This routine computes the error between the force/torque on a jprim and a desired force/torque. The desired force/torque is always zero. Typically this routine is used in conjuction with all Adams Car static simulations (see User SIMULATE/STATIC Routines) of full vehicle models, where the residual forces on the body to ground jprims and wheel to spindle jprims are driven to zero so that there are no initial transient effects when dynamic simulation is performed immediately following a static simulation.
DIFF/id, IC = 0.0
, FUN = USER(904, gain, jprid, comp,rmrk, gfoid)
, ROUTINE = abgVDM::SteadyStateError
where:
id | = | Diff statement id |
gain | = | Controller gain |
jprid | = | Id of the jprim whose error is computed. |
comp | = | An integer value that specifies the component of the JPRIM force to be computed.
2 - x component of force
3 - y component of force
4 - z component of force
6 - x component of torque
7 - y component of torque
8 - z component of torque |
rmrk | = | Id of the marker representing the coordinate system in which the force/torque is measured. |
gfoid | = | (optional) Id of GFORCE representing the Tire if the DIFF is used represent a Tire. |