS Interface for MSC.ADAMS using the following command: abaqus adams job=job-name
[input=input-le] [se_recovery_job=se_recovery_job-name] [units=mmks | mks | cgs | ips] [length=length-units-name] [mass=mass-units-name] [time=time-units-name] [force=force-units-name] job

This option controls the name of the modal neutral le that will be created. The job-name value is used to construct the new modal neutral le name, job-name.mnf. If this option is omitted from the command line, the user will be prompted for this value.
input

This option species the name of the results le from the rst ABAQUS analysis, if it is different from job-name.fil.

35

CREATING THE MSC.ADAMS MODAL NEUTRAL FILE

se_recovery_job

This option species the name of the results le from the second ABAQUS analysis.
units

This option species the units system for the model. The possible values are mmks, mks, cgs, or ips, which correspond to the ADAMS/View options with the same names. The default value is mks.
length

This option species the length units for the model. If this option is specied, it overrides the length units of the specied units system.
mass

This option species the mass units for the model. If this option is specied, it overrides the mass units of the specied units system.
time

This option species the time units for the model. If this option is specied, it overrides the time units of the specied units system.
force

This option species the force units for the model. If this option is specied, it overrides the force units of the specied units system.

3.4

Translating modes with negative eigenvalues

The ABAQUS Interface for MSC.ADAMS uses component modal synthesis to combine the xed-interface normal modes and the substructure recovery vectors into a basis of modal degrees of freedom that will be used for dynamic analysis in MSC.ADAMS. This modal basis spans a space that includes the rigid body response of the substructure. Typically, for a non-prestressed, unrestrained body in three dimensions, one expects to nd six rigid body modes with associated zero eigenvalues. The situation is, in general, different for prestressed models, where an unrestrained structure may have less than six modes with zero eigenvalues. Prestressing may change the expected zeroes into values that are signicantly positive or negative, depending on the sign of the prestress. By default, the ABAQUS Interface for MSC.ADAMS deletes modes with negative eigenvalues and reorthogonalizes the reduced basis. If you want to retain modes with negative eigenvalues, dene the environment variable.

On UNIX platforms type the following command: setenv MDI_MNFWRITE_OPTIONS negative_roots_OK

36

CREATING THE MSC.ADAMS MODAL NEUTRAL FILE

On Windows platforms type the following command: set MDI_MNFWRITE_OPTIONS=negative_roots_OK

In this case the ABAQUS Interface for MSC.ADAMS will treat modes with negative eigenvalues in the same manner as all other modes. To determine if a model will have negative eigenvalues when translated by the ABAQUS Interface for MSC.ADAMS, you can add a *FREQUENCY step with no boundary conditions to the input le. If this step is added to the run that creates the results le used by the ABAQUS Interface for MSC.ADAMS, it must not write anything to the results le.

3.5

Diagnosing error messages and problems

During execution of the adams command, the following warning and error messages may be output: WARNING: There are 'N' elements in substructure Z1, but only 'M' -=> mass matrices have been processed from the results file. -=> Carefully review this discrepancy before proceeding. Explanation: If the number of mass matrices read is zero, verify that there is an *ELEMENT MATRIX OUTPUT, MASS=YES option in the *FREQUENCY step that preceded the *SUBSTRUCTURE GENERATE step. If m is nonzero but less than n, the model may be correct. Some ABAQUS elements, such as dashpots, do not have mass matrices. The mass of other elements may be neglected if they are not signicant in representing the mass of the substructure. Elements with negligible mass are not required in the element set whose mass is written to the results le. WARNING: No fixed-interface normal modes. -=> The results file did not contain any modes from -=> a *FREQUENCY step. Typically, this step contains: -=> *NODE FILE -=> U, Explanation: Vibration mode shapes were missing in the results le. A *FREQUENCY step must precede the *SUBSTRUCTURE GENERATE step. Vibration mode shapes from the *FREQUENCY step are written to the results le using the commands: *NODE FILE U, Typically, all the mode shapes will be written. However, if a subset of the computed modes is retained in the *SUBSTRUCTURE GENERATE step (using the *RETAINED EIGENMODES option), the *FREQUENCY step must write only those modes.

37

CREATING THE MSC.ADAMS MODAL NEUTRAL FILE

ERROR: -=> -=> -=> -=> -=>

Missing element mass matrices. No element mass matrices were found in the results file. The input file must contain an entry similar to: *ELEMENT MATRIX OUTPUT, MASS=YES, ELSET=elset_name This entry must be in the *FREQUENCY step preceding the *SUBSTRUCTURE GENERATE step.

Explanation: The *FREQUENCY step must write element mass matrices to the results le using the syntax given in the error message. ERROR: -=> -=> -=> -=> Missing generalized stiffness and mass matrices. Verify that the input file defines this substructure and contains the following option: *SUBSTRUCTURE MATRIX OUTPUT, STIFFNESS=YES, MASS=YES, RECOVERY MATRIX=YES [, SLOAD=YES]

Explanation: The *SUBSTRUCTURE GENERATE step must write the generalized (reduced) mass and stiffness matrices, as well as the recovery matrices, to the results le. The substructure load vector may also be written using SLOAD=YES. ERROR: -=> -=> -=> -=> Deprecated superelement data in the results file. ABAQUS/ADAMS Version 6.2 and later require a results file created using the SUBSTRUCTURE keywords introduced in ABAQUS Version 6.2. The ABAQUS analysis must be rerun.

Explanation: Results les created with ABAQUS Version 6.1 or earlier cannot be translated by ABAQUS/ADAMS Version 6.2 and later.

38

EXAMPLES

4.

EXAMPLES
This chapter contains three example problems. The rst two examples model a simple exible link component and can be used in the tutorials and examples in the MSC.ADAMS document Using ADAMS/Flex. The third example is a tire that is prestressed by ination and contact with the road prior to creating the ABAQUS substructure.

4.1

Example 1: Link modeled with solid elements

This example models a simple exible link component using three-dimensional continuum elements.
To perform the analysis for the link modeled with solid elements: 1. Enter the following commands to extract the input les from the compressed archive les provided

with the ABAQUS release: abaqus fetch job=adams_ex1 abaqus fetch job=adams_ex1_nodes abaqus fetch job=adams_ex1_elements
2. Enter the following command to execute the ABAQUS analysis:

abaqus job=adams_ex1
3. Enter the following command to execute the ABAQUS Interface for MSC.ADAMS and translate

the results le generated in the ABAQUS analysis to a modal neutral le for use with ADAMS/Flex: abaqus adams job=adams_ex1 The solid element link model used in the MSC.ADAMS four-bar linkage model is shown in Figure 41. The link is modeled with 642 C3D10 tetrahedral solid elements (1368 nodes). Because the solid elements have only displacement degrees of freedom at their nodes, multi-point constraints are used to provide a connection to the other components in the MSC.ADAMS model. Two nodes are added along the centerline of the beam at the centers of the hinge holes. The C3D10 nodes that lie on the faces of the hinge holes are connected to the extra nodes with BEAM-type multi-point constraints, allowing the nodes to transmit both forces and moments between the link and other MSC.ADAMS components. The options used to dene the single substructure are those described in The ABAQUS substructure model, Section 2.1. Twenty xed-interface vibration modes are computed to represent the dynamic behavior of the link. MSC.ADAMS uses the xed-interface vibration modes and the constraint modes to characterize the exibility of the link. The eight lowest xed-interface vibration frequencies computed by ABAQUS are shown in Table 41. These frequencies are reported in the adams_ex1.dat le.

41

EXAMPLES

model_1
y z z

y x

FLX_1.MAR_3
x

y y x y

x z z

FLX_1.MAR_4
y x x y

gravity

z y

z z x

y x

y z x

Figure 41 Table 41

Solid link model.

Fixed-interface vibration frequencies for the solid link model. Frequency, Hz 206 391 570 1124 1228 1817 1879 2541

42

EXAMPLES

The ABAQUS Interface for MSC.ADAMS combines these xed-interface modes with the static constraint modes to compute an equivalent modal basis to be used by ADAMS/Flex. The rst six frequencies of this equivalent basis are approximately zero. The next eight frequencies for the unconstrained model are shown in Table 42. These frequencies are written to the screen when executing the ABAQUS Interface for MSC.ADAMS. Table 42 Nonzero frequencies for the solid link model that are used by ADAMS/Flex. Frequency, Hz 194 535 574 1055 1551 1762 1801 2653 The ABAQUS input le for the solid model, adams_ex1.inp, is shown below. *HEADING Link modeled with C3D10 solid elements ** ---------------------------------------------** ** NODE DEFINITION ** *NODE,input=adams_ex1_nodes.inp ** ** *NSET, NSET=LEFTCYL 8,9,17,18,70,71,72,73,125,126,127,128,134,135,207, 229,230,278,309,310,311,312,313,314,373,374,375,376, 377,378,389,390,391,392,498,533,534,535,546,565,566, 677,688,734,1058,1059,1073,1085,1114,1115,1311,1312, 1325,1335,1356,1357 ** *NSET, NSET=RIGHTCYL 6,7,15,16,66,67,68,69,121,122,123,124,136,137,231,

43

EXAMPLES

232,303,304,305,306,307,308,367,368,369,370,371,372, 393,394,395,396,479,480,481,487,488,506,635,654,957, 958,976,977,1004,1026,1219,1220,1234,1235,1257,1287 ** *MPC BEAM,LEFTCYL,10000 BEAM,RIGHTCYL,20000 ** ---------------------------------------------** ** ELEMENT DEFINITION ** *ELEMENT,TYPE=C3D10,ELSET=PROP1,INPUT=adams_ex1_elements.inp ** ** ** ---------------------------------------------** ** ELEMENT PROPERTY DEFINITION ** *SOLID SECTION,ELSET=PROP1,MATERIAL=STEEL ** ** ---------------------------------------------** ** MATERIAL DEFINITION ** *MATERIAL,NAME=STEEL *ELASTIC 2.069999944E+11, 3.000000119E-01, *DENSITY 7.800000000E+03, ** *NSET,NSET=RETNODES 10000,20000 ** ** ---------------------------------------------** *STEP *FREQUENCY,EIGENSOLVER=LANCZOS 20, *BOUNDARY RETNODES, 1,6 *ELEMENT MATRIX OUTPUT, MASS=YES, ELSET=PROP1

44

EXAMPLES

*NODE FILE U *END STEP ** ** ---------------------------------------------** ** SUBSTRUCTURE GENERATION ** *STEP *SUBSTRUCTURE GENERATE, TYPE=Z1, RECOVERY MATRIX=YES, MASS MATRIX=YES, OVERWRITE *RETAINED NODAL DOFS, SORTED=NO RETNODES, 1,6 *RETAINED EIGENMODES,GENERATE 1,20 *SUBSTRUCTURE MATRIX OUTPUT, STIFFNESS=YES, MASS=YES, RECOVERY=YES *END STEP

4.2

Example 2: Link modeled with beam elements

This example models a simple exible link component using three-dimensional beam elements.
To perform the analysis for the link modeled with beam elements: 1. Enter the following command to extract the input les from the compressed archive les provided

with the ABAQUS release: abaqus fetch job=adams_ex2

2. Enter the following command to execute the ABAQUS analysis:

abaqus job=adams_ex2
3. Enter the following command to execute the ABAQUS Interface for MSC.ADAMS and translate

the results le generated in the ABAQUS analysis to a modal neutral le for use with ADAMS/Flex: abaqus adams job=adams_ex2 The primary difference between the beam model and the solid model is that the beam model uses only 10 B31 elements (11 nodes). Because the beam elements have both displacement and rotational degrees of freedom at their nodes, no multi-point constraints are needed to connect the link to other MSC.ADAMS components. The rest of the model is essentially identical to the solid model of the link.

45

EXAMPLES

The rst eight nonzero frequencies for the unconstrained model are shown in Table 43. Table 43 Nonzero frequencies for the beam link model that are used by ADAMS/Flex. Frequency, Hz 205 555 610 1070 1618 1742 1775 2568 These frequencies are close to those of the solid model of the link. Although the computational cost in ABAQUS is much less for this model than for the solid model, the computational costs in MSC.ADAMS for the two models are very similar because both models have 32 modes (12 constraint modes and 20 xed-interface vibration modes). The ABAQUS input le for the beam model, adams_ex2.inp, is shown below. *HEADING Link modeled with B31 beam elements ** ---------------------------------------------** ** NODE DEFINITION ** *NODE, nset=nall ** 1,0.000000000E+00,0.000000000E+00,0.000000000E+00 2,5.000000000E-02,0.000000000E+00,0.000000000E+00 3,1.000000000E-01,0.000000000E+00,0.000000000E+00 4,1.500000000E-01,0.000000000E+00,0.000000000E+00 5,2.000000000E-01,0.000000000E+00,0.000000000E+00 6,2.500000000E-01,0.000000000E+00,0.000000000E+00 7,3.000000000E-01,0.000000000E+00,0.000000000E+00 8,3.500000000E-01,0.000000000E+00,0.000000000E+00 9,4.000000000E-01,0.000000000E+00,0.000000000E+00 10,4.500000000E-01,0.000000000E+00,0.000000000E+00 11,5.000000000E-01,0.000000000E+00,0.000000000E+00

46

EXAMPLES

** ** ---------------------------------------------** ** ELEMENT DEFINITION ** *ELEMENT,TYPE=B31 1,1,2 2,2,3 3,3,4 4,4,5 5,5,6 6,6,7 7,7,8 8,8,9 9,9,10 10,10,11 ** ** ---------------------------------------------** ** ELEMENT PROPERTY DEFINITION ** *ELSET,ELSET=PROP1 1,2,3,4,5,6,7,8,9,10 ** *BEAM SECTION,ELSET=PROP1,SECTION=RECT,MATERIAL=STEEL,TEMP=GRAD 3.000E-02,1.000E-02 0.000E+00,0.000E+00,-1.000E+00 , ** ** ---------------------------------------------** ** MATERIAL DEFINITION ** *MATERIAL,NAME=STEEL *ELASTIC 2.069999944E+11, 3.000000119E-01, *DENSITY 7.800000000E+03, ** *NSET,NSET=RETNODES 1, 11

47

EXAMPLES

** ** ---------------------------------------------** *STEP *FREQUENCY,EIGENSOLVER=LANCZOS 20, *BOUNDARY RETNODES, 1,6 *ELEMENT MATRIX OUTPUT, MASS=YES, ELSET=PROP1 *NODE FILE U *END STEP ** ** ---------------------------------------------** ** SUBSTRUCTURE GENERATION ** *STEP *SUBSTRUCTURE GENERATE, TYPE=Z1, RECOVERY MATRIX=YES, MASS MATRIX=YES, OVERWRITE *RETAINED NODAL DOFS, SORTED=NO RETNODES, 1,6 *RETAINED EIGENMODES, GENERATE 1,20 *SUBSTRUCTURE MATRIX OUTPUT, STIFFNESS=YES, MASS=YES, RECOVERY=YES *END STEP

4.3

Example 3: Tire
This example models a tire. The substructure is created after solving a highly nonlinear prestress problem to account for inating the tire and giving it a footprint due to contact with the road.
To perform the analysis for the tire: 1. Enter the following commands to extract the input les from the compressed archive les provided

with the ABAQUS release: abaqus fetch job=adams_ex3A abaqus fetch job=adams_ex3A_nodes

48

EXAMPLES

abaqus fetch job=adams_ex3B abaqus fetch job=adams_ex3C

2. You must perform three ABAQUS analyses. a. Enter the following command to solve an axisymmetric model for the tire ination:

abaqus job=adams_ex3A
b. Enter the following command to create the three-dimensional model of the tire from the

axisymmetric model and its results and to calculate the footprint of the tire in contact with the road: abaqus job=adams_ex3B oldjob=adams_ex3A
c. Enter the following command to create the substructure model:

abaqus job=adams_ex3C oldjob=adams_ex3B

3. Enter commands to execute the ABAQUS Interface for MSC.ADAMS and to create a modal neutral

le for use with ADAMS/Flex.

On UNIX platforms enter the following commands: setenv MDI_MNFWRITE_OPTIONS negative_roots_OK abaqus adams job=adams_ex3C unsetenv MDI_MNFWRITE_OPTIONS

On Windows platforms enter the following commands: set MDI_MNFWRITE_OPTIONS=negative_roots_OK abaqus adams job=adams_ex3C set MDI_MNFWRITE_OPTIONS=

This example extends the discussion of the model described in Symmetric results transfer for a static tire analysis, Section 3.1.1 of the ABAQUS Example Problems Manual. The ABAQUS analyses of adams_ex3A and adams_ex3B essentially replicate the ination and footprint analysis of the tire as described in that section. However, a few modications have been made to adams_ex3B to prepare it for the substructure analysis that follows:

The rim and hub are modeled as a rigid body, whose reference node is located at the axle. Six degrees of freedom of the reference node will be among the retained degrees of freedom of the substructure. The footprint analysis is controlled by applying loads and boundary conditions to this reference node. The *MODEL CHANGE, ACTIVATE option is used in the rst step of the analysis. This option does not affect the results of that step but is required so that the road-tire contact pair can be removed before creating the substructure in the ABAQUS restart analysis of adams_ex3C.

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The third step has output requests for CDISP and CSTRESS to determine the tire nodes in contact with the road at the end of the footprint analysis. A subset of these nodes will be among the retained nodes of the substructure. The tire model in its original and deformed states is shown in Figure 42 and Figure 43.

3 2 1

Figure 42

Tire model in the original state.

3 2 1

Figure 43

Tire model in the deformed state.

The ABAQUS analysis of adams_ex3C restarts from the ination and footprint analysis of adams_ex3B and consists of the following three steps:

The tire is isolated from the road. The *MODEL CHANGE, REMOVE, TYPE=CONTACT PAIR option is used to remove the rigid surface representing the road. The mechanics of the solution are

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unchanged, since the *BOUNDARY, FIXED option is used to specify that the nodes in node set FOOTPR have displacements identical to their computed values at the end of the previous step. One effect of this step is to reformulate the stiffness matrix of the tire without the Lagrange multipliers that were used to enforce the contact constraints; this leads to a more realistic substructure matrix. This step writes displacements for all nodes to the results le so that deformed nodal coordinates will be written to the results le. Twenty normal modes of the tire are computed. This step has boundary conditions to restrain all degrees of freedom that will be retained in the substructure, plus additional restraints to maintain the footprint shape. This step writes element mass matrices for all elements and eigenvectors for all modes to the results le. The eight lowest vibration frequencies computed in this step are shown in Table 44. Table 44 Fixed-interface vibration frequencies for the prestressed tire. Frequency, Hz 57 65 70 83 94 99 108 118 To compute the modes and frequencies for the unrestrained, prestressed tire, remove all boundary conditions and run a separate analysis. The eight lowest eigenvalues for this analysis are shown in Table 45. The prestress has eliminated four of the zero eigenvalues that would be expected in an unstressed free vibration calculation. Two of these eigenvalues are signicantly negative; hence, their retention in the modal neutral le is optional and is controlled by an environment variable, as discussed in Translating modes with negative eigenvalues, Section 3.4. The substructure is created. The list of retained nodal degrees of freedom includes six degrees of freedom at the hub and three degrees of freedom at 35 nodes of the footprint. These contribute 111 degrees of freedom to the substructure. In addition, 20 xed-interface normal modes are retained, so the substructure mass and stiffness matrices have 131 degrees of freedom. Depending on the engineering use of the substructure, you can choose other retained degrees of freedom. You can experiment with retaining a different number of nodes or possibly only the normal component of displacement at some nodes. In addition, the number of xed-interface normal modes can be varied.

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Table 45 Eigenvalues computed by ABAQUS for the unrestrained prestressed tire, using all DOFs of the FEA model. Eigenvalue 3743 1970 0 0 0 0 3.048E+05 3.208E+05

The *SUBSTRUCTURE MATRIX OUTPUT option uses the optional parameter SLOAD= YES to write the modal load components to the results le. Thus, after translation, the loads corresponding to the fraction of vehicle weight that prestressed the tire will be in the modal neutral le used by ADAMS/Flex. After reorthogonalizing the component modes computed by ABAQUS, the ABAQUS Interface for MSC.ADAMS reports the eigenvalues and frequencies of the modes it will store in the modal neutral le. As written to the screen during that translation step, the eigenvalues for the rst eight modes are shown in Table 46. Table 46 Eigenvalues computed by the ABAQUS Interface for MSC.ADAMS for the tire, using component modal synthesis with 20 vibration modes and 111 static modes. Eigenvalue 3741 1969 0 0 0 0

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Eigenvalue 3.139E+05 3.289E+05 The ABAQUS input les, adams_ex3B.inp and adams_ex3C.inp, are shown below. adams_ex3B.inp *heading tire superelement w/ symmetric results transfer step 0: generate full 3d model using tiretransfer_axi_full step 1: equilibrate results step 2: footprint analysis (displacement control) step 3: footprint analysis (load control) units: kg, m *preprint,model=yes,history=yes *node,nset=road 9999, 0.0, 0.0, -0.02 *symmetric model generation,revolve,element=200,node=200 0.0, 0.0, 0.0, 0.0, 1.0, 0.0 0.0, 0.0, 1.0 90.0, 3 70.0, 3 15.0, 7 10.0, 4 15.0, 7 70.0, 3 90.0, 3 *symmetric results transfer,step=1,inc=4 *elset,elset=foot,gen 1001, 4801, 200 1002, 4802, 200 1003, 4803, 200 1004, 4804, 200 1005, 4805, 200 1007, 4807, 200 1008, 4808, 200 1009, 4809, 200 1010, 4810, 200 1011, 4811, 200 1012, 4812, 200

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1014, 4814, 200 *surface,type=cylinder,name=sroad 0., 0.,-0.31657, 1., 0.,-0.31657 0., 1.,-0.31657 start, -0.3, 0. line, 0.3, 0. *rigid body,ref node=9999,analytical surface=sroad *surface,name=stread foot, s3 *contact pair,interaction=srigid stread, sroad *surface interaction,name=srigid *friction 0.0 *elset,elset=sect,generate 2800, 3200, 1 *nset,nset=sect,generate 2800, 3400, 1 *nset,nset=foot,elset=foot *nset,nset=noutp,generate 1055, 5055, 200 *file format,zero increment ************************************************** *step,inc=100,nlgeom=yes 1: inflation *static, long term ** 0.25, 1.0 1.,1.,1. *model change, activate *restart,write,overlay *boundary rim_ref, 1, 6 *dload belt,p5, 200.e3 side,p5, 200.e3 *node print,nset=road,freq=100 u, rf, *el print,freq=0 *node file,nset=foot,freq=100 *output,field,freq=100

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*element output s,le *node output,nset=foot u, *contact output, var=preselect *output,history,freq=1 *node output, nset=road u, rf *end step ************************************************** *step,inc=100,nlgeom=yes 2: footprint (displacement controlled) *static, long term 0.2, 1.0 *restart,write,overlay *print,contact=yes *boundary,op=new rim_ref, 1, 6 road, 1, 2 road, 4, 6 road, 3, , 0.02 *node print,nset=road,freq=100 u, rf, *el print,freq=0 *end step ************************************************** *step,inc=100,nlgeom=yes 3: footprint (load controlled) *static, long term 1.0, 1.0 *boundary,op=new rim_ref, 1, 6 road, 1, 2 road, 4, 6 *cload,op=new road, 3, 3300. *contact print cdisp,cstress *end step **************************************************

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adams_ex3C.inp *heading tire superelement w/ symmetric results transfer Restart to identify nodes in footprint step 4: remove contact constraints step 5: extract fixed interface modes step 6: generate superelement units: kg, m *preprint,model=yes,history=yes *restart,read,step=3,write,overlay *elset,elset=eall tread,side,belt ** ************************************************** *nset,nset=footpr,unsorted ** ** This is the list of tire nodes found to be in contact with the ** road at the end of the previous step. ** (These nodes had status CL in the contact print table.) ** 1850, 1855, 1905, 2045, 2050, 2055, 2100, 2105, 2245, 2250, 2255, 2300, 2305, 2440, 2445, 2450, 2455, 2495, 2500, 2505, 2640, 2645, 2650, 2655, 2695, 2700, 2705, 2840, 2845, 2850, 2855, 2895, 2900, 2905, 3040, 3045, 3050, 3055, 3095, 3100, 3105, 3240, 3245, 3250, 3255, 3295, 3300, 3305, 3440, 3445, 3450, 3455, 3495, 3500, 3505, 3640, 3645, 3650, 3655, 3695, 3700, 3705, 3845, 3850, 3855, 3900, 3905, 4045, 4050, 4055, 4100, 4105, 4250, 4255, 4305 ************************************************** *nset,nset=footpr_retnodes ** ** This is the list of nodes in the above footprint that will be ** retained in the substructure. ** 1850, 1855, 1905, 2045, 2100, 2440, 2445, 2450, 2455, 2505, 2500, 2495, 3040, 3045, 3050, 3055, 3105, 3100, 3095, 3640, 3645, 3650, 3655, 3705, 3700, 3695, 4045, 4050, 4105, 4100, 4250, 4255, 4305, 2050, 2105 ** **************************************************

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*step,inc=1,nlgeom 4: remove contact constraints *static 1.,1. *boundary,fixed,op=new rim_ref,1,6 footpr,1,3 road,1,6 *model change, type=contact pair, remove stread, sroad ** ** Write displacements for all nodes to the results file. ** (Needed so the MNF contains deformed nodal coordinates) *node file U, *end step ** ************************************************** *step 5: extract fixed interface modes *frequency, eigensolver=lanczos 20, ** *boundary,op=new road, 1, 6 rim_ref,1,6 footpr,1,3 ** ** Write element mass matrices to the results file. *element matrix output, mass=yes, elset=eall ** ** Write eigenvectors to the results file. *node file U, *end step ** ************************************************** *step 6: generate superelement *substructure generate, type=z101, overwrite, recovery matrix=yes, mass matrix=yes

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** *boundary,op=new road, 1, 6 *retained nodal dofs, sorted=no rim_ref,1,6 footpr_retnodes,1,3 *retained eigenmodes, generate 1,20,1 *substructure matrix output, stiffness=yes, mass=yes, sload=yes, recovery matrix=yes *end step ** **************************************************

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