Adams_solver_training_notes.pdf
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Transcript of Adams_solver_training_notes.pdf
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Jens Bay Madsen
Adams Solver Training notes
Solver phases
In short, the Adams solver is of a predictor-corrector type. Time-steps are taken by estimating the
next step based on a number of previous step, and subsequently correcting the guess based on an
extended set of equations.
The Adams Solver works in four phases for each solver step during dynamic simulation. The first
phase is a predictor phase, where the system state at next time-step is estimated. Second step is a
corrector phase, where the estimated state is corrected. Third phase is a error checking phase, that
forces the solver to find the solution of the set of equations closest to the previous solution. The
fourth phase is a preparation phase, that prepares the solver to estimate the next time step.
Phase 1 - predictor
As mentioned above, the predictor
bases the guess q for the state-vector
q for the next step as a function of
previous values.
The number of previous states included in
the extrapolation, and the order of
extrapolation is determined in phase four.
In order to start the simulation, the solver
uses some special routines and small step
sizes in order to obtain a state history to for
the extrapolation.
Phase 2 corrector phase
The corrector phase evaluates the predicted value. The purpose of this evaluation is to obtain the
correct state vector for the next time-step ( tn1 ). The cost function Gq, q , t evaluates the
set of equations describing constraints (reaction forces), applied forces, and user written differential
equations for positions (formulation i3) or position and velocity (formulation si2). The correct
value is found by using a modified Newton-Raphson algorithm to minimize the output of
Gq, q , t .
If the corrector failes in obtaining a corrected value within HMAX attempts, the solver returns to
the predictor phase to attempt with a new time-step.
Time
q
q
tn1tntn1tn2tn3
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Phase 3 - error checking phase
The basis of the error checking is the difference q between the predicted state vector and the
corrected. This is normed into a scalar value and then compared to the ERROR value in the solver
settings dialog box. The comparison is based on:
qERROR
1000ADAPTIVITY
t
If this requirement is met, the corrected state-vector is accepted.
The ERROR value has a very direct connection to the precision of the output, as for some setup and
simple models, the value of the error refers directly to the unit system used for modelling.
The ADAPTIVITY was previously used to relax the error-checking, but is with new improvements
of the solver less used. It is worth noticing, that the ADAPTIVITY can have severe influence when
the solver is forced to use very small time-steps!
If the new state vector failes to comply with the ERROR requirement, the solver returns to phase 1
to attempt once again.
Phase 4 Preparation phase
This phase prepares the solver for the next time step. It determines the size of the time-step, the
number of previous states to be used for predicting the next state (predictor order), it saves data to
the output file.
Solver setting dialog box
KMAX
Extrapolation polynomium order for the predictor phase.
Note: for GSTIFF, KMAX may not be set higher than 6!!
HINIT
Initial time-step.
Can improve solver performance at simulation start-up.
HMIN
Minimum allowed time-step
HMAX
Maximum allowed time-step
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Default setting is based on solver command inputs -> 5sec/500 step = HMAX_default =
0.01s
ERROR
Accuracy of solution
Se phase 3
MAXIT
Max number of iteration in phase 2.
General comment: Never set higher than 10 if the NR have not converged after 10
iterations it is better to reduce step-size.
ADAPTIVITY
Relaxing error-checking. See phase 3.
FORMULATION
Different ways of formulating the set of equations. i3 (default) has only error checking on
positions, whereas si2 includes error-checking on velocities.
i3 is more compact = faster solution, for small time-steps the jacobian become ill-
conditioned!
si2 better accuracy on velocities. Stable for all time-step!
Generally a switch from i3 to si2 can be followed by a larger error tolerance (test it!)
INTERPOLATE ON/OFF
Interpolate is used in phase four, when the solver writes to the output file. If OFF, the solver
MUST match a time-step with the output write time. When ON, the solver will interpolate to
find values for output steps when not matched by a solver step.
Advantage: Some solver behave very bad with large variation in time-step (especially
WSTIFF) noticable as peaks in the accelaration output.
SCALE
PATTERN FOR JACOBIAN
The Jacobian used by the NR is not generated for every iteration in phase 2. By pattern for
Jacobian the update of the jacobian can be altered.
Error tuning
1. Run a simulation with fx ERROR = 1E-3 (mm)
2. Plot a displacement of interest
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3. Run a new simulation with 10 times finer ERROR (1E-4) and plot the displacement from 2.
4. Repeat step 2 and 3 until there no longer are any significant difference in the results.
5. Select the larger ERROR setting of the two latest simulations.
Hmax tuning
1. Run a simulation with fx HMAX = 0.01s
2. Plot acceleration of interest
3. Run a new simulation with 2-3 times finer HMAX
4. Repeat until there are no longer a significant difference in simulation output5. Select the larger HMAX of the last two simulations.