adam truck拖车仿真问题

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Reading in property files...
Reading of property files completed.
Setting up the vehicle assembly for Driving Machine maneuver...
Setup of vehicle assembly completed.
Simulation is beginning...
Starting analysis #1 of vehicle assembly...





   *********************************************************************
   *                                                                   *
   *                      MSC.Software Corporation                     *
   *                                                                   *
   *                             A d a m s                             *
   *                                                                   *
   *          Automatic Dynamic Analysis of Mechanical Systems         *
   *                                                                   *
   *                      A d a m s / S o l v e r                      *
   *                       (Build: 2010.1.19.37)                       *
   *                                                                   *
   *      2013-09-11 10:15:49              Version MD 2010             *
   *                                                                   *
   *      Customer Entitlement ID:         82F6649A-BB92GDDC           *
   *                                                                   *
   *********************************************************************
  

   Enter ADAMS model file name or Carriage Return or ? (or STOP):

   

   No model input file (ADM file) is given.
  

   Enter Command:

   file/model=truck02_bit

   A new model supplied.  Initialization starts...
  
   The default input and analysis values will be restored.
  

   CPU time used = 0.76562 seconds

   Enter ADAMS model file name or Carriage Return or ? (or STOP):

   Enter ADAMS output file name or ? (default is same as input):

     Adams model file .. truck02_bit.adm

  
   Default file names for output files
  
     Tabular output file:
     truck02_bit.out
  
     Diagnostic file    :
     truck02_bit.msg
  
     Message Database file    :
     truck02_bit.mdb
  
     Graphics file      :
     truck02_bit.gra
  
     Request file       :
     truck02_bit.req
  
     Results file       :
     truck02_bit.res
  

   Input Phase - Reading in Model
  

   ***********************************************************
   Adams/Solver dataset Title:
   Adams/Car Assembly (MD Adams 2010)
   ***********************************************************

   Reading of model complete.
  

   Adams/Car MD Adams 2010

Processing ENVIRONMENT entries in 'C:\MSC.Software\MD_Adams\2010\acar/acar.cfg'
Processing ENVIRONMENT entries in 'C:\Documents and Settings\Administrator/.acar.cfg'
Processing ENVIRONMENT entries in 'C:\MSC.Software\MD_Adams\2010\atruck/atruck.cfg'
   
   =================================================================
                              Adams/Tire
                         Version MD Adams 2010
   =================================================================

   Input Phase - Populating Solver database
  

   Input Phase Complete.
  

   CPU time is 2.9531 seconds.

   Input and Input Check Phase complete.

   The system has 603 kinematic degrees of freedom.

   Enter Command:

   string/4, string=truck02_bit.xml

   Enter Command:

   preferences/solver=F77

   Enter Command:

   output/nosep

   Enter Command:

   control/ routine=abgVDM::EventInit, function=user(4,1,9,0,2,7,5,15)

Reading configuration file 'C:\MSC.Software\MD_Adams\2010\acar/acar.cfg'
Reading configuration file 'C:\Documents and Settings\Administrator/.acar.cfg'
Reading configuration file 'C:\MSC.Software\MD_Adams\2010\atruck/atruck.cfg'

   
   
   vdm::EvtMonitor::EvtMonitor
      End conditions evaluated in SENSUB.
   
   =================================================================
                           Adams/Smartdriver
                         Version MD Adams 2010
   =================================================================

   Enter Command:

   control/ routine=abgVDM::EventRunAll, function=user(0)
   
   
   fdm::ActJoiMot
       Setting function on: steering::steering_wheel_angle

   MOTION/4, FUNCTION=0.0

   SFORCE/1, FUNCTION=0.0
   
   
   fdm::ActVar
       Connecting: steering::steering_wheel_angle
       To        : driver_demand::steering
   
   
   fdm::ActVar
       Setting function on: driver_demand::steering

   VARIABLE/79, FUNCTION=AZ(1644,1641)

   DEACTIVATE/SFORCE, ID=4

   DEACTIVATE/SFORCE, ID=5

   DEACTIVATE/MOTION, ID=3

   DEACTIVATE/MOTION, ID=4
   
   
   fdm::ActJoiFor
       Setting function on: steering::steering_wheel_torque

   SFORCE/2, FUNCTION=DIF(4)
   
   
   fdm::ActVar
       Setting function on: driver_demand::throttle

   VARIABLE/81, FUNCTION=MIN(100.0,MAX(0.0,DIF(3)))
   
   
   fdm::ActVar
       Setting function on: driver_demand::brake

   VARIABLE/83, FUNCTION=MIN(0.0,DIF(3))*IF(MODE-4:-1.0,1.0,-1.0)
   
   
   fdm::ActVar
       Setting function on: driver_demand::gear

   VARIABLE/85, FUNCTION=(3.0)
   
   
   fdm::ActVar
       Setting function on: driver_demand::clutch

   VARIABLE/87, FUNCTION=0.0
   
   
   vdm::SteadyState::MiniInfo
   
   Static Task       :  'Skidpad'
   Turn Direction    :  'Right'
   Radius            :  10.000 [m]
   Lat. Acceleration :  0.981 [m/s^2]
   Lon. Acceleration :  0.000 [m/s^2]
   Initial Velocity  :  3.132 [m/s]
   Use Brake         :  No
   Perform Linear    :  No
   Include Damping   :  Yes
   Halt on Failure   :  Yes
   
   
   
   fdm::ActVar
       Setting function on: driver_demand::clutch

   VARIABLE/87, FUNCTION=1.0

    ACTIVATE/MOTION,ID=4

    SIM/STAT

   Input and Input Check Phase complete.

   The system has 604 kinematic degrees of freedom.

   Current Adams model successfully verified.

   Entering the static equilibrium analysis phase...

   Displacement initial condition analysis...

  
   Jacobian Matrix Statistics for the Initial Conditions
   ======================================================
   Number of equations ............. = 1616
   Number of non-zero entries ...... = 8136
   Percentage of matrix non-zero ... = 0.31155
   Total space used in MD array .... = 1030580
  
       TIRE ID:  1
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID:  2
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID:  3
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID:  4
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID:  5
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID:  6
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID:  7
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID:  8
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 10
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 11
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 12
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 13
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 14
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 15
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 16
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 17
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 18
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   
       TIRE ID: 19
       TYR902 -> Fiala Tire Model
       Using 2D Handling Road Contact v1.0
   

   Performing Static analysis...

   Generating the Jacobian matrix for the statics or quasi-statics problem.

  
   Jacobian Matrix Statistics for Statics
   ======================================================
   Number of equations ............. = 5505
   Number of non-zero entries ...... = 52101
   Percentage of matrix non-zero ... = 0.17192
   Total space used in MD array .... = 2041388
  

   Static equilibrium was found after 6 iterations.
   The maximum error is 4.60801E-05 with a maximum imbalance of 1.23129E-07.

    DEACTIVATE/JPRIM,ID=2

    DEACTIVATE/JPRIM,ID=3

    DEACTIVATE/SFORCE,ID=1

    DEACTIVATE/JPRIM,ID=10

    DEACTIVATE/JPRIM,ID=11

    DEACTIVATE/JPRIM,ID=12

    DEACTIVATE/JPRIM,ID=13

    DEACTIVATE/JPRIM,ID=15

    DEACTIVATE/JPRIM,ID=16

    DEACTIVATE/JPRIM,ID=17

    DEACTIVATE/JPRIM,ID=18

    DEACTIVATE/JPRIM,ID=19

    DEACTIVATE/JPRIM,ID=20
   
   
   fdm::ActVar
       Setting function on: driver_demand::clutch

   VARIABLE/87, FUNCTION=0.0

    ACTIVATE/JPRIM,ID=2

    ACTIVATE/SFORCE,ID=1

    ACTIVATE/JPRIM,ID=10

    ACTIVATE/JPRIM,ID=11

    ACTIVATE/JPRIM,ID=12

    ACTIVATE/JPRIM,ID=13

    ACTIVATE/JPRIM,ID=15

    ACTIVATE/JPRIM,ID=16

    ACTIVATE/JPRIM,ID=17

    ACTIVATE/JPRIM,ID=18

    ACTIVATE/JPRIM,ID=19

    ACTIVATE/JPRIM,ID=20

    DEACTIVATE/MOTION,ID=4
   
   acar_2010.1.0/vdm_gra_mod
   
       Setting gravity vector in g's to:   0.00000E+00  0.00000E+00 -1.00000E+00

   accgrav/igrav= 0.00000E+00,jgrav= 0.00000E+00,kgrav=-9.81000E+03

   sim/stat

   Input and Input Check Phase complete.

   The system has 606 kinematic degrees of freedom.

   Current Adams model successfully verified.

   Entering the static equilibrium analysis phase...

   Displacement initial condition analysis...

  
   Jacobian Matrix Statistics for the Initial Conditions
   ======================================================
   Number of equations ............. = 1614
   Number of non-zero entries ...... = 8118
   Percentage of matrix non-zero ... = 0.31163
   Total space used in MD array .... = 1031190
  

   Performing Static analysis...

   Generating the Jacobian matrix for the statics or quasi-statics problem.

  
   Jacobian Matrix Statistics for Statics
   ======================================================
   Number of equations ............. = 5503
   Number of non-zero entries ...... = 52303
   Percentage of matrix non-zero ... = 0.17271
   Total space used in MD array .... = 2062208
  

   Static equilibrium was found after 6 iterations.
   The maximum error is 1.26104E-06 with a maximum imbalance of 2.53160E-10.
   
   acar_2010.1.0/vdm_gra_mod
   
       Setting gravity vector in g's to:   0.00000E+00  0.00000E+00 -1.00000E+00

   accgrav/igrav= 0.00000E+00,jgrav= 0.00000E+00,kgrav=-9.81000E+03

    DEACTIVATE/JPRIM,ID=2

    DEACTIVATE/SFORCE,ID=1

    DEACTIVATE/JPRIM,ID=10

    DEACTIVATE/JPRIM,ID=11

    DEACTIVATE/JPRIM,ID=12

    DEACTIVATE/JPRIM,ID=13

    DEACTIVATE/JPRIM,ID=15

    DEACTIVATE/JPRIM,ID=16

    DEACTIVATE/JPRIM,ID=17

    DEACTIVATE/JPRIM,ID=18

    DEACTIVATE/JPRIM,ID=19

    DEACTIVATE/JPRIM,ID=20

    ACTIVATE/MOTION,ID=4

    MOTION/4,FUNC=-0.164628162342024
   ***** Setting velocity of part ID =   191
   ***** Setting velocity of part ID =   192
   ***** Setting velocity of part ID =   197
   ***** Setting velocity of part ID =   198
   ***** Setting velocity of part ID =   200
   ***** Setting velocity of part ID =   201
   ***** Setting velocity of part ID =   206
   ***** Setting velocity of part ID =   207
   ***** Setting velocity of part ID =   249
   ***** Setting velocity of part ID =   250
   ***** Setting velocity of part ID =   319
   ***** Setting velocity of part ID =   320
   ***** Setting velocity of part ID =   325
   ***** Setting velocity of part ID =   326
   ***** Setting velocity of part ID =   328
   ***** Setting velocity of part ID =   329
   ***** Setting velocity of part ID =   334
   ***** Setting velocity of part ID =   335

    ACTIVATE/JPRIM,ID=2

    ACTIVATE/SFORCE,ID=1

    ACTIVATE/JPRIM,ID=10

    ACTIVATE/JPRIM,ID=11

    ACTIVATE/JPRIM,ID=12

    ACTIVATE/JPRIM,ID=13

    ACTIVATE/JPRIM,ID=15

    ACTIVATE/JPRIM,ID=16

    ACTIVATE/JPRIM,ID=17

    ACTIVATE/JPRIM,ID=18

    ACTIVATE/JPRIM,ID=19

    ACTIVATE/JPRIM,ID=20

    DEACTIVATE/MOTION,ID=4
   
   acar_2010.1.0/vdm_gra_mod
   
       Setting gravity vector in g's to:   0.00000E+00 -9.99694E-02 -1.00000E+00

   accgrav/igrav= 0.00000E+00,jgrav=-9.80700E+02,kgrav=-9.81000E+03

   sim/stat

   Input and Input Check Phase complete.

   The system has 606 kinematic degrees of freedom.

   Current Adams model successfully verified.

   Entering the static equilibrium analysis phase...

   Displacement initial condition analysis...

  
   Jacobian Matrix Statistics for the Initial Conditions
   ======================================================
   Number of equations ............. = 1614
   Number of non-zero entries ...... = 8118
   Percentage of matrix non-zero ... = 0.31163
   Total space used in MD array .... = 1031190
  

   Performing Static analysis...

   Generating the Jacobian matrix for the statics or quasi-statics problem.

  
   Jacobian Matrix Statistics for Statics
   ======================================================
   Number of equations ............. = 5503
   Number of non-zero entries ...... = 52966
   Percentage of matrix non-zero ... = 0.17490
   Total space used in MD array .... = 2071492
  
  
  

   Symbolic refactorization attempted at time = 0.0.

   Symbolic refactorization attempted at time = 0.0.

---- WARNING ----
   The symbolic refactorization failed.  The matrix is structurally singular
   at time = 0.0.

---- ERROR ----
   Static equilibrium analysis has not been successful.

   Restoring the input initial conditions...
   
   acar_2010.1.0/vdm_gra_mod
   
       Setting gravity vector in g's to:   0.00000E+00 -9.99694E-03 -1.00000E+00

   accgrav/igrav= 0.00000E+00,jgrav=-9.80700E+01,kgrav=-9.81000E+03

   Entering the static equilibrium analysis phase...

   Displacement initial condition analysis...

  
   Jacobian Matrix Statistics for the Initial Conditions
   ======================================================
   Number of equations ............. = 1614
   Number of non-zero entries ...... = 8118
   Percentage of matrix non-zero ... = 0.31163
   Total space used in MD array .... = 1036676
  

   Performing Static analysis...

   Generating the Jacobian matrix for the statics or quasi-statics problem.

  
   Jacobian Matrix Statistics for Statics
   ======================================================
   Number of equations ............. = 5503
   Number of non-zero entries ...... = 52966
   Percentage of matrix non-zero ... = 0.17490
   Total space used in MD array .... = 2094868
  
  
  

   Symbolic refactorization attempted at time = 0.0.

   Symbolic refactorization attempted at time = 0.0.

   Symbolic refactorization attempted at time = 0.0.

   Symbolic refactorization attempted at time = 0.0.

---- WARNING ----
   The symbolic refactorization failed.  The matrix is structurally singular
   at time = 0.0.

---- ERROR ----
   Static equilibrium analysis has not been successful.

   Restoring the input initial conditions...
   
   acar_2010.1.0/vdm_gra_mod
   
       Setting gravity vector in g's to:   0.00000E+00 -9.99694E-04 -1.00000E+00

   accgrav/igrav= 0.00000E+00,jgrav=-9.80700E+00,kgrav=-9.81000E+03

   Entering the static equilibrium analysis phase...

   Displacement initial condition analysis...

  
   Jacobian Matrix Statistics for the Initial Conditions
   ======================================================
   Number of equations ............. = 1614
   Number of non-zero entries ...... = 8118
   Percentage of matrix non-zero ... = 0.31163
   Total space used in MD array .... = 1036676
  

   Performing Static analysis...

   Generating the Jacobian matrix for the statics or quasi-statics problem.

  
   Jacobian Matrix Statistics for Statics
   ======================================================
   Number of equations ............. = 5503
   Number of non-zero entries ...... = 52966
   Percentage of matrix non-zero ... = 0.17490
   Total space used in MD array .... = 2094868
  
  
  

   Symbolic refactorization attempted at time = 0.0.

---- WARNING ----
   The symbolic refactorization failed.  The matrix is structurally singular
   at time = 0.0.

---- ERROR ----
   Static equilibrium analysis has not been successful.

   Restoring the input initial conditions...
   
   acar_2010.1.0/vdm_gra_mod
   
       Setting gravity vector in g's to:   0.00000E+00 -9.99694E-05 -1.00000E+00

   accgrav/igrav= 0.00000E+00,jgrav=-9.80700E-01,kgrav=-9.81000E+03

   Entering the static equilibrium analysis phase...

   Displacement initial condition analysis...

  
   Jacobian Matrix Statistics for the Initial Conditions
   ======================================================
   Number of equations ............. = 1614
   Number of non-zero entries ...... = 8118
   Percentage of matrix non-zero ... = 0.31163
   Total space used in MD array .... = 1036676
  

   Performing Static analysis...

   Generating the Jacobian matrix for the statics or quasi-statics problem.

  
   Jacobian Matrix Statistics for Statics
   ======================================================
   Number of equations ............. = 5503
   Number of non-zero entries ...... = 52966
   Percentage of matrix non-zero ... = 0.17490
   Total space used in MD array .... = 2093822
  
  
  

   Symbolic refactorization attempted at time = 0.0.

   Symbolic refactorization attempted at time = 0.0.

   Symbolic refactorization attempted at time = 0.0.

   Symbolic refactorization attempted at time = 0.0.

---- WARNING ----
   The symbolic refactorization failed.  The matrix is structurally singular
   at time = 0.0.

---- ERROR ----
   Static equilibrium analysis has not been successful.

   Restoring the input initial conditions...
   
   <apre_sscsta> Final Lateral Acceleration limit (G`s) =  0.00000E+00

---- ERROR ----
   Given Lateral Accel. Level cannot be Reached...

   Terminating Adams/Car usersubs...

  
      Adams/Solver execution terminated by subprogram ERRMES
  

   CPU time used = 23.734 seconds
ERROR:   ---------------------------------------------------------------------
ERROR:   Error detected on line number 732, character 111 of the macro '.ACAR.macros.mac_ana_ful_sub'.
ERROR:   The object 'road_filedata_memory' already exists.
ERROR:   The command was not executed.
ERROR:   +5&>           new_entity=(eval(".msc_tractor_semitrailer."//.sim_preferences.file_prefix//".road_filedata_memory"))
ERROR:   ---------------------------------------------------------------------
Simulation is complete.

侧向加速度的临界值我已经设置到了0.1g，还是报错，请哪位高手指点一下！谢谢！