Supported Card
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Solver Description
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Supported Parameters
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Notes
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ACTUATOR
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ACTUATOR.BODY 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.
ACTUATOR.BODY_REL 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.
ACTUATOR.JOINT_BRAKE 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, the friction coefficient and the reaction load on the corresponding child body.
ACTUATOR.JOINT_POS applies a concentrated load on the parent body of a joint with the magnitude of a selected input signal and the reaction load on the corresponding child body.
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TYPE (BODY, BODY_REL, JOINT_BRAKE, JOINT_POS)
INPUT_CLASS (CONTROLLER, OPERATOR, SENSOR, SIGNAL)
INPUT REF
LOAD_TYPE (FORCE, TORQUE)
CRDSYS (REF_SPACE, OBJECT)
LOAD_DIR (X, Y, Z)
POINT_OBJECT_1.MB (OBJECT, REF_SPACE)
POS (X, Y, Z)
define POINT_OBJECT_1.MB or select POINT_OBJECT_1.REF? (OBJECT, REF)
COMMENT
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CONTROLLER
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Proportional integrating and differentiating controller
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TYPE (PID)
CONTROL_SYSTEM
INPUT_CLASS (CONTROLLER, OPERATOR, SENSOR, SIGNAL)
INPUT_REF, GAIN, TAUI, TAUD, COMMENT
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OPERATOR
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TYPE (DELAY, FUNC, MULTIPLY, SUM)
CONTROL_SYSTEM
INPUT_CLASS (CONTROLLER, OPERATOR, SENSOR, SIGNAL)
INPUT_REF
TIME_DELAY
COMMENT
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PORT
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Port selection for SWITCH.MULTI_PORT.
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Defined on the card of the parent SWITCH.
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SENSOR
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TYPE (BODY, BODY_REL, CONTACT, JOINT, JOINT_CONSTRAINT, RESTRAINT, RETRACTOR, SURFACE_DIST)
SIGNAL_TYPE (ANG_DISP, ANG_VEL, ANG_ACC, LIN_POS, LIN_VEL, LIN_ACC, PLAN_ACC)
CRDSYS (OBJECT, REF SPACE)
VECTORX, VECTORY, VECTORZ
REF_SPACE, POS_X, POS_Y, POS_Z
define POINT_OBJECT_1.MB or select POINT_OBJECT_1.REF? (OBJECT, REF)
COMMENT
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SIGNAL
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TYPE (FUNC, EXTERNAL_INPUT, EXTERNAL_OUTPUT)
CONTROL_SYSTEM
ABS_VALUE (OFF/ON)
INTERPOLATION (LINEAR, SPLINE)
X_SCALE, Y_SCALE, X_SHIFT, Y_SHIFT
COMMENT
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SIGNAL_VALUE
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Signal value.
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Defined on the card of the parent OPERATOR.
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STATE
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TYPE (CONTACT, FE_MODEL, INFLATOR, JOINT, JOINT_REMOVE, RESTRAINT_REMOVE)
SWITCH
NR_OF_CONTACTS
COMMENT
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SURFACE.PLANE
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Rectangular plane
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multibody = BODY
N1 = POINT_1
N2 = POINT_2
N3 = POINT_3
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To create a SURFACE under the SYSTEM.REF_SPACE, a reference to a null body must be selected because a reference to a multibody is required when creating a multibody plane. A null body can be created like any other BODY (card image is not relevant and should not be used), Nullbody should be put under the SYSTEM.REF_SPACE assembly.
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SWITCH
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Switch on signal from a sensor.
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TYPE (CONTROL_SYSTEM, LOGIC, MULTI-PORT, SENSOR, TIME, TIME_DELAY, TIME_FUNC)
INVERT (OFF,ON)
DYNAMIC_RELAX (NORMAL_ONLY, RELAX_ONLY, BOTH)
TIME_TYPE (ELAPSED, SIMULATION)
TIME
COMMENT
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