MV-1060: Build a Pendulum Model Using MDL Statements

In this tutorial, you will learn how to create a pendulum model using Model Definition Language (MDL), run a dynamic simulation of the model, plot the rotation of the pendulum and view the animation.

MDL stands for Model Definition Language. A MotionView model is an object that holds the information in the form of this language which is required to describe a mechanical system. The complete information about the model is stored in the MDL format. MDL is an ASCII programmable language. Some benefits of MDL include the following:
  • You can open and edit in any text editor.
  • It assists with model debugging.
  • You can use conditional statements "if" for custom modeling requirements.
  • You can build modular and reusable models.
  • You can parameterize the models.
  • You can use modeling entities which are not available through GUI (for example, CommandSets).
Section 1: Entities in MDL
A modeling entity is saved to MDL in the form of MDL statements. All MDL statements begin with an asterisk (*).
There are two types of entities:
  • General Entities
  • Definition Based Entities
General Entities
  • Have one statement to define the entity. They may have one or more statements to set their properties.
  • Some examples include points, bodies, joints, etc.
  • Each general entity has certain properties consistent with its type. For example, a point has the properties x-coordinate, y-coordinate, z-coordinate, label, state, and varname (variable name).
Definition Based Entities
  • Are defined through a block statement, called definition, and its instance is created in a model by an instantiation statement.
  • The block generally begins with a *Define() statement and end with a *EndDefine() statement.
  • The entity (or block) is comprised of a series of other MDL entities or members.
  • These entities are reusable. Once defined, the same entity-definition may be instantiated several times within the same model or different model files.
Some of the commonly used user-defined entities are outlined in the table below:
Entity Description
System A system entity defines a collection of modeling entities. These definitions may be used repeatedly within the same model or different MDL model files. A model can be organized into different systems. Examples of system entities include SLA suspension system, wiper blade system, and power-train system. Systems can be hierarchical in nature (for example, a system can be a child of another system).
Assembly An assembly is similar to a system entity, except that the definition resides in a separate file than the model file.
Analysis An analysis is a collection of entities (bodies, joints, etc.) describing a particular analysis task or event applied to a model. For example, a static ride analysis is one of the analysis that can be applied to a model. An analysis can only be instantiated under Model (the top level root system). A system can be a child of an analysis, however the reverse is not true.
Dataset A dataset is a collection of user-defined variables of type integer, real, string, Boolean, or filename. These variables can be referred or parameterized to other entity properties. Datasets are displayed in a tabular form, thereby offering a single window to modify a model. Generally, design variables are collectively defined in the form of a dataset. A dataset can be instantiated within a system or an analysis.
Template A template is a utility that uses the Templex program in the application. It can be used to create user-defined calculations and codes embedded into the model. The output of such code can be written out to solver deck or execute another program. Another use is to implement solver statements and commands not supported by MDL and to generate text reports.
Note: The system, assembly, and analysis are together referred to as container entities (or simply containers).
Section 2: Properties of Entities
  • Each entity has variable, label, and other properties associated with it.
  • Each entity should have a unique variable name.
  • Following is the recommended convention for variable names which allows the user to identify the modeling entity during debugging. You are not restricted to this nomenclature, however you are encouraged to adopt it.
This list of entities and their properties is not comprehensive. For a complete list, refer to the MDL Language Reference on-line help.
Table 1. General entities, their naming conventions, and properties
General Entities Naming Convention Properties
Point p_ x, y, z, label, state, varname
Body b_ mass, IXX, IYY, IZZ, IXY, IYZ, IXZ, cg, cm, im, lprf, label, state, varname
RevJoint j_ b1, b2, i, j, id
Vector v_ x, y, z, label, state, varname
Marker m_ body, flt, x-axis, y-axis, z-axis, origin
ActionReactionForce frc_ b1, b2, fx, fy, fz, id, tx, ty, tz
Table 2. User-defined entities, their naming conventions, and properties
Definition Based Entities Naming Convention Properties
System sys_ Label, varname, state
Analysis ana_ Label, varname, state
Dataset ds_ Label, varname, state
Template tmplt_ Label, varname, state
To access entity properties; use the entity varname, followed by a dot separator, followed by the property. Below are some examples:
Entity Varname Varname Represents
b_knuckle A body representing the knuckle in the mechanical system.
p_knuckle_cg A point representing the center of mass point for the knuckle body.
Entity Property Name Property Accessed
b_knuckle.cm The center of mass marker of the knuckle body, b_knuckle.
b_knuckle.cm.id The ID of the center of mass marker of the knuckle body, b_knuckle.
p_knuckle_cg.x The x coordinate of p_knuckle_cg.
Section 3: Global Variables
MotionView comes with Global Variables, by default, which are available for use anywhere in the model. These variables are case sensitive.
The table below lists some commonly used keywords and what they represent:
Table 3. Common keywords in MotionView
   
B_Ground Ground body
P_Global_Origin Global Origin
V_Global_X, V_Global_Y, V_Global_Z Vectors along the global XYZ axes
Global_Frame Global reference marker
MODEL Reference to the top level system of the model.
Section 4: MDL Statement Classification
Topology Statements
These are statements that define an entity and establish topological relation between one entity and the other. For example, *Body(b_body, “Body”, p_cg). In this example, the *Body statement defines a body having its CG at point p_cg. Through this statement the body (b_body) is topologically connected to point p_cg.
Property or Set Statements
These statements assign properties to the entities created by topological entities. For example, *SetBody() is a property statement that assign mass and inertia properties to a body defined using *Body(). Since most of the property statements begin with “*Set”, they are generally referred as Set statements.
Definition and Data
Building upon the concept of a definition block, these terminologies are used specifically with regard to container entities such as Systems, Assembly, and Analysis.
The block of statements when contained within a *Define() block are termed as a Definition. The statements within the block may include:
  1. Topology statements that define entities.
  2. Set statements that assign properties. These Set statements within a definition block are called "Default Sets", as they are considered as default values for the entities in the definition.
Any statements or block that resides outside the context of *Define() block are termed as Data. These include:
  1. Set statements within a *BeginContext() block that relate to entities within a system, assembly, or analysis definition.
  2. Some of the *Begin statements, such as *BeginAssemblySelection and *BeginAnalysis.
Section 5: MDL Model File Overview
  • MDL model file is an ASCII file; it can be edited using any text editor.
  • All statements in a model are contained within a *BeginMDL() - *EndMDL() block.
  • The syntax of the MDL statement is an asterisk (*) followed by a valid statement with its arguments defined.
  • Statements without a leading asterisk (*) are considered comments. In this tutorial, comment statements are preceded by // to improve readability. The comments are not read in by the MotionView graphical user interface and are removed if the model MDL is saved back or saved to a different file.

MDL accepts statements in any order, with a few exceptions.

To help you learn this language, the code in the tutorial examples will follow this structure:
//comments about the MDL file
*BeginMDL(argument list)
//Topology section
*Point…
*Body…
*System(…)
// definitions sub-section
*DefineSystem(..)…
..
.*EndDefine()
//Property of entities directly in *BeginMDL()//Property section for 
entities within Systems and analysis
*BeginContext()
..
..
*EndContext()
.
*EndMDL
Figure 1 shows the schematic diagram of a pendulum. The pendulum is connected to the ground through a revolute joint at the global origin. The pendulum falls freely under gravity, which acts in the negative global-Z direction. Geometry and inertia properties are shown in the figure. The center of mass of the pendulum is located at (0, 10, 10).


Figure 1. Schematic representation of the pendulum
The model uses the following MDL statements:

Create an MDL Model File

In this step you will create an MDL model file for the pendulum model.

  1. Open a text editor.
  2. Create comment statements describing the purpose of the model:
    //Pendulum falling under gravity
    //date
  3. Create a *BeginMdl() - *EndMdl() block to signify the beginning and the end of the model file.
    Important: All other MDL model file statements should be between these block statements.
    This is the syntax for the *BegingMdl() statement:
    *BeginMdl(model_name, "model_label") 

    model_name is the variable name of the model.

    model_label is the descriptive model of the label.

    For the purpose of this tutorial, you will use:
    *BeginMdl(pendulum, "Pendulum Model")
    *EndMdl()
    Tip: Look for the syntax of the corresponding statements by navigating to the menu bar and clicking Help > Index. Then type the statement in the Index. In MDL statements, only keywords are case-sensitive.

Create Entity Declarations

Here, you will create the entity declarations necessary for the problem.

  1. Use the *Point() statement to create a point for the pendulum pivot:
    //Points
    *Point(p_pendu_pivot, "Pivot Point")
    The syntax of the *Point() statement is *Point(point_name, "point_label", [point_num]).
    • point_name The variable name of the point (p_pendu_pivot).
    • point_label The descriptive name of the point (Pivot Point).
    • point_num An optional integer argument assigned to the point as its identity number. You will not use one for this tutorial.
  2. Use the *Point() statement to create a point for the pendulum center of mass:
    *Point(p_pendu_cm, "Pendulum CM")
  3. Use the *Body() statement to define the ball’s body:
    //Bodies
    *Body(b_link, "Ball", p_pendu_cm)
    The syntax for the *Body() statement is *Body(body_name, "body_label", [cm_origin], [im_origin], [lprf_origin],[body_num]).
    • body_name The variable name of the body (b_link)
    • body_label The descriptive label of the body that appears in the graphical display (Ball).
    • cm_origin An optional argument for the origin point of the inertia marker of the body (p_pendu_cm).
    • im_origin An optional argument for the origin point of the inertia marker of the body (not used in this model).
    • lprf_origin An optional argument for the origin point of the local part reference frame of the body (not used in this model).
    • body_num An optional integer argument assigned to the body as its entity number (not used in this model).
    Square brackets [] in the description of any statement syntax indicate an argument is optional.
  4. Use the *Graphics() statement (one for cylinder and one for sphere) to display the link and the sphere:
    //Graphics
    *Graphic(gr_link, "pendulum link graphic", CYLINDER, b_link
    p_pendu_pivot, POINT, p_pendu_cm, 0.5, CAPBOTH )
    *Graphic(gr_sphere, "pendulum sphere graphic", SPHERE, b_link,
    p_pendu_cm, 1)
    The syntax for the sphere graphic is *Graphic(gr_name, "gr_label", SPHERE, body, origin, radius).
    • gr_name The variable name of the graphic (gr_sphere).
    • gr_label The descriptive label of the graphic (pendulum sphere graphic)
    • SPHERE This argument indicates that the graphic is a sphere.
    • body The body associated with the graphic (b_link).
    • origin The location of center point of the sphere (p_pendu_cm).
    • radius The radius of the sphere (1).
    The syntax for the cylinder graphic is *Graphic(gr_name, "gr_label", CYLINDER, body, point_1, POINT|VECTOR, orient_entity, radius, [CAPBOTH|CAPBEGIN|CAPEND]).
    • gr_name The variable name of the graphic (gr_link).
    • gr_label The descriptive label of the graphic (pendulum link graphic).
    • CYLINDER This argument indicates the graphic is a cylinder.
    • body The body associated with the graphic (b_link).
    • Point 1 The location of one end of the cylinder (p_pendu_pivot).
    • POINT|VECTOR Keyword to indicate the type of entity used to orient the cylinder. If POINT is used, the following argument should resolve to a point, otherwise it should resolve to a vector.
    • orient_entity The variable name of the entity for orienting the cylinder (p_pendu_cm).
    • radius The radius of the cylinder (0.5).
    • [CAPBOTH|CAPBEGIN|CAPEND] An optional argument that identifies if either or both cylinder ends should be capped (closed).
  5. Use the *RevJoint() statement to create a revolute joint at the pivot point:
    //Revolute Joint
    *RevJoint(j_joint, "New Joint", B_Ground, b_link, p_pendu_pivot, VECTOR,
    V_Global_X)
    The syntax for the *RevJoint() statement is *RevJoint(joint_name, "joint_label", body_1,body_2, origin, POINT|VECTOR, point|vector, [ALLOW_COMPLIANCE])
    • joint_name The variable name of the joint (j_joint).
    • joint label The descriptive label of the revolute joint (New Joint).
    • body 1 The first body constrained by the revolute joint (B_ground).
    • body 2 The second body constrained by the revolute joint (b_link).
    • origin The locations of revolute joint (p_pendu_pivot).
    • POINT|VECTOR Keyword to suggest the method of orientation for the joint using a point or vector (VECTOR).
    • point|vector A point or vector that defines the rotational axis of the revolute joint (V_Global_X).
    • [ALLOW COMPLIANCE] An optional argument that indicates the joint can be made compliant (a joint that is compliant is treated like a bushing and can be toggled between compliant and non-compliant).
  6. Use the *Output - output on entities statement to create an entity output statement:
    //Output
    *Output(o_pendu, "Disp Output", DISP, BODY, b_link)
    The syntax for the output statement is *Output(out_name, "out_label", DISP|VEL|ACCL|FORCE, entity_type, ent_name, [ref_marker], [I_MARKER|J_MARKER|BOTH_MARKERS]).
    • out_name The variable name of the output (o_pendu).
    • out_label The descriptive label of the output (Disp Output).
    • DISP|VEL|ACCL|FORCE An argument that indicates whether the output type is displacement, velocity, acceleration, or force (DISP).
    • entity_type Keyword to indicate the type of entity on which the output is being requested. Valid values are: BODY|JOINT|BEAM|BUSHING|FORCE|SPRINGDAMPER (BODY).
    • ent_name The entity on which output is requested. (b_link).
    • ref_marker An optional argument for the reference marker in which the output is requested.
    • I_MARKER|J_MARKER|BOTH_MARKERS Keyword to indicate the capture of output on the I marker, J Marker or both markers. The default is both markers.
  7. Use the *SetSystem(), *SetPoint(), and *SetBody() statements to set property values for the entities you created in the MDL file:
    //Property data section
    *SetPoint(p_pendu_pivot, 0, 5, 5)
    *SetPoint(p_pendu_cm, 0, 10, 10)
    *SetBody(b_link, 1, 1000, 1000, 1000, 0, 0, 0)
  8. Save the model as pendulum.mdl.
    Your MDL model file should look like the example shown below:
    //Pendulum Model
    //05/31/XX
    *BeginMDL(pendulum, "Pendulum Model")
    //Topology information
    //declaration of entities
    //Points
    *Point(p_pendu_pivot, "Pivot Point")
    *Point( p_pendu_cm, "Pendulum CM")
    //Bodies
    *Body(b_link, "Ball", p_pendu_cm)
    //Graphics
    *Graphic(gr_sphere, "pendulum sphere graphic", SPHERE, b_link,
    p_pendu_cm, 1)
    *Graphic(gr_link, "pendulum link graphic", CYLINDER, b_link,
    p_pendu_pivot, p_pendu_cm, 0.5, CAPBOTH)
    //Revolute Joint
    *RevJoint(j_joint, "New Joint", B_Ground, b_link, p_pendu_pivot, VECTOR,
    V_Global_X)
    //Output
    *Output(o_pendu, "Disp Output", DISP, BODY, b_link)
    //End Topology
    // Property Information
    *SetPoint(p_pendu_pivot, 0, 5, 5)
    *SetPoint(p_pendu_cm, 0, 10, 10)
    *SetBody( b_link, 1, 1000, 1000, 1000, 0, 0, 0)
    *EndMDL()

Load and Run the MDL Model File

In this step, you will run the MDL file you created in the step: Create Entity Declarations.

  1. Start a new MotionView session.
  2. On the standard toolbar, click (Open Model).
    Tip: You can also click File > Open > Model from the menu bar.
  3. From the Open Model dialog, choose the file pendulum.mdl and click Open.
  4. On the Standard View toolbar, click the (YZ Rear Plane View) button.
    The model will look as shown in Figure 2:


    Figure 2.
  5. Use the Project Browser to view the model entities and verify their properties.
  6. In the menu bar, click Tools > Check Model to check for modeling errors.
  7. Run MotionSolve.
    1. Click the (Run) panel button.
    2. For Simulation Type, choose Transient.
    3. Specify and End time of 2 seconds.
    4. Click the Simulation Settings button. In the dialog, click the Transient tab and review the integrator parameters.
    5. Click Close.
    6. From the Main tab, click the Save and run current model radio button.
    7. Click the (file browser) and specify the name of the .xml as pendulum.
    8. Click Run. Once the run is complete, close the Solver window and the Message Log.

Animate and Plot the Results

Now you will animate and plot the results of the pendulum MDL model run.

  1. In the Run panel, click Animate.
    A window with the pendulum.h3d results file will load next to the modeling window.
  2. Click in the new window to make it active.
  3. On the Animation toolbar, click the (Start/Pause Animation) button to view the animation.
    Note: You can click the button again to pause the animation.
  4. On the Standard Views toolbar, click the (Fit Model/Fit All Frames) icon to fit the visualization in all frames of the animation.
  5. Click on the MotionView window to make it active.
  6. On the Run panel, click Plot.
    A plot window with the pendulum.abf results file will load next to the modeling window.
  7. In the panel, set the Y Type to Marker Displacement, the Y Request to REQ/70000000 Disp Output - (On Ball), and the Y Component as DZ.
  8. Click Apply.
    The plot shows the displacement of the pendulum in the Z direction.
  9. On the Animation toolbar, click the (Start/Pause Animation) button to view the plot and animation together.
    Note: You can click the button again to pause the animation.
    Your session should look similar to the example shown in Figure 3:


    Figure 3.
  10. In the menu bar, click File > Exit to close the session.