...
With Speed,
Precision, and Results
The Dynamics Solvers
(dynawiz1.dll and dynawiz1.exe) in our MDS
programs are based on Lagrangian
formulation. They accommodate forward and inverse dynamics, contact constraints,
prescribed motion, rigid and flexible body dynamics. They implement an Order(N) algorithm, where N=number of bodies in the system.. Their execution speed is
significantly faster than the Order(N3) method for N >
8. For N that is less or equal to 8, their speed is comparable to
that of the Order(N3) method . (September, 2007)
The Dynawiz1.dll program
runs in the
Matlab/Simulink(c) environment. The Dynawiz1.exe
program runs on any PC that has C/C++ compiler installed. These programs
are included in the packages.
XSV Packages
simulates aircraft and satellite dynamics, and our XMR packages
simulates
robotics and mechanisms. The QX3D program in these packages
lets you visualize/animate the simulated objects.
These packages bring
to you:
-
High fidelity dynamics simulations
-
Fast executions
-
Versatility. They
accommodate rigid, flexible, inverse, and constraint dynamics
-
User-friendly fast and
efficient model setup.
-
Easy plots generation from the simulations.
-
Easy visualization/animation
of simulated
vehicle/mechanisms on your browser.
Tutorial
Visit our Introducing Dynawiz
page for a short tutorial on Dynawiz1 and the model editor, BuildX. It
reviews the multibody simulation program design, and its features.
Downloads
See the capabilities of the XSV and the XMR packages (Simulink and
DOS/C++ implementation) by downloading them
and examples from the xsv_download page
and the xmr_download page.
Your browser must be VRML compatible
in order to view the
model image or animation that are supplied with the models below. If not
so, you can download a VRML plugin( current Cortona VRML client: cortvrml.exe ) from
www.parallelgraphics.com
and install it. After that you should be able to view .wrl files on your
browser.
|
XSV Models |
| Cube |
view/animate |
A single body satellite |
| Cube_3wc |
view/animate |
A single body with 3 wheels for attitude control |
| Sat001 |
view/animate |
A satellite with two arrays. Each array has two panels. The
bus has 3 wheels for attitude control. Simulates an array deployment. |
| Sat_3panel |
view/animate |
A satellite with two arrays. Each array has three panels.
The bus has 3 wheels for attitude control. Simulates an array deployment. |
| Dual_spnr |
view/animate |
A dual spinner with two jets on the rotor for spin-up. |
| Cmg_sim |
view/animate |
A satellite with 4 control moment gyros for attitude
control. Simulation demonstrates open loop slewing of the satellite along
three body axis individually. |
Two_sat |
view/animate |
Two satellites are initially attached to each other drifting
in a LEO circular orbit. At 10 seconds into simulation, they are separated by a force pulse at the interface plane. One vehicle
reorients itself into the LVLH attitude, the other
maintains attitude hold. Gravity gradient forces/torque are exerted on the
satellites throughout the simulation. |
Chain20 |
view/animate |
A satellite with 19 panels floats in a geosynchronous orbit.
Its initial bus angular rate is [1 2 3] deg/sec.
No external force is applied. |
| XMR Models |
| Robot_arm1 |
view/animate
|
This is a six link robot arm, where all hinges
are 1 dof rotational joints. It moves from a vertical
configuration to a commanded configuration in about 30 seconds. Gravity
force is in effect. Each joint is a 1 dof revolute joint. |
| Stanford_arm |
view/animate |
This is a six link arm, where all hinges are 1
dof rotational joints except for the third hinge which is a 1 dof
translational joint. The arm is in a zero gravity condition. Initially,
the joint(2) is at a 90 deg position with a -5 deg/sec angular rate. When
the simulation starts, a 1 Hz force pulse is sent to the translational
joint for 20 seconds. The simulation runs for 30 seconds. No feedback
control is employed |
| Bouncing |
view/animate |
A ball falls from 10 ft along z-axis, with a 0.5
ft/s velocity in the y-axis. The ball is 1 ft in diameter, rotates
initially with [30 30 30] deg/s with its cm offset at [.05 .05 .05] ft
from the ball center. The ball bounces in the +y direction with lower
height with each bounce. |
| Three_bar |
view/animate
|
A three bar link is simulated with the tip of bar 3 anchored
initially. This anchor constraint is removed at 10 seconds into the
simulation. The motion of the three bar link is driven by the gravity
force. |
| Pendulum |
view/animate |
A pendulum swings from a near upright initial
condition. A friction torque dampens that swing over time. |
| Dbl_Pendulum |
view/animate |
Two pendulums, 2 ft apart, swing under the
action of gravity. There is also a pair of spring & damper force that
pushes at the mid point of the two pendulum. A friction torque at the base
of each pendulum dampen that swing over time. |
| Inv_Pendulum |
view/animate
|
An inverted pendulum is mounted on a wheeled cart. Gravity acts on the pendulum.
Lateral motion of the cart is the only control
available to prevent the pendulum from falling down. The pendulum is
initially tilted 10 degrees away from vertical. A linear controller with a
controlled angular bias is used to keep the pendulum upright and move to a
commanded position. |
| Engine_4cyl |
view/animate
|
A four cylinder 4-stroke internal combustion engine. A motor starts the engine. Each piston
has a
simple burn profile on the combustion stroke with a peak force that can be
set in the Simulink model. (Animation file takes a little time to
display.) |
