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Training AME1 – Getting started with AMESim
LMS International 2012
LMS Imagine.Lab AMESim
Training AME 1: Getting started with
AMESim

Table of Contents
2 copyright LMS International – 2012
 LMS Imagine.Lab AMESim Platform overview and
definitions
 Getting started with LMS Imagine.Lab AMESim
 Project 1 Elevator: Basic AMESim features
 Project 2 Powertrain: Advanced AMESim features
 Additional AMESim features
 Appendix

Table of Contents
 LMS IL AMESim Platform overview and
definitions
 Physical modeling
 Multi-Level
 Multi-Domain
 Open Platform
 System Simulation
 Project 2 Powertrain: Advanced AMESim
features
 Appendix

The LMS organisation
Test.Lab
Measurement
systems
Virtual.Lab
3D CAE
Imagine.Lab
System
simulation
The name of the system simulation software developed by LMS is
AMESim.

What is AMESim?
 AMESim is a simulation platform:
 a Graphical User Interface (GUI)
 a numerical solver
 many component libraries
 (40 standard libraries covering all the domains of
physics)
The platform term means that the GUI, the Solver and the
Software architecture are common to every application (e.g.
Thermal management, Powertrain, Electro-magnetics…).
No need for Co-simulation between the subsystems.
LMS Imagine.Lab
AMESim

The AMESim Solver
 Intelligent solver:
 Robust – Accurate – Fast
 Variable integration time step
 Automatic selection of the best integration method out of 17
algorithms.
 Dynamic switch between methods during the simulation.
 Discontinuity handling
 Parallel processing
 Discrete partitioning

The AMESim Solver integration methods
 Solving ODE: Solver based on LSODA with 2 methods:
 Backward Differentiation Formulae (BDF): used in GEAR method and very
good for stiff systems. Linear Multi Step Method order 1 to 5 and variable
step. Implicit method that needs Jacobian matrix evaluation.
 Adams Method: Adams Moulton order up to 12. Very good for non-stiff
system. Implicit method with no use of Jacobian matrix.
 Solving DAE: Solver based on DASSL with 1 method:
 Backward Differentiation Formulae (BDF): Used in modified GEAR
method, order 1 to 5 and variable step. Implicit method that needs
Jacobian matrix evaluation.

The AMESim standard libraries
 In AMESim we have two types of component libraries
 Physic based libraries (Mechanical, Hydraulic, Thermal, Electric,…
libraries)

The AMESim standard libraries
 In AMESim we have two types of component libraries
 Application oriented libraries (Powertrain, IFP-Engine, Cooling System,…
libraries)

Design process
Product function and electronic
control
Components
Physical Systems / Subsystems
Model continuity from design to validation (real time simulation) enables to
shorten
the design cycle.
Types of modeling
Block diagram (transfer
function)
Geometry level (3D)
Physical modeling (1D)
FEA
CFD
AMESim in the product development process
AMESim

Feedback loops are required (Signal
approach)
AMESim physical model (Multi-port
approach)
Simulink mathematical model (Block-
diagram)
Physical modeling – not on math. or programming

QP pP
QA
QB
P1
P2
Q1
Q2
Feedback loops are required for block-diagram modeling.
The state at the input port of a component is dependant on the
state of the output port. This is a characteristic for physical
modeling.
Physical modeling – Multi-port concept

Multi-Level modeling in AMESim, i.e. check valve
 Functional
model
(characteristics)
 Physical
modeling
(basic elements)
 Block-
diagram
(mathematics)
 Programming level
(AMESet: C,
Fortran or
Modelica)

Multi-Domain simulation
FEA
Hydrauli
c
Mechani
c
Contro
l
CFD
MBS
Thermal
3D
Electromagneti
c
Pneumatic
AMESim
Electromechanic
Thermal

Multi-Domain simulation in AMESim
Hydraulics
Controller
Mechanics
Pneumatics
Electrical domain

Behind AMESim – The Bond Graph theory
The input power for the electric motor is provided by a battery. The
input of the drive shaft is torque and angular velocity. The output
from the pump would be flow and pressure, while the input would
be torque and angular velocity applied to the pump shaft.
Power
Source
Electric
Motor
Driv
e
Shaf
t
Pum
p
U
I
T
n
T
n
P
Q

Domain Effort Flux
Hydraulic p [N/m²] Q [m³/s]
Mechanic
F [N] v [m/s]
T [Nm] ω [rad/s]
Electric U [V] I [A]
Physical modeling does more than a simple functional
modeling.
It enables to watch the
energy flow in the
system
and to capture system
oscillations.
Energy exchange at
ports:
Effort  Flux 
Power [W  J / s]
t final
Energy   Power 
dt [J  Nm]
t 0

Physical modeling does more than a simple functional
modeling.
It enables to watch the
energy flow in the
system
and to capture system
oscillations.
Energy exchange at
ports:
Effort  Flux 
Power [W  J / s]
t final
Energy   Power 
dt [J  Nm]
t 0

Application examples
 Go to the help Menu / Choose AMESim demo help / Click on
Solutions

LMS Imagine.Lab AMESim suite
AMESim
 AMESim® is the core product.
It is used for modeling, simulation
and analysis.
AMESet® is used to develop
new components and libraries.
AMECustom® is used to
customize models or
supercomponents and to protect
IP before sending models to
partners.
 AMERun® is used to run and
analyze existing models.

AMESet
and analysis.
customize models or
partners.

AMECustom
and analysis.
customize models or
partners.

AMERun
and analysis.
customize models or
partners.
AMERun® is used to run
and analyze existing models
using different parameter
sets.

Table of Contents
 LMS IL AMESim Platform overview and
definitions
 Getting started with LMS IL AMESim
 Project 2 Powertrain: Advanced AMESim
features
 Appendix

Table of Contents
 LMS IL AMESim Platform overview and definitions
 Getting started with LMS IL AMESim
 From Sketch to Simulation
 The physics behind AMESim
 The signal library basics: (control, table reading/writing,
AMETable)
 Appendix

From sketch to simulation
 How to start AMESim ?
 From the installed shortcuts (Win)
 From a shell or DOS window (Unix/Win)
 Double-click on an existing *.ame file
(Win)
 How to open an AMESim
model ?
 Using the shortcut in the “tools
bar”
 Drag and drop a *.ame file in the
GUI
Open an
existing
document or
create one.

 The %AME% environment variable :
 A variable ‘AME’ referring to the AMESim installation directory path is set-up
in the user environment (automatically during the installation in Windows,
manually on Unix).
 Alternately, system administrators on Unix define scripts in which the
environment is defined locally to launch tools like AMESim.
 The current %AME% path and AMESim version can be
identified under –help – about:
AMESim version
AME path

 The library management in AMESim
 The used libraries are managed in a path list.
 To change, add or remove your AMESim libraries or solutions use the
modeling menu and the Category path list command.

 The AMESim Graphical User Interface
(GUI)
Configure your
individual environment
Categories

 LMS Imagine.Lab AMESim includes the Mechanical, Signal
and
Electrical Libraries.

The AMESim workflow
The workflow with AMESim is structured with 4
modes:
1 – Sketch: Build the system with existing
icons from the different
categories.
2 – Submodels: Assign the right assumptions
and
thus a submodel to each icon.
Model compilation
3 – Parameters: Each submodel needs
specific parameters.
4 – Simulation: Run the simulation and proceed

1. Sketch mode
 Building a sketch of the
system.

1. Sketch mode: shortcuts
 Useful shortcuts for building your first system:
Middle button to
rotate
a component*
Left click to
select
Right click to flip
a component
Space bar to repeat the insertion on the sketch of a
component.
*Both buttons at the same time for a 2-button mouse
Edit
menu
Rotate
Mirror
Select
all
Ctrl+R
Ctrl+
M
Ctrl+A

1. Sketch mode: Multiport approach
 AMESim components can have ports with different types
(mechanical,
hydraulic, thermal …)
 Each port can exchange information in both directions:
 Inputs (red)
 Outputs (green)
 Flux vs. Effort variables  Power conservation
 To detect the external variables:
extra window in sketch mode
Right click on specific element in all modes

hydraulic
thermal
 Only ports of the same type can be connected together:
thermal
linear
mechanical
thermal
hydraulic
signal

 Only ports of the same type can be connected together.
 Connection ports of a component should be identified
(Help, standard representation).
 To be connected, ports have to be put close to each other;
2 green boxes are displayed when a connection is
possible.
 When all ports of a component are connected, it is not
highlighted anymore.

 The inputs of the first connected port should
correspond
to the outputs of the second one = causality
 If not, AMESim displays an error message:

 Causality rules apply to components from all the different
libraries in
AMESim except the Signal & Control one.
√ Causality
ok
√
ok
Incompatibili
ty

2. Submodel mode
 Setting mathematical models for the
schematic.
Use Premier submodel to select the simplest mathematical
model associated to all the highlighted icons.
 Icons that have more than one model (submodel) associated
are
highlighted.
They are usually ranked by increasing complexity.

From submodel to parameter mode
 Before entering the parameter mode we need to compile the
AMESim
model:
Model
compilation
when the system
has been newly
created
compilation
window

From submodel to parameter mode
 You can set your compiler in the AMESim preferences
menu:
 If you want to recompile your model, you can force the model recompilation,
using
CTRL+T.
Free compiler provided
with AMESim

3. Parameter mode
 Set parameters of each
submodel:
Upon selecting any of the components in Parameter mode
the parameter window will open.
 Parameters with a ‘#’ sign are initial values of state variables.

4. Run mode
 In Run mode the simulation parameters are
defined:
Run
mode
Choose simulation parameters
Start the simulation
Stop the simulation
Choose type of output
Time
domain
Frequency
domain

4. Run mode
 Set the basic simulation
parameters:

4. Run mode
 Run the simulation and view the
results:
1. Run the
simulation
2. Select the
submodel
and Left click
51 copyright LMS Internation1l –
2011

4. Run mode
 Plotting of a selected
variable:
Once we select the component the variable associated with it is
shown in variable window.’.
 User has to ‘drag and drop’ the variable into the sketch area.
52 copyright LMS International –
2012

4. Run mode
 Sign convention
(1)
M =
The mass is moving to the
right
The mass is slowing down
 acceleration is negative
+ v
F F
2012

4. Run mode
 Sign convention
(2)
positive negative
2012

4. Run mode
 Sign convention
(3)
Source of Heat flux:
If positive = heat
source If negative =
heat sink
Positive direction
2012

The view menu
 In the View menu we can enable the Contextual and the Watch
view:
The Contextual view is another way to edit parameters
and variables as well as double-clicking on a component.
The Watch view window gives permanent and direct
access to the most commonly used parameters and
variables of the system. You can simple drag and drop
your favorite parameter or variable in the watch window.
2012

Behind AMESim: Bond-Graph theory
2012
 5 Main elements to represent all the domain of physics:
 Inertia element ‘I’
 Capacitive element ‘C’
 Resistive element ‘R’
 Transformer element
 Gyrator element
 Examples for ‘C,I, R’ elements for different domain of
physics:
 Now the AMESim causality rules can be
explained
Domain Inertia Capacitive Resistive
Hydraulic Hydraulic Inertia Volume Orifice
Mechanic Mass Stiffness Friction
Electric Inductance Capacitor Resistance

Causality rules: I - element
 Hydraulic
d
F2
v2
 Mechanic
F1
hydraulic line
L
Q1
P1
Q2
P2
v1
 Electric
V1
A1
V2
A2

2012

F
dt
M
v  

 i


i
1


1 


Q  


 i

Pi
dt


1 


 i

Vi
dt
A
 L
one causality for ODE
equation
equation
equation

Causality rules: C - element
v2
F2
F1
P1
 Mechanic
v1
 Hydrauli
c
Q1
P2
Q2
 Electric
A1


 i

F  K   
 vi dt




 i

Qi 
dt
1 

C
P 
equation
equation
equation

 A
dt
 i


i
1 

C
V

V1
A2
V
2012
2

Causality rules: R - element
R
v2
F2
F1
 Hydrauli
c
P1
P2
Q2
Q1
R
two causalities for algebraic
equation
one causality for algebraic
equation
two causalities for algebraic
equation
v1
 Mechanic
F1 v1
v2
F2
F  v 1  v 2 
 K R
R
F
v 1  v 2 
K

2 
P
q
Q  C 
A 
V
A1  A2 
R
1
A  V  V 2  /
R
A1
V2
A2
A2
V2
A1
 Electric
V1
V1
2012

Causality rules
Connection of a spring with an other spring – possible?
NO!
R v2
 Mechanical systems:
Connection of a mass with a spring – possible?
YES
F1 F2 F1
F2
v1 v2 v1
v2
Connection of a mass with a damper – possible?
YES
F1 F2 F1
F2
v1 v2
v1
F1 F2
v1
v2
F1 F2
v1
v2
2012

Causality rules
 Hydraulic systems:
Connection of a volume with a restriction possible?
YES
Connection of a restriction with a restriction possible?
NO!

V
P 
 T

Q 
P1
Q  Cq 
A 
R
2 
P
Q2
Q1
P2
Q1 Q2
P1 P2
P2
P1
Q2
Q1
R
P2
P1
Q2
2012
Q1
R

The signal and control library
 The signal and control library is an important library in
AMESim.
 Many AMESim submodels have signal input or output ports.
 This library allows the user to implement:
 signal rooting,
 control loops,
 mathematical and logical operations,
 table reading and writing facilities.
2012

The signal and control library
 Tutorial 1: working with tables in
AMESim.
1. adjust
parameters
3. load data file in
AMETable
and save as new XY plot
2.
Working_with_tables*.ame
2012

Table of Contents
definitions
 Appendix
2012

Table of Contents
definitions
 Project 1 Elevator:
 Modeling process:
specification – modeling – parameterization –
report
 Appendix
2012

Project 1 Elevator
specification - modeling - parameterization - analysis - report
 In this project 1 we will model a
conventional
elevator system.
 The aim of this project is to “simulate”
the modeling process in AMESim.
 During this first project we will learn
how to use the fundamental AMESim
features to get rapid and reliable
results in the system simulation.
2012

 max. lift weight: 400 kg
 max. persons: 8 (640 kg)
 max. velocity: 1.6 m/s
 max. acceleration: 1.5 m/s²
 A cable-borne elevator should be
used.
 The schematic lift working
principle is shown in the
drawing.
 4 wheels
0.5 m
0.25
kgm²
0.25 Nm
• diameter
• inertia:
• friction
torque:
 5 rope segments
• stiffness:
• friction:
 1 counterweight
3e+6N/
m
10
N/m/s
Project 1 Elevator: system specification
cabi
n
counterweig
ht
E-
motor
 The following system specifications are delivered by the
customer:
 number of floors: 5
 floor height: 4 m
2 m
0.3 m
1 m
0.5 m
2012

Project 1 Elevator
 Get in touch with the mechanical library.
 To model the elevator we use the ropes
submodels:
 We also need elements to represent the masses and inertia
effects.
2012

Project 1 Elevator
 How to take the gravity into account?
 As the gravity is a force acting on a Mass, the user has to define it in
the parameter list of the “Mass” component.
 The position of the mass on the sketch does not interact on the gravity
force acting on it. Only the “angle parameter” is defining this force.
 Possibility to change the constant gravity value “g”
M.g
0°
M
+90° -90° -
20°
M
M.g
M.g
M
M.g
M
2012
Inclination (+90 port 1 lowest, -90 port 1 highest) ?? degree

Project 1 Elevator
mass 2
2012
 1st model the following simple system, using the mechanical
library:
Inertia J = 1 KGm²
Wheel Ø = 0.5 m
1 m
mass 1
6 m

Project 1 Elevator
 Parameterization of the masses and rope
submodels.
initial
values
frictio
n
inclinatio
n
2012

Project 1 Elevator: Plotting capabilities
 Analyze the system behavior: Plotting
capabilities.
drag and drop to the
sketch
2012

Project 1 Elevator: Plotting capabilities
specification - modeling - parameterization - analysis -
report
 Plotting several items:
Multiple selection using
either: CTRL or SHIFT + left
click
For more plotting
capabilities see Appendix.
2012

Project 1 Elevator: Replay mode
 The Replay mode enables a graphical animation of the
selected
variables.
choose
unit
choose
unit
variable
representatio
n symbol
2012

Project 1 Elevator: Animation
report
 Start AMEAnimation
AMEAnimation is a powerful analysis tool for a
better understanding of the system behavior.
Each geometry element can be animated and
connected to simulation results, i.e. change proportions,
color or location.
scene
view
Balance*.ame
Animation
control
2012
element
s Sketch

Project 1 Elevator: Animation
 Link the Animation model to simulation results:
 The following variables should be linked to the
Animation:
• Displacement of mass 1 and 2.
• Length of rope 1 and 2.
• Rotation of the motor-sheave.
i.e. Displacement of mass 1:
1. drag+drop variable
into the post-
processing tab
2. drag+drop this entry
to the corresponding
animation
2012
3. Update and start
Animation
Balance*.ame

Project 1 Elevator: Post processing
 The Post processing tab is used to create post-processed
variables.
 A post processed variable is composed of the following
elements:
 Name: the unique name of the variable in the system
 Title: Create a variable title
 Expression: Can contain variables, expressions or parameters
• Variables are referred via their variable path:
variable_name@component_path
• Double click on expression field to open the Expression editor:
2012

Experiments
 The experiments facility is available since AMESim Rev.9.
 With the experiment manager a “snapshot” of the system
parameters and variables is created.
 The name and description can be edit manually.
1. After 1. simulation create an experiment.
2. Change the sensitive parameter and run a
simulation.
3. Create next experiment of 2nd run.
2012

Modeling the elevator
• Gain: 50
• Max/Min Output: 100/-
100
 2nd order filter:
• nat. frequency: 0.5
Hz
• damping: 1
 We will use a control loop to control the elevator
lift:
 Input: selected floor number
 Output: angular velocity of the motor
 Proportional gain:
filter
P-element
E-
motor
2012

Global parameters (Ctrl+g)
 The global parameter feature is used to assign a character string
to a
numerical value that can be found in several components.
2012

 Once a global parameter has been defined, a parameter value
can be replaced by the global parameter expression – equations
containing global parameters can be defined.
2012

 There are 3 types of global parameters corresponding to the
type of
variable they replace: real, integer or text:
Real
Intege
r
Text
2012

Batch Runs (Ctrl+b)
 the Batch Runs feature is used to launch several simulations
with a variation of one or various parameters
 parameter study/sensitivity analysis
2012

Batch Runs (Ctrl+b)
 A parameter variation can be defined in 2 different
ways:
Variation between 2
limits
Variation of data
sets
2012

Batch Runs (Ctrl+b)
 In this example, for the counterweight mass, the reference value is 705, with a
step size of 50, ‘Num below’ of 2 and a ‘Num above’ of 1, the mass value will
be:
605, 655 ‘below’, 705 and ‘above’ 755 kg
 With this option, the total number of simulations is equal to the number of all
the
parameter combinations
 Variation between 2 limits:
 In this case, a step size is defined for each parameter as well as the
numbers of values below and above the reference value.
2012

Batch Runs (Ctrl+b)
 The total number of simulations is equal to the number of data sets
defined.
 Variation of data sets:
 In this case, data sets are defined by the
user.
2012

Batch Runs (Ctrl+b)
 The Batch Mode must be activated in the Run
parameters:
Activate and select Batch
run
2012

Batch Runs (Ctrl+b)
 Launching the simulation in Batch
Mode
2012

Batch Runs (Ctrl+b)
 Post processing of the Batch Mode
data:
 Create a standard plot window
 Apply the ‘Batch plot’ icon on the plot area
2012

The supercomponent facility
report
 The supercomponent facility
 Reduce the size of components and thus the size of the
sketch.
 Build a customized component  ease of use, IP protection.
2012

 Mark the region required to
create your supercomponent.
Then, in the edit menu you will
find ‘Create supercomponent’
(Ctrl+W). Or right click and
“Create
Supercomponent”)
report
2012

 Right click on the icon created
after create supercomponent
Then,select “Open
Supercomponent”
report
2012

report
 Select or create an icon
to represent your
supercomponent
 Or use the standard icon.
2012

 You can select your icon
from our standard libraries.
According to the
supercomponent characteristic
(number and type of ports),
AMESim automatically detects
the type of icon that can be used.
You can also create your
own category to include all
your supercomponents.
If you don’t find the right icon,
you can design a new one.
2012
report

2012
Now select the new
created category and click
on
‘New Comp Icon’.
report

Give icon name and short
description
Using the standard
AMESim conventions for
the different types of ports
report
Save icon as an image file
Defining the port’s
location
Save icon in
AMESim
environme
nt
2012

Select the supercomponent
name and description.
2012

Save in created
category
2012

2012
Save in created category if default
super Component icon is selected.
report

When the supercomponent icon
and category is already set, we
can proceed to save the
supercomponent
2012
report

report
2012
User can set the
supercomponent
image

 The supercomponent can now be used as a ‘regular’ AMESim
component.
 You can also edit the supercomponent later on in modeling,
available supercomponents:
2012

LMS Imagine.Lab AMECustom
 AMECustom is part of the LMS Imagine.Lab Suite.
 It is used to:
• Select, hide and set default parameters of standard or user-
defined submodels and supercomponents.
• Define ‘families’ of components based on the same
architecture (or code) but with different parameters.
• Encrypt submodels or supercomponents to exchange them
with customers/suppliers (IP protection).
2012

Access to all the
submodels used in
the supercomponent.
Click on one of them to
modify the internal
items
Associated parameters
can be changed &
hidden in here.
 Let's open AMECustom and select the elevator
supercomponent.
Check the
parameters and
variables that will be
displayed.
2012

 Once everything has been setup, save the
item.
 Settings
 The customized supercomponent can be
encrypted with a password.
Nobody can see the structure of the
supercomponent or modify the hidden
items without the password (PW:
training)
 Save the customized supercomponent
also in the training library.
2012

 2 components are now available in the training
library
Parameters of
customized
supercomponent
2012

Project 1 Elevator
report
 The complete system:
2012

Project 1 Elevator
 Create Html-report of the complete Elevator
model.
Filename
A user-defined
template can
be
use
d

A user defined
report
contains
the required
number of items
Note graphs and eigenvalues table have to be present
in the system in order to be included in the report.
2012

Project 1 Elevator
report
 Export sketch and Plots to
PowerPoint
Ctrl+C
Ctrl+V in PowerPoint
slide
o
r
select the
components
2012

Project 1 Elevator
 The purge tool: an AMESim file (.ame extension) is actually an
archive
file and contains several files when it is open:
Filename.ame
Filename_.cir
Filename_.c
Filename_.obj / .
o Filename_.exe
Filename_.make
Filename_.data
Filename_.sim
Filename_.oil
Filename_.param
Filename_.var
2012
Filename_.results
Filename_.state
Filename_.err
Filename_.la
Filename_.lock
Filename_.sad
Filename_.sai
Filename_.ssf
Filename_.bak.lo
g Filename_.bak
Filename_.jac
Some of these files are not compulsory for the system definition (layout,
parameters, etc …) and can be removed since they can be easily recreated:
this is the case of the results or the executable files that can be large.
The ‘purge’ feature enables this selective deletion in order to have .ame
file smaller in size.

Project 1 Elevator
 The files selected by default can be safely removed.
An AMERun option is available to prevent the
deletion of files necessary for AMERun only users.
 A custom selection can be done.
 The purge tool: the file selected to perform a ‘purge’ should
not be
open in AMESim
2012

Project 1 Elevator
 The purge tool: an AMEPurge shell command is available
 run option to keep the executable for AMERun
 recursive option to purge all the .ame systems located in the
current directory and subfolders
2012

Table of Contents
definitions
 Appendix
2012

Table of Contents
 LMS Imagine.Lab AMESim Platform overview and definitions
 Analysis in the Frequency domain (FFT, LA, Bode, Modal
shapes),
 Appendix
2012

Project 2: Powertrain
 The aim of this project is to get in touch with the
frequency domain in AMESim.
 We will analyze the frequency behavior of a
vehicle drive-train system including Linear
Analysis (LA), system modal shapes and FFT.
Crankshaft
- Eigenvalues
- Modal
shapes
2012
Dual-Mass-Flywheel
- Frequency
response

Type of
analysis
Linear Analysis
Time
Domai
n
Frequency
Domain
Use always the Time domain and Frequency Domain to analyze your
model.
2012

Linear Analysis: Eigenvalues
 Eigenvalues
 Definition of time(s) at which we want to linearize a
system.
R4_crankshaft*.ame
1. Set the
linearization time(s).
+
2. Display Eigenvalues
for each linearization
time.
2012

Linear Analysis: Modal shapes
R4_crankshaft*.ame
flywheel
pulley
 Modal shapes of a R4 crankshaft:
 To display the modal shapes of a physical system we have to set
the specific state variables as observers.
!
We will use the velocity
variables
of each crankshaft part.
2012

 Modal shapes
 We look then at the system's eigenvalues.
 The ‘Modal shapes’ option can be displayed for each selected
frequency.
R4_crankshaft*.ame
2012

 Modal shapes of the R4 crankshaft
model:
R4_crankshaft*.ame
pulley flywheel
cyl. 1- 4
AMESim
representation
2012

Linear Analysis: Frequency response
 Frequency response (time domain):
 We will analyze the frequency response of a functional vehicle drive-train
model.
 To start, please build the following model:
Drivetrain_DMF*.ame
- inertia: 0.01, 0.01, 0.1
kgm²
- stiffness: 0.25, 25
- damping: 0.01,
0.1
Nm/°
Nm/(rev/mi
n)
2012

 Frequency response (time
domain):
System frequency of the DMF 8.51 Hz
System frequency of the Drive-train 63.17
Hz
DMF acts like a low-pass
filter sys
sys
Analytical calculation
of system frequencies: f 2 inertia

1 stiffness
Drivetrain_DMF*.ame
2012

Linear Analysis: Eigenvalues (FFT)
 Eigenvalues:
 We can us the FFT function in AMEPlot for frequency analysis in the time
domain.
 A FFT will only be generated for the displayed plot area.
2. Set the FFT options
1. Zoom the specific range
2012
3. Plot FFT

 Frequency response (time domain):
 Open the animation window
 Set the right variable in the animation to show the working of the
DMF
Drivetrain_DMF*.ame
2012

 Frequency response (frequency domain):
 In addition to the Observer variables, Control variables have to be
defined.
 In this example we define the gain output (Hz) as the control variable.
 The rotary accelerations are set as Observer variables.
Drivetrain_DMF*.ame
2012

 Frequency response (frequency domain):
 Once the Control and Observer variables are defined the simulation can
be launched and the ‘Frequency Response’ option can be chosen.
Drivetrain_DMF*.ame
2012

Linear Analysis: Root locus
 Root locus
 The root locus is mainly used to study the stability of a system and is the
representation of the eigenvalues in the real/imaginary complex coordinate
system.
 The analysis is based on a batch run with only on varying parameter.
Drivetrain_DMF*.ame
Variation of the DMF-
inertia
2012

Table of Contents
definitions
 Tutorial 1 Elevator: Basic AMESim features
 Tutorial 2 Powertrain: Advanced AMESim features
 Appendix
2012

Table of Contents
 LMS Imagine.Lab AMESim Platform overview and definitions
 Productivity tools and Interfaces
 Improving your AMESim model (state count, run stats, run
parameter, activity index, selective save)
 The AMESim Interface facility (Matlab/SL, Excel)
 The AMESim Design Exploration module
 Appendix
2012

State count
 The State count feature gives an indication on the number of
times a specific state variable is controlling the integrator step
size. This is especially useful to see which variable is the cause
of a slow simulation (large number of controls compared to the
other state variables) . These variables accessible by clicking
The list can be sorted by state
N°, controls, submodel names, etc
… by clicking on the corresponding
column title
When selecting a state
variable, a green label indicates
which component this state
belongs to
2012

 The RSTAT submodel (Control and signal library) gives different
information on the time step size used during the simulation
as well as the type of algorithm used.
Solver information
2012

The run parameters
To monitor
the simulation
time during a
run
Transient
parameter
s
For
solver
statistics
To continue a
simulation
from the time
it was
previously
stopped
To start a
simulation
using the
results of the
previous run as
initial values
 The run parameters window
Type of integrator: the fixed step integrator
is only used to check the consistency of a
system aimed at real time usage
Type of run:
standard or
batch
2012

The run parameters
When cautious is
used, more solver’s
tests are
performed during
the simulation
= increase of CPU
time
To limit the solver
step size
remember the
standard solver
uses an automatic
variable step
To eliminate
some
discontinuity
handling; use
with care!
To enable the
activity index
calculations
Convergence criteria: default
value of 1e-5 is usually the best
compromise, 1e-7 is an alternative
When checked, all the variable input values
such as values coming from a look-up table,
stay constant (initial value) during the
transient
 The run parameters window: standard
integrator
Error handling for
convergence; mixed
is
the best
compromise
To add the
discontinuity
points to the
results file
Run
mode
2012

The run parameters
 The run parameters window: fixed step
integrator
Method
2012
Time step
Order
(when
applicable
)

Solver information
 The ‘statistics’ option in the ‘Run Parameters’ window writes in the
Simulation run window the results from State Count + RunStats
(final time only).
2012

 Selective save: it is possible to save the simulation results of only
selected variables, thus reducing the results file size, especially
for large systems and small communication intervals.
On a selection from the tools menu or by
right-click
Selective save
2012

Selective save
 Selective save: can also be done on individual
components.
2012

AMESim Interfaces: Matlab
 An AMESim system can be controlled by Matlab m-files:
 List of the MATLAB commands available to control AMESim from
MATLAB: type ‘help amesim’ at the MATLAB command prompt:
2012

 Matlab can be launched from AMESim with the advantage of
being
started in the same folder as the AMESim system
 The AMESim file needs to be previously compiled in AMESim and opened to
be able to use the Matlab scripts (can be open in AMESim GUI or using the
‘AMELoad’ shell command).
 Additional files such as the ‘.data’ file needs also to be
generated in AMESim, either by going up to the Run Mode or
by using the ‘write auxiliary files’ command from the ‘file’ menu.
AMESim Interfaces: Matlab
2012

AMESim Interfaces: Simulink
 Simulink is widely used for the modeling of control systems.
AMESim being specifically designed for physical modeling, i.e.
plant modeling, an interface between both tools is necessary.
 2 levels of interface are available:
1. A code export from AMESim into Simulink (generation of a Mex-file =
use of a S-function in Simulink) – One of the Simulink solvers is used for
the computation of the entire system.
2. A co-simulation mode, controlled by Simulink but in which both
solvers are working concurrently, exchanging information discretely –
The interface block in Simulink is also a S-function block.
2012

The Export Setup Module
 The Export Setup module is aimed at gathering the parameters
and variables that need to be exchanged with an internal or
external specific process such as the one used for Design
Exploration or Visual Basic Interface.
Export_setup*.ame
2012

 The Input
parameters:
 Origin:
 Submodels
 Global
Parameters
 User defined
 Type:
 Real
 Integer
 Discrete
 String list
 Formatted strings
 Attributes
 Default value
 Name
 Bounds
Drag and
Drop
Export_setup*.ame
2012

 Simple output
parameters:
Drag and
Drop
2012
 Real scalars
 Final values
Export_setup*.ame

 Compound output parameters = Post-processed
outputs
 Mathematical expressions using inputs and simple output
parametes.
 An expression editor is available:
Export_setup*.ame
2012

2012
 Available post-processing functions:
 All functions ever supported by AMESim
 Variable value at time t
 Mean value of a variable
 Min and Max, global or local, reached by a variable
 Time when min or max is reached
 Time when a variable reaches a given value
 'Distance between' two curves (integration of absolute 'y'
differences)
 Restriction to a time interval
Export_setup*.ame

AMESim Interfaces: Excel
 The first step consists in gathering the input and output
parameters that will be changed and observed in Excel by
using the AMESim Export Setup feature.
2012

 Then, in Excel, Visual Basic functions are available
to:
 Get AMESim parameters: AMEVbaGetPar
 Change AMEsim parameters: AMEVbaPutPar
 Run AMESim: AMEVbaRun
 Get AMESim final results: AMEVbaGetFinalRes
 Get AMESim simulation results: AMEVbaGetRes
These VBA subroutines are defined in the VBA-Interface.bas
file.
2012

 VBA functions are then created in Excel to arrange the different
data
coming from and going to AMESim
 Parameters can be modified
 Final results can be
displayed
2012

 Results for the entire transient are also accessible and graphs
can be
automatically created.
Wheel velocity
-2
-1
0
1
2
3
4
5
6
7
0 1 2 3 4 5 6 7 8 9 10
Time (s)
Velocity
(m/s)
Wheel velocity
Excel
AMESim
2012

AMESim Interfaces: Excel/VBA
 Requirements:
 Knowledge in VBA programming
 An export-runtime license
 More information in AMESim
manual
 Other details:
 Since this interface uses VBA
subroutines, it is not only
dedicated to Excel but it can be
used in any application
supporting VBA.
VBAInterface.xls
2012

AMESim Design Exploration module
 The Design exploration capabilities of AMESim are both internal
(built-
in) and external (interfaces).
 Both are pre-processed using the Export Setup module in
AMESim:
AMESim
Export Module
External
tool
AMESim
Design exploration
Module
Daily use, basic
features AMESim
systems only
Advanced needs
Process integration
 Direct interface with Optimus and
iSight
2012

 Key features:
 DOE
• Sensitivity analysis (parameter study)
• Full factorial
• Central composite
 Optimization
• NLPQL
• Generic Algorithm
 Quality Engineering Methods (Robustness,
Reliability)
• Monte-Carlo
2012

 Problem definition:
 Select the Inputs and outputs with the export
module
 Select the useful inputs/outputs
 Set the values techniques, objetives,…
Export_setup*.ame
2012

 Execution:
 A single control panel to create,
edit, start and post-process
studies
 Several studies may
coexist (but not run
concurrently)
 Results available in ASCII
files
Export_setup*.ame
2012

 Optimization:
 Important: During the optimization process, AMESim’s goal is to make a
quantity as close as possible to zero. Objectives are defined consequently as
compound output parameters.
The best solution can
be
applied to the system
Export_setup*.ame
2012

 Design Exploration Post
treatment:
 Interaction/effect table
 Main effect and interaction
diagrams:
 Pareto
plots:
2012

 Monte-Carlo, Purpose:
 To see the impact of some input parameters distributions on a specific
output variable.
2012

Table of Contents
definitions
 Appendix
2012

The AMESim preferences menu
 The AMESim preferences (1)
If checked, the sketch
is automatically
locked when going
back to the
Sketch Mode.
If checked,
confirmation window
when deleting
components
2012

Automatic lock sketch
 Going back to sketch mode, by default the sketch area is
protected preventing any unwanted change or deletion of the
model structure (text can still be added).
Left click
 The locker has to be released to allow any change to the
system.
 This automatic lock sketch option can be turned off in the
AMESim preferences menu (Options list).
2012

Starters
 There is a possibility to start a new system using a ‘starter’ file, i.e.
an AMESim file containing elements that are repetitively used by
the user.
2012

Starters
 A standard file can be saved as a starter file, parameters and
global
parameters are associated with the model.
 Access to ‘starters’ is determined by the path list and by the
‘starter’
directory setting in the AMESim preferences.
2012

C compiler used on Windows platform.
GNU
GCC is supplied with AMESim, Visual C++
is necessary when using the Simulink
interface.
2012

2012
When this option is selected, any variables
in the Watch window are automatically
exported to a file named ./$
{system_name_.csv} at the
end of the simulation
run.
When switching from parameter mode to
run mode, some additional files used during
for the simulation are created (such
as .data). If the system is located on a
remote machine on a slow network, the
creation can be longer
than usual and there are some cases
for which those files are still not created
when launching the simulation.
Increasing the delay will set a delay
between the hit of
the ‘start run’ button and its
action.

The ‘delay for automatic update’ controls
how often a plot (or a Variable List dialog
box) is updated when the Automatic
update option is selected. The default
option of 2000 ms is the smallest value that
is acceptable.
2012

 This feature is a display feature, which means it does not affect
any
calculation.
 It enables to change the unit display of parameters and
variables. Parameters normally associated with units can be
displayed with Y units. Example: in mechanical
components, masses are expressed in kg, they can be
expressed in g.
Unit conversion
2012

Unit conversion
 SI and non SI units can be used in the same system.
 A local AME.units file is created in the folder where the current
AMESim file is located. Any file opened in this folder will use the
same translations.
Standard
units
Custom
units
2012

Unit conversion
we can select directly a local unit to a parameter or a
variable.
2012

Common parameters
 The common parameters feature: assigning the same value to
parameters with the same name in several components. Only
selected components are taken into account.
‘???’ when parameters
have different values
assigned
2012

Common parameters
 Changing a value in the common parameters window changes
the
corresponding value in all selected components.
 Note that the value can be a global parameter.
2012

Copy/Paste parameters
 Copy/Paste parameters: Parameters with the same name can
be
copied from one component to another.
2012

Change of parameters name
 Names (titles) of parameters set by default can be changed by
the
user.
1. Double-click on
the parameter
title
2. Title
modification
3. Title can be reset
to its default
value.
2012

 Consequence on the Copy/Parameters feature: this can be
defined
(in AMESim preferences) to be valid:
 only for original titles
 only for set titles
 for both titles
2012

 For example, if the option ‘set titles’ is chosen, only user-
defined
matching names will be taken into account:
 Between both components, the only common parameter is the ‘angle
of the sheave’
 Changing the original title from ‘angle of the sheave’ to driving sheave
angle’ in one of them with the option ‘set titles’ in AMESim preferences
will give the following message when doing a copy/paste parameters:
2012

Path handling
 The handling of path to tables can be changed. Three options
are possible. For the last two options the following pre-requisites
must be respected:
• the data file name must start
with the circuit name followed
by _.filename.
• the data file must be
stored in the same
location as
the circuit.
2012

Path handling
 The three options are as follows:
• Use standard behavior: If you use this option, the name of the file
selected will not be modified. This option also ensures that relative
paths are used when possible. When relative paths cannot be used,
absolute paths will be used.
• Replace with the generic name: This option replaces the name of the
file selected with the generic name when possible - ${circuit_name}
• Replace with the full generic name: This option replaces the name of the
file selected with the full generic name when possible - $
{full_circuit_name}
2012

Expand vectors
 Some components such as distributive hydraulic lines contain
vectors. When the ‘Expand vectors’ option is checked, all the
members of the array are displayed and can be changed
individually.
HL040 submodel
O
ff
On
2012

Plotting Capabilities
 Separate Y-axis:
Y-axis:
Mouse right-
click or double-
click
2012

 Changing the curve
formats
Mouse right click or double-
click on the title or the graph
keys.
2012

 Create X-Y plots:
Apply the X-Y transformation
by clicking the ‘XY icon’ and
then the desired plot area.
X
Y The axis can be interchange by right-click on the
plot.
2012

 Adding and remove rows and columns to an existing
graph:
Mouse right-click
on the plot area
Remove
row/column by
mouse right-click
2012

Zoom
functions: Auto-
scale
Zoom by defining a
box
back to previous zoom
Zoom in/out with left/right mouse-
click
The scale of the axis
can be selected
manually, by right-click
on the desired
axis.
2012

 Edit the standard plot title layout in the AMESim preferences:
edit title display
custom or automatic
and position of
legend.
2012

Right click on the plot. From there “Graph” to get the Graph
Titles.
2012

 Save configuration
To save the plot configuration (layout, text, format, data source,
etc,..) and reuse it later (load plot configuration).
2012

By default, plot configuration
files
have the.plt extension
Loads the
saved file
Tip: Save configuration
under:
{circuit name}_.plotname.plt
Saves the file
in .plt
extension
2012

 Export values
To save results as an ASCII file to be used in third party tools such as
Microsoft Excel or Matlab.
Note the ability to automatically
create
.csv data files of selected
variables (AMESim preferences –
Simulation).
2012

 Save data
The results are saved in XML format and can be used in AMESim plots as
input data. With this function, the data organization is saved (especially
useful with multiple row and column graphs).
Note the ability to automatically
create
.csv data files of selected
variables (AMESim preferences –
Simulation).
2012

 Open data files
Data can be imported into AMESim plot window. Data format is either the
one generated by AMESim or a multi-column ASCII one; this function can be
used to compare simulation results with experimental data.
2012

 Create tabs in AMEPlot.
 Since AMESim Rev. 9 plot pages can be created in the Plot window. The
pages can be saved using save plot configuration.
 For each page the data can be saved or exported separately.
Open the page menu by
right-click on the plot
title.
2012

Labels and Alias
 Labels showing the name and instance of all the
components (or
selected ones) can be displayed on the sketch.
Labels can be moved,
rotated or individually
hidden.
Right click on the
selection
2012

Labels and Alias
 Names of components can be changed by the user: this name
is an
alias.
Right click on the
selection
The list of all the aliases is also
accessible.
2012

Text, pictures and objects
 Text, objects and pictures can be add on the
sketch.
2012

Text, pictures and objects
 Text, pictures and objects can be
modified.
2012

Compare systems
 The ‘compare systems’ feature (tools menu) enables to
compare
several versions of the same initial system.
 The ‘compare systems’ is available in ‘Parameter mode’.
2012

Multi-window display
 It is possible to have multiple windows open in AMESim
 Elements can be copied from one window to another
(copy/paste parameters included)
 With a single ‘Run’ license, only one system can be simulated at
once
2012

Bird’s eye view
 a global view of the system when this one is bigger than the
current
window – position of the current window in the global one.
 Accessible from the ‘View’ menu or from a right-click on the
sketch.
Entire sketch view
2012

Bird’s eye view
 The window can be resized.
 The current view in the global one can be moved to change the
actual sketch area.
Resize
Mov
e
2012

Training AME1 – Getting started with AMESim
LMS International 2012
Thank you for your attention.

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