The Adams Car static routines will require additional Adams statements in the dataset for successful static analysis. These include JPRIMS to hold the body fixed in the X and Y directions, DIFFERENTIAL EQUATIONS to balance the forces at the JPRIMS and an extra part in the steering system. The JPRIMs keep the vehicle from moving laterally or longitudinally during the static solution. The vehicle body is allowed to yaw, pitch, roll, and raise vertically. The following is a description of the statements required in the dataset:

! Markers attached to Ground at vehicle C.G. location

M/mid1, PART=1, QP= cgx,cgy,cgz
M/mid2, PART=1, QP= cgx,cgy,cgz, REU= 90D, 90D, 0

! Markers attached to vehicle C.G. location
M/bid1, PART=pnpf, QP= cgx,cgy,cgz
M/bid2, PART=pnpf, QP= cgx,cgy,cgz, REU= 0,-90D, 0

! JPRIMS holding vehicle in x,y translation
JPRIM/jprid1, INLINE, I=bid1, J=mid1
JPRIM/jprid2, PERPEN, I=bid2, J=mid2

where:  

  The JPRIM statements must be defined as above. The CONSUB will automatically turn off the JPRIMS after a static solution has been found so the user can run a dynamic simulation. It is important to remember that the standard Adams SIM/STAT command will not turn off the JPRIMS. Therefore, a SIM/DYNAMIC command, entered after a SIM/STAT will result in the vehicle, pinned to ground, trying to move forward at a given speed.

One new steering part is required to allow the CONSUB to turn the steering wheels for a zero lateral force balance (see section 2.4.2). An example of these statements is as follows:

----- AUXILIARY STEERING COLUMN PART

PART/scpid, CM=nscp, MASS=pm, IP=ipx,ipy,ipz, WZ=0.0
M/nscp, QP= x,y,z, ZP= zpx,zpy,zpz

*****************
STEERING JOINTS
*****************

JOINT/lid, I=nscp, J=ism,

JOINT/jid, REV,I=iswm, J=nscp ,

MOTION/motid1, JOINT=jid, ROT, FUNC=0.0

where:  

  The steering wheel joint about which all steering inputs are made must be numbered 735.

The final statements which must be in the dataset include the differential equations and the steering column joint force statement. The CONSUB uses the DIF statements to apply the tire forces to the vehicle during the static solution. The SFORCE statement calculates the steering wheel angle required for a zero lateral force balance and then fixes the steering column joint at that angle. The magnitude of this angle can be accessed in a standard or Adams user REQUEST.

The DIF and SFORCE statements should be defined as follows:

! Longitudinal Force
DIF/difid1, IC=0, FUNC=USER ( 1010,xgain,jprid1,2,bid1,whl_ary )

! Lateral Force
DIF/difid2, IC=0, FUNC=USER ( 1010,ygain,jprid1,3,bid1,whl_ary )

! Steering control force to bring lateral forces to zero
SFORCE/sfoid1, ROT, I=iswm, J=nscp, FUN=1.0*DIF(difid2)

where:  

  Arrays required in the Adams dataset for static analysis

Adams Car full-vehicle models require a set of jprims, motion and sforce to perform Adams Car specific static events The id od these jprims, motion and sforce are passed to Adams through array statements. The dataset need to have two arrays to specify these ids. For Half vehicle models where no tires are used a dummy id should be passed as jpr_ary. 
array/jpr_ary, num = jprid1, jprid2, sofid1, motid1, whl_ary

where:  

   
array/whl_ary , num = jprid3, jprid4, jprid5, jprid6, whlid1, whlid2, whlid3, whlid4, gfoid1, gfoid2, gfoid3, gfoid4

where:  

The following is an example of Adams statements in an actual dataset: