Wheel Loader

(General CoSim with AMESim by FMI)

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Edition Note
This document describes the release information of RecurDyn V9R4.
Table of Contents
Getting Started ....................................................................... 4
Objective ............................................................................................... 4
Prerequisites ........................................................................................... 5
Procedures ............................................................................................. 5
Estimated Time to Complete ..................................................................... 5
Modeling of General Plant Input and Output in RecurDyn .............. 6
Task Objective ........................................................................................ 6
Estimated Time to Complete ..................................................................... 6
Opening the Model .................................................................................. 7
Creating General Plant Input..................................................................... 9
Creating General Plant Output ................................................................ 11
Performing Simulation ........................................................................... 13
Setting General CoSim FMI in Master Mode of RecurDyn .............. 14
Task Objectives..................................................................................... 14
Estimated Time to Complete ................................................................... 14
Importing the AMESim Model .................................................................. 15
Modeling of AMESim Interface Block ........................................................ 16
Setting AMESim FMI .............................................................................. 18
Exporting AMESim FMU .......................................................................... 19
Setting General CoSim FMI in RecurDyn ................................................... 22
RecurDyn Master Mode Co-simulation ...................................................... 25
Setting General CoSim FMI in Slave Mode of RecurDyn ............... 26
Task Objectives..................................................................................... 26
Estimated Time to Complete ................................................................... 26
Setting General CoSim FMI in RecurDyn ................................................... 27
Setting AMESim FMI .............................................................................. 28
Modeling of AMESim Interface Block ........................................................ 29
RecurDyn Slave Mode Co-simulation ........................................................ 34
Verifying and Analyzing Results ................................................ 37
Task Objectives..................................................................................... 37
Estimated Time to Complete ................................................................... 37
Verifying and Analyzing Results ............................................................... 38
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1
Chapter

Getting Started
This tutorial describes how co-simulation between RecurDyn and AMESim can be performed
using the Functional Mockup Interface (FMI) method. RecurDyn handles kinematic analysis,
and AMESim handles hydraulic system analysis, and these two analyses are co-simulated.
The model to be covered in this tutorial is a wheel loader vehicle model, which models the
hydraulic actuator using AMESim and performs co-simulation with RecurDyn for steering
control of the wheel loader.

Objective
This tutorial covers the following topics:
▪ How to create General Plant Input and Output in RecurDyn
▪ How to set up the environment of RecurDyn General CoSim FMI
▪ How to model AMESim Interface Block
▪ How to set up the environment of AMESim FMI
▪ How to perform co-simulation of the General CoSim FMI between RecurDyn and AMESim
▪ How to review the results with post-processing in RecurDyn

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Prerequisites
▪ This tutorial is intended for users who have completed the basic tutorials provided with
RecurDyn. If you have not completed these tutorials, then you should complete them
before proceeding with this tutorial.
▪ The software for AMESim and Compiler must be installed to proceed with this tutorial.
This tutorial is based on AMESim 2017 and Microsoft Visual Studio 2012 is used as a
compiler. Specifically, for AMESim 2017, only up to Microsoft Visual Studio 2012 is
supported, and the higher versions are not supported.

Procedures
This tutorial consists of the following tasks. The following table outlines the time required to
complete each task.
(* The time required may vary depending on the specifications of the computer and the
proficiency of the user.)

Task Duration
(minutes)

Modeling of General Input and Output in RecurDyn 10

Setting General CoSim FMI in Master Mode of 30

RecurDyn

Setting General CoSim FMI in Slave Mode of 30

RecurDyn

Result Analysis 10

Total 80

Estimated Time to Complete

80 minutes

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2
Chapter

Modeling of General Plant Input

and Output in RecurDyn
Task Objective
Learn how to create Plant Input and Output in RecurDyn.

Estimated Time to Complete

10 minutes

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Opening the Model

To copy the example model

▪ Copy the FMI (AMESim) tutorial example folder provided by RecurDyn to an analyzable
location.
Folder path: <Install Dir>\Help\Tutorial\Control\AMESim\WheelLoader

To run RecurDyn and open the initial model:

1. On the Desktop, double-click the RecurDyn icon to run RecurDyn. The Start
RecurDyn dialog window will appear.
2. When the Start RecurDyn dialog window appears, close it.
3. In the File menu, click Open.
4. In the example folder copied above, select WheelLoader_Start.rdyn.
5. Click Open. The model appears as shown in the following figure.
6. In the File menu, click Save As and save the file as WheelLoader_FMI.rdyn.

Tip: You need to specify the folder name so that there is no space in the path to save
the model, so there is no problem in Co-Simulation process.

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To analyze the model configuration:

1. In Render Toolbar, select Each Render.

2. In the Database window, select Axial1 and Axial2.
Zoom in the two highlighted Axial Force elements. These two Axial Force elements are the
actuators for steering the wheel loader.

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Creating General Plant Input

Create a General Plant Input to input the actuator hydraulic pressure generated in AMESim to
the axial force.

To creating General Plant Input:

1. On the Communicator tab, in

the Control group, click
GPlant_In (General Plant
Input).
2. In the General Plant Input List
window, click Add to create
GPlantInput1. Click Add again
to create GPlantInput2.
3. Click OK to close the General
Plant Input List window.

4. In the Database window, among

the Force elements, right-click
Axial1 and click Properties.
5. Click the EL button in the Expression pane to open the Expression List. Then click the
Create button.

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6. As the Expression Name, enter “Ex_GPIN_Left”.

7. For a function, enter GPIN(1).
8. In Argument List, click Add.
9. From the database, drag & drop
PlantInput1 to the ID 1 of the
Argument List as shown in the
figure on the right.
10. Click the OK button to complete
the Expression setup for
Axial1.

11. Open the Properties dialog

window for Axial2 as well and
complete the Expression setup
for Axial2 as shown in the figure
on the right in the same manner
as steps 5 to 10 above.

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Creating General Plant Output

To transmit the detected values of actuator length and change speed for steering control of
wheel loader to AMESim, create the General Plant Output.

To create Plant Output:

1. On the Communicator tab, in the

Control group, click GPlant_out
(General Plant Output).
2. In the General Plant Output List
window, click Add.
3. If GPlantOutput1 is created, click E
under Expression/String.

4. In the Expression List window, click

the Create button.

5. Change the Name of Expression to

Ex_GPlantOutput1.
6. In the Expression window, enter the
function DZ(1,2,2)*0.001.
7. In Augment List, click Add to make
two IDs.
8. In the Augment List, enter the
following two markers:
▪ ID 1: SteerPistonLeft.DZ_ref
▪ ID 2: SteerCylinderLeft.DZ_ref
9. Click OK to apply the changes.

10. In the GPlant Output List window,

click Add to create GPlantOutput2.

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11. In the Expression List window, click the Create button.

12. Change the Name of Expression to Ex_GPlantOutput2.
13. In the Expression window, enter the function VZ(1,2,2)*0.001.
14. In the Augment List, enter the following two markers:
▪ ID 1: SteerPistonLeft.VZ_ref
▪ ID 2: SteerCylinderLeft.VZ_ref
15. In the same manner as steps 1 to 14, create GPlantOutput3 and GPlantOutput4 by
entering the following functions and markers in the Augment List.
▪ GPlantOutput 3
▪ Expression Name: Ex_GPlantOutput3
▪ Function: DZ(1,2,2)*0.001
▪ Augment List ID1: SteerPistonRight.DZ_ref
▪ Augment List ID2: SteerCylinderRight.DZ_ref
▪ GPlantOutput 4
▪ Expression Name: Ex_GPlantOutput4
▪ Function: VZ(1,2,2)*0.001
▪ Augment List ID1: SteerPistonRight.VZ_ref
▪ Augment List ID2: SteerCylinderRight.VZ_ref

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Performing Simulation
Run the simulation to check the initial model status.
To run the simulation:

1. On the Analysis Tab, in the Simulation Type group, select Dyn/Kin. The
Dynamic/Kinematic Analysis dialog window appears.
2. After entering parameters as follows, click the Simulation button.
▪ End Time: 7
▪ Step: 700

To view the result:

1. Under the Analysis Tab, in the Animation Control group, press the Play button to
check if the wheel loader moves as shown in the figure below.

If the analysis is completed normally and there is no problem with the model, the wheel
loader will go straight from the initial state to before the last 7 seconds. This is because the
hydraulic pressure was not applied to the actuator for wheel loader steering.

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3
Chapter

Setting General CoSim FMI in

Master Mode of RecurDyn
Task Objectives
Learn how to perform Co-simulation by setting General CoSim FMI to Master Mode for
RecurDyn and Slave Mode for AMESim. At this time, an Interface Block is required in
the AMESim to exchange the detected values of the RecurDyn model mechanism and the
hydraulic pressure generated in AMESim. Learn how to create the AMESim Interface
Block model and configure FMI settings.

Estimated Time to Complete

30 minutes

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Importing the AMESim Model

AMESim model with an actuator is also available in the tutorial example folder copied in the
previous chapter. Perform the Interface Block modeling by utilizing the provided model.

To run AMESim and import the initial model:

1. Double-click the AMESim icon on the Windows Desktop, etc. to run AMESim.
2. In the File menu, click Open.
3. In the example folder copied above, select HydraulicComponents_Start.ame.
4. Click Open. The AMESim model with an actuator is displayed as shown in the figure
below.
5. Select File > Save as to change the name of the model file to
HydraulicComponents_fmu_export.ame.

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Modeling of AMESim Interface Block

To create AMESim Interface Block:

1. Click Menu > Interfaces > Create

Interface Block to create an
Interface block.
(Menu positions may vary depending
on the AMESim version.)

2. In the Interface Icon Creation

dialog window, set the Number of
inputs to two.
3. Change Type of interface to Functional Mock-up Interface (FMI).
4. Set the Number of outputs to four.
5. Enter the names of the Inputs in the correct order as follows.
▪ >1: InputForce_Left
▪ >2: InputForce_Right
6. Enter the names of the Outputs in the correct order as follows.
▪ 4>: Velocity_Right
▪ 3>: Displacement_Right
▪ 2>: Velocity_Left
▪ 1>: Displacement_Left
7. Click the OK button to complete creation.

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8. When the Interface block

appears in the modeling
window, move the block
with the mouse.

To connect the AMESim Interface Block:

1. Connect the Interface block and the actuator elements as shown in the figure below. If
the connection is different from the figure, you may get incorrect results. Therefore, it
must be correctly connected to the port of the actuator component and the Input &
Output port of the Interface block as shown in the figure below.

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Setting AMESim FMI

To set the environment of AMESim Compiler:

1. Click Menu > Tool > Preferences to

run it.

2. In the Preferences dialog window, click the Compilation tab.

3. Under the Model Compilation, check the Debug by default option.
4. Under the Active compiler, select Microsoft Visual C++ (64-bit).

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Exporting AMESim FMU

To export *.fmu file in AMESim:

1. Click the
SIMULATION Tab
to change mode.

Tip: You can check the Build status of the model by checking the Completed message on
the Message Tab and the System build completed message on the Details Tab.

2. Click Menu > Interfaces > FMU

export assistant....

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3. In the Export settings page, set FMU type and version to Co-simulation 2.0.
4. Set the Output directory to the folder where the RecurDyn file of this manual is
located.
5. Click the Next button.

6. On the Platform selection tab, verify that the compiler is set to Microsoft Visual
C++.
7. Click the Generate button to begin creating the *.fmu file and exporting the file.

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8. Export the *.fmu file generated by AMESim to the location you set.

9. You can see that the *.fmu file is created in the

folder as shown on the right:

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Setting General CoSim FMI in RecurDyn

To set the environment of FMI Co-Sim in RecurDyn:

1. On the Communicator tab, in

the Control group, click
GCoSim.

2. In the General CoSim window,

on the CoSim Environment
page, click the Add button.

3. Set Name to GCoSim1.

4. Select Type to FMI.

5. Click the button under PIN.

6. In the General Plant Input List

(GCoSim1) window, click Add
twice to add GPlantInput1 and
GPlantInput2.

7. Click the OK button.

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8. In the General CoSim window,

on the CoSim Environment
page, click the button
under POUT.

9. In General Plant Output List

(GCoSim1) window, click the
Add button four times to add
four GPlantOutputs.

10. Click the OK button.

11. In the General CoSim window,

on the CoSim Environment
page, click the button
under CoSim.

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12. In the FMI (GCoSim1) dialog window, on the CoSim Environment page, select the
Import option.
13. Set Interface Version to 2.0.
14. In Model File, click the button, and select HydraulicComponents
_fmu_export.fmu file created in the Open dialog window.
15. Click the OK button in the FMI ( GCoSim1 ) dialog window to complete the settings.
16. In the General CoSim window, on the CoSim Environment page, click the OK button
to complete the settings.

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RecurDyn Master Mode Co-simulation

Performing co-simulation in RecurDyn

Co-simulate the wheel loader model of RecurDyn and the actuator model of AMESim
using FMI.
To run the simulation:

1. On the Analysis Tab, in the Simulation Type group, select Dyn/Kin. The
Dynamic/Kinematic Analysis dialog window appears.
2. After entering parameters as follows, click the Simulation button.
▪ End Time: 7
▪ Step: 700

To view animation result:

1. On the Analysis Tab, in the Animation Control group, click the Play button to check
if the wheel loader moves as shown in the figure below.

※ If co-simulation is successfully completed between RecurDyn and AMESim, the wheel

loader will move to the left. This is because the hydraulic pressure is generated in the
actuator in AMESim for wheel loader steering and this hydraulic pressure is applied to
the actuator in RecurDyn.

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4
Chapter

Setting General CoSim FMI in

Slave Mode of RecurDyn
Task Objectives
In this chapter, as opposed to the previous one, you will learn how to perform FMI Co-
simulation by setting RecurDyn to Slave Mode and AMESim to Master Mode.

Estimated Time to Complete

30 minutes

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Setting General CoSim FMI in RecurDyn

To set the environment of FMI Co-Sim in RecurDyn:

1. On the Communicator tab, in

the Control group, click
GCoSim.
2. In the General CoSim
window, on the CoSim
Environment page, click the
button under CoSim.

3. In the FMI dialog window, on

the CoSim Environment page,
select the Export option.
4. Set Interface Version to 2.0.
5. In Create a FMU File, set the
name of the file to
WheelLoader_RDSlave.
6. Click the Export button to
export the *.fmu file.

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Setting AMESim FMI

To run AMESim and import the initial model:

1. Double-click the AMESim icon on the Desktop of Windows, and then run AMESim
again.
(※ If AMESim is already running, close it and run it again.)

2. In the File menu, click Open.

3. In the example folder copied above, select HydraulicComponents_Start.ame.
4. Click Open. The AMESim model with the actuator is displayed as shown in the figure
below.
5. Select File > Save as to change the name of the model file to
HydraulicComponents_fmu_import.ame.

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Modeling of AMESim Interface Block

To import FMU Interface Block:

1. Click Menu >

Interfaces > FMU
import assistant....

2. On the Functional
Mock-up page, in the FMU setting, connect the WheelLoader_RDSlave.fmu file
created by RecurDyn.
3. Set the Submodel storage directory to the folder where the files *.rdyn and *.ame
are located.
4. Set the name of Submodel to RECURDYN.
5. Click the Next button.

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6. On the Import settings page, under Compilation settings, set the Compiler option
to Microsoft Visual C++(64-bit).
7. Set the Preferred simulation type to co-simulation.
8. Click the Generate button.

9. Check the messages to see whether Submodel generation is completed, and click
the Finish button.

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10. In Library tree, click FMI imported blocks to see the fmu block model. Create this
fmu block in the AMESim model by dragging & dropping the block and connect it with
other elements as shown in the figure below.

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11. Run the Simulation

mode.

Tip: You can check the Build status of the model by checking the Completed message on
the Message Tab and the System build completed message on the Details Tab.

12. Click Menu > Simulate > Run >

Run Parameters to open the
Run Parameters window.

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13. Set Final time to 7 s and Print interval to 0.001 s, which are the same values as
those set for Interface Time Step in RecurDyn.

14. Click OK to complete the settings.

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RecurDyn Slave Mode Co-simulation

Run co-simulation in AMESim.
To run the simulation:

1. Save and Close the

WheelLoader_FMI.rdyn model of
RecurDyn, and then exit RecurDyn.
(If RecurDyn is still running, co-
simulation cannot be performed
because AMESim cannot run
RecurDyn automatically.)

2. Select Menu > Simulate > Run > Run

simulation.
3. When the simulation starts, AMESim runs RecurDyn, opens the model, and starts the
co-simulation automatically.

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To view analysis results in AMESim:

1. After the analysis is complete, double-click the Plots button on the ribbon menu in
AMESim to create a Plot window.
2. In AMESim, click FMI Import blocks.
3. In Variables of fmuin002out004 [RECURDYN-1], drag & drop GPlantInput1 and
GPlantInput2 to the Plot window.

4. Then, in AMESim, you can see the results of GPlantInput1 and GPlantInpput2
displayed as a plot.

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5. In the Plot window, click File >

Save data. In the Save window,
save the result of PlantOutput1
as the
AMESim_GPlantInput1.txt file.
6. Open the
AMESim_GPlantInput1.txt file
using a text editor program.
Delete the unnecessary header
part in the upper text and save
the file.

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5
Chapter

Verifying and Analyzing Results

Task Objectives
Use the General CoSim FMI method to perform the Co-simulation between RecurDyn
and AMESim and check the animation result and numeric data produced.

Estimated Time to Complete

10 minutes

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Verifying and Analyzing Results

Make sure that the GPlantInput value in RecurDyn matches the GPlantInput value in
AMESim. In the wheel loader model, when steering with the hydraulic pressure generated by
the actuator, check the dynamic results such as the reaction force of the joints in each part.

Importing the result of RecurDyn animation and checking the result

If you perform co-simulation in the master mode of RecurDyn, you can execute Animation
Play directly from RecurDyn. If you perform co-simulation in the master mode of AMESim,
import the animation result file (*.rad).
1. Go to the Analysis tab.
2. In the Animation Control group, click the Play button to check the result of animation.
You can see that the wheel loader moves to the left.

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To run RecurDyn Plot and plot the result:

1. Run RecurDyn/Plot.
2. Import the *.rplt file, which is the result of dynamic analysis by RecurDyn.
3. Import the AMESim_GPlantInput1.txt file, which is the result of AMESim
GPlantInput1 created in the previous chapter.
4. Draw the values of GPlantInput1 in the Plot database window.
5. Plot the Column2 of the result of AMESim. (At this time, the value on the X axis must
be Column1.)

6. You can see that the two results match. From these results, you can see that all the
numerical data have been exchanged properly between the two software.

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7. Click the Plot Page Add button to add a new page.

8. Plot FM_Reaction_Force and TM_Reaction_Force of RevJoint1 in the Plot database
window. At this time, modify the value of Axis X into Time.
▪ RevJoint1is a joint that connects the left cylinder and the vehicle. You can check
the reaction force and torque of the joint when hydraulic pressure is generated in
the actuator. In this way, you can remodel various operating conditions of the
wheel loader and check the reaction force and torque values.

Thanks for participating in this tutorial!

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