1.

Introduction
This chapter introduces the ArcSim software. It provides an overview of what the
software can do for you and how it works.

About This Manual

This manual is written to help you understand and use ArcSim. It covers several themes:
• The first two chapters provide an overview of ArcSim and its use.
• Chapter 3 provides a summary of how to perform common operations in ArcSim.
• Chapters 4 through 8 provide reference material for ArcSim features. Chapter 8,
the largest in the manual, describes the ArcSim data screens in alphabetical order.
• The appendices provide technical details such as file formats, model parameter
definitions, output variable names, and assorted modeling details.
Although we would not discourage you from reading this manual from beginning to end,
we recognize that your time is valuable and that you might start by reading only what you
think is absolutely necessary. Please read Chapters 1 through 3. These chapters provide
an overview of how you use ArcSim. Other chapters can be read as needed or for
reference.

What ArcSim Is
ArcSim is an easy-to-use integrated set of computer tools for simulating and analyzing
the braking and handling behavior of a six-axle tractor-trailer combinations. ArcSim
performs virtual tests, replacing an instrumented test vehicle with a computer model. It
solves the equations of motion numerically for a mathematical model to predict 3D
motions of a vehicle in response to braking and steering inputs. The software runs on
Intel PC’s equipped with Windows 95 or Windows NT. It is self-contained, requiring no
additional programs or tools to function.
Note: The ArcSim environment is based on the commercial program
TruckSim, developed at The University of Michigan
Transportation Research Institute (UMTRI) and is now enhanced,
maintained and licensed commercially by Mechanical Simulation
Corporation (MSC).
In order to provide documentation for ArcSim with reasonable
effort, this manual was created by modifying the TruckSim User

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Chapter 1 Introduction

Manual. It has been lightly edited to remove most references to

features that are not present in ArcSim.
In some cases, the screen dumps in figures may differ from those
in the software.
ArcSim is demonstration software from the Automotive Research Center (ARC), a center
of excellence funded by The U.S. Army TARDEC. The ARC is headquartered at The
University of Michigan.
The software is free. It can be downloaded from the following Internet web page:
http://www.umtri.umich.edu/erd_soft/arcsim.html
ArcSim uses detailed nonlinear tire models, nonlinear spring models, and includes the
major kinematic and compliance effects in the suspensions and steering systems in heavy
trucks. The kinematical and dynamical equations are valid for full nonlinear 3D motions
of rigid bodies.
For control inputs, ArcSim accepts time histories of brake input and steering wheel angle
(open-loop control). ArcSim also has a closed-loop controller option for speed control.
Simulation results can be viewed as wireframe animations or as plots of output variables.
These plots can be generated automatically for any combination of the hundreds of
variables calculated during the simulation.
The simulations run much faster than you might expect for such detailed models. On
Pentium-Pro computers, the programs run close to real-time.
Note: The high computational efficiency is due in part to the use of
AutoSim in creating the solver programs. AutoSim is a symbolic
multibody program that generates highly optimized C or Fortran
code for representing equations of motion.

What ArcSim Does

ArcSim simulates tests on the computer, producing the same kinds of outputs that might
be measured with physical tests involving an instrumented vehicle. It can be used to
evaluate the braking and handling performance of vehicle and/or component designs.
With ArcSim, you work in the same way that you would approach a vehicle dynamics
problem with actual hardware. First you specify the vehicle to test, including selection of
components (springs, tires, etc.) that would be installed. Then you design a test maneuver
that will produce the type of behavior to be analyzed. In lieu of the physical “test,” you
run the simulation program and time histories of all the relevant variables are recorded in
output files. You can examine the results from the output files through animation or by
viewing engineering plots of motions, forces, etc.
The basic operation of ArcSim involves the following sequence:

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Chapter 1 Introduction

1. Optionally modify the vehicle parameters (dimensions, mass properties, etc.) and
the parameters (dimensions, stiffness coefficients, etc.) of the vehicle components
(brake system, steering system, shock absorbers, springs, etc.).
2. Specify the control inputs for braking and steering.
3. Run the simulation.
4. View the simulation results:
• Animate the simulation output to get an overall view of the vehicle behavior.
• Make plots to analyze behavior in more detail.
With practice, you will be able to evaluate how component and vehicle designs affect
critical aspects of behavior such as directional stability and rollover.
ArcSim also includes simulation results that were computed “off line” using research
codes. Although the research codes are not included in ArcSim, the computed results can
be viewed using the ArcSim plotter and animator.

How ArcSim Works

ArcSim includes a data base with vehicle data, simulation data, and control input data.
The information in this data base is presented through a collection of data screens. Data
screens are used for these purposes:
• to define the vehicle and maneuver
• to control the simulation, and
• to present the output in animated or plotted format.

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Chapter 1 Introduction

Vehicle Dynamics
Solver Programs

ArcSim Data Screens

Wire frame animator WinEP Plotter

Four parts of ArcSim.

ArcSim combines information from the data screens with vehicle dynamics programs to
simulate the vehicle behavior. ArcSim also links the simulation results with animation
and plotting programs.
ArcSim is made up of four tightly integrated types of software.
1. Data screens serve as your primary interface to ArcSim. They contain vehicle
model parameters, control inputs, and run settings. The data screens are part of a
data base that maintains libraries of related data sets.
2. Simulation programs numerically solve equations of motion (i.e., mathematical
vehicle models) to calculate output variables. The process of performing these
calculations is called making a “simulation run.” These programs are called
automatically from the data screens.
3. An animator shows the computed vehicle motions using wire-frame shapes. You
can view the simulated motions, zoom in and out with a simulated camera, and
interactively move around the simulated vehicle to change your point of view.
4. The Windows Engineering Plotter (WinEP) creates plots of vehicle variables as
functions of time or as cross plots of output variables. Use this tool to view any
of the hundreds of variables computed by the simulation models. Plot any
combination of variables, and overlay plots from different runs.

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2. Software Organization
This chapter provides an overview of how the various parts in ArcSim work together.
Details about each part are provided in later chapters.

Glossary Of Specialized Terms

A number of terms are assumed to have certain specific meanings within the context of
this manual. Some of the most common ones are listed here with short definitions. The
concepts are developed more fully later in this chapter.
Animator — a program in ArcSim that is used for animating wire-frame representations
of vehicles.
ArcSim — an integrated software package that includes solver programs, a data base, a
plotter, an animator, and a graphical user interface that includes the ToolBook runtime
package.
ArcSim data base — the collection of all data libraries within ArcSim.
AutoSim™ — a code generator that that was used to create the solver programs in
ArcSim. AutoSim was developed by UMTRI, and is licensed, maintained, and supported
by MSC. If you license the developer version of ArcSim, you can use AutoSim to modify
the vehicle models.
Data screen — a view of a data set contained in the ArcSim data base. A data screen is
where you enter the parameters which define your target simulation. It is a data set as
viewed through a graphical user interface.
Data set — a collection of parameter values and related information, organized for
display on a ArcSim screen. Data sets are contained in library files, and edited in data
screens.
Echo file — a text file, produced by a solver program, that lists every input parameter.
The echo file documents the conditions that were simulated in a run. All echo files made
by ArcSim solver programs are written in the PARSFILE format. Echo files can also be
read by the solver programs as inputs for future runs.
ERD file — a file stored in a standard format that supports automated plotting and post-
processing. Output files produced by ArcSim solver programs are written in ERD format.
The plotter and animator programs read ERD files. ERD stands for Engineering Research
Division, a group at UMTRI.
Go — in the context of ArcSim, going to a different data set, screen, or library means
having ArcSim change the screen view to display a different data set. The new data set
could be from the same library or a different one.

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Chapter 2 Software Organization

Library — a file containing one or more data sets of the same type, plus a standard
graphic interface for viewing those data sets. All ArcSim library files have the extension
TBK.
Link — a connection from one data set to another, indicated with a blue field and an
adjacent triangle button with a triangle. For example, here is a link to a vehicle data set.

The adjacent button has a pull-down menu that can be used to rapidly change the link to a
different data set. The menu can also be used to “follow the link” and go to the data set.
MSC — Mechanical Simulation Corporation. The company that licenses, maintains, and
supports ArcSim.
Numerical integration — a computation method used to solve the differential equations
that define a mathematical model of vehicle dynamics. Output variables produced by the
models in ArcSim are based on internal model variables that are calculated over time
using numerical integration.
Parameter — a value that you can change from a ArcSim data screen. Parameters are
properties of the ArcSim models that are constant during a computer run. Variables, on
the other hand, are computed by the simulation programs and cannot be viewed until after
a run is made.
PARSFILE (parameter file) — a keyword-based text file used to communicate between
various ArcSim programs.
Ribbon bar — the collection of buttons and user controls displayed at the top of nearly
every ArcSim data screen.
Run — Shorthand for “run a simulated test” (e.g., “make a run”). Also used to refer to
the “outcome of a simulated test run” (e.g., “look at a run”).
Screen — shorthand for “screen layout associated with a library.” This manual has many
references to the act of going from one screen to another. Changing the screen simply
changes the view to show data in a different library.
SGUI — Simulation Graphical User Interface. The architecture of ArcSim (data screens,
plotter, simulation programs, animator) has been used for other software packages. The
generic architecture, created at UMTRI and further developed by MSC, is called the
SGUI.
Solver program — a program that numerically solves the equations of motion of a
vehicle model to simulate a test. The ArcSim solver programs are customized with the
equations of motion for specific truck models. They also handle all required calculations
and input/output.
TBK files — binary files that contain the ArcSim libraries. In addition, some of the code
needed to make the ArcSim buttons work is stored in TBK files. All necessary TBK files
are provided in the ArcSim installation, and they are managed automatically by ArcSim.
TBK files are native to the ToolBook software.

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Chapter 2 Software Organization

Triangle button — a button with a triangle icon ( ), usually located adjacent to a field.
Press the button to display a pull-down menu.
ToolBook™ — a “Visual Authoring System” from Asymetrix. The graphical interface
and the data base portion of ArcSim are managed by code that runs within ToolBook.
Also, the integration between the data base and ArcSim programs is provided by
ToolBook. The running of ToolBook code and management of ToolBook libraries is
done by the ToolBook runtime package, which is included with ArcSim.
UMTRI — The University of Michigan Transportation Research Institute. ArcSim was
created at UMTRI.
Unit — in the context of a vehicle, a unit is a tractor, trailer, truck, or bus. A vehicle unit
is a frame with the parts that are permanently attached (body, axles, hitch, etc.). Trucks
and buses are called single-unit vehicles, and vehicles with two or more units are called
combination vehicles.
Variable — an output quantity computed by the ArcSim vehicle models. In contrast to a
parameter, a variable can change with time in a way that must be simulated using a
detailed vehicle dynamics model. Output variables can be plotted with WinEP, the
ArcSim plotter. Motion variables can be read by the animator to create animation of the
simulated vehicle motions.
WinEP — the Window version of an Engineering Plotter developed at UMTRI for
making X-Y plots from ERD files.

Engineering Units
The unit system for ArcSim is defined in the table below.
The ArcSim unit system.
Property Units
Length (vehicle inputs) in
Length (output, road data, ft
animator shapes)
Mass lbm
Force lbf
Moment of inertia in-lbf-s2
Angle deg
Acceleration g's
Vehicle speed mi/h
Pressure psi

Notes: The units system uses pounds-mass (lbm) for mass and pounds-
force (lbf) for force. In most screens, the units are shown simply as

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Chapter 2 Software Organization

pounds (lb), with the meaning intended to be obvious from the

content.

The ArcSim Data Base

Most of your interactions with ArcSim will involve preparing data sets for simulation
runs, or viewing outputs of simulation runs. In either case, you will be dealing
extensively with the ArcSim data base.
Throughout this manual, the data base is considered at four levels. Starting with what you
see on the screen, the levels are:
1. Data screens. Any screen display in ArcSim that has editable fields or other
forms of user settings is called a data screen.
2. Data sets. A data set is the information you provide and can edit in a data screen,
minus the screen itself. The data screen is a view of a data set as seen through the
SGUI (the ArcSim graphical interface).
3. Libraries. A library is a collection of one or more data sets, plus the information
needed to provide a view in the user interface. The next figure shows the contents
of a library: multiple data sets, plus a graphical view of one data set at a time.
4. The ArcSim data base. ArcSim includes about fifty libraries.
ArcSim automatically handles the transfer of information between the libraries and solver
programs. Thus, you do not have to know where the libraries are or what they contain.
However, it is important to understand the distinction between data screens, data sets, and
libraries. Specifically, you should understand that:
• Each ArcSim screen shows one data set from within one library.
• Changes made on a data screen affect the one data set, but all other data sets in the
library are unaffected.
• Data sets are used in a simulation run only if they are linked to the run.
• Links between data sets can be made and broken as you see fit, to rapidly swap
vehicles, components, inputs, etc.
• When a data set is changed, simulation results will be affected if the simulation
inputs include data sets that are linked to it directly or through a series of links.

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Chapter 2 Software Organization

Data set #3
Data set #2
Data set #1

Individual data sets in the

library

Data Screen:
A view of one data set
though the graphical user
interface

Contents of a ArcSim Library

Data Screens
Common elements in a data screen will be introduced for the example screen shown in
Figure 2.1.
Each data screen has three kinds of elements that you use:
• Yellow fields. These contain data that you can edit directly. For example, to
change wheelbase, find the yellow field 3 with the current wheelbase value,
click on the field, and change the value using the mouse and keyboard.
• Buttons. All of the library screens include buttons at the top to quickly navigate
through the data sets in the library, and to go to other libraries and programs in
ArcSim (see the buttons near 2 ). In addition, some of the libraries have special
buttons for functions such as running a simulation, running an animation, etc.
• Pull-down menus. Some of the buttons are marked with a triangle , indicating
that pressing them with the left mouse button brings up a pull-down menu.

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Chapter 2 Software Organization

2
1

Figure 2.1. Example data screen.

The yellow field in the upper-left corner of the screen is the title of the data set: M916A1
Tractor 1 . The title is simply text that you choose to identify this data set in the library.
It has no significance to the simulation.
Blue fields with adjacent triangle buttons are common in ArcSim. Each represents a link
to another data set. The name of the data set is shown in the blue field, and the triangle
button is used to display a pull-down menu. For example, click the triangle button 4 to
view the following menu.

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Chapter 2 Software Organization

The menu can be used to select a different data set in the linked library (choose the data
set of interest from the list displayed at the bottom of the menu). It can also be used to go
to the linked data set (choose the menu option to Go To Data Set).
After using Go To Data Set to go to a different library, you can return to the previous
screen using the Back button located in the upper-right corner of each data screen.

The standard elements in a data screen, such as the ribbon bar at the top, and the blue
links, are described in more detail in Chapter 7.

On-Line Help
Every ArcSim screen includes a status bar at the bottom of the screen. Move the cursor
over an object to read a 1-line description of its function in the status bar.

A Map of the ArcSim Libraries and Screens

Nearly all control of ArcSim is made through the ArcSim data screens. Each screen
design is associated with a separate library file. ArcSim includes the following types of
libraries:
• Vehicle parameters
• Inputs for Simulation runs
• Run setups including simulation and post processing control
• Plot setups
• Animation setups
• Batch controls
The top level of ArcSim is shown graphically below.

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Chapter 2 Software Organization

Post-Processing
Programs
Start Screen Animator

X-Y Plotter
Runs Screen:
Simulation Setup

Inputs Vehicles Computation Control

Role of Runs screen in ArcSim.

You normally start ArcSim at the Startup screen. Clicking the Start button on that
screen takes you to the Runs screen. The Runs screen is the window to a library of many
run descriptions, each of which has many links to vehicles, inputs, and various settings.
The Runs screen also has three buttons for:
• Running new simulations
• Using the plotter to view simulation results
• Using the animator to view simulated motions
Figure 2.2 shows a more detailed map of the various libraries (screens). For example,
from the Runs screen, you can go “down” to the various inputs (path, brake, steer, and
speed), the vehicle descriptions, the plot and animation setup, and the parameters that
control the numerical solution methods used to make a simulation.
Note: In order to create the detailed map at a reasonable size, the names
were shortened from the full screen titles.

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Chapter 2 Software Organization

ArcSim Startup

Runs

Brake Input Speed Input Vehicles Plot Setup Animation Setup

Steer Input
Format Filters

Tractor Trailer Cargo Cameras Groups

Shapes

Steering Axle Ref. Frames Wheels

Suspension Tire

Spring Fx Fy Mz
Figure 2.2. Map of the ArcSim libraries.

In the map, data sets from different libraries are connected with links. For example, here
is a link between the Runs library and a vehicle library:
Type of vehicle to be simulated

Name of specific vehicle data set

In general, libraries shown near the top of the map are more systems-oriented, and
libraries shown near the bottom are more component-oriented.
You can traverse the map, starting at the top, by following the links down. For example,
starting at a Runs screen, you can follow a link “down” to a combination tractor-
semitrailer vehicle. From there, follow a link down to a tractor library. From the tractor
library, you can go down to a steering system library, a suspension library, etc.
Travel back up by clicking the Back button on each data screen.

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3. How to Use ArcSim
This chapter contains “how to” lists for accomplishing common tasks in ArcSim. If you
are completely unfamiliar with ArcSim, you should refer to a separate document called
the ArcSim Tutorial to obtain a more complete overview of the main features of
ArcSim, with emphasis on how they are used.

About the Runs Screen

The Runs screen is central to the operation of ArcSim. The map below shows that it
provides access to vehicle data, input data, post-processing programs, and solver
programs.

Post-Processing
Programs
Start Screen Animator

X-Y Plotter
Runs Screen:
Simulation Setup

Inputs Vehicles Solver Programs

Figure 3.1 shows the Runs screen for a typical data set. The circled numbers will be used
in the next few sections to describe common actions.

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Chapter 3 How to Use ArcSim

1 2 3

4
7 10
5 11
8 9
6
12
14
13
15
16

Figure 3.1. The Runs screen.

How to Get to the Runs Screen

Most operations begin with the Runs screen.

When Starting
1. Start ArcSim to get to the Startup screen.
• Use the Windows Start menu, or
• open the file Startup.tbk

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Chapter 3 How to Use ArcSim

Start Screen

Click Here

Runs Screen:
Simulation Setup

2. Click the Start button in the lower-right corner of the screen.

After Starting
All ArcSim screens include a standard ribbon bar with navigation buttons. One of these
will take you to the Runs screen.
1. Click the Runs button in the ribbon bar ( ) or use the Runs command from the Tools
menu.

Click Here

From the Plotter or Animator

The ArcSim plotter and animator are independent programs. When you launch one of
them by clicking a button on the Runs screen, the Runs screen is still there. However, it
might be covered by the windows of the other programs, especially if you are not using a
large computer monitor.
The recommended way to return to the Runs screen from the plotter or animator is to exit
the program.

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Chapter 3 How to Use ArcSim

1. Click the X box in the upper-right corner of the WinEP or Animator screen:

How to Make a New Run

Use this method to make a new run in ArcSim. Existing runs are left intact and their
output can still be viewed with the plotter and animator.
Start from the Runs screen (see Figure 3.1 on page 15).
1. Find an existing data set that is close to what you want using the navigation buttons 2 .
In particular, look at the types of inputs.
• How is the speed controlled? Is the initial speed specified 8 , or is there a link to
a variable-speed input?
Note: If you enter a speed in the yellow field 8 , the speed controller
will attempt to maintain that value as long as the brakes are not
applied. If you want to specify a target speed that varies during the
run, look for an example run in which one of the input links (e.g.,
5 or 6 ) is connected to a speed input.

• Is there a link 6 to a braking input?

2. Click the New button 3 in the ribbon bar.
3. Inspect and edit the simulation inputs.
• Select the vehicle of interest from the linked vehicle library 4 .
• Select a steering input from the linked library 5 .
• Select a braking input from the linked library 6 .
• Select the vehicle speed in one of two ways:
a. enter a speed into the yellow field 8 , or
b. select a speed profile from the linked library (e.g., the link under 6 ).
• Enter the simulation stop time 9 .
4. Click the Run Simulation button 7 .
A console application window (DOS-style) appears while the simulation runs. A bar-
graph at the bottom of the window indicates the progress. When the simulation finishes,
the DOS window disappears and you are returned to the Runs screen.

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Chapter 3 How to Use ArcSim

Console display when solver program is running.

Notes: If the vehicle comes to a complete stop, or rolls over, the normal
settings cause the program to quit after updating all output files.
There are a few other occasions when the ArcSim solver program
will not run, or will quit prematurely. Among them are:
1. You may have picked a run that was made “off line” with a
simulation program not included in ArcSim.
2. The output file cannot be written if it is in use by the plotter or the
animator (this can happen if you are replacing a run, as described
in the next section).
3. In rare circumstances, a bad input parameter will cause the
program to quit before it can create any output files. However, in
most cases, the program will generate the output files even if it
quits suddenly.

How to Replace a Run

Use this method to replace an existing run. Start from the Runs screen (see Figure 3.1 on
page 15).

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Chapter 3 How to Use ArcSim

1. Find the existing data set in the Runs library that you want to replace. Use the navigation
buttons 2 next to the Data Set (title) box 1 .
2. Inspect and edit the simulation inputs.
• Select the vehicle of interest from the linked vehicle library 4 .
• Select a steering input from the linked library 5 .
• Select a braking input from the linked library 6 .
• Select the vehicle speed in one of two ways:
a. enter a speed into the yellow field 8 or
b. select a speed profile from the linked library (e.g., the link under 6 ).
• Enter the simulation stop time 9 .
3. Click the Run Simulation button 7 . A run is made, as described in the previous section,
except that in this case the previous run (selected in step 1) is over-written.

How to View an Animation

Start from the Runs screen (see Figure 3.1 on page 15). The simulation run must have
already been made in order to view an animation.
1. Check that the currently linked animator setup 11 is appropriate for the type of vehicle
that was simulated. If not, link to an appropriate setup with the pull-down menu.

11

2. Click the Animate button 10 .

3. If there is no motion, use the menu item Start from Beginning (Ctrl-S), under the
Animation menu in the Animator screen.
4. After viewing the animation, exit the animator by clicking the in the upper-right
corner of the screen.

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Chapter 3 How to Use ArcSim

How to View a Single Predefined Plot

Start from the Runs screen (see Figure 3.1 on page 15). The simulation run must have
already been made in order to view a plot.
1. To avoid making multiple plots, un-check the box Multiple Plots 14 .
2. To avoid overlaying plots from different runs, un-check the box Overlay Runs 15 .
3. Use the pull-down menu next to the blue field labeled Plot Setup 16 and select the plot
of interest.
13 14

15 16

1. Click the Plot button 13 .

2. After viewing the plot, exit the plotter by clicking the in the upper-right corner of the
screen.

How to View Several Predefined Plots

Start from the Runs screen (see Figure 3.1 on page 15). The simulation run must have
already been made in order to view a plot.
1. Check the box Multiple Plots 14 .This reveals three more links to plotter data sets 17 :

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Chapter 3 How to Use ArcSim

14
13
15
16

17

17

17

18

18

2. Select up to four plot setups, using the different links 16 and 17 .

3. Click the Plot button 13 .
Note: Multiple plots can be viewed in WinEP in several modes. The
WinEP Windows menu can be used to locate any existing plot
window. All of the plots can be viewed simultaneously by using
the vertical or horizontal tiling options from the Windows menu.
4. After viewing the plots, exit the plotter by clicking the in the upper-right corner of the
screen or by using the File menu or by typing Ctrl-Q.

How to Overlay Plots for Several Runs

Start from the Runs screen (see Figure 3.1 on page 15). Several simulation runs must
have already been made in order to view plots involving them.
1. Check the box Overlay Runs 15 . This reveals two links labeled Overlay Run #2 and
Overlay Run #3 18 .
2. Select another run of interest from the pull-down menu next to Overlay Run #2 18 .
3. If you want to overlay three runs, link to another run of interest using the link labeled
Overlay Run #3. On the other hand, if you only want to compare two runs, choose {No
Data Set} for Overlay Run #3.
4. Select up to four predefined plots using links 16 and 17 .
5. Click the Plot button 13 .
6. After viewing the plots, exit the plotter by clicking the in the upper-right corner of the
screen or by using the File menu or by typing Ctrl-Q.

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Chapter 3 How to Use ArcSim

How to Define Plots Interactively

Start from the Runs screen (see Figure 3.1 on page 15). The simulation run must have
already been made in order to view a plot.
1. Start the plotter program by clicking the Plot button. (See 13 in Figure 3.1.)
2. From within the plotter, select the menu item Define New Plot… from the Data menu
(or type the keyboard command Ctrl-N). This brings up a window which lists all of the
variables in the simulation output file.

3 5
2

3. Select X and Y variable names from the X and Y lists 5 and 6 .

Note: You can select the names by clicking on them with the mouse. You
can also click in a list to make it active and then type the name. As
you type, the next match is highlighted.
4. Add the selected variables to the list of data to plot 1 by using the Add button 3 .
Note: You can also add a pair of variables by double-clicking on the name
in either the X 5 or Y 6 lists.
4. Make the plot by clicking the Plot button 4 .
5. To make another plot, repeat steps 2 through 4. Clear the list of the data to plot with the
Clear button 2 .
See Chapter 6 for more information on using the plotter interactively.

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Chapter 3 How to Use ArcSim

How to View All Model Parameters and Inputs

Start from the Runs screen (see Figure 3.1 on page 15). The simulation run must have
already been made in order to view a list of all parameters.
1. Click the button View Echo File (All Parameters) 12 .
This loads a text file into the default text editor. The text file is created whenever a
simulation program is run, and lists all model parameter values, definitions, and units.
Notes: ArcSim is shipped with a built-in text editor. If you want to make a
different text editor your default, see the section “How to Assign
the Default Text Editor” on page 35.
If you work with large tables, then you will need a text editor that
can handle files larger than 32K (e.g., WinPad).
2. Return to the Runs screen in ArcSim with the text editor still active by pressing Alt-
Tab. Or, exit the text editor to return to the Runs screen.

How to Print a Data Set

You can print any screen in ArcSim. Copies of the data screens are sometimes helpful for
showing model parameters as they appear when using the software. However, a more
efficient method is to view all of the parameters in a text editor, as described in the
previous section, and then print them from the text editor.
Start from the Runs screen (see Figure 3.1 on page 15). The simulation run must have
already been made in order to view a list of all parameters.
1. Click the button View Echo File (All Parameters) 12 .
2. Select Print from the File menu of the text editor.
3. Exit the text editor.

How to Make a New Vehicle Input

Use the following method to create a new vehicle input that can be used for future runs.
Using this process leaves existing vehicle descriptions intact.
The parameter values for a vehicle model are spread over many data sets. Typically, you
will want to change a few and leave most the way they are.
Note: In the following instructions, the concept of going “up” and
“down” is based on the map shown in Figure 2.2 on page 13.

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Chapter 3 How to Use ArcSim

Method
Start from the Runs screen (see Figure 3.1 on page 15).
1. Find an existing data set that involves the type of vehicle you are interested in. To
navigate through the Runs library, use the buttons 2 next to the Data Set (title) box 1 .
2. Go down to the linked vehicle data set.

Notes: The top-level vehicle screen defines a loaded vehicle. If you only
want to change the axle loads, you do not have to go any further.
However, the following steps are needed to go down and change
the vehicle properties.
For the ArcSim combination vehicle, there is one link for the
tractor and another for the trailer.
3. Repeat step 2 as needed to go down to more detailed levels. To start, go down to the
linked data set for a vehicle unit (unloaded truck, tractor, or trailer). If you are interested
in making a new component or subsystem data set (tire, suspension, etc.), use the
appropriate link to go down to it. As indicated in the map shown in Figure 2.2 on page
13, it is possible to go down through several levels of detail.
For the purpose of making changes, you are at the “bottom” when
• the current screen has no blue links, or
• the current screen has blue links, but the data sets available from the menus
associated with the links are suitable for your purposes. In other words, you do
not have to modify or create any data sets that are further “down” in the data base.
4. Click the New button (in the ribbon bar) to copy the current data set.
5. Give the new data set an appropriate title in the yellow “Data Set” field 1 .
6. Modify the data set:
• Modify the values in the yellow fields as needed.
• Change the data sets in any blue links, using the adjacent pull-down menu.
Note: When you clicked the New button, you created a new data set that
is now available for use in ArcSim. It is in the same library as the

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Chapter 3 How to Use ArcSim

original, and appears in pull-down menus that show the library

contents. However, it will not be used in any simulations until you
have linked to it from a higher-level data set.
7. Go back up one level, using the Back button in the ribbon bar.
8. Click the New button (in the ribbon bar) to copy the current data set.
9. Give the new data set an appropriate title (see the yellow field “Data Set” 1 ).
10. Go to the blue link that connects to the library in which you just added a data set, and
select the new data set. For example, if you modified a wheelbase in a tractor data set,
then go to the blue link for tractors and select the new tractor data set you just created.
11. Repeat steps 7 through 10 until you are back at the Runs screen. At this point, you can
make a new run or modify the current run. Either way, you will select the new vehicle
data set from the linked library of vehicles.

Example
Suppose you are going to change the spring in the tractor rear suspension of a
combination vehicle. Starting from the Runs screen, you would do the following:
1. Find a run involving a similar tractor semitrailer vehicle.
2. Go down to the vehicle data set, which defines a loaded vehicle configuration.
3. Go down to the tractor data set.
4. Go down to the rear suspension data set.
5. Make a new suspension data set, and change the spring.
6. Return to the tractor data set. Make a new one, and change the rear suspension
link(s) to use the data set created in step 5.
7. Return to the vehicle data set. Make a new one, and change the tractor link to use
the data set created in step 6.
8. Return to the Runs data set. Make a new one, and change the vehicle link to use
the data set created in step 7.
9. Click the Run Simulation button.

How to Modify a Vehicle Input

Use the following method to modify an existing vehicle description. Start from the Runs
screen (see Figure 3.1 on page 15).
1. Find an existing data set that involves the vehicle whose description you will modify.
2. Go down to the linked vehicle data set. Change any yellow fields or blue links as needed.
3. Repeat step 2 to go down more links and change other components as needed.

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Chapter 3 How to Use ArcSim

4. When all changes have been made, return to the Runs screen by clicking the Runs button
in the ribbon bar ( ) or using the Tools menu.
Warning: Almost every data set in the ArcSim data base is referenced by other data
sets (via the blue links). When you change values in a data set, you have in effect
also changed all data sets that reference it. For example, if you change a steering
system parameter, every vehicle data set that is linked to the steering system data
set will use the new parameter values in new simulation runs.
Hopefully, this is exactly what you intend. If not, then consider using the New
button to create a copy of the data set, then change the copy and link to it in those
places where you want to use the new data.

How to Go Directly to Any ArcSim Library

You can jump from any ArcSim library to any other library.
1. Press the GO button in the ribbon bar to display a menu of other libraries in ArcSim.
Select a library from this menu to leave the current library and go to the selected one.

The menu typically contains more items than will fit on a monitor with VGA resolution
(640 x 480). In this case, the first item in the menu is More. Highlight it to view more
menu items.
Notes: After using the GO menu, you can return to the previous library
using the Back button from the ribbon bar.

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Chapter 3 How to Use ArcSim

When you go to a library using the GO menu, ArcSim shows you

the most recently viewed data set. This data set is not necessarily
one that is used in the most recently made run.

How to Lock Your Data

ArcSim is designed to make it easy to answer “What if?” questions. Changing vehicle
parts, inputs, run conditions, etc. is simple and rapid. At some point, you might overwrite
some data you meant to keep, and you will no doubt conclude that changing parameters is
too easy! However, ArcSim does have a means to protect your data from inadvertent
changes.

Protecting a Single Data Set

1. Check the Locked box in the upper-right corner of a data screen.

Click here
Notes: When the box is checked, try to modify a blue link or a yellow
field. You will find that all pull-down menus next to blue links
allow only the navigation option to go to the data set. You will also
find that clicking on a yellow field brings up a message telling you
that the data set is locked.
At any time, you can unlock the data set by clicking the box again
to un-check it.
The locked box protects only the data shown on the screen. Data sets in linked libraries
are not affected. For example, you might lock a run data set. However you could still go
to the vehicle data linked to the run and change the vehicle data set if it is not locked.

Automatically Locking All Data Sets As You Create Them

1. From any ArcSim data screen, click the preferences button in the ribbon bar ( ) or
select the Preferences command from the Tools menu. This brings up a dialog box with
a few check boxes.

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Chapter 3 How to Use ArcSim

2. Check the box Auto Lock 1 .

3. Close the dialog by clicking the X 2 in the upper-right corner.
Notes: When the Auto Lock feature is enabled, every data set that you
view will be locked automatically when you leave it.
It does not change the status of any existing data sets. They are
locked after you visit them.
This feature can be disabled at any time by returning to the
preferences screen and un-checking the box.

Automatically Locking All Data Sets in ArcSim

You can extend the above method to cause ArcSim to lock all data sets.
1. Follow steps 1 through 3 above.
Note: This will cause every data set to be locked once it is visited. Next,
we will have ArcSim automatically visit every data set.
2. Use the G O button in the ribbon bar to go to the ArcSim startup screen
(Startup.tbk).
3. Click the button Change Settings 2 . This will hide the ArcSim logo and reveal more
buttons, including those shown here.

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Chapter 3 How to Use ArcSim

4. Click the button Update All PAR Files 1 . Besides updating all PAR files, the Locked
buttons on every screen will be checked.

How to Delete Data Sets

ArcSim has several methods for deleting data sets.

To Delete a Single Data Set

1. Click the Delete button in the ribbon bar. ArcSim will display a warning, asking you to
confirm that you want to delete the data.
Notes: You can by-pass the warning message by holding the Control key
down when you click the Delete button.
The Delete button cannot be used if the Locked button is checked.
First, the data set must be unlocked.

To Delete All Data Sets Except One

1. Click the Delete button in the ribbon bar while holding down the Shift key. ArcSim will
display a warning, asking you to confirm that you want to delete the data.

To Delete an Arbitrary Group of Data Sets

1. Click the Library Tool button in the ribbon bar ( ) or select the Library Editor menu
item from the Tools menu. This brings up a floating palette with controls for selecting
data sets by their titles, and then deleting the selected sets all at once.

How to Set Up Five or More Plots

The Runs screen has links to set up four plots. If you want to quickly generate five or
more plots, you can use the Plot Setup: Batch screen, shown in Figure 3.2. Start from
any ArcSim data screen.
1. Click the Batch Plot button in the ribbon bar ( ) 16 or use the Batch Plotting command
from the Tools menu. This takes you to the Plot Setup: Batch library.
2. Click the New button 15 to create a new data set for your new combination of plots and
runs.
3. Using the Add 3 and Remove 4 buttons for the Data Files, put the name of the run of
interest into the field with Selected Data Files 6 .
4. Using the Add 9 and Remove 10 buttons for the Plots, put the name of all plots of
interest into the field named Selected Plots 13 .

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Chapter 3 How to Use ArcSim

5. Click the Make Plots button 14 . This starts the program WinEP and instructs it to make
one plot for each data set listed in the field Selected Plots 11 .
6. After viewing the plots, exit the plotter by clicking the in the upper-right corner of the
screen.

15

16

1 7

3 4 5
9 10

12
6
13
11
14

Figure 3.2. Setup for batch plotting.

How to Overlay Plots for Four or More Runs

The Runs screen has links to overlay data from three runs. If you want to overlay data
from more runs, you can use the Plot Setup: Batch screen, shown in Figure 3.2.
The method is nearly identical to the one just described for making five or more plots.
Two additional steps are:
• In step 3, put more than one run into the field with Selected Data Files 6 .
• Be sure the One Plot for All Data Files button 13 is selected.

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Chapter 3 How to Use ArcSim

How to Make Many Plots in Batch Mode

You can generate a standard set of plots for many runs and send them directly to a
printer. Again, you will use the Plot Setup: Batch screen, shown in Figure 3.2 on page
30.
The method is nearly identical to the one just described for making five or more plots.
Two additional steps are:
• In step 3, put more than one run into the field with Selected Data Files 6 .
• Be sure the One Plot per Data File button 12 is selected.

How to Set Up Multiple Runs

It is possible to set up more than one run ahead of time. It is also possible to re-do a set of
runs with different conditions. Start from the Runs library.
1. Set up the runs of interest by creating a distinct data set for each combination of vehicle,
input, speed, stop time, etc. that is of interest. Do not click the Run Simulation button.
2. Go to the Runs: Batch library by clicking the button in the ribbon bar ( ) 9 or use the
Runs menu item from the Tools menu. This brings up the data screen shown in Figure
3.3.
3. Click the New button 10 to create a new data set for your combination of runs.
4. Using the Add 3 and Remove 4 buttons, put the name of the runs of interest into the
field named Data Sets to Run 5 .
5. Optionally enter parameters (with keywords) in the yellow fields 6 to override the
parameters that are specified in the selected Run data sets. For example to make all runs
with the a simulation speed of 100 km/h, enter the line: speed 100
Note: See Appendix D for a complete list of keywords recognized by the
simulation programs in ArcSim.
6. Optionally use Links 1, 2, and 3 7 to link to data sets that will override those specified
in the selected runs. For example, to make all the runs with no braking input, link to the
braking input library and select the data set No Braking.
Note: It is possible to link to a vehicle description, thereby overriding the
vehicles that were selected in the runs data sets. However, if this is
done, all runs must involve the same kind of vehicle. For example,
if a run is set up for a 3-axle truck, then when the run is made in
batch mode the solver program for 3-axle trucks will be used. If a
different kind of vehicle is linked to the batch run screen, the
results will not be what you expect.

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Chapter 3 How to Use ArcSim

If the vehicle is not specified on the batch run screen, then

different types of vehicles can be simulated in one batch.

1
6

2
7

7
3 4

6
5

8
7

Figure 3.3. Batch run screen.

7. Click the Make Runs button 8 to make the batch of runs.

Notes: You can view the results from the individual runs data sets, or use
the batch plot library 11 .
If you specified any parameters or links in steps 5 and 6, then the
individual run data sets are modified such that the link with the
label Overriding Data (from Batch) is set to the batch data set.
That way, you can get back to this data set (batch run) to see what
parameters or links were applied when the run was made.
The echo files generated for each run show the model parameters
that were used in the run, regardless of whether they came from the
normal run data set or from the batch override.

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Chapter 3 How to Use ArcSim

How to Make New Plot Descriptions

ArcSim comes with about 30 plot descriptions. It’s easy to make more. Start with any
data screen in ArcSim.
1. Click on the plot setup icon in the ribbon bar ( ) 13 or use the EP Setup command
from the Tools menu. This takes you to the plot setup library shown in Figure 3.4.

1 2 12

13

3
10

4 5 6

11

Figure 3.4. The Plot Setup screen.

2. Use the navigation buttons 1 in the ribbon bar to find a plot setup similar to what you
want.
3. Click the New button 2 to make a new data set.
4. Select a run from the library labeled Source of Plot Variables 8 . When you select a
run, the output ERD file associated with the run is scanned and all of the variables are
listed in fields 10 and 11 .
Notes: The run must have been made in order for the ERD file to exist.
If you are sure that the run whose name is showing in the link 8
does exist, you can force ArcSim to scan the file by clicking the
Show Channels button 7 . The reason that the fields are initially

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Chapter 3 How to Use ArcSim

blank is that the file may have been deleted after the data set was
last viewed.
If the ERD file has more than about 150 variables, only the short
names are shown in fields 10 and 11 . If it has fewer variables,
more information is shown.
5. Click the Clear button 5 to clear the field called Data to Plot 3 .
6. Select X and Y channels of interest from fields 10 and 11 . Add them to the list of data to
plot 3 using the Add button 6 or by double-clicking in either field 10 or 11 .
7. Continue to build the list of data to plot 3 . Use the Add 6 and Delete 4 buttons as
needed to build the list and correct mistakes.
Notes: When you click the Plot button from the Run screen, the list of
variables 3 is sent to WinEP. The associated file names are not
used. Therefore, it doesn’t matter which run you use to build the
file description, so long as the ERD file contains the variables that
you want plotted.
You can add variables that are not produced by all solver
programs. For example, tire forces for axles 4 and 5 are not
available for simulations involving vehicles with less than four
axles. When the plot data set is selected for an output file that does
not have those variables, the plotter will ignore them and show
those that are in the file. Thus, the same data set can be used to
view the outputs for many different solver programs.
8. To make another plot setup, repeat steps 2 through 7.
9. When you are through making new plot descriptions, leave the library by clicking the
Back button 12 .

How to Change Plot Formatting

Plot appearance is controlled by a format data set. You use the formatting to assign the
colors of lines, the size of text, whether a grid is shown, etc.
Each plot description is linked to a format data set (see 9 in Figure 3.4 on page 33). As
shipped, every plot description is linked to a format data set with the title Default
Settings. If you change the default settings, all future plots will have a new
appearance.
1. Go to the Plot Setup library by clicking the plot setup icon in the ribbon bar ( ) 13 or
use the EP Setup command from the Tools menu.
2. Go to the Plot Format library by following the link 9 .

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Chapter 3 How to Use ArcSim

Note: Another way to get to the library is through the GO menu. Look
for the menu item Plot\Format\Format.tbk.
3. Refer to the description of the Plot Format screen in Chapter 8 for information about
how you can control the plot appearance from the these settings.
4. Modify the data set whose title is Default Settings.

How to Assign the Default Text Editor

The View Echo File (All Parameters) button on the Runs screen automatically loads a
text file into an editor. You can choose the editor that is used.
As shipped, the default text editor is a special data screen built into ArcSim. It has limited
functions, and is subject to a 32K limit on the size of files that can be viewed.
You should replace the default with a stand-alone Windows editor. For Windows NT, the
NotePad editor is recommended. For Windows 95, the WinPad editor is recommended.
Note: ArcSim is shipped using the built-in editor because standard
editors such NotePad and WinPad are kept in different folders,
depending on the installation details of Windows.
To assign a new editor, start with any data screen in ArcSim.
1. Control-click on the text icon in the ribbon bar.

Control-Click here
This should bring up the following dialog box.

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Chapter 3 How to Use ArcSim

2. Link to a text editor using the above dialog box.

3. Click the OK button after you have selected a file.
Note: the built-in ArcSim editor is in the sgui_lib folder in ArcSim.
The file is textedit.tbk. You can also link to this file using
the above dialog box, but you must change the file type from
*.exe to *.tbk.

How to Improve the Appearance of the ArcSim Screens

Windows has many settings for screen size, number of colors, and default font size.

Font Size
The ArcSim data screens look best when the system display properties are set for Small
Fonts. However, the screens should be readable for any valid setting.

Colors
The ArcSim screens look best when 256 or more colors are supported. If your machine is
set to support 16 or fewer colors, ArcSim has a setting to produce yellow and blue fields
using dot patterns rather than solid colors. A global setting is used to control whether
ArcSim uses solid colors or patterns.
1. From any ArcSim data screen, click the preferences button in the ribbon bar ( ) or
select the Preferences command from the Tools menu. This brings up a dialog box with
a few check boxes.

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Chapter 3 How to Use ArcSim

2. If your machine is set up to support 256 or more colors, Check the box Solid Colors 1 .
Otherwise, un-check the box.
3. Close the dialog by clicking the X 2 in the upper-right corner.

Size of ArcSim Data Screens

The ArcSim data screens are designed to fit on a VGA display (640 x 480).
1. The upper-right corner of the window has three Windows-standard buttons: .
The middle button “maximizes” the window to fill the monitor screen. If your monitor
has a larger display area than VGA, the result is that the menu bar is put at the top of the
total screen, the main part is centered, and the space around the main part is filled with
gray.
2. To return to the normal ArcSim display, press the F11 key or use the Size to Page
command from the Page menu.
Note: If you have modified the window size by dragging the window
borders, the F11 key (or Page menu) is the only way to restore the
size.

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Chapter 3 How to Use ArcSim

Appearance of a data screen that has been maximized.

How to Install ArcSim in a New Directory

You can move ArcSim to a new place in your file system, so long as you do not modify
the structure within the ArcSim directory. For example, you can move the root ArcSim
folder from drive C to drive D. If you move the ArcSim files after the initial installation,
you must make two additional changes:
1. Inform Windows of the new location, in order to start ArcSim using the runtime
ToolBook software.
2. Cause ArcSim to regenerate text files used to communicate with the plotter,
animator, and solver programs.

Runtime ToolBook
The ArcSim data base is managed by a program called Tb40run.exe, located in the
Tb40 folder in ArcSim. As part of the ArcSim installation, the Tb40run program is
registered as being associated with the file extension TBK. If you move the folder
containing Tb40run, then Windows must be informed of the new locations.

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Chapter 3 How to Use ArcSim

Your objective is to associate the file type TBK with the file Tb40.exe. If you know
how to do this, go ahead and do it. If not, the following steps describe a method that will
work.
1. Open a folder from theWindows desktop (e.g., My Computer) or the Windows Explorer
program.
2. Select the menu item Options from the menu View. This will display a tabbed Options
dialog box.

Steps 3-5: Delete the current association for TBK.

3. Click on the tab named File Types 1 .

4. Find the line with the item TBK file 2 . The associated file should be identified as
TB40RUN 3 .
5. Click the Remove button 4 to remove the current association.
6. Click the OK button 5 to close the window and actually make the change.
7. From the desktop or Windows Explorer, find the file Startup.tbk in the ArcSim
folder. Double-click the file to try to open it. Because you have just removed the
association, Windows will not know how to open the file, and will bring up the following
dialog:

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Chapter 3 How to Use ArcSim

8. Click the button Other. This brings up the next dialog, to locate a file.

9. Locate the file TB40run.exe, in the folder Tb40 in ArcSim. After selecting the file,
click the Open button to complete the selection and close the dialog box. The previous
dialog should now show the program.

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Chapter 3 How to Use ArcSim

10. Click the OK button to close the dialog.

You have now associated the file type TBK with the program Tb40run in its new
location.

PAR Data Files

The solver programs require absolute pathnames, and ArcSim creates them “behind the
scenes” using PAR text files. When ArcSim is installed, it “looks” at its location and
generates many files using that location to create pathnames. For example, if it is in a
folder c:\mytruck , then all pathnames are automatically set to begin with
“c:\mytruck.” If you move the ArcSim directory, you must instruct ArcSim to
regenerate all of the absolute pathnames in the PAR files.
After you have moved the root ArcSim folder to a new location, do the following:
1. Use the G O button in the ribbon bar to go to the ArcSim startup screen
(Startup.tbk).

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Chapter 3 How to Use ArcSim

Lower-right corner of Startup screen.

2. Click the button Change Settings 2 . This will hide the ArcSim logo and reveal more
buttons, including those shown here.

3. Click the button Update All PAR Files 1 .

Note: The process of updating all PAR files to generate new absolute
pathnames usually takes a few minutes. The time required depends
on the speed of your computer and the number of data sets you
have in the ArcSim data base.

How to Import Data from Another Copy of ArcSim

There are several occasions where you may want to import data from another copy of
ArcSim. If you receive an update for ArcSim, this is how you save data entered in the
older version. Another reason might be that ArcSim is installed on several computers,
and you want to import data from one installation into the other.
To import data, both installations of ArcSim must be available from the same computer.

To Import Data from One Library

1. Go to the library in ArcSim from which you want to receive the imported data. Any data
screen in that library will do.
2. Select the menu item Import Data Library from the File menu. ArcSim will bring up a
file browser dialog box.
3. Select a library TBK file of the same type as the current one. For example, if the current
library contains tire data, you should open another tire library file. Often, the two files
have the same name but are in different folders.
4. Click OK. ArcSim will copy each data set of the old library and paste the contents into
the new one. If a data set already exists with the same name, the copy is given a unique
name by appending a number.

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Chapter 3 How to Use ArcSim

Note: This method is reliable for libraries with only yellow data fields.
For libraries with blue links, the names of the linked data sets are
copied. However, if the data sets do not exist in the new ArcSim
installation, then the links are not valid and must be reset by hand.

To Import All Data

1. Go to Startup screen.
2. Select the menu item Import Data Library from the File menu. ArcSim will bring up a
file browser dialog box.
3. Select the Startup library file Startup.tbk for the other copy of ArcSim.
4. Click OK. ArcSim will recursively copy each data set of the old library and paste the
contents into the new one.
Note: This method works well when the directory structures of the two
versions of ArcSim are identical. If the structures differ in any
way, then some of the links will not be valid and must be set by
hand.

How to Convert Units for Tabular Data

You may have occasion to import measured tabular data into ArcSim. If the units used
for the data do not match the requirements for the ArcSim data screen, you can use a
built-in calculator tool to convert the units. The process is as follows.
1. Copy the tabular data to the clipboard.
2. From any ArcSim data screen, click the calculator tool button in the ribbon bar or select
the Calculator command from the Tools menu.

Click here
3. Paste the tabular data into the tabular data field 1 of the calculator data screen.

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Chapter 3 How to Use ArcSim

3 4

4. Type definitions for the transformed X and Y values into the definitions field 3 . The
definitions should have the form: A*X, B*Y where A and B are numerical scale factors.
For example, suppose the X values are in inches and Y values are in pounds. To convert
to a table where the X values are in millimeters and the Y values are in Newtons, use the
definition: 25.4*X, 4.4482216152605*Y.
5. Click the Transform Series button 4 to perform the conversion.
6. Click the Plot button 2 to confirm that the conversion was performed as you would
expect.
7. Optional. If the data should not be separated with commas, click the button Remove ‘,’.
8. Select the entire contents of the tabular data field. The menu command Select All, under
the Edit menu (Ctrl-A) is helpful for doing this.
9. Select the Copy command from the Edit menu (Ctrl-C).
10. Go to the data screen where the tabular data will be stored.
11. If a data set does not exist for the transformed data, create one using the New button and
give it a name.
12. Paste the clipboard contents into the field used to store the numbers.
See Chapter 8 for details on using the calculator data screen.

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4. The Simulation Solver Programs
ArcSim contains programs that solve the equations of motion for vehicle models,
predicting motions, forces, and other variables. A solver programs is run automatically
whenever you click the Run Simulation button from the Runs screen. ArcSim allows
you to set up inputs to the programs and view their outputs without ever dealing with the
details of how these programs work. However, it can sometimes be useful to understand
how they read and write files.

Overview of Program Operation

The solver programs are so-called console applications. Each behaves as a terminal
console, with no user interface other than the display of text and the acceptance of
keyboard entries. They have the same appearance as a plain DOS text program, although
they are technically 32-bit Windows programs.

Screen display when solver program is running.

— 45 —
Chapter 4 The Simulation Solver Programs

When the program starts, it creates a window in which text is displayed. The name of the
program file is typically shown as the window title.
You can run the solver programs interactively or in batch mode. The mode is determined
by the existence of a batch control file with the name Simfile (created automatically by
ArcSim): if this file exists, the program runs in batch mode; otherwise, it runs
interactively.
If the file Simfile does not exist (in the folder in which the program is located) then the
program runs in interactive mode. It prompts you for an input file, an output ERD file,
and two output echo files. After the last file is written, the program quits.
If the file Simfile does exist, then all filenames are read from it. It quits when the
simfile is fully processed and the last output file is written by the solver program.
Properties of the window created by the solver program can be adjusted by selecting the
solver program (extension EXE, found in the folder ArcSim\Programs), right-clicking
to display a pop-up menu, and selecting Properties from the menu.
As shipped, the solver programs close their windows when they finish. When the window
is closed, the most recently accessed program comes to the top. When run normally from
within ArcSim, the most recent program is ToolBook, which was showing the Runs
screen from which the run was initiated. Therefore, the normal behavior is that the Solver
program brings up a window, runs for the time needed to perform the simulation
calculations, then quits and closes the window, leaving you back at the Runs screen.

File Types
When run from the graphic interface in ArcSim (i.e., by clicking the Run Simulation
button from a Runs screen), all files associated with a run have the same base name and
differ only in their extensions. The base name is the current ID number displayed in the
upper-right corner of the Runs screen.
Table 4.1 shows the files and their extensions.
Details of the six file types are provided in Appendix D, along with some examples.
Short summaries are provided below.

Simfile
As noted earlier, Simfile is a batch control file. Whenever you click the Run button, a
new Simfile is created in the same folder as the simulation program (by convention,
this is the folder Programs). If a file named Simfile already exists, it is overwritten.
Because Simfile is automatically re-generated before each run, it can be deleted at any
time without loss of information.

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Chapter 4 The Simulation Solver Programs

Table 4.1. Standard files created when a simulation is run.

Name Location Creator Description
Simfile Programs SGUI Batch control file.
<id>.LPI Runs SGUI List of parameters, read as input by program.
<id>.LPO Runs Program List of parameters, written as output by program.
Also contains initial conditions. Can be used to
repeat a run.
<id>.LPF Runs Program List of parameters and final conditions, written
as output by program. Can be used to continue a
run.
<id>.ERD Runs Program Header for ERD file, needed by plotter and
animator programs.
<id>.BIN Runs Program Numerical values of output variables, stored in
binary form, and used in association with ERD
files.
<id>.LOG Runs Program Log of all input files, including nested PAR files.

The Programs folder contains the simfile used for the most recent run. Therefore, if you
run a solver program independently of ArcSim, it will repeat the last run made. However,
if the last run made was with a different program, the run may not be what you expect.
For example, if the last run was made with a 2-axle truck model (2a_3d.exe), and you
run a tractor-semitrailer model (3a2a_3d.exe), only the parameters common to the two
models are used.
To run a program in the interactive mode, you must delete the simfile.

LPI Files
The LPI file lists the input parameters for the simulation program.
When you click the Run Simulation button, a new LPI file is created in the folder
containing the Runs library (e.g., Runs). The LPI file contains information from the
Runs screen such as the title of the run, and pathnames for the data sets linked to the run
(vehicle, steer input, etc.).

LPO and LPF Echo Files

When a simulation program runs, it creates summary files that list each and every
parameter value. One of these files is created before the run (LPO), and the other is
created at the end of the run (LPF). Both contain all parameter values. In addition, the
LPO file contains the initial conditions for the state variables in the simulation. The
information in the LPO file is sufficient to exactly repeat a run.
The difference between the LPI and LPO files is that LPO file contains every parameter
value in one file, whereas the LPI file contains pathnames of other files that contain the
data. Also, the LPI file may not reference every parameter used by the simulation

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Chapter 4 The Simulation Solver Programs

program. For example, the initial conditions listed in the LPO file are normally not
specified on input (they are assigned default values by the simulation program).
The LPF file is nearly identical, except that instead of initial values, it contains final
values of the state variables. By modifying the start and stop times, an existing run can be
continued.

ERD and BIN Files

The main purpose of each simulation program is to calculate time histories of variables of
interest. Those time histories are stored in a binary data file with the extension BIN. The
BIN files contain numerical data organized by channel number and sample number,
similar to test data recorded on a multi-track recorder. A companion file, with extension
ERD, describes the layout of the BIN file and also contains labeling information for each
variable. It also contains the information that would normally be put into a log sheet
summarizing the data, including text needed for preparing graphical plots of the data.
By itself, a BIN file is useless. It has no structure, and cannot be easily understood
without the layout information contained in the ERD header file.
By convention, ERD and BIN file pairs are simply called ERD files. The name ERD is
used because the format was created by the Engineering Research Division at UMTRI.
Data processing programs for ERD files obtain most of the information needed from the
file itself. For example, the high level of automation in the animator and plotter exists
because both were designed to work with ERD files.
The format of an ERD file is described in Appendix A. Appendix G contains a list of all
of the variables in the ERD and BIN files for one of the ArcSim models.

Text Output Files

ArcSim can be made to produce text-only ERD files. In this case, the header information
in the ERD file is followed immediately by the numbers, written in text. There is no BIN
file.
ArcSim can also be made to produce simple text output files, for export to spreadsheet
programs and other analysis software.
See the section Computation Parameters in Chapter 8 for details of how to generate
text output files.

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5. The Animator
ArcSim includes a program for animating wire-frame figures to visualize vehicle
motions. The animation is accomplished by drawing images similar to what would be
seen with a video camera, and updating the images many times per second to show
motion.

Overview of Operation
To help understand the animator, imagine that you are aiming a video camera at a truck
as it moves down the road. Thirty times per second, the camera records an image of the
vehicle and ground as seen from your point of view. By playing back those images at the
same rate (thirty times per second), you see the truck move relative to its surroundings.
If the camera has a zoom lens, you can zoom in to fill the screen with the vehicle. Or, you
can zoom out to shrink its apparent size.
What you see depends in part on where you are located. You could be standing on the
ground, in which case your position would not change. Or, you might be in another
vehicle that moves with the truck. In the animator, you location is defined as the “camera
point.”
Your view is also determined by how you aim the camera. You might have the camera
sitting on a tripod, aimed at a fixed point in space. The vehicle would only be visible
while it is in camera view. More likely, you would move and aim the camera as needed to
keep the vehicle in view. In the animator, the camera is aimed directly at a “look point.”
Figure 5.1 shows the basic geometry and the relationships between the camera point, a
look point, the 3D system being animated, and the 2D image that is recorded.
The animator allows you, the user, to build and modify descriptions of the system to be
animated. In order to use the program effectively, it is helpful to understand the concept
of a moving reference frame.

Reference Frames
The animator creates images based on a set of visible objects that includes a grid, wheels,
and arbitrary wire-frame shapes defined by a sequence of connected lines. Some of the
wire-frame objects are organized into groups that move together (for example, the body
of the truck).

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Chapter 5 The Animator

Origin of global
coordinate system

Look point

Origin of moving 2D projected image

coordinate system

Camera
point

Foc
al le
ngth

Figure 5.1. Geometry of the camera point and the look point.

A group of points and objects that maintains a fixed relationship (i.e., that constitute a
rigid body) is called a reference frame. Although the reference frame might move and
rotate, the spatial relationships between objects in the reference frame do not change
relative to each other. In the animator, all motions are associated with reference frames.
Each reference frame has a rectangular coordinate system that is used to describe 3D
locations of points within that reference frame. For example, Figure 5.1 shows the origins
and axes for two reference frames: a global non-moving frame, and a frame that moves
with a truck body.
In general, it is not possible to tell how many reference frames exist by looking at a single
image. However, by observing an animation, it is sometimes possible to visually see the
effects of all reference frames. For example, the system shown in Figure 5.1 includes
eight reference frames:
• A fixed global reference frame is used to locate a fixed grid that shows the ground
plane. The three axes of a coordinate system fixed in this reference frame are
shown in the figure.
• A moving frame is associated with the vehicle body. The body is simply a series
of lines drawn in this reference frame. The three axes of a coordinate system fixed
in this reference frame are shown in the figure. Given that the coordinate system
is fixed in a moving reference frame, then it follows that the coordinate system
moves.

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Chapter 5 The Animator

• Each of the six wheels is associated with a separate reference frame. In the case of
the rear axles, both tires on the dual wheel assemblies are fixed together, and
therefore are contained in the same frame. Although the left and right wheel
assemblies for an axle move together with the axle, they are allowed to spin
independently. Because they have different spins, separate reference frames are
required for the left and right sides.
Wire-frame shapes are all defined using local X-Y-Z coordinates. The animator
transforms the local X-Y-Z values to global X-Y-Z values in order to draw the shape. To
perform the transformation, the animator must know the location and orientation of the
reference frame relative to the global reference frame. This is defined by six variables:
three coordinates (global X-Y-Z) and three rotation angles that are called Euler angles.
The six variables needed to locate and orient the reference frame for the vehicle bodies
and wheels are all computed as part of the simulation. It is also possible for you, the user,
to define new reference frames using combinations of the variables computed in the
simulations. Details for specifying reference frames are provided in Chapter 8 in the
section Animator Reference Frames. That section also provides more information about
Euler angles.

Files
When the animator is started from the ArcSim Runs screen, the necessary files are
automatically opened. Therefore, it is not necessary to know the names of the input files.
However, an understanding of how the animator reads the necessary information from
files might be helpful in understanding its operation.
The animator program reads two kinds of input files (see the next figure). As noted
above, all motion is due to movements of reference frames, as defined by up to six
variables. Those six variables are read from an ERD file, created by the simulation
programs whenever a run is made. Appendix A provides details of the ERD file format,
and Appendix G shows a list of variables contained in a typical ArcSim ERD file.
Other information such as program settings, definitions of parts, shape information, etc.
are described with keyword-based text files, typically with the extension PAR. These
files, called PARSFILEs, have the same general design as the input files read by the
simulation programs. A single top-level PARSFILE contains the names of other
PARSFILEs with camera information, vehicle information, reference frames, etc.
Appendix C describes the keywords used in the animator PARSFILEs. The keywords are
also mentioned in the documentation for the six animator library screens contained in
Chapter 8.

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Chapter 5 The Animator

PAR files ERD file

Animator set up and shape Motion information from
information from data base simulation programs

Animator

Animator input files.

Units
The animator requires all angles to be in degrees, and all coordinates to be in the same
units of length. Typical choices for length units are feet. The animator allows user-
defined scale factors for all coordinates and variables. This means that a mixture of units
can be accommodated. For example, if some coordinates have units of meters and others
millimeters, the values in millimeters can be associated with a scale factor of 0.001 to
convert them to meters.
See the sections Animator Reference Frames, Animator Shapes, and Animator
Wheels in Chapter 8 for details on how to set scale factors.

File Menu
The file menu is used to read files, write files, and exit the program. Printing is not
functional in the current version. To print a graphic, you can (1) copy it to the clipboard
and paste it into another application (e.g., WinPad), and (2) print from the other
application.

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Chapter 5 The Animator

Open Simulation (ERD) File…

Select this command to open an ERD file with the Windows file browse dialog. Recall
that the six variables needed to define each reference frame are obtained from the ERD
file produced by a simulation programs. If you read a new ERD file, the animator will
show motions from that simulation, using the same camera point of view, shape
descriptions, etc. The keyboard command is Ctrl-E.

Open Parsfile…
Select this command to open a PARSFILE (extension = PAR) with the Windows file
browse dialog. If you read a new PARSFILE, the animator will show the same motions
as before, using the new camera point of view, shape descriptions, etc. as defined in the
new PARSFILE. The keyboard command is Ctrl-O.

Reload Current Files

Use this command to restore the original settings by reloading the current ERD file and
PARSFILEs. The keyboard command is Ctrl-R.
Besides restoring settings, this menu command can speed up the process of creating new
shapes or other animator inputs, as described later in this chapter in the section Testing
New Shapes and Animator Data Sets.

Save Parsfile As
Select this command to save most of the animator settings. The animator data from the
ArcSim SGUI are spread over the six animator libraries described in Chapter 8. Multiple
shapes and reference frames are commonly used, which means that the animator program
might read 20 or more PARSFILEs when it runs. This menu command creates a single
PARSFILE with all of the information consolidated.
The PARSFILE can be used later as an input to the animator, to exactly recreate the
current settings. The file can also be viewed in a text editor to debug inputs that cause
problems, or to obtain camera and look-point coordinates that were set interactively using
the Coordinates menu.
When you select the command, it displays the following dialog box. The numbered items
in the dialog box are described below.

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Chapter 5 The Animator

2 3
1
4
5
6
7
8

1 Pathname for file to be created. The default is echo.par, in the same folder as the
animator program. You can type a new pathname in this field or use the browse
button 2 .
2 Browse button. Click to bring up the Windows file browse dialog to search your
directory system for a suitable folder. If you select a folder using the browse dialog,
the resulting pathname is automatically entered into the file field 1
3 Save button. Click to create the Parsfile.
4 Cancel button. Click to exit the dialog without creating a file.
5 Check box for shape and frame definitions. If checked when you click the Save
button, all vehicle shape and frame data will be included in the file.
6 Check box for grid definitions. If checked when you click the Save button, the
current grid information will be included in the file.
7 Check box for Camera definitions. If checked when you click the Save button, the
current camera reference frame and point coordinates will be included in the file.
8 Check box for Look-point definitions. If checked when you click the Save button,
the current look-point reference frame and coordinates will be included in the file.
Exit — exits the animator program. To use the keyboard, type the Windows-standard
sequence: Alt-F, X.

Edit Menu
The Edit menu exists to support the clipboard and to set preferences. When a dialog box
is in front, the Edit menu cannot be used with the mouse. However, the keyboard
commands are functional and can be used to cut, copy, and paste within text fields.

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Chapter 5 The Animator

Undo
The keyboard command (Ctrl-Z) undoes the most recent entry in a dialog box.

Cut
The keyboard command (Ctrl-X) cuts currently selected text to the clipboard. This item is
only in effect when editing text in dialog boxes. Modification of the graphic display is not
supported.

Copy
Select this command to copy the screen display to the clipboard as a bitmap. If a dialog
box is displayed, the keyboard command (Ctrl-C) copies the currently selected text to the
clipboard.

Paste
The keyboard command (Ctrl-V) pastes text from the clipboard into the current cursor
location. If text is selected, it is replaced by the contents of the clipboard. This item is
only in effect when editing text in dialog boxes.

Preferences...
Select this command to set a few options for the animator that are saved when you quit
the program. The preferences are stored in a file Prefs.txt, described in Appendix C.

5
1

2 6

3
4

The numbered items in the dialog box are described below.

1 Check box to display warnings. When checked, the animator will print messages to
indicate errors in the input files.

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Chapter 5 The Animator

2 Check box to run after loading files. When checked, the animator starts running as
soon as the files have been read. If the box is not checked, the animation must be
started by typing Ctrl-S or using the Animation menu.
3 End of run pause. The animator delays this amount of time at the end of a run
before looping to start over. A pause of 0.5 sec or more gives a visual indication
that the run has ended.
4 Log file. Enter a name for an optional file written by the animator as it processes the
inputs (use the adjacent button to select a destination folder). The log file is
sometimes helpful for debugging, but it is not needed for normal operation.
5 OK button. Click to apply the new preferences.
6 Cancel button. Click this to close the dialog box without changing anything (keep
the previous preferences).

Animation Menu
The animation menu exists mainly to remind you of keyboard commands that control
animation. Although the menu items are functional, you will usually find it quicker to
press the indicated keys.

Start From Beginning

Select this command to restart the animation from the beginning of the simulation run.
The keyboard command is Ctrl-S.

Continue From Current Position

Select this command to continue the animation if it has been stopped. The keyboard
command is Ctrl-D.

Stop
Select this command to stop (pause). This is like being able to freeze time. While
stopped, you can still use the Coordinates menu to move the camera around, zoom in
and out, and change the look-point. The keyboard command is the space key.

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Chapter 5 The Animator

Step Forward
Select this command to step forward one increment in time, like a frame advance on a
VCR. The keyboard command is the ‘s’ key.

Step Backward
Select this command to step backward one increment in time. The keyboard command is
Shift-S.

Coordinates Menu
This menu exists mainly to remind you of keyboard commands that control the camera
viewpoint. Although the menu items are functional, you will usually find it quicker to
press the indicated keys.

The first six items are used to change the position of either the camera point or the look
point, depending on which is checked further down in the menu. The currently affected
point is checked in the menu, and is written in the animator status bar (at the bottom of
the animator window).
The camera and look points are shown in Figure 5.1 on page 50. The camera point
defines where the camera is located, and the look point defines where the camera is
looking. For example, consider changing the Z coordinate (height) of either point.
Increasing the Z coordinate of the camera has the effect of raising the camera, as if you
are viewing the vehicle from a helicopter that rises. On the other hand, increasing the Z
coordinate of the look point has the effect looking up. When you look up, everything in
view shifts down.

X-Coordinate Plus
Select this command to increase the X coordinate of the camera or look point. The
keyboard command is ‘x’ key.

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Chapter 5 The Animator

X-Coordinate Minus
Select this command to decrease the X coordinate of the camera or look point. The
keyboard command is Shift-X.
Note: The keyboard commands are assigned so plain key commands
increase things, and using the shift key decreases things. For
example, 's' steps forward, Shift-S (S) steps backward; 'x'
increases an X coordinate, Shift-'x' (X) decreases it.

Y-Coordinate Plus
Select this command to increase the Y coordinate of the camera or look point. The
keyboard command is the ‘y’ key.

Y-Coordinate Minus
Select this command to decrease the Y coordinate of the camera or look point. The
keyboard command is Shift-Y.

Z-Coordinate Plus
Select this command to increase the Z coordinate of the camera or look point. The
keyboard command is the ‘z’ key.

Z-Coordinate Minus
Select this command to decrease the Z coordinate of the camera or look point. The
keyboard command is Shift-Z.

Camera Coordinates
Select this command to cause the camera position to be controlled by the first six menu
items. The keyboard command is the C key.

Look-Point Coordinates
Select this command to cause the loop point position to be controlled by the first six
menu items. The keyboard command is the L key.

Increase Focal Length

Select this command to increase the camera focal length. This is the same as zooming in.
The keyboard command is the ‘f’ key.

Decrease Focal Length

Select this command to increase the camera focal length. This is the same as zooming
out. The keyboard command is Shift-F.

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Chapter 5 The Animator

Options Menu
This menu has commands for setting several options in the animator operation.

Grid On
Select this command to toggle the grid display.

Modify Grid
Select this command to display a dialog box for setting properties of the grid.

Superimpose Vehicle
Select this command to toggle an option to draw new images without erasing old ones.
This mode is useful with some configurations to show trajectories of vehicle motion, or
to show amplitudes of oscillations.

Modify Camera Locations

Select this command to display the following dialog. The numbered items are described
below.

2
3

4 5

Notes: These settings are similar to those contained in the Animator

Camera Setup library, described in Chapter 8.

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Chapter 5 The Animator

Units of length should be compatible with coordinates used for

shapes and reference as described in the section Units on page 52.
1 Focal length. This is the distance from the camera point to the 2D plane used to
project the 3D objects. See Figure 5.1 for the geometry.
2 X, Y, and Z coordinates of camera point in its reference frame.
3 X, Y, and Z coordinates of look point in its reference frame.
4 Cancel button. Click to exit the dialog box without changing the camera settings.
5 OK button. Click to exit the dialog box and apply the new settings.

Timing
Select this command to display the following dialog and control the rate at which the
animator can play back a simulation run. The numbered items are described below.

1 3

2 4

1 Sampling interval. The animator normally obtains the time interval between stored
data points from the ERD file header. However, it is possible for an ERD file to
lack this information. In that case, the animator can be provided an interval in this
field.
Note: The programs included in ArcSim all provide the sample interval.
This setting is only needed when viewing ERD files made from
other programs.
2 Animate every n samples. This number is normally 1: the animator draws a picture
for every set of variables in the file. If the sample interval in the file is very small,
or you are running on a slower computer, you can put a number larger than 1 in this
field to speed up the animator. The animator will not run faster than real time. If
necessary, it waits between frames to maintain the proper relation between
animation time and real time.
3 OK button. Click to exit the dialog box and apply the new settings.
4 Cancel button. Click to exit the dialog box without changing the camera settings.

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Chapter 5 The Animator

Help Menu
This menu is standard in Windows for providing information about a program.

About Engineering Animator

Select this option to display the current animator version and creation date.

Testing New Shapes and Animator Data Sets

Because the animation setup information is contained in the ArcSim data base, but
displayed by the animator program, it is helpful to know how to use both the data screens
and the animator to test and debug new animator settings.
The basic method for editing shapes and testing animator data sets is as follows:
1. Create animator settings using the six animator libraries described in Chapter 8.
2. Link to the new settings in the Runs screen (via the Animator Setup link) and click the
Animate button.
3. View the animation. When you are ready to modify the settings, stop the animation.
(press the space key or use the Stop command from the Animation menu).
4. Without quitting the animator, switch back to the ArcSim Runs screen. (Use Alt-Tab in
Windows to switch between running programs.)
5. Within the ToolBook part of ArcSim, navigate to the screen with the animator data to be
edited (e.g., an animator shape data set).
6. Edit the data in the ArcSim data set. As soon as you modify any data, you will see a red
circle in the upper-right corner of the window.

Click Here

7. Click on the red circle in the upper-right corner. This causes ArcSim to update the
PARSFILE using the new data from the screen.
Note: Normally, communication between the data base and the animator
is transparent. All necessary files are properly updated when you

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Chapter 5 The Animator

click the Animate button in the Runs screen. Here, you are by-
passing the normal operation, and must force the SGUI to update
the PARSFILE before it would normally do so.
8. Switch back to the animator (use Alt-Tab).
9. Select the menu item Reload Current Files under the File menu (or type Ctrl-R) to see
the effect of the new data.
10. Optionally switch back to the SGUI screen and repeat steps 6 through 9 as needed.

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6. The Plotter
You view plots of the ArcSim simulation results with a program called Windows
Engineering Plotter (WinEP). WinEP is a versatile tool you can use to plot any two
variables against each other and overlay data from the same file or different files.
Although WinEP is designed for close integration with the other parts of ArcSim, it also
functions as a stand-alone program. The University of Michigan and Mechanical
Simulation Corporation place no restrictions on the copying and use of WinEP, so feel
free to use it for applications outside of ArcSim.

Overview of Operation
WinEP has a workspace defined by a main window with a menu bar. The main window
contains plot windows, each showing plots made with a single set of X-Y axes. Figure
6.1 shows the main WinEP window with three example plot windows.
Each plot window contains a graphical representation of one or more X-Y data sets. An
X-Y data set is a series of X and Y values obtained from a data file. The X-Y data sets
can come from the same file or from different files. The X values in each data do not
have to be the same, and the data sets do not have to contain the same number of points.
WinEP reads the data from ERD and text files and has completely automated scaling,
formatting, and labeling capabilities. However, labeling options are limited for non-ERD
text files.
Note: If a file is not in ERD format, it can be converted by adding several
lines of text to the beginning of the file. A description of the ERD
file format is provided in Appendix A.
Once a plot window is created, the X-Y data sets can be transformed by subtracting
offsets or by applying high-pass or low-pass filters. However, the data sets cannot be
deleted or replaced. If you create a plot with different data sets, the new plot will have a
new window.
In addition to the X-Y data, each plot window has a set of formatting attributes, such as
the colors of the lines, the size of the labeling text, the type of grid, etc. You can show the
data points with connecting lines, symbols, or both. You can use linear or log scaling and
you can choose from several axis types. The formatting can be set independently for each
plot, and changed interactively at any time.
You can copy the WinEP plots to the clipboard and send them to a printer.
There are no built-in limits to the number of active plot windows that can be maintained
by WinEP. The only limits are imposed by computer memory.

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Chapter 6 The Plotter

Figure 6.1. The WinEP workspace.

Batch and Interactive Operation

WinEP can be started in one of two modes. When you click a Plot button from one of the
ArcSim data screens, ArcSim starts WinEP in batch mode. It sends WinEP a file with
information that you specified in the ArcSim data screen. Based on the contents of the
file from ArcSim, WinEP initially creates one or more plots. Once the initial batch of
plots is made, WinEP reverts to interactive mode. In the interactive mode you can view
the plots, print them, and change their formatting. You can also create new plots.
You can also run WinEP as a normal Windows application. Start in this mode by double-
clicking on the file Winep.exe. When started in this way, the WinEP workspace is
empty and you must use a menu command to define the data for the first plot. A better
way to start is by double-clicking on a file with the extension ERD. This starts the WinEP
program and automatically loads the selected ERD file. You must then pick X and Y
variables from the file to create the first plot.
Note: The file Winep.exe must be associated with the file type ERD if
you want to launch it by double-clicking on an ERD file. The
association is made automatically as part of the ArcSim
installation. You would need to re-establish the association only if

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Chapter 6 The Plotter

you move the ArcSim directory, or if you copy the WinEP

program to another computer that does not have ArcSim on it.
Appendix B describes the batch control file for WinEP, created automatically by ArcSim,
and the keywords that are recognized by WinEP.
The rest of this chapter covers the interactive use of WinEP.

Zooming
WinEP usually creates each plot window with the axes scaled to show all data points. To
zoom in, use the mouse to create a zoom rectangle. Press the left button to anchor one
corner at the current cursor location, then drag with the button still pressed to define the
rectangle. When the rectangle covers the desired range, release the button. WinEP will re-
draw the plot using the region of the rectangle as the new limits for the axes.
Figure 6.2 shows the appearance of a plot with a zoom rectangle drawn, just before the
mouse button is released. Figure 6.3 shows the same plot window immediately after the
button is released.

Figure 6.2. Plot before zooming.

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Chapter 6 The Plotter

Figure 6.3. Plot after zooming.

Note: WinEP rounds off the maximum and minimum values for the axes.
The new plot is drawn to include the full range of the rectangle you
drew with the mouse, plus some additional range to round off the
axes. For example, the maximum X value from the zoom rectangle
shown in Figure 6.2 is about 3.1. The maximum X value in the
zoomed plot of Figure 6.3 is rounded up to 3.5.
If you click in a plot window without drawing a rectangle, WinEP re-draws the screen
with the same scale as before.

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Chapter 6 The Plotter

File Menu
The file menu is used to read files, write files, print windows, and exit the program.

Load ERD File…

Select this command to open an ERD file with the Windows file browse dialog. After the
file is opened, a dialog box appears that you use for selecting variables from the file to
plot. The keyboard command is Ctrl-E.

Load Batch Plot File…

Select this command to process a batch plot file with the Windows file browse dialog.
When created automatically by ArcSim, batch plot files have the extension PLT and are
located in the directory containing the library where the Plot button was clicked (either
Runs or Batch\Plot_bat). When loaded, the batch file will cause WinEP to generate
one or more plots. The keyboard command is Ctrl-B.

Load Plot Format…

Formatting information for a plot windows can be stored in a file. These files can be
created from within WinEP using the Save Plot Format command (from this menu) and
also from within the ArcSim data base (see the section Plot Format in Chapter 8).
Select the Load Plot Format command to load one of these format files. This command
brings up the Windows file browse dialog to open a file with the extension PAR. When
loaded, WinEP will redraw the current plot with whatever new formatting information
was loaded. The keyboard command is Ctrl-O.
Note: Format files created within the ArcSim graphical user interface are
in the ArcSim folder Plot\Format.

Close Top Window

This closes the top (active) plot window. The keyboard command is Ctrl-W.

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Chapter 6 The Plotter

Save Plot Format

Use this command to save the current plot formatting information. The default extension
is PAR. The formatting can be applied in the future using the Load Plot Format
command. When loaded, the formatting file will cause WinEP to redraw the current plot
with the new format. The keyboard command is Ctrl-S.

Save Plot Data

Use this command to save the current X-Y data set in a text file.

Save Channel List

This command initiates a two-step process for creating a text file listing all of the
channels in an ERD file. The steps are:
1. WinEP brings up the Windows file browser dialog for choosing an ERD file.
Select the ERD file that will be scanned to obtain a list of the channels (variables)
that can be plotted.
2. WinEP brings up a dialog for saving a text file with the list of channels. A list
from an example save file is shown below.

File: 442.ERD
Generated: 06/17/97 03:22:54

1 - AAy_L1W :L1 wheel spin accel - rev/s2

2 - AAy_L2W :L2 wheel spin accel - rev/s2
3 - AAy_L3W :L3 wheel spin accel - rev/s2
4 - AAy_R1W :R1 wheel spin accel - rev/s2
5 - AAy_R2W :R2 wheel spin accel - rev/s2
6 - AAy_R3W :R3 wheel spin accel - rev/s2
7 - Alpha_L1:L1 slip angle - deg
8 - Alpha_L2:L2 slip angle - deg
9 - Alpha_L3:L3 slip angle - deg
10 - Alpha_R1:R1 slip angle - deg
11 - Alpha_R2:R2 slip angle - deg
12 - Alpha_R3:R3 slip angle - deg
13 - AVx :Vehicle roll velocity - deg/s
14 - AVy :Vehicle pitch velocity - deg/s
15 - AVz :Vehicle yaw velocity - deg/s
16 - Ax :Vehicle longitudinal accel. - g's
17 - Ay :Vehicle lateral accel. - g's
18 - Fd_L1 :L1 damper force - lb
…

The number starting in the first column is the channel number, the text immediately after
the hyphen is the name of the variable as it appear in lists within WinEP (see the menu
command Define New Plot on page 77), and the text immediately after the colon is a
short description of this variable with its units.

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Chapter 6 The Plotter

Print
Use this command to make a hard-copy of the active plot using the current Windows
printer. The keyboard command is Ctrl-P.

Print Preview
This command opens a window showing how the active plot would be printed using the
current print settings.

Print Setup
This command brings up the Windows dialog box for changing printer information.

Exit
Use this comand to exit WinEP. To use the keyboard, type the keyboard command Ctrl-
Q, or the Windows-standard sequence: Alt-F, X.
Note: Alternatively, you can click the in the upper right hand corner
of this screen to return to the Runs screen.

Edit Menu
The Edit menu has commands to support the clipboard and to set preferences. When a
dialog box is in front, the Edit menu cannot be used with the mouse. However, the
keyboard commands are functional and can be used to cut, copy, and paste within text
fields

Undo
The keyboard command (Ctrl-Z) undoes the most recent entry in a dialog box.

Cut
The keyboard command (Ctrl-X) cuts currently selected text to the clipboard. This item is
only in effect when editing text in dialog boxes. Modification of the graphic display is not
supported.

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Chapter 6 The Plotter

Copy
This command copies the plot from the active plot window to the clipboard. The graphic
is copied as a bitmap. If a dialog box is active, this command copies currently selected
text to the clipboard. The keyboard command is Ctrl-C.

Paste
The keyboard command (Ctrl-V) pastes text from the clipboard into the current cursor
location. If text is selected, it is replaced by the contents of the clipboard. This item is
only in effect when editing text in dialog boxes.

Preferences
This command brings up the Preferences dialog box. When you quit WinEP, the settings
from this dialog box are automatically saved to a file named epprefs.txt.

2
1

The numbered items in the dialog box are described below.

1 Startup mode. This controls the initial appearance of the plot windows when started
in batch mode. For the Cascade setting, the individual plot windows are smaller
than the WinEP workspace. For the Maximize setting, the active plot window is
maximized to fill the WinEP workspace. For the Tile settings, multiple plots are
tiled to fill the WinEP workspace.
2 OK button. Click this to close the dialog box and apply the new preferences.
3 Cancel button. Click this to close the dialog box without changing anything (keep
the previous preferences).
4 WinEP creates temporary files for certain operations. Check this box to cause
WinEP to delete those files when it quits.

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5 Folder where last format file was read. The next time the Load Plot Format
command (from the File menu) is used, WinEP will open the file browser starting
with this folder.
6 Folder where WinEP creates temporary files.
7 Folder where the last ERD file (with numerical data to plot) was read. The next
time the Load ERD File command (from the File menu) is used, WinEP will open
the file browser starting with this folder.
8 Folder where the last batch file was read. The next time the Load Batch File
command (from the File menu) is used, WinEP will open the file browser starting
with this folder.

Format Menu
This menu has commands for controlling the appearance of the plots made.

Log X Axis
Use this command to toggle between linear and log scaling for the X axis of the active
plot. If the log axis is selected, the menu item has a check mark. The keyboard command
is Ctrl-H.
Note: WinEP will ignore the X axis log option and revert to the linear
option if there are one or more zero X values in the data set being
plotted, even if it is out of range.

Log Y Axis
Use this command to toggle between linear and log scaling for the Y axis of the active
plot. If the log axis is selected, the menu item has a check mark. The keyboard command
is Ctrl-G.
Note: WinEP will ignore the Y axis log option and revert to the linear
option if there are one or more zero Y values in the data set being
plotted, even if it is out of range.

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Chapter 6 The Plotter

Re-Draw Current Scale

Use this command to re-draw the active plot with the current formatting. It is
sometimes needed if the window display gets corrupted by another window being
in front. You can accomplish the same thing by clicking in the plot area with the
mouse.

Re-Draw Original Scale

Use this command to re-draw the active plot without any zooming. The current
scaling option is used, as specified with the Customize Plot Format option under
this menu.

Customize Plot Format

Use this command to display a preferences dialog box for setting most formatting
options. The dialog is used for four sets of data, selected with tabs.
The first tab, Axes 1 , controls the scaling of the X and Y axes.

2 2

3 3

4 4
5 5

6 7 8 9

You can use this dialog box to type in the desired ranges of X and Y values to be covered
in the next plot.
2 X, Y axis type. These controls define whether the axis will be drawn with a linear
or log scale. They duplicate the Log X and Log Y menu commands.
3 Autoscaling (X and Y axes). Check to cause WinEP to scan the data and size the
axis to include the full range of data. This setting is recommended for routine use.
4 Manual scaling (X and Y axes). Check to scale the axis according to the range
specified in the adjacent fields 5 . This setting is provided for situations in which
you wish to make many plots with the same axes, regardless of the range covered
by the data.

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5 Range of data covered by axis. Specify minimum and maximum values for scaling
the axis. These are used only when the manual scaling button 4 is selected.
6 OK button. Click to close the dialog box and apply the settings as displayed.
7 Cancel button. Click to close the dialog box and revert to the previous settings.
8 Apply button. Click to apply the current settings without closing the dialog box.
This button is not functional in the current release.
9 Help button. Click to display on-line help. This button is not functional in the
current release.

10

11

12 13

14

6 7 8 9

10 X-Y Data Set tab. Click to show the settings that control the display of a data set.
Note: An X-Y Data set is a set of X and Y values from a specific file.
Each data set is represented graphically in a plot. When multiple
data sets are shown in the same plot, they can be distinguished by
assigning them different display attributes.
11 X-Y Data set. Press the button to display a pull-down menu with the list of Y
variables for each data set. Select a data set to display and possibly edit its
attributes.
12 Symbol. The field shows the symbol currently associated with the data set 11 . Press
the button to display a pull-down menu of possible symbols, and choose one to
change the current symbol.
13 Line type. The field shows the type of line currently associated with the data set 11 .
Press the button to display a pull-down menu of possible types, and choose one
to change the way connecting lines are drawn between the data points.

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Chapter 6 The Plotter

14 Color. The field shows the color currently associated with the data set 11 , in terms
of RGB values (24-bit color, composed of components of Red, Green, and Blue).
Press the button to display a palette of colors.

After selecting a color, click to OK button to return to the format dialog box. The
RGB values for the selected color will be shown.

15

16 18 20

19
17

21

6 7 8 9

15 Plot Layout tab. Click to show the settings that control the display of the axes,
frame, and grid.
16 Axes. Press the button to display a menu with the choices: Axes or No Axes. The
No Axes option doesn’t work unless you also select No Grid 18 and No Frame 20 .

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Chapter 6 The Plotter

17 Max digits for Y axis. This is the number of digits set aside for the tick labels of the
Y axis. For example, if set to 3, WinEP draws the Y axis of every plot with enough
space for 3-digit labels for the Y axis. If set to 0, WinEP determines the spacing
automatically.
A value of 0 is recommended unless you want all plots to be drawn in exactly the
same place relative to the left edge of the window.
18 Grid. Use this to choose between the options: No Grid, Course Grid (grid lines at
major tick marks), or Fine Grid (grid lines at minor tick marks).
19 Legend location. Use this to choose among five possible locations for the legend
used to identify the X-Y data sets in overlay plots. The options are Right of Plot, On
Plot Upper-Left, On Plot Upper-Right, On Plot Lower-Left, and On Plot Lower-
Right. The legend and other labels in the plot are shown below in Figure 6.4.

Title
Y axis label

Legend

Tick labels

X axis label

Figure 6.4. Names of plot labels.

20 Frame. Use this to determine whether the plot area has an enclosing rectangular
frame. The options are No Frame, Frame, and Frame with ticks. The No Frame
option doesn’t work unless you also select No Grid 18 .
21 Size limit for legend. When WinEP draws the legend for overlay plots to the right
of the plot area, it uses whatever space is needed. If the labels are lengthy, or if the
window is small, this can limit the horizontal space available for the plot. Use this
field to set a maximum amount of the window space that can be taken for the
legend.

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Chapter 6 The Plotter

This setting does not affect the plots unless: (1) there are at least two X-Y data sets
being overlaid, (2) the specified position 19 is “Right of Plot,” and (3) the length of
the longest label exceeds the specified percentage.

22

23

24

25

26
27

6 7 8 9

22 Font tab. Click to show the settings that control the text used to label the axes and
data in the plot. The four types of labels, controlled with items 23 - 26 , are shown
in Figure 6.4.
23 Plot title font attributes. Click the selector button to bring up a Windows font
selection dialog box. The properties selected in the box will be applied to the plot
title. After choosing the font properties, click the OK button to make the change, or
click the Cancel button to keep the original properties.

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24 Axes labels. This is similar to the plot title button 23 , except that the settings made
using the Windows font dialog box are applied to the text used to label the X and Y
axes.
25 Axis numbers. This is similar to the plot title button 23 , except that the settings
made using the Windows font dialog box are applied to the text used to number the
X and Y axes.
26 Legend labels. This is similar to the plot title button 23 , except that the settings
made using the Windows font dialog box are applied to the text used to label the
individual data sets in the legend.
27 Apply to all check box. When this is checked, changing font properties using any of
the buttons ( 23 24 25 26 ) will change all of the text in the plot.

Data Menu
The Data menu has commands that involve the numbers to be plotted and the associated
labels from the data files. The commands involve the selection of X-Y data sets, possible
transformation of the numbers, labels for the plot, and the viewing of the numerical
values using a cursor.

Define New Plot…

Select this command to bring up the Channel Select dialog box. The keyboard command
is Ctrl-N. Use this dialog box to create a list of X-Y data sets to plot. Each data set
consists of three parts: (1) a Y channel, (2) an X channel, and (3) a file name. The
numbered items in the dialog box are described below.

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Chapter 6 The Plotter

2
4 5 6 7

8
9

10

1 List of X-Y data sets to plot. This list shows the data sets that will be plotted. You
cannot edit it directly, but can modify it using the buttons below.
2 List of variables in the current ERD available for defining the Y coordinate in a
plot. To select a variable for plotting on the Y axis, click on its name. Double-
clicking in this list has the same effect as clicking the Add button 7 .
3 List of variables in the current ERD available for defining the X coordinate in a
plot. To select a variable for plotting on the X axis, click on its name. Double-
clicking in this list has the same effect as clicking the Add button 7 .
4 Delete button. Click this to delete a data set from the list of data to plot 1 . This
button has no effect unless a line is selected in the list 1 .
5 Clear button. Click this to delete all data sets from the list of data to plot 1 .
6 File button. Click this to bring up the Windows file browser dialog box to choose an
ERD file or text file with plot data. This button has the same effect as selecting the
command Open ERD File from the File menu.
Note: While the dialog box is displayed, the WinEP menus cannot be
used. Therefore, the File button is the only way to open a new file.
7 Add button. Click this to add a new X-Y data set to the list of data to plot 1 . The
new data set has the currently selected Y channel 2 , the currently selected X
channel 3 , and the currently open file (shown in 9 ).
8 Plot button. Click this to close the dialog box and make a new plot using the current
list of X-Y data sets 1 .
9 File name. This field shows the current data file. The name can be copied to the
clipboard, but there is not a reason to edit it directly. To change the file, you must
click the File button 6 .

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10 Title. This field shows the title from the data file, if (1) the file is an ERD file, and
(2) the optional TITLE keyword is used in the ERD header. All ERD files created
by ArcSim models show the title of the corresponding Run data set.

Offsets…
Select this command to bring up the Data Offsets dialog box. Use this dialog box to
specify offsets for up to 20 data sets laterally (X) or vertically (Y). The values you enter
in these field will be subtracted from the values obtained from the data file. For any fields
left blank, no offset is applied.

When you are finished specifying the offsets, click the OK button. These offsets will be
applied to your the active plot.

Filters…
Select this command to bring up the Filters dialog box. Use this dialog box to filter the Y
values in the data sets of the active plot using a moving average. The numbered items in
the dialog box are described below.

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Chapter 6 The Plotter

1
5
2
6
3
7
4

8 9 10

1 No filter button. When this button is selected the data are not modified.
2 High pass button. When this button is selected, the Y variables are processed with a
high-pass filter. The data are smoothed using the specified baselength 5 , and the
smoothed values are subtracted from the original. See the Help button 8 for details
on how the filter works.
3 Low pass button. When this button is selected, the Y variables are processed with a
low-pass filter. The data are smoothed using the specified baselength 6 . See the
Help button 8 for details on how the filter works.
4 Band pass button. When this button is selected, the Y variables are processed with a
band-pass filter. The data are processed by a high-pass filter using the high-pass
baselength 5 , and then by a low-pass filter using the low-pass baselength 6 . See
the Help button 8 for details on how the filter works.
5 High-pass baselength. This is a reference used to define the scope of a moving
average. It has the same units as the variable plotted on the X axis. For example, if
the X variable is time with units of seconds, the baselength is the number of
seconds covered by the moving average. This baselength is also used for band-pass
filtering.
6 Low-pass baselength. This is a reference used to define the scope of a moving
average. It has the same units as the variable plotted on the X axis. For example, if
the X variable is time with units of seconds, the baselength is the number of
seconds covered by the moving average. This baselength is also used for band-pass
filtering.
7 Check box: Filter using original data. When this box is checked, the specified filters
are applied to the original data — the values read from the file. When not checked,
the filters are applied to the data as modified by previous filtering. If this box is not
checked, the data are processed every time the filter dialog box is displayed and
exited with the OK button.
8 Help button. Click this to display the following information.

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9 Cancel button. Click this button to exit the dialog box without changing the data in
the active plot.
10 OK button. Click this button to exit the dialog box and apply the specified filter to
all Y variables in the active plot.

Statistics…
Select this command to display a dialog box with simple statistics for the plotted
variables. The numbered items in the dialog box are described below.

3
1

1 X-Y data set name. Use the pull-down menu to pick the data set in the active plot
whose statistics will be displayed.

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Chapter 6 The Plotter

2 Statistics for specified data set. The field is sized to display the statistics for two
variables making up a single X-Y data set. If you choose to show the statistics for
all data sets in the plot, then the scroll bar can be used to view the statistics for the
data sets after the first.
3 OK button. Click this button to exist the dialog box.
4 Show All button. Click this button to display the statistics of all data sets in the
active plot.

Labels…
Use this command to display the Labels dialog box. Use this dialog box to edit the plot
title, Y axis, X axis, and legend labels for the active plot. The next figure shows the
Labels dialog box along with the active plot. The circled numbers appear both in the plot
and the dialog box, to indicate the correspondence between the field in the dialog box and
the plot.

1
3 1

2
5
3

7
6
2
8 9

1 Title. The title is shown in the top of the plot and also in the title bar of the plot
window. It can be edited in the dialog box.
2 X Label. This is the label written underneath the X axis. It can be edited in the
dialog box.
3 Y Label. This is the label written above the Y axis. It can be edited in the dialog
box.

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4 Legend position. Press the triangle button to display a menu of possible locations
for the legend.
5 Names list, used to identify the X-Y data sets in the legend. To change any of these
labels:
1. Select it from the Names list 5 .
2. Edit the name as it appears in the edit field 6 .
3. Click the Set button 7 to apply the change.
6 Edit field used to change a name in the legend.
7 Set button. Click to set the name selected in the Names list 5 to match the text in
the edit field 6 .
8 OK button. Click to close the dialog and apply the new settings to the active plot.
9 Cancel button. Click to close the dialog without modifying the active plot.

Show Data Points

This command toggles the mode of showing a cursor on the plot and the associated
coordinates in the status bar. The keyboard command is Ctrl-D.
When you select this option, a cursor will appear at the first data point contained in the
data file. For time history plots, the first point is at the far left side of the plot. However,
for cross-plots, the first point may be located somewhere else.
The X and Y values associated with the cursor are displayed in the status bar. For
example, in the figure below, the cursor is at the point: time = 5.325 sec, Yaw velocity =
–3.453 deg/s.

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Chapter 6 The Plotter

When there are multiple plot windows, the cursor and X-Y values are always associated
with the active window.

Cursor Position Info

This menu item displays a sub menu that exists mainly to remind you of keyboard
commands that move the cursor. Although the menu items are functional, you will
usually find it quicker to press the indicated keys.

Forward by One — use the right arrow key (→) to move one point forward, based on
the order the X values are stored in the file. When the cursor is on the last point in the
file, this command has no effect.
Backward by One — use the left arrow key (←) to move one point backward, based on
the order the X values are stored in the file. When the cursor is on the first point in the
file, this command has no effect.
Minimum — use the down arrow key (↓) to locate the point with the minimum Y value
for the points currently displayed.
Maximum — use the up arrow key (↑) to locate the point with the maximum Y value for
the points currently displayed.
Start of Data — use the Home key to find the first point. This is the same as pressing the
left arrow repeatedly.
End of Data — use the End key to find the last point. This is the same as pressing the
right arrow repeatedly.
Next Data Set — use the Tab key to move the cursor between currently displayed data
sets in overlay plots. If the active plot has only a single data set, then this command has
no effect.

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Chapter 6 The Plotter

View Menu
Use this menu to toggle the display of the status bar and of a special debugging window
that maintains and displays errors and warning messages.

Windows Menu
Use this menu to control the appearance of the plot windows in WinEP.

New Window
Use this command to copy the active plot window, along with the data and all format
settings.

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Chapter 6 The Plotter

Cascade
Use this command to arrange all plot windows in a cascade, as shown below for two.

Tile Horz.
Use this command to tile the plot windows with horizontal divisions, as shown below for
two. If there are four or more windows, they are arranged in columns and rows.

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Chapter 6 The Plotter

Tile Vert.
Use this command to tile the plot windows with vertical divisions, as shown below for
two. If there are four or more windows, they are arranged in columns and rows.

Arrange Icons
Use this command to tidy any “iconized windows” in the WinEP workspace.

Help Menu
This menu has a command to open the About WinEP dialog box. Use it to obtain the
version number and to obtain the current web site for updates.

Program Limits
The maximum number of X-Y channel pairs that can be overlaid in one plot is 20.
The maximum number of plot windows is limited only by the size of system memory.
The maximum size of a plot’s data is bound only by the size of system memory.

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7. Design of ArcSim Data Screens
This section describes several standard elements in the ArcSim design that are shared in
many of the data screens. All data screens have the same set of controls at the top in a
ribbon bar. All have the same menu bar. Also, data screens with tabular data have a
common layout.

The Ribbon Bar

Almost every screen in ArcSim has a standard ribbon bar at the top. It contains the name
of the data sets, information about the last time the data set was modified, and a number
of navigational controls.

3 4 5 6 7 8 9 22 23
1
21 24
2
10 11 12 13 14 15 16 17 18 19 20 25

Fields
1 Data Set field. This field shows text entered by you, the user, to name the current data set.
There are a few restrictions on titles: (1) each data set in the library must have a unique
title; (2) the title cannot include a comma (the software will automatically replace it with
a semicolon); and (3) the length of the title is limited to 32 characters.
Note: On the Runs screen this is where you give a unique name to the
run of a specific vehicle, maneuver, and simulation model. In a
vehicle screen, it typically serves to identify the vehicle and its
properties, and so on for other screens.
2 Category field. This field shows text you use to create a sub-menu for listing the contents
of the library (see Figure 7.1 for an example). The Category field is provided as a
convenience for you to divide large numbers of data sets into logical groups in pull-down
menus. If the category field is blank then the title is shown in the top-level menu.
Data sets in different categories are still subject to the restriction that they cannot
have the same names.

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Buttons
3 Library triangle button. Press this button to display a pull-down menu listing all of the
data sets in the library, grouped by categories.

Figure 7.1. Pull-down menu by the Data Set field.

4 Library Left button. The data sets in the library are ordered alphabetically first by
category and then by title. Click this button to go to the preceding data set. If the current
data set is the first one, this button takes you to the end (the ordering is circular).
5 Library Right button. The data sets in the library are ordered alphabetically first by
category and then by title. Click this button to go to the next data set. If the current data
set is the last one, this button takes you to the beginning (the ordering is circular).
6 New button. Click this button to make a full copy of the data set. The copy is identical to
the original, except that the name 1 will be different (usually it will have a number
appended to it). When the copy is made, the Data Set field will be highlighted to
encourage you to type a distinctive title for the new data set.
7 Delete button. Click this button to delete the data set.
When you click the Delete button, two things happen: (1) the current data set as
displayed on the screen is deleted, and (2) auxiliary files associated with the data set are
also deleted. Thus, ArcSim automatically performs housecleaning.
If the library has only one data set, the Delete button cannot be used — there must always
be a minimum of one data set in a library. Also, the Delete button will not work on the
current data set if the Locked box 22 is checked.
There are two keyboard modifiers for the Delete button:
• Press the Ctrl key when clicking the button to avoid the confirmation message.
• Press the Shift key when clicking the button to delete all data sets except the
current one. There will be a confirmation message, giving you a chance to change
your mind after clicking the button. Be aware that if you go ahead, other data sets
can be deleted even if their Locked boxes are checked. Use this feature with care!
Note: When you position the cursor over the Delete button, the Status Bar
at the bottom of the window describes the above two keyboard
modifications.
8 GO button. Press this button to display a menu of all libraries in ArcSim. Select a library
from this menu to leave the current library and go to the selected one.

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The menu usually contains more items than will fit on a monitor with VGA resolution
(640 x 480). If this happens, the first item in the menu is More. Highlight it to view more
menu items.
9 Back button. Click this button to go back to the previous library. This is the library that
you came from by using a link, the GO menu, or the History dialog box.
10 Number Tools button. Click this button to go to the calculator screen. This is equivalent
to the Calculator command from the Tools menu. The calculator screen is used to create
and edit tabular data. Control-click to get a file browser to locate the library and establish
a link to it. The default is Sgui_lib\Calc.tbk.
11 Text Editor button. Click this button to go to a utility library used to create and edit
tabular data. This is equivalent to the Text Editor command from the Tools menu. This
can also be set to go to a text editor, such as the Windows Notepad program. Control-
click to get a file browser to locate a file (either a ToolBook library or an executable
program) and establish a link to it. The default link is Sgui_lib\Textedit.tbk.
Note: In order to link to an executable file, you have to replace *.TBK in
the file browser with *.EXE.
12 Library Editor button. Click this button to bring up a floating window that can be used
to edit libraries. This is equivalent to the Library Editor command from the Tools menu.
The current library is automatically loaded into the editor window.
13 Spectrum Analyzer button. Click this button to go to the Spectrum Setup library with
settings for a spectrum analyzer. This is equivalent to the Spectrum command from the
Tools menu. Control-click to get a file browser to make a different library the default.
Note: The spectrum analyzer and the settings screen are not present in
the standard ArcSim package.

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14 Batch Plot button. Click this button to go to the Plot Setup: Batch library. This is
equivalent to the Batch Plotting command from the Tools menu. Control-click to get a
file browser to make a different library the default. The default link is
Batch\Plot_bat\Plot_bat.tbk.
15 Plot Setup button. Click this button to go to the Plot Setup: Single library with plot
settings that define plot variables, formats, etc. This is equivalent to the EP Setup
command from the Tools menu. Control-click to get a file browser to make a different
library the default. The default link is Plot\Plot.tbk.
16 Batch Runs button. Click this button to go to the Runs: Batch library. Control-click to
get a file browser to make a different library the default. The default link is
Batch\Runs_bat\Runs_bat.tbk.
17 Runs button. Click this button to go to a Runs library with settings to make a single
simulation run. This is equivalent to the Runs command from the Tools menu. Control-
click to get a file browser to make a different library the default. The default link is
Runs\Runs.tbk.
18 Print button. Click this button to print a copy of the current screen display.
19 Preferences button. Click this button to bring up a floating window used to set global
preferences for ArcSim. This is equivalent to the Preferences command from the Tools
menu.

30

26 29
27
28

26 Auto Plot. When checked, the plotter is launched whenever you change a plot
setup link from the Runs screen. If you mainly make one plot at a time, this saves
time because you don’t have to click the Plot button after choosing the plot setup.
If you mainly make several plots at a time, you may find this distracting.
27 Auto Lock. When checked, ArcSim automatically locks every data screen when
you leave it. Otherwise, data sets are locked only when you click the locked boxes
22 manually.

28 Advanced Mode. When checked, you can change links to connect with different
libraries. When not checked, you must live with the links the way they are.

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29 Solid Colors. Check this box if your video display supports 256 or more colors.
Un-check it if your display is limited to 16 or fewer colors.
30 Close. Click here to exit the Preferences window.

Check Boxes
20 Locked box. Click this box to check or un-check it. When checked, the data set is locked
and you cannot change text in any of the edit fields or any links. You also cannot delete
the data set using the Delete button.
21 Notes box. Click this box to check or un-check it. When checked, the Notes field is
displayed. Otherwise, it is hidden. The contents of a Notes field are strictly for your use
in documenting data. They are not sent to the simulation program.
This button hides the Notes field, but does nothing to the contents. You do not lose your
notes when you hide them.
When you create a copy of a data set using the New button 6 , the contents of the Notes
field are also copied, even if the box is not checked.

Data Set Information

22 Changed circle. The small circle is normally transparent. However, a red dot appears
when a link is changed, or when a field is changed and you leave the field by clicking
somewhere else, using the Tab key, etc. The red dot indicates that the PAR file
associated with the current data set will be updated when you leave the screen.
Click on the red circle to force ArcSim to overwrite the PAR file immediately, such as
when testing new animator settings as described in section Testing New Shapes and
Animator Data Sets in Chapter 5 on page 61.
23 ID Number. Each data set in the library has a unique ID number. The number is used to
automatically name the PAR files associated with the data set. For example, if the ID is
131, a file 131.par is created automatically by ArcSim and located in the same folder
as the TBK library file. Click on the red dot to cause ArcSim to update the auxiliary file
immediately. When the file is created, the red dot disappears and the circle is transparent
again.
24 Time of last change. This is set whenever the PAR file is updated.
25 Date of last change. This is set whenever the PAR file is updated.

Data Links
Each ArcSim screen contains a data set that is part of a relational data base. Data sets are
linked together approximately in a top-down hierarchical fashion.

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Runs

Trucks Steer and Brake

Inputs

Suspensions Tires

Parts of a Data Link

The object used to link data sets together is called a data link. As shown below, a data
link has several components:

Link label Type triangle button

Data set name

• The name of the linked data set is shown in the blue field, e.g., Example 2-
Axle Truck.
Notes: {No library selected} appears in the blue field if the link
is not pointing to anything
{No data set selected} appears if the link is pointing to a
library, but has not yet been linked to a specific data set in that file.
• Most data links have labels, in bold typeface, that describe the type of data to
which the link points, e.g., Vehicle. In some cases, additional information is
shown in plain typeface, e.g., 2A truck.
• The triangle button is used to display a pull-down menu.

• There are two keyboard modifiers for the triangle button:

1. Press the Ctrl key when clicking the button to get the full pathname of the
linked library, e.g., c:\ArcSim\Vehicles\2a_truck.tbk.

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2. Press the Shift key when clicking the button as a shortcut for selecting the
menu item Go To Data Set. This will take you to the linked data set (it is the
same as selecting the first menu item). This is usually quicker than using the
menu.

The Data Link Menu

The items perform the following functions:
• Go To Data Set. Goes to the currently linked data set.
• Pick Library. Brings up the file browser dialog to select a new TBK library file
for the link. The browser may request a library of a certain type, e.g., Vehicle. If
the TBK file that is selected does not contain the right kind of data, a warning is
displayed. However, you can override the warning and make the link anyway.
This is not recommended for beginning users.
• [No Data Set]. This breaks the current link to a data set. The link to the library
remains, but, without a data set, data from the library are not used in simulations.
• Data Set Names. All of the menu items after the dividing line are the names of the
data sets in the linked library. Change the link to a different data set by selecting
its name.
If the current screen has the Locked box checked, only the first item on the data link
menu is active. Other items that would involve a change in the data set are not allowed.

Tabular Data
Some of ArcSim data sets involve tables of numbers. The values are plotted, to show the
functional relation graphically, and to help identify errors. The next figure shows an
example data set. Notice the table of numbers in the yellow field labeled Steer Angle
(sec, deg). The plot shown is based on these numbers.

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3 4

Note: For these data sets, the Notes field is often located on top of the
table of numbers. Therefore, to view the numbers in the table, the
Notes button must not be checked.
There are four standard items on each screen with tabular data.
1 Plot. The plot is based on the tabular data 2 , using the first number on each line for an X
value and the second number for a Y value. The axes are scaled automatically to include
the full range of numbers in the table.
When the mouse pointer is positioned over the plot, the corresponding X and Y values
are shown in the status bar. Clicking the left mouse button causes the currently displayed
X and Y values to be appended to the table. This feature can be used to rapidly build a
new data set. The new data points are not plotted until the Update Plot button 3 is
clicked.
2 Table field. Each line in this field should have an X value followed by a Y value. The
numbers must be separated by a comma. Additional information can be added after a
second comma. These numbers are passed to the simulation programs exactly as they
appear in the field.
3 Update Plot button. Click this button to create a new plot of the data in the field 2 .

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4 Tidy Table button. Click this button to “clean up” the appearance of the numbers in the
table field. A space is inserted after the comma, and additional information after a second
comma is removed. This button is often used when tabular data are pasted into the edit
field from some other source, such as an echo file created by a ArcSim solver program.

2D Tabular Data
Some of the data sets in ArcSim involve two-dimensional tables of numbers, commonly
called “carpet plots.” The values are plotted to show the functional relation graphically
and to help identify errors. The figure below shows an example data set. The format of
the table is usually shown in the area to the right of the plot, and the data for the table are
typed in the field underneath the plot 2 . The plot shown is based on these numbers.

3 4

There are four standard items on each screen with carpet plot data.
1 Plot. The plot is based on the tabular data in 2 , using the format shown in the area
entitled Table Layout.
2 Table field. The top row contains the values for one of the independent variables. The left
column contains the values for the other independent variable. As indicated in the area

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titled Table Layout, the values in the first row are vertical load (Fz) and those in the first
column are slip angle α. The other values are the dependent variable: in this case,
aligning moment.
The first number is common to both the first row and the first column, and is ignored.
However, a number must be present to hold the place and maintain the correct size of the
table.
All carpet plot tables must have at least two columns, or the simulation program will
generate an error.
3 No. of Columns. This is the total number of columns in the Table field. In the example it
is 6, (1 column of slip values plus 5 columns for different loads).
If this value is set too small, data in higher columns are ignored. For example, if it were
set to 5, the last column would not be used by the simulation program.
If this value is set too large, an error will occur when the program tries to read additional
numbers.
4 Update Plot button. Click this button to create a new plot of the data in the field 2 .

File Menu
The File menu contains commands pertaining to library TBK files. In ArcSim, this menu
is not used as much as in most Windows programs, because the opening and saving of
files is handled automatically.

Open
Select this menu item to open an arbitrary TBK library file.

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Save
Select this menu item to immediately save the current TBK file to disk. The files are
automatically saved whenever you move from one library to another, so this command is
used mainly when the machine stability is in doubt and a program crash is possible.

Print Setup
Select this menu item to select a Windows printer and possibly configure it.

Print Data Set

Select this menu item to print the current screen.

Print Library
Select this menu item to print all data sets in the current library, using the data screen
layout.

Print Recursive Data Set

Select this menu item to print the current screen, plus all data sets linked to the current
one, plus all data sets linked to those, and so on.

Compact Library
This command causes ToolBook to compact the file, eliminating space that was used by
data sets that have been deleted.
Over time, the TBK library files can grow more than expected, because when you delete
data sets the file space is not recovered. Use this menu item if you notice that some of the
TBK files have gotten very large. Depending on the amount of graphic content, the
normal size of a TBK file can be as small as 70K, or as large as 700K.

Backup Library
Select this menu item to make a backup copy of the current TBK library file. The copy is
given the extension BAK.

Export Data Set

Select this menu item to create a text file that can be read in by ArcSim to completely
recreate a data set.

Import Data Set

Select this menu item to import a text file previously created with the Export Data Set
command.

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Import Data Library

Select this menu item to import all data sets in another TBK file into the current one. This
command is useful for transferring information between separate ArcSim installations. It
is also useful for importing data from an old version of ArcSim into an updated version.
If you select this item from the Startup screen, and import data from another Startup
screen, then ArcSim will attempt to import all data from the other copy.

Exit
Select this menu item or use the keyboard command Ctrl-Q to exit from ArcSim.

Edit Menu
The Edit menu supports the clipboard and the Find command.

Undo
Select this menu item or type the keyboard command (Ctrl-Z) to undo the most recent
entry or change in a text field.

Cut
Select this menu item or type the keyboard command (Ctrl-X) to cut the currently
selected text to the clipboard.

Copy
Select this menu item or type the keyboard command (Ctrl-C) to copy the currently
selected text to the clipboard.

Paste
Select this menu item or type the keyboard command (Ctrl-V) to paste the clipboard to
the current cursor location. If text is currently selected, it is replaced by the contents of
the clipboard.

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Clear
Select this menu item to clear the currently selected text.

Select All
Select this menu item to select all text in the field where the cursor is currently located.
The keyboard command is Shift-F9.

Find
This command can be used by advanced users to locate information in ArcSim data
fields.
WARNING: It is possible to trick the underlying ToolBook runtime system,
leading to errors that will corrupt your files. Use with caution.

Text Menu
The Text menu contains commands involving the display of text in edit fields and notes.
Although text formatting has no effect on how the simulations are run, you can control
the appearance of the text in notes and data field if you wish.

Note: The items in the Text menu apply only to the currently selected
text in a single field.

Character
Select this command to bring up a floating window to change the character properties of
the selected text (Font, Font Style, Size, etc.).

Paragraph
Select this command to bring up a floating window to change the spacing (e.g.,
Alignment, Indentation, Spacing , etc.) of the selected text.

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Regular
Select this menu item to remove any special character properties of the selected text, such
as bold, underline, etc.

Bold
Select this menu item to toggle the selected text between bold and not bold.

Italic
Select this menu item to toggle the selected text between italic and not italic.

Underline
Select this menu item to toggle the selected text between underline and not underline.

Strikeout
Select this menu item to toggle the selected text between strikeout and not strikeout.

Superscript
Select this menu item to toggle the selected text between superscript and not superscript.

Subscript
Select this menu item to toggle the selected text between subscript and not subscript.

Page Menu
This menu offers access to previously viewed screens (pages), and also control of how
the current data screen is viewed.

History
Select this menu item to bring up the following floating window to see a list of the
libraries that you have visited during this session. From the window you can select a
library and go to it by double-clicking on it or clicking the OK button.

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Size to Page
Select this menu item to set the ArcSim window to its default size. If you happen to click
on the Windows zoom icon, Windows will fill your screen with the current window.
However, the window doesn’t show any more information. Use this menu item to restore
its appearance.

Tools Menu
Use the Tools menu as an alternative to the buttons in the ribbon bar.

The ribbon bar, shown below, was described in more detail starting on page 88.

1 2 3 4 5 6 7 8 9

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Calculator
Select this menu item to go to the calculator screen (same as 1 ).

Text Editor
Select this menu item to go to a utility library used to create and edit text files (same as
2 ).

Library Editor
Select this menu item to bring up a floating window used to edit existing libraries (same
as 3 ).

EP Setup
Select this menu item to go to the Plot Setup: Single library with plot settings that define
plot variables, formats, etc. (same as 6 ).

Runs
Select this menu item to go to a Runs library with settings to make a single simulation
run (same as 8 ).

Batch Runs
Select this menu item to go to the Runs: Batch library (same as 7 ).

Batch Plotting
Select this menu item to go to the Plot Setup: Batch library (same as 5 ).

Spectrum
This item is reserved for the Spectrum Setup library (same as 4 ).
Note: The spectrum analyzer and the settings screen are intended to be
added to the next version of ArcSim.

Preferences
Select this menu item to bring up a floating window used to set global preferences for
ArcSim (same as 9 ).

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8. Alphabetical Library Screen Reference
This chapter describes all of the libraries in ArcSim. They are listed in alphabetical order,
based on the screen (window) title.

Conventions in This Chapter

Each section shows an example data screen. Descriptions are provided for data fields,
links, buttons, and other objects in the user interface.

Standard Objects
Standard objects that were described in Chapter 7 are not covered again in this chapter.
For example, the buttons at the top of the screen (New, Delete, etc.) are the same in every
library.

Keywords
Parameter values that are displayed in yellow fields will usually appear in the echo files
produced by the simulation programs. These echo files identify the parameters with
keywords and list them in alphabetical order (see Appendix D for an example). Along
with the definitions for the parameters, keywords are defined so you will know where to
look for them in the echo files. They are shown in parentheses in the Courier font.
Many of the parameters in the ArcSim models are applied in several places on the
vehicle. For example, every axle has a mass, and the same data screen is used to describe
an axle mass, no matter where it is located in the vehicle. Every axle mass is associated
with the keyword MUS. The location of the axle is specified with additional keywords
IUNIT and IAXLE that are written automatically by ArcSim to tell the simulation
which axle mass is being specified. For components that differ on the left and right side, a
keyword ISIDE is also used.
Parameters that are repeated are called indexed parameters, with the indexing being
defined with the keywords IUNIT, IAXLE, etc. The indexing keywords can be of interest
to advanced users who override vehicle properties using the Miscellaneous fields
scattered throughout the ArcSim data screens. Therefore, they are specified along with
the parameter keyword. For example, the entry for axle mass reads: Axle Mass (keyword
= MUS (IUNIT, IAXLE)).
Indexed parameters that are only applied in one place are shown with numerical indices.
For example, the wheelbase of unit 1 is shown as LWB(1).

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Location of Library
Each section ends with the location of the library from two points of view. First is a list
of the screens needed to reach the library using the user interface, as shown in Figure 2.2,
Map of the ArcSim libraries, on page 14. For example, to get to the Animator Camera
screen, start with the ArcSim Startup screen, then press the Start button to go to the
Runs screen, then follow a blue link to go to the Animator Setup screen, then follow
another blue link to go to the Animator Camera screen. This sequence is written at the
end of the reference section as:
ArcSim Startup
Runs
Animator Setup
Animator Camera
In addition, a relative pathname is given for the library TBK file (e.g.,
Animate\Camera\Camera.tbk). Pathnames are relative to the root directory of
ArcSim. For example, the absolute pathname would be something like
C:\ArcSim\Animate\Camera\Camera.tbk. The relative pathnames are useful to
know even if you are not looking for a file, because they appear in the pull-down menu of
the GO button (in the ribbon bar).

Animator Camera Setup

The Animator Camera screen defines the location of the virtual camera in the animator,
the direction in which the virtual camera is looking, and the amount of zoom.

Discussion
Imagine you have a video camera and are viewing a truck as it moves down the road.
Your location (actually, the location of the camera you are holding) determines your
point of view. From that point, you can aim the camera anywhere. However, you will
probably pan the camera to keep the vehicle in view. If the camera has a zoom lens, you
might zoom in or out to control the size of the vehicle in the viewfinder.
In ArcSim, there is no physical vehicle to look at. However, to go along with the
simulated vehicles, the animator program described in Chapter 5 simulates the motions
that you would view with a video camera. Use the Animator Camera Setup screen to
establish various camera positions and aiming strategies.
The parameters in this library are associated with two geometric points illustrated on the
screen: (1) the camera point, (2) and the look point. At each output time interval, the
animator generates a 2D image based on the relationships between the simulated vehicle
and the camera and look points (see the illustration on the data screen). The locations of
vehicle parts are determined by the simulation program. The camera and look points are
determined by the information provided in this data set.

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Point locations are defined in 3D space with sets of X, Y, and Z coordinates. In order to
provide almost any imaginable view of the simulated vehicle motion, the animator
program allows both the camera and look points to be associated with any user-defined
reference frame. The reference frame can be fixed or it can be a vehicle part (e.g., a
sprung mass. It is even possible to define a new moving reference frame using variables
that are available in the simulation output files.

2 4

3 5

Notes: Chapter 5 explains reference frames. Also, the section Animator

Reference Frames in this chapter describes how you create them.
All of the numbers shown on this screen can be modified
interactively when the animator is running. See Chapter 5 for
details.

User Settings
1 Focal length of the simulated camera (keyword = set_focal_length). A large value
produces a telephoto lens effect and a small value produces a wide-angle lens effect.
Focal length has units of feet.

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2 X, Y, and Z coordinates of the camera point (keywords = set_camera_x,

set_camera_y, set_camera_z). These coordinates have units of feet. The
coordinates apply to the reference frame specified in 3 .
3 Link to the reference frame in which the camera is located. The reference frame can be
fixed or moving. The camera must have its own named reference frame (in the example
above, it is Camera tracking X-Y).
Notes: The animator program requires each reference frame to have a
unique name. The reference frame used to define the camera
coordinates cannot be used anywhere else. If you want to locate the
camera in a vehicle reference frame (e.g., the sprung mass), then
create a copy of the reference frame of interest, give the copy a
new name, and link to the copy.
Although vehicle reference frames can be used for the camera, it is
more common to define a custom reference frame.
4 X, Y, and Z coordinates of the Look Point (keywords = set_lookpoint_x,
set_lookpoint_y, set_lookpoint_z). These coordinates have units of feet. The
coordinates apply to the reference frame specified in 5 .
5 Link to the reference frame in which the look point is located. The reference frame can be
fixed or moving. This reference frame must also be used somewhere else. (It is typically
the sprung mass for one of the vehicle units.)

Location in ArcSim
ArcSim Startup
Runs
Animator Setup
Animator Camera

File Location
Animate\Camera\Camera.tbk

Animator Groups
The Animator Groups screen is used to group shapes, wheels, reference frames, and
other groups. The library can be used for several purposes, to help support the versatility
of the animator.

Discussion
The Animator draws just two kinds of moving objects: shapes and wheels. In order to
build a detailed visual representation of a moving vehicle, groups of shapes and wheels
must be collected and associated with moving reference frames.

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This screen is used to group other animator data sets together. Typically, the data sets
being grouped are reference frames, body shapes, wheels, and other groups that make up
the image of a vehicle.
As explained in Chapter 5, reference frames are used to define motions of vehicle parts.
As the inputs to the animator are processed, each shape or wheel is associated with a
reference frame.

1 1 1

1
2 2
1
1 1
1

1 2 2

1
1 1

1
2 2
1

1 1 1

1 1 1

There is always a single active reference frame. Each shape and wheel that is processed is
defined within this frame.
It is important to understand that all objects in a reference frame must be processed
together. For example, suppose there is a reference frame with the title truck body.
The animator will not allow some shapes to be processed for truck body, then process
shapes for another reference frame, and then switch back to truck body. Once the
animator starts processing data for a particular reference frame, it is no longer possible to
add shapes or wheels to reference frames that were previously processed.
Although shapes and wheels are always associated with the active reference frame, the
camera and look-point coordinates are not. However, because the camera and look-point
data are contained in the library Animator Camera Settings, you should not have
occasion to deal with them in an Animation Groups data set.

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Note: The reason that shapes and wheels are handled differently than
camera and look-point data is that shapes and wheels can be
duplicated. For example, the same wheel information is usually
linked to every axle reference frame. In contrast, there is only a
single camera point and a single look point.
An animator group can be set up several ways.
• It can group wheels or shapes together and associate them with a reference frame.
For example, a truck body group might associate several shapes together with
a truck body reference frame.
• It can group several shapes or wheels together without associating them with a
reference frame. For example, you might want to create a complex object that
could be associated with several different reference frames under different
conditions.
• It can group together other groups. For example, a whole truck group could be
assembled from a truck body group, an axle 1 group, and an axle 2
group.
• It can group together objects with more than one reference frame. For example, an
axle group might associate two wheel objects with a reference frame for a dual
assembly on the left-hand side of the axle, plus two wheel objects with a reference
frame for the dual assembly on the right-hand side of the axle.
When combining reference frames and other data sets, be aware that the data are sent to
the animator in the same order they are numbered on the screen: top to bottom, then left
to right. If one of the links is to a reference frame, it should be the first one (Link 1). It
applies until another reference frame is encountered.
Note: The animator group is one of the more difficult to understand
screens in ArcSim. It may help to browse through the groups that
are installed with ArcSim, to see by example how complex
systems are assembled using this screen.

User Settings
1 Miscellaneous links. Links are used to include other groups, wheels, shapes, and
reference frames. A group, wheel, or shape appearing in one of these links is attached to
the reference frame link most immediately above it. If none of the links are made to a
reference frame, then all wheels and shapes are attached to the most recently introduced
reference frame, in the data set above this one (i.e., the data set which has a link down to
this one).
2 Miscellaneous fields. Enter keywords and the value you want assigned to them. The
format is that each line has a keyword and value, separated with white space (at least a
single space). These keyword values apply to the Link which they are directly underneath
(Links 11, 12, 13, 16, 17 or 18). These fields can be used to add to shape or wheel data.

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For example, to mirror an object from the left to the right side, enter the keyword
set_scale_y followed by a value –1.

Location in ArcSim
ArcSim Startup
Runs
Animator Setup
Animator Groups
Note: This library can be applied in different ways, which means there
may be links to it from libraries other than the Animator Setup
library.

File Location
Animate\Groups\Groups.tbk

Animator Reference Frames

This screen is used to define a reference frame (moving coordinate system) for use by the
animator. Reference frames are needed to define each independent moving part (wheel,
axle, body, etc.), and also to specify moving cameras. The concept of a reference frame is
important if you wish to effectively use the animator. Chapter 5 introduces the concept.
This section explains how you define a reference frame within ArcSim.

Discussion
The animator in ArcSim shows moving wire-frame figures. The lines used to draw each
wire-frame object may move relative to other objects, but the spatial relationships
between the lines in a single object are fixed.
When the relationships between a set of points does not ever change (i.e., they form a
rigid structure), they are said to exist in the same reference frame. Therefore, the
coordinates provided for shapes are constants when based on a coordinate system fixed in
the appropriate reference frame.
In order to draw the wire-frame shapes, the animator must convert relative coordinates in
a moving coordinate system to absolute coordinates in the global coordinate system. The
conversion is defined by the global position of the origin of the moving coordinate
system (its global X, Y, and Z coordinates), along with the orientations of its three axes.
The global coordinate system has the Z axis pointing up (opposite the direction of
gravity). The global origin is typically in the road plane. When the vehicle is placed such
that the center of the front axle is above the global origin, then the global X, Y, and Z
coordinates of the lead unit sprung mass are all zero. And unless specified otherwise, the
vehicle is oriented such that its X axis aligns with the global X axis.

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1 2 3

4 5 6

The orientation of a reference frame is defined by three consecutive rotations that are
called Euler angles. For vehicles, the angles are commonly called yaw (rotation about the
Z axis), pitch (rotation about the Y axis), and roll (rotation about the X axis).
Starting such that the X, Y, and Z axes of the moving frame are parallel with those of the
global frame, the moving frame can be oriented by consecutive rotations about its axes.
For example, first rotate the frame about its Z axis by a yaw angle. After this is done, the
new Z direction is the same as the old, but the X and Y axes are pointed in new
directions, called X' and Y'. Next, rotate about the new Y axis, Y', by a pitch angle. After
the pitch rotation, the Y axis is still in the Y' direction, but the X and Z axes are pointed
in new directions, called X" and Z". Finally, rotate a third time, about the new X axis, X",
by the roll angle.
Although it might not be obvious at first if you are not experienced with 3D kinematics,
any conceivable orientation of a reference frame can be described with three Euler
angles. However, it is necessary to specify the order of the rotations.
Overall, a reference frame is defined by six variables: three coordinates (X, Y, and Z),
and three Euler angles. The animator reads the required six variables from the output files
generated by the simulation programs. After reading the six variables, each coordinate
and Euler angle is calculated with a relationship of the form:
coordinate = Co + C*SFc (1)

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angle = Ao + A*SFa (2)

where C and A are the coordinate and angle variables obtained from the ERD file, Co and
Ao are the constant offsets, and Sfa and SFc are scale factors (gains).

User Settings
1 Names of coordinate variables for X, Y, and Z (keywords = set_x_name,
set_y_name, set_z_name). These are short names in the ERD files, associated with
the variable C in eq. 1. If no name is listed, then a constant value of 0.0 is used to
compute the coordinate. If the name is not found in the ERD file, then a value of 0.0 is
used.
2 Offsets for coordinate variables for X, Y, and Z (keywords = set_offset_var_x,
set_offset_var_y, set_offset_var_z). These values are numbers, used to
replace the symbol Co in eq. 1. If no number is entered, a value of 0.0 is used.
3 Scale factors for coordinate variables for X, Y, and Z (keywords = set_scale_var_x,
set_scale_var_y, set_scale_var_z). These values are numbers, used to replace
the symbol SFc in eq. 1. If no number is entered, a value of 1.0 is used.
4 Names of Euler angle variables for roll, pitch, and yaw (keywords = set_roll_name,
set_pitch_name, set_yaw_name). These are short names in the ERD files,
associated with the variable A in eq. 2. If no name is listed, then a constant value of 0.0 is
used. If the name is not found in the ERD file, then a value of 0.0 is used.
5 Offsets for Euler angle variables for roll, pitch, and yaw (keywords =
set_offset_var_roll, set_offset_var_pitch, set_offset_var_yaw).
These values are numbers, used to replace the symbol Ao in eq. 2. If no number is
entered, a value of 0.0 is used.
6 Scale factors for Euler angle variables for roll, pitch, and yaw (keywords =
set_scale_var_roll, set_scale_var_pitch, set_scale_var_yaw). These
values are numbers, used to replace the symbol SF a in eq. 2. If no number is entered, a
value of 1.0 is used.
7 Rotation sequence for Euler angles (keyword = set_euler_angles). In general, there
are 12 possible sequences of body-fixed orientation angle sets. (The constraint is that
there cannot be two consecutive rotations about the same axis. Thus, there are 3 choices
for the first rotation, 2 for the second, and 2 for the third.) However, only two sequences
are common for vehicle dynamics: yaw-pitch-roll (used for large body motions), and
yaw-roll-pitch, used for the spinning wheels.
For the animator in ArcSim, the value must either be the text yaw_pitch_roll or the
text yaw_roll_pitch.

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Location in ArcSim
ArcSim Startup
Runs
Animator Setup
Animator Groups / Camera Setup
Animator Reference Frames

File Location
Animate\Frames\Frames.tbk

Animator Setup
This is the top-level screen used to control the animator. It defines the system being
animated, the camera setup, a reference grid, and possibly some other objects.

1 8
4
2 5

3 6
9
7
3 3

Discussion
The animator in ArcSim shows wire-frame figures as viewed by a simulated camera, as
described in Chapter 5. The data sets in this library serve to link groups of animator

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objects defined elsewhere to represent trucks and other vehicles with a description of the
camera properties. In addition, the details of an optional grid are specified.
An existing animator setup can be rapidly modified by linking to different camera data
sets or different vehicle descriptions.
A grid is always drawn, oriented in the global X and Y directions. The minimum and
maximum X and Y global coordinates for the grid can be specified. Different grid
spacing can be used in the X and Y directions. (The grid can be turned off manually
within the Animator, as described in Chapter 5.)

User Settings
1 Link to animation group. This is a link to a group that is typically set up to represent a
complete vehicle.
2 Link to camera setup. This is a link to data describing the camera position, focal length,
and the position of the look point.
3 Three optional links are provided to help create more complex animation displays. These
links need not be used. For example, they could be used to include fixed objects, such as
a road. They would most commonly be linked to animation groups. If linked directly to
shapes or reference frames, the sequence is important. (See the discussion of the relation
between reference frames and shapes in the section Animator Groups in this chapter.)
4 Grid color (keyword = set_color). This is text that specifies the color of the grid.
Valid values are black, white, red, green, blue, yellow, magenta, light
gray, and dark gray. If no color is specified, the grid is shown in black. To avoid
showing the grid, set its color to white.
Note: The keyword add_grid is written before the values shown in the
fields 4 – 7 . Therefore, the keyword set_color is applied to
the grid. The same keyword is used in other contexts to set colors
of shapes and wheels.
5 Grid intervals for X and Y (keywords = set_interval_x, set_interval_y). The
units for these values are feet.
6 Minimum X and Y values covered by the grid (keywords = set_min_x, set_min_y).
The units for these values are feet. If not specified, the default values are zero.
The animator will automatically determine the range for the grid if the minimum and
maximum values are set equal or left blank.
7 Maximum X and Y values covered by the grid (keywords = set_max_x, set_max_y).
The units for these values are feet. If not specified, the default values are zero.
The animator will automatically determine the range for the grid if the minimum and
maximum values are set equal or left blank.
Note: The X and Y directions are handled independently, meaning that
the range for one can be set manually and the other can be
determined automatically.

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8 Viewing mode (keyword = set_superimpose). This value specifies whether the

animator is to erase each frame after it is drawn or not (superimpose images). Set on to
superimpose images, set off for normal viewing. The default is off.
9 Miscellaneous field. This field is for advanced users. It is used to add commands for the
animator, using keywords that it recognizes (see Appendix C for the keywords
recognized by the animator).
If this field is used, each line should contain a keyword and a value associated with the
keyword. The keyword and the value are separated by white space.

Location in ArcSim
ArcSim Startup
Runs
Animator Setup

File Location
Animate\Frames\Frames.tbk

Animator Shapes
This screen is used to define one or more wire-frame shapes that are drawn by the
animator.

Discussion
A shape is a set of points connected by straight lines. Each point is defined by a set of
three coordinates (X-Y-Z). The animator starts with the first point, and draws connecting
lines to each following point.
All coordinates are assumed to be in a local coordinate system, associated with the active
reference frame. (See the discussion on how shapes and reference frames are associated
in the section Animator Groups, in this chapter.)
The animator also supports offsets and scale factors. All of the coordinates are calculated
using the equation:
coordinate = Co + C*SF (1)
where C is the original coordinate, Co is the offset, and SF is a scale factor (gain).
The offsets and scale factors allow the shapes to be relocated and resized without
requiring all of the coordinates to be changed by hand. Applying an offset has the effect
of relocating the shape within the reference frame. For example, offsets are used to place
wheels at the ends of axles, rather than at their centers. Scale factors can be used to
change the size of a shape. For example, to make a trailer body twice as long, enter an X
scale factor of 2.0.

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Scale factors can also be used to mirror a shape. If the scale factor is negative, then all of
the corresponding coordinates are given the opposite sign. For example, a left fender can
be converted to a right fender by setting the Y scale factor to –1.
The shape library can handle two kinds of shape data:
1. A single shape is described, using the appropriately labeled fields.
2. Multiple shapes can be described, using the Miscellaneous field.
The second approach is useful if there are many shapes used to describe a complex body,
and they are unlikely to be used for any other purpose. By putting the many shapes into
one data set, fewer files are processed by the animator, and there is little likelihood of
accidentally modifying a group.

User Settings
1 Coordinates (keywords = set_coordinates, end_coordinates to indicate the
start and end of the list). Each line should have the three coordinates of a single point.
The units are feet. The syntax is that each of the values is separated by at least one space.
Blank lines are not allowed.

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2 Coordinate O f f s e t s (keywords = set_offset_x, set_offset_y,

set_offset_z). All coordinates in the shape are adjusted by these offsets according to
eq. 1. The offsets must have the same units as the coordinates. If not specified, the
animator uses default values of 0.0.
3 Coordinate Scale Factors (keywords = s e t _ s c a l e _ x , s e t _ s c a l e _ y ,
set_scale_z). All coordinates in the shape are adjusted by these scale factors
according to eq. 1. The scale factors should be dimensionless. If not specified, the
animator uses default values of 1.0.
4 Color (keyword = set_color). This sets the color of the lines drawn to connect the
points. Allowable values are the words: black, white, red, green, blue, yellow,
magenta, light gray, and dark gray. The default is black.
5 Miscellaneous field. This field is for advanced users. It can be used to enter multiple
shapes. Enter keywords and the value you want assigned to them. The format is a single
set per line, with white space (at least a single space) separating them. The field should
look like a portion of a PARSFILE that can be processed by the animator. See Appendix
C for the animator keywords and some example files.

Location in ArcSim
ArcSim Startup
Runs
Animator Setup
Animator Groups
Animator Shapes

File Location
Animate\Shapes\Shapes.tbk

Animator Wheels
The current version of the animator supports a single 3D graphic primitive—a cylinder. It
is typically used to draw vehicle wheels. This screen is used to define a wheel.

Discussion
The animator considers a wheel to be two polygons with a specified radius, separated by
a specified thickness. In addition, the corresponding nodes of the polygons are connected
by lines. The wheel is oriented such that its central axis is parallel to the Y axis of the
corresponding reference frame.

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3
2 4

6 7

User Settings
1 Thickness (keyword = set_thickness). This should have units of feet.
2 Radius (keyword = set_radius). This should have units of feet.
3 Number of points used for polygon approximation of circle (keyword =
set_num_points).
4 Color of lines drawn by animator to show the wheel (keyword = set_color). The
allowable values are black, white, red, green, blue, yellow, magenta, light
gray, and dark gray. The default is black.
5 Radial line option (keyword = set_radial_line). This determines whether a line is
drawn from the center of one of the polygons to the first node. The single line is useful
for determining when wheels lock up during braking simulations. The allowable values
for this field are on and off.
6 Coordinates of center (keywords = s e t _ o f f s e t _ x , s e t _ o f f s e t _ y ,
set_offset_z). These are the X, Y, and Z coordinates of the wheel center in the
reference frame with which the wheel is associated. The default values of 0.0 are used if
no values are provided.

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7 Scale factors in three directions (keywords = set_scale_x, set_scale_y,

set_scale_z). These are dimensionless scale factors in the X, Y, and Z directions.
They are multiplied by the coordinates of the wheel, centered at 0,0,0, before the offsets
6 are added. The Y scale factor adjusts the thickness, and the other two can be used to
resize the wheel. If the X and Z scale factors are not equal, the wheel will be elliptical,
rather than circular. The default values of 1.0 are used if no values are provided.

Location in ArcSim
ArcSim Startup
Runs
Animator Setup
Animator Groups
Animator Wheels

File Location
Animate\Wheels\Wheels.tbk

Axles
Use this screen to specify the relevant modeling parameters of the solid axles used on
trucks and trailers.

Discussion
You must describe the inertial and dimensional properties of every axle. The “axle” is
considered to be the entire unsprung mass (axle, brakes, wheels and tires), even though
additional properties for these components are specified on other screens.

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4
5
6
8

7 7

User Settings
1 Dual tire spacing (keyword = LDUAL (IUNIT, IAXLE)). Lateral distance between
the centerlines of the two tires of a dual wheel set. If the axle has single tires, use a
spacing of zero.
2 Height of the axle spin axis (keyword = HCGA (IUNIT, IAXLE)). This value is used
to establish the relationship between wheel spin and forward speed, and it is also used for
the height of the mass center. The two numbers are so close that only a single value is
used, to avoid potential errors.
3 Track width (keyword = LTK (IUNIT, IAXLE)). Lateral distance between the
centers of dual wheel sets. If the axle has single tires, this is the distance between the
centers of the two tires.
4 Axle Mass (keyword = MUS (IUNIT, IAXLE)). Mass of the axle with attached
hardware such as brakes, wheels and tires. This is the effective mass of all components
that move as an “unsprung” unit. Therefore, half of the mass of connecting hardware
(e.g., springs and control arms) is usually included.
5 Roll and Yaw Moments of Inertia (keyword = IA (IUNIT, IAXLE)). Because of
symmetry of the axle, the moments of inertia about these two axes are so similar that only
one value is used.

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6 Wheel Spin Moment of Inertia (keyword = IW (IUNIT, IAXLE)). Combined

moment of inertia of all rotating parts on one wheel, including tires, the wheel, brake
drum, and axle shaft.
7 Optional links. These links support customized axle models but are not used in the
standard ArcSim.
8 Optional miscellaneous field to support customized axle models. Not used in the standard
ArcSim.

Location in ArcSim
ArcSim Startup
Runs
Vehicle: (loaded truck or combination vehicle)
Vehicle Unit: (empty truck, tractor, or trailer)
Suspension: Solid Axle

File Location
Vehicles\Parts\Axles\Axles.tbk

Calculator
Use this screen to create and edit tabular numerical data. It is available from a button on
the ribbon bar and from the Tools menu.

Discussion
This data screen is a tool supplied in ArcSim because there are many times when
preparing ArcSim inputs that simple calculations are needed. This screen can be used to
convert units for existing data, or to create tables from scratch. For example (explained in
detail later), the screen display shows how a series of X-Y coordinates are created for a
500-ft radius circle.
This screen does not directly feed data to a simulation model. To use the data, you must
copy the numbers to the clipboard and then paste them into an appropriate data screen.

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1 2

5 6
3 4
14
11 12
7 8 9 10 13
16 19
15 17
18 20

The screen design is fairly complex, because the calculator tool has several capabilities:
• It plots tabular data for one or more pairs of X-Y data points.
• It performs simple calculations by evaluating a mathematical expression and
printing the numerical result.
• It evaluates mathematical expressions involving values in a 2D table, updating the
entire table with a single button click. For example, you can convert the units for
different columns in a table using different scale factors for each column.
• It creates tabular data from scratch, based on start and end conditions for a series.
After the user settings are described, a few examples are provided to show how they are
used.

User Settings and Controls

1 Tabular Data field. This is where the tabular data values are created and edited. The data
are assumed to fit in a tabular organization, with each line in the field representing a row.
Each row should have the same number of items (columns), separated by commas and/or
spaces. All values in the table must be numbers.
The values in this field are shown graphically in the adjacent plot 2 .

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The buttons underneath ( 3 - 9 ) are used to change the precision of the numbers,
determine whether commas separate the numbers, and to modify the column-row
structure of the table.
The fields and buttons in the bottom area of the screen ( 15 - 20 ) are used to perform
calculations to create the tabular data from scratch, or to transform existing values.
The only part of the screen that is not related to the tabular data field is the simple
calculator, with items 11 - 14 .
2 Plot. This graphic is created by plotting values of columns 2 and higher on the Y axis,
against the values of column 1 on the X axis. Thus, the number of plots is N-1 where N is
the number of columns. The plot is not made automatically—you must click the Plot
button 10 to create it or update it after modifying the tabular data 1 .
3 Format button. Click to format the numbers in the tabular data field 1 according to the
format string 4 .
4 Format field. The text in this field specifies whether numbers are written with fixed
decimal places or in scientific notation. It also specifies how many digits are written to
the right of the decimal point. The format string has the form: X.X where the X’s
represent a series of place holders:
0 — place holder for a digit.
# — Same as 0 except the digit is not printed unless it is needed.
E+ or e+ — Scientific notation with sign always used for the exponent. The number
of digits in the exponent is determined by the number of place holders.
If the format field is blank, then numbers are written to their full precision.
Following are some example format strings and the effect they have on three example
mathematical expressions.

String 45/atan(1) atan(1)/45 5/4

none 57.2957795130823 1.74532925199433e-2 1.25
#.#### 57.2958 0.0175 1.25
0.0000 57.2958 0.0175 1.2500
#.######e+### 5.729578e+1 1.745329e-2 1.25 e+0
0.000000E+000 5.729578E+001 1.745329E-002 1.250000E+000

The format field is applied when you click the Format button 3 , the Create Series
button 19 , or the Transform Series button 20 .
5 Insert ‘,’ button. Click to ensure that all numbers in a row are separated with commas. If
commas already exist, this has no effect except possibly to tidy the appearance of the
table 1 .

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6 Remove ‘,’ button. Click to ensure that all numbers in a row are separated with white
space only. If commas exist, they are removed. If numbers are already separated only by
white space, this has no effect.
7 Flip Rows button. Click to reverse the order of the lines in the tabular data field 1 .
8 Flip Columns button. Click to reverse the order of the numbers in each line in the tabular
data field 1 .
9 Transpose button. Click to transpose the columns and rows in the tabular data field 1 .
For example:
1,2,3 Becomes 1,5
5,6,7 2,6
3,7
10 Plot button. Click this to update the graphic 2 based on the current contents of the
tabular data field 1 . The graphic is created by plotting values of columns 2 and higher
on the Y axis, against the values of column 1 on the X axis. Thus, the number of plots is
N-1 where N is the number of columns.
11 Calculator input field. Enter a mathematical expression, then click the “=” button 12 to
see the result in the calculator output field 13 . In addition to normal arithmetic
operations, the calculator has a number of built-in functions that are described in a later
subsection.
12 Calculate button. Click to evaluate the expression in the input field 11 and print the result
in the output field 13 .
13 Calculator output field. This displays the results of the calculation performed when you
click the “=” button 12 . The format can be specified using the format string 14 .
14 Calculator output format. This field contains a format string used to control the round-off
in the calculator output 13 . It is applied when you click the “=” button 12 . The syntax is
the same as the other format field 4 , described previously.
15 Mathematical definitions. This field is used to create or transform numbers in the tabular
data field 1 . The field is used for two distinctly different purposes:
1. It provides mathematical definitions of the numbers that will be calculated and
stored in the tabular data field when you click the Create Series button 19 . In this
case, all definitions must involve only numbers and a single variable X. X is
calculated automatically and given a value for each new row based on the three
fields 16 , 17 , and 18 .
2. It provides transforms of existing numbers that will be calculated when you click
the Transform Series button 20 . In this case, the definitions must involve
numbers and the variables X, Y, Y2, Y3, ..., where X is the first number in each
line of the tabular data field, Y is the second number, Y2 is the third, and so on.
In the first case, the field is cleared and all new numbers are put into it, based on the
series information ( 16 , 17 , and 18 ) and the mathematical definitions. In the second case,
the tabular data field is not cleared—the existing numbers are replaced.

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In both cases, the tabular data field will have the same number of items as the
mathematical definitions field. Initially, items (numerical results of the calculations) are
separated by commas. (Use the Remove ‘,’ button 6 to remove the commas if needed.)
In both cases, the variable X can be included in the expressions. The meaning is not
always the same. In the first case, X is an arbitrary independent variable whose values are
defined by the range and interval specified in the fields 16 , 17 , and 18 . In the second
case, X is the first number in the tabular data field 1 .
The variables Y, Y2, etc. are recognized only in the second case. They should not be used
when generating new numbers with the Create Series button 19 .
The variables and function names used in this field are not sensitive to case: x and X refer
to the same variable.
Several examples are provided in the next subsection to indicate how you might use this
field.
16 Start value. This is the value assigned to X for the first row of numbers created in the
tabular data field 1 when you click the Create Series button 19 .
17 End value. This is the value assigned to X for the last row of numbers created in the
tabular data field 1 when you click the Create Series button 19 .
18 Step. This is the interval used to calculate X for every row between the first and last in
the tabular data field 1 when you click the Create Series button 19 .
19 Create Series button. Click to replace the contents of the tabular data field 1 with rows
of numbers. Each row will have one number for each item in the mathematical definitions
field 15 . The number of rows is equal to (End – Start +1)/Step, where the values of Start,
End, and Step are obtained from the fields 16 , 17 , and 18 .
20 Transform Series button. Click to transform the contents of the tabular data field 1 .
When the transformation is complete, each row in the tabular data field will have one
number for each item in the mathematical definitions field 15 . The number of rows in the
tabular data field is not changed. The series Stop, End, and Step fields ( 16 , 17 , and 18 )
are not used in these calculations.

Examples
Generate a Sine Wave
To generate a set of X-Y values that define a sine wave with a period of 2 and an
amplitude of 6, do the following:
1. Set Start X 16 to 0
2. Set End X 17 to 2
3. Set Step DX 18 to 0.1 (this will create a table with 21 points)
4. Define the two variables in the mathematical definitions field 15 :
x, 6*sin(x*6.2832/2)

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5. Set the format string 4 to: 0.##

6. Click the Create Series button 19 .
7. Check your work by clicking the Plot button 10 .

Rescale the Sine Wave

Suppose the sine wave has an amplitude of 6 inches, which must be transformed to
millimeters. Assuming the sine wave from the above example is still in the tabular data
field, the transformation is made with the following steps.
1. Define the transformation in the mathematical definitions field 15 : X, Y*25.4
2. Click the Transform Series button 20 .
3. Check your work by clicking the Plot button 10 .

Create a Third Column for a Second Sine Wave

Now suppose you want the Y values for a second sine wave, with 1/2 the amplitude of
the first.
1. Define the transformation in the mathematical definitions field 15 : X, Y, Y/2
2. Click the Transform Series button 20 .
3. Check your work by clicking the Plot button 10 .

Generate a Circular Path

To generate a set of X-Y coordinates for a 500-ft radius curve, it is convenient to define
both X and Y in terms of a third variable—the angle into the curve. The calculator screen
shown earlier has the settings for this example.
As far as the calculator is concerned, the independent variable (angle into the curve) is
called X. Notice that in this case, the independent variable X is not something that goes
into the table—instead, we want coordinates that depend on the sine and cosine of X.
To create the coordinates at 10-deg intervals, do the following.
1. Set Start X 16 to 0
2. Set End X 17 to 360
3. Set Step DX 18 to 10 (this will create a table with 37 points)
4. Define the two variables in the mathematical definitions field 15 :
-500*cos(x/57.29578),500*sin(x/57.29578)
5. Set the format string 4 to: 0.#
6. Click the Create Series button 19 .
7. Check your work by clicking the Plot button 10 .

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Available Functions
In addition to standard arithmetic operators, the compute button can process the
following functions:
abs(<number>) Absolute value of number.
acos(<number>) Arccosine (number in radians).
asin(<number>) Arcsine (number in radians).
atan(<number>) Arctangent (number in radians).
atan2(<number1>,<number2>) Arctangent of <number1> divided by <number2>
(numbers in radians).
average(<list of numbers>) Returns the sum divided by the number of items in the list
ceiling(<number>) Rounds up to nearest integer.
cos(<number>) Cosine (number in radians).
cosh(<number>) Hyperbolic Cosine (number in radians)
exp(<number>) Exponent (2.7182818) raised to power of number.
floor(<number>) Rounds down to nearest integer.
hypotenuse(<length>,<length>) Length of hypotenuse.
ln(<number>) Natural Log (base e)
log(<number>,<base>) Log of number in base.
max(<list of numbers>) Highest value in list.
min(<list of numbers>) Lowest value in list.
round(<number>) Rounds to nearest integer.
sin(<angle>) Sine of an angle (in radians).
sinh(<angle>) Hyperbolic sine of an angle (in radians).
sqrt(<number>) Square root of a positive number.
sum(<list of numbers>)
tan(<angle>) Tangent of an angle (in radians).
tanh(<angle>) Hyperbolic tangent of an angle (in radians).
truncate(<number>) Truncates to integer.

Location in ArcSim
Accessed from the Tools menu or the ribbon bar with the button:

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File Location
Sgui_lib\calc.tbk

Computation Parameters
Use this screen to set parameters for the numerical integrator and to control the frequency
and format of output.

Discussion
The simulation programs operate by numerically integrating a set of nonlinear differential
equations over time. Over small time intervals, they approximate the integration using a
numerical integration algorithm.
This data screen contains parameters that have little to do with the vehicle model or its
inputs. Rather, they are related to the numerical solution method and to the form of the
output file used to store the computed results.

3
4

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User Settings
1 Integration time step (keyword = STEP). The ArcSim solver programs generate output
file by solving equations of motion in a mathematical model of the vehicle. They repeat
the calculations at small intervals of simulated time, where the interval is called a time
step. The time needed to run a simulation is inversely related to the time step. If you
increase the time step by a factor of two, the program runs about twice as fast because it
only makes half as many calculations. However, the calculation method is valid only for
time steps that are “sufficiently small.” For typical truck models, “sufficiently small”
means about 0.002 seconds. If the springs are unusually stiff, a time step of 0.001 may be
required.
Note: If you are making many runs with a few vehicle descriptions, you
may want to determine how small the time step needs to be. Make
several runs changing only the time step. For example, try using
values of 0.004, 0.002, 0.001, and 0.0005 second. If the runs are
valid, plots of the same variables should overlay perfectly. If the
results at a large time step differ from those made with a small
time step, the typical assumption is that the results made with the
large time step are in error.
2 Integration method (keyword = INTOPT). The ArcSim models have several integration
methods built in. Method 3 (second-order fixed step Runge-Kutta) usually gives the best
results (i.e., run faster) for truck models with closed-loop controls or any form of braking.
However, if you are making runs with step inputs or other conditions where there is some
dynamic behavior followed by many seconds of nearly static behavior, then Method 2
(Gear) may give equivalent accuracy with a bigger time step and less time.
The variable step methods often allow larger time steps to be used, but they fail if the
time step is set too large. Time steps larger than 0.01 sec are likely to cause problems,
except for long runs with little change in the inputs. The limits depend both on the
vehicle parameters and the types of inputs, so trial and error is needed to determine the
largest step size that will work, even when using the variable step methods.
3 Integrator error tolerance (keyword = EPSINT). Not used if 2 is equal to 3.
4 Initial integrator step size (keyword = STEP0). Not used if 2 is equal to 3.
5 Minimum allowable integration step size (keyword = STEPMIN). Not used if 2 is equal
to 3.
6 Number of time steps between output printing (keyword = IPRINT). The time step 1
determines how often calculations are made. The time interval for the output files is the
product of the step and this interval (IPRINT). When the RK2 integration method
(number 2) is used, a print interval between 10 and 30 is recommended. When a variable
step method is used, you can sometimes set the step 1 to be the intended output interval
and set IPRINT = 1.
Notes: This parameter determines the resolution for plots and also the
speed for the animator. To make the animated motions runs faster,

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use a larger value of IPRINT. To run in slow motion (say, to

accurately see wheel rotations) use a small value.
This parameter has only a minor effect on the speed of a simulation
run. However, it has a direct effect on the size of the output files
and the time needed to load them into the plotter or animator. Big
files take longer!
7 Output file format (keyword = FORMAT). It is a keyword (BINARY or TEXT or
ERDTEXT):
BINARY — the solver program creates a binary output file (extension = BIN)
and an ERD header file. This option is the most efficient, resulting in less time
needed to run the simulation and view output, together with less disk space being
needed to store information.
TEXT — the solver program creates a simple text output file that can be imported
into other software packages such as spreadsheets (Excel, Lotus, etc.) and
mathematical analysis programs (MATLAB, etc.). The first line contains short
names for the output variables, separated by commas. The following lines contain
numbers separated by commas. Each row has all the values for a single point in
time. These files cannot be viewed with the animator. WinEP can read text files,
although the plots contain less information because the file has no title, no units,
etc.
ERDTEXT — the solver program creates a text ERD file. It has all the labeling
information required by the animator and plotter, followed by the printed values
of all output variables. These files can be imported into other programs (with
some editing of the header information) and they can also be viewed within
ArcSim using the standard ArcSim controls.
Note: Text files are not recommended for routine use of ArcSim. The
solver programs take longer to write them, and the plotter and
animator programs take significantly longer to read them. Also,
they occupy about three times as much disk space as the binary
files.

Location in ArcSim
ArcSim Startup
Runs
Computation Parameters

File Location
Comp_par\Comp_par.tbk

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Generic 2D Table
Use this screen to store and display tabular data involving two independent variables for
custom ArcSim models. This library is not needed for the standard ArcSim models.

Discussion
All tables in the standard ArcSim models are associated with libraries in the ArcSim data
base. However, ArcSim can be extended to include specialized models, developed by
users or MSC. If the specialize models involve tabular data with two independent
variables, then this library can be used to store the data.
Unlike most of the libraries in ArcSim, each data set in this library can represent a
different kind of data. This is possible because the keyword used by the simulation solver
programs to identify tabular data is a part of the data set.

User Settings
Note: User settings that are common for all 2D tabular data screens are
described in Chapter 7, in the section 2D Tabular Data.

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1 Label for Y axis. This label is not used by the simulation programs. It is a user-comment
field, provided as a means for documenting the information on the screen.
2 Label for X axis. This label is not used by the simulation programs. It is a user-comment
field, provided as a means for documenting the information on the screen.
3 Tabular data. The first row has values of the first independent variable, the first column
has values of the other independent variable, and all other numbers are values of the
dependent variable.
4 Keyword. This keyword is required for a simulation program to make use of the data in
the table 3 . Unlike most ArcSim libraries, the keyword is not hidden. If the keyword in
this field is not recognized by the simulation program, then the data will not be used.

Location in ArcSim
This library does not have a default position in ArcSim. You can link to it from any blue
field in the ArcSim libraries.

File Location
Generic\Gen2dtab\Gen2dtab.tbk

Generic Group Data

Use this screen to create groups of data.

Discussion
There are at least three applications for this library.
1. Create sets of related inputs, such as combinations of braking, steering, and speed.
2. Create sets of vehicle parameters that you want to apply as a group. For example,
you could make a group that applies alternate tire data for every axle in a vehicle.
3. Specify parameter values that do not fit in existing data screens. For the standard
ArcSim package, there are only a few such parameters: friction (MU) and a few
simulation control values (ROLL_STOP, V_STOP). However, if you add custom
vehicle models, created by modifying the ArcSim source code or by contracting
with MSC, then you might want to use this library to set values for additional
parameters that do not exist in the standard models.
When combining parameters and other data sets, be aware that the data are sent to the
solver programs in the same order they are numbered on the screen: top to bottom, then
left to right.
Many of the truck components are used more than once (tires, axles, springs, etc.), and a
keyword is used to determine where the description of the component should be applied.
For example, the keyword IAXLE is used to associate axle-related data sets to axles. Put

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the line “IAXLE 3” in a yellow field, and then any links that follow will be associated
with axle 3. The screen layout includes six pairs of yellow fields and blue links.
Therefore, it is possible to specify data for six different places.
The best way to determine how keywords are used to locate data sets is by viewing an
echo file produced by the simulation program you will use (see Appendix D for an
example echo file).

1 1

2 2

1 1

2 2

1 1

2 2

User Settings
1 Miscellaneous parameter set fields. Enter keywords and the value you want assigned to
them. The format is that each line has a keyword and value, separated with white space
(at least a single space). These keyword values for vehicle units (IUNIT, IAXLE,
ISIDE) until the keyword is used again.
2 Links are used to include other ArcSim data sets.
Note: You can link to other generic data groups, if the number of fields
and links on the screen is not sufficient.

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Location in ArcSim
This library does not have a default position in ArcSim. You can link to it from any blue
field in the ArcSim libraries.

File Location
Generic\Gendata\Gendata.tbk

Generic Table
Use this screen to store and display tabular data involving a single independent variable
for custom ArcSim models. This library is not needed for the standard ArcSim models.

Discussion
All tables in the standard ArcSim models are associated with libraries in the ArcSim data
base. However, ArcSim can be extended to include specialized models, developed by
users or MSC. If the specialize models involve tabular data with one independent
variable, then this library can be used to store the data.

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Unlike most of the libraries in ArcSim, each data set in this library can represent a
different kind of data. This is possible because the keyword used by the simulation solver
programs to identify tabular data is a part of the data set.

User Settings
Note: User settings that are common for all tabular data screens are
described in Chapter 7, in the section Tabular Data.
1 Keyword. This keyword is required for a simulation program to make use of the data in
the table 4 . If the keyword in this field is not recognized by the simulation program,
then the data will not be used.
2 Label for Y axis. This label is not used by the simulation programs. It is a user-comment
field, provided as a means for documenting the information on the screen.
3 Label for X axis. This label is not used by the simulation programs. It is a user-comment
field, provided as a means for documenting the information on the screen.
4 Tabular data. The first row has values of the first independent variable, the first column
has values of the other independent variable, and all other numbers are values of the
dependent variable.

Location in ArcSim
This library does not have a default position in ArcSim. You can link to it from any blue
field in the ArcSim libraries.

File Location
Generic\Gentable\Gentable.tbk

Input: Braking
Use this screen to specify the braking application input to the brake system in terms of
control pressure as a function of time.

Discussion
You can control braking by applying effort at the brake pedal. The brake pedal output is a
control, or application, pressure that is applied to the brake system. It is described via a
table look-up function of brake input pressure as a function of time. The plot’s vertical
axis is the same as the horizontal axis on the Brakes: Mechanical Properties screen, and
therefore, the dimensional units must be the same on both screens.

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User Settings
Note: User settings that are common for all tabular data screens are
described in Chapter 7, in the section Tabular Data.
1 Table field for brake input pressure (keyword = PBRAKE_TABLE). Each line should have
a value of time (seconds) followed by a corresponding value of braking input. The
normal units for brake input are psi. However, the important thing is that the units on this
screen match those used for the brake system mechanical properties.

Location in ArcSim
ArcSim Startup
Runs
Input: Braking

File Location
Input\Braking\Braking.tbk

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Input: Closed-Loop Speed Control

This screen is used to define target speed as a function of time for closed-loop speed
control.

2
4

Discussion
Although the ArcSim vehicle simulation models do not have details of a driveline, the
effect of a driver attempting to maintain a target speed is simulated through the use of a
closed-loop speed controller that applies torque to the drive wheels as needed to follow a
specified speed. The drive torque causes the wheel spin to increase, resulting in tire
tractive force that acts to change the vehicle speed. For modest drive torque, the tire
forces should be approximately the same as would be obtained with a full drive line
model.
The controller algorithm uses proportional-integral (PI) control. It is characterized by two
feedback coefficients: one is proportional to the current speed error, and the other is
proportional to the integral of the speed error.
The controller functions only if there is no brake input. As soon as the brake input is non-
zero, the speed controller is turned off for the remainder of the simulation run.

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User Settings
Note: User settings that are common for all tabular data screens are
described in Chapter 7, in the section Tabular Data.
1 Two-column table of target speed as a function of time (keyword = SPEED_TABLE).
Time is in seconds, and speed has units of mi/h.
2 Controller on/off switch (keyword = SPEED_ON_OFF). This value determines whether
the controller is on or off. 0=off, 1=on. If the switch is off, the vehicle initial speed is set
to match the target speed, but no drive torque will be applied during the run.
3 Speed control integral gain (keyword = SPEED_KI). This value is the integral control
coefficient. It is scaled to correspond to a response frequency, with units of cycles/sec.
Typical values are about 0.1. Setting the value higher causes the drive torque to be
modulated more aggressively to maintain a smaller position error. If the number is too
high, the changes in drive torque will become unrealistically high. If the number is set
low, the position error is larger, and the actual speed may not match the target speed.
4 Speed control proportional gain (keyword = SPEED_KP). This value is the proportional
control coefficient. It is scaled to correspond to a response frequency, with units of
cycles/sec. Typical values are about 0.1. Setting the value higher causes the drive torque
to be modulated more rapidly. Although this gain controls the speed of the controller
response, it does not force the speed error to zero. To make the vehicle speed match the
target speed, integral control is needed 3 .

Location in ArcSim
ArcSim Startup
Runs
Input: Closed-Loop Speed Control

File Location
Input\Speed\Speed.tbk

Input: Steering Wheel Angle

Use this screen to define the steering wheel input as a function of time for open-loop
steering maneuvers via a table look-up.

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Discussion
The steering is controlled either by defining steering wheel angle as a function of time or
by a path that the vehicle is supposed to follow. This library contains open-loop time
histories of steering wheel angle that can be used to control vehicles.
Steering control is an input that appears on the left of the Runs screen. To use the
steering wheel input, the open-loop library must be linked as one of the inputs. The
easiest way to make a new run using steering wheel input is to find an existing run made
with a steering input involving the vehicle type of interest and copy that run. However, if
there are no existing runs close to what you need, then you should:
1. Link to this library using one of the input links on the Runs screen, and
2. Make sure you are not linked to an closed-loop path following data set.
See the section Data Links in Chapter 7 for details on changing links.

User Settings
Note: User settings that are common for all tabular data screens are
described in Chapter 7, in the section Tabular Data.

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1 Table of values of steering wheel angle as a function of time (keyword =

STEERSW_TABLE). Time is in seconds and the steering wheel angle is in degrees.

Location in ArcSim
ArcSim Startup
Runs
Input: Steering Wheel Angle

File Location
Input\Steering\Steering.tbk

Library Editor
The Library editor is a tool built into ArcSim to help you organize libraries by
performing batch delete and renaming operations.

Discussion
The Library editor is available from any ArcSim library through the ribbon bar and the
Tools menu. When you bring it up, it automatically links to the current library. Use it to
delete a group of data sets from the library, or to organize data sets into categories.

1 2

3 4

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User Settings and Controls

1 Link to a library. You can edit one library at a time, and this blue field shows the one that
is active. When the editor is opened, the current library is loaded into this link.
Note: Items 1 and 2 are similar to the ubiquitous blue link. However,
instead of this being a link to a data set, it is a link to the entire
library. Rather than showing the name of a data set, it shows a
pathname to a library file. The pathname is relative to the root
ArcSim folder. For example, if the root ArcSim folder is
c:\ArcSim, then the relative pathname runs\runs.tbk refers
to the file: c:\ArcSim\Runs\Runs.tbk.
2 Triangle button. Press this button to bring up a command for changing the library link
shown in 1 .
3 Change Category button. Click this to change the category for all data sets currently
selected in 5 . It calls up a dialog box for you to enter a new category name and then
modifies the category field for the selected data sets. The result is the same as if you went
to each data set and changed the category field.
Note: Categories are solely for grouping the data sets in the library and
have no impact on the data set name or parameter values. This
change has no effect on parameter values. It only affects how the
data sets are grouped in pull-down menus.
4 Delete button. This button will remove all data sets currently selected in 5 . This is the
same as going to each data set and clicking the Delete button for that screen. A warning
message appears, giving you a chance to back out. Be aware that there is no un-do option:
once the data sets are deleted, they are gone!
5 List of data sets from the linked library. The buttons 3 and 4 affect the data sets that
are highlighted. Select data sets by clicking on them. Use shift-click to select a
continuous range, and use control-click to select lines that are not consecutive.

Location in ArcSim
Accessed from the Tools menu or the ribbon bar with the button:

File Location
This editor is not contained in a conventional ArcSim library file. It is stored with SGUI
code in Sgui_lib\Bootfile.tbk.

Load Dimensions
Use this screen to define the load (cargo) dimensions on a truck or trailer.

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Discussion
Use this screen to define the load (cargo) dimensions on a truck or trailer, so that the base
vehicle can be specified and then conveniently loaded to different conditions. The
dimensions specified needed to calculate the height of the center of gravity (CG) for the
vehicle and the rotational inertia. The load is assumed rectangular in shape and uniform
in.
The mass value for the load is determined elsewhere—based on the difference between
weights of the loaded and unloaded vehicle(s). The longitudinal position of the load CG
is also determined elsewhere, based on the axle load distribution for the loaded vehicle.

User Settings
1 Width (lateral dimension) of the load (keyword = LYRL(1)).
2 Length (longitudinal dimension) of the load (keyword = LXRL(1)).
3 Height (vertical dimension) of the load (keyword = LZRL(1)). This value is important
because it determines the height of the mass center of the load.
4 Elevation of the bottom of the load above the floor of the cargo bed (keyword =
HLLB(1)). The floor of the cargo bed is specified in the Empty Truck or Empty Trailer
screen. This value is also important because it contributes to the height of the mass center
of the load.

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Location in ArcSim
ArcSim Startup
Runs
Vehicle: (loaded truck or combination vehicle)
Load Dimensions

File Location
Vehicles\Loads\Loads.tbk

Plot Format
The format screen determines the style and layout properties of a plot. The formats cover
line style, scaling, front properties, size, and axis type.

Discussion
The WinEP program supports a number of options for controlling the format of the
generated plots. As was described in Chapter 6, dialog boxes are used for setting all
options interactively, and those options can be stored in text files for future use.
This data screen is also used to specify plotting formats. Every user setting on this screen
can also be set interactively from within WinEP. However, when set here, the formatting
information is stored in the ArcSim data base and can be applied easily to any plots
initiated from within ArcSim (clicking the Plot button from the Runs screen or the Plot:
Batch Setup screen).

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8
2 2
9
1
10
3 3
11
4 4 12

User Settings
1 Lines and symbol specification (keywords = symbols, linestyl, colors). Clicking
on a number or line will bring up the Lines palette, shown in the next figure. The palette
applies to one line number, which will be highlighted. For example, line 2 is selected in
the following figure.

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Choose the color, line style (dotted, thin, thick), and the symbol for the selected line. To
change a different line, click on a different line number, or use the up and down arrow
keys. To change all of the lines at once, hold down the control key when selecting the
style, color or symbol.
2 Axis type (keywords = xlinear, ylinear). Each white field has an adjacent button
with a pull-down menu with choices for Linear and Log.
3 Mode of scaling (keywords = xmaxmin, ymaxmin). Each white field has an adjacent
button with a pull-down menu with choices for Auto-pretty and Manual. In the auto-
scaling mode, the data are scanned to determine the maximum and minimum values for
the axis. Manual uses the values in the From and To fields 4 .
4 Axis limits (only used in Manual scaling mode).
5 Change Fonts button. Press the button to display a pull-down menu for selecting font
properties for the title, legend, axes labels, and axis numbers. These parts of the plot are
identified in the next figure. A standard Windows dialog box for specifying font
properties then appears and is used to specify the font properties.
6 Current font settings. The table shows the current font settings for the four types of labels
appearing in the plot. You cannot change the values shown directly — you must go
through the Change Fonts button 5 .
7 Check boxes for labeling options. When more than one data set is plotted, the individual
data sets are identified with a legend. These check boxes control which labels are used to
identify the plots. Along with title and file name are variable or channel specific
information including name, long name, generic name, and rigid-body name.

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Title
Y axis label

Legend

Tick labels

X axis label

Labels in a plot.

8 Axis selection. The button has a pull-down menu with two options: no axes or axes. The
current selection is shown in the white field.
9 Frame selection. The button has a pull-down menu with three options: no surrounding
frame, a rectangular frame, or a frame with tick marks. The current selection is shown in
the white field.
10 Grid selection. The button has a pull-down menu with three options: no grid, fine grid, or
course grid. The current selection is shown in the white field.
11 Legend location. The button has a pull-down menu with two possible locations for the
legend that identifies data sets in overlay plots. The choices are to the right of the plot, or
four locations within the plot area. The current selection is shown in the white field.
12 Legend size limit. When two or more data sets are overlaid, and the legend is located to
the right of the plot area, WinEP sizes the plot area to leave just enough room to print the
legend. In the event that at least one of the labels in the legend is long, or that the window
is not very wide, then little space is available for the plot. This field is used to set a
maximum amount of the total window width that will be used for the legend.
This setting has no effect unless three conditions are met:
1. At least two data sets are overlaid in the plot.
2. The legend is placed to the right of the plot (as specified in 11 ).
3. The length of the longest label in the legend exceeds the specified percentage of
the window width.

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If the above three conditions are met, then the plot is sized giving the legend the specified
amount. For example, if the limit is set to 30%, then the plot area is size to leave exactly
30% of the width for the legend. The labels that are too long are truncated to fit.

Location in ArcSim
ArcSim Startup
Runs
Plot Setup: Single
Plot Format

File Location
Plot\Format\Format.tbk

Plot Setup: Batch

The batch plot screen is used to combine a list of runs with a list of plot conditions to
automatically generate a set of plots.

1 7

3 4 5
9 10

12
6
13
11
14

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Description
The standard Runs screen allows multiple plots to be specified, and multiple runs to be
overlaid. However, it is limited to four plot setups and three runs. If you want to trigger
more plots with one button click, or overlay data from more than three runs, you can do it
from this library.

User Settings and Controls

1 Runs Library link. The pull-down menu has two options: (1) to go to the currently
selected library, or (2) to pick a new library. The linked library must be a runs or
simulation library that has corresponding ERD files. When you pick a new library, the
field below is updated to show the names of all of its data sets.
2 The Runs list. List of all of the data sets in the Runs library. Any line in brackets (<>)
indicates a category heading. Double-click on a line to add to the Selected Data Files list
6 .

3 The Add button. Click to add highlighted lines from the Runs list 2 to the Selected
Data Files list 6 . Shift-click to add all.
4 The Remove button. Click to remove highlighted data sets from the Selected Data Files
list 6 . Shift-click to remove all.
5 The Add ERD File button. Calls up a dialog box for you to select ERD files that are
added to the Selected Data Files list 6 . The dialog box will continue to request
selections until you click the Cancel button.
6 The Selected Data Files list. List of the selected data sets from the Runs list. These are
the data sets that will be plotted. Any line in brackets (<>) indicates a category heading.
Double-click on a line to remove from the list.
7 Plot Setup link. The pull-down menu has two options: (1) to go to the currently selected
library, or (2) to pick a new library. The linked library must contain plot setup
information. When you pick a new library, the field below is updated to show the names
of all of its data sets.
8 The Plot Setups list. List of all of the plot setups in the EP setup library. Any line in
brackets (<>) indicates a category heading. Double-click on a line to add to the Selected
Plots list 11 .
9 The Add button. Adds highlighted lines from the Plot Setups list 8 to the Selected
Plots list 11 . Shift-click to add all.
10 The Remove button. Removes highlighted data sets from the Selected Plots list 11 .
Shift-click to remove all.
11 The Selected Plots list. List of the selected plot setups in the EP setup library. These are
the plot setups that will be used for the plots. Any line in brackets (<>) indicates a
category heading. Double-click on a line to remove from the list.

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12 The One Plot Per Data File button. Click to cause the next set of plots to be made with a
separate plot for each combination of a run and plot setup. The total number of plots will
be the number of data sets multiplied by the number of selected plots.
13 The One Plot For All Data Files button. Click to cause the next set of plots to be made
by overlaying all runs for each plot setup. The total number of plots will be the number of
selected plots.
14 The Make Plots button. Click to start the program WinEP and instruct it to make a series
of plots based upon the selected runs, plot setups, printing and overlay options selected.

Location in ArcSim
Accessed with the Tools menu or the ribbon bar button: 17

File Location
Batch\Plot_bat\Plot_bat.tbk

Plot Setup: Single

The data sets in this library each define a graphical plot with specifications of the data
(channels and files) to plot, formatting preferences, and filtering (transform) options.

Discussion
This data set is a template, used to specify what a plot should contain and how it should
look. The template is applied from the Runs screen and the Plot Setup: Batch screens.
Plots can also be made directly from this library, but this is mainly for quick testing of
new data sets.
ArcSim comes with over 20 installed plot templates. You can modify any of these, plus
you can define new ones. Once a template is defined, it can be selected from the Runs
screen and applied routinely to all runs to generate plots.

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13

2 3 4 5 6 7

10

14

11

12

User Settings and Controls

1 The Data to Plot list. This is the list of variables and file names that will be plotted when
the Plot button is clicked. Each line contains the Y axis variable, the X axis variable, the
title of the data file, and the file name. The lines in this field can be selected, but not
edited directly. They are added and deleted using the buttons underneath. All lines in this
field are used in the plot whether they are selected or not.
When the setup is applied from another library such as the batch plotter, the runs screen,
etc., the file information is ignored and only the X-Y channel pairs are used.
2 Apply button. If you have already selected several sets of X-Y channels to plot from one
run (file) you can click this button to put exactly the same X-Y channels into the Data to
Plot list 1 for the current run (file).
3 Delete button. Click to remove highlighted lines in the Data to Plot list 1 .
4 Clear button. Click to remove all lines in the Data to Plot list 1 .
5 File button. Click to bring up a dialog box to locate an ERD file. The names of all
variables are then loaded and displayed in the X Axis and Y Axis fields ( 13 and 14 ).
6 Plot button. Starts the program WinEP and generates a plot defined by the channels and
files specified in the Data to Plot list 1 , the format 11 , and the data transform 12 .

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7 Add button. Click to add the selected channels in the X and Y axis lists ( 13 and 14 ) from
the ERD file 9 to the Data to Plot list 1 .
8 Show Channels button. Puts the channel names from the current data file 9 into the X
Axis and Y Axis fields ( 13 and 14 ).
9 Link to Runs library or ERD file. Shows the title of the currently selected run or ERD
file. If the data set was selected from a data library, only the title is shown. If an ERD file
was selected directly with the File button 5 , both the title and file name are shown. You
can also select a new ERD file with the adjacent pop-up menu.
10 Data file information. The field on the left shows the text following the keyword
HISTORY in the header of the data file. The field on the right gives the number of
samples in the data file.
11 Format link. The linked data set determines the look and scale of a plot. For more
information about the Format library, see the section Plot Format Screen in this chapter.
12 Transform link. This is for applying a filter to the data for plotting. The available filters
are moving average high, low, and band pass.
13 Y Axis list of variables. This shows all the variables in the current data file. Double click
on a line to add it and the line highlighted in the X Axis list to the Data to Plot list 1 .
14 X Axis list of variables This shows all the variables in the current data file. Double click
on a line to add it and the line highlighted in the Y axis list to the Data to Plot list 1 .

Making a Plot
Most plots are made from other screens, using the Plot Setup data as templates.
However, it is also possible to generate plots directly from this screen.
1. Click the Clear button 4 to clear the Data to Plot list 1 .
2. Select a file with data to plot.
a. Use the pop-up menu button 9 to select a data file from a library by its title, or
b. Use the File button 5 to select a file by its name.
3. Select the variable to plot on the Y axis and the variable to plot on the X axis from the
two scrollable lists (Y axis 13 and X axis 14 ) on the right side of the screen
4. Click the Add button 7 to add the selected X-Y variables from the current file to the
Data to Plot list 1 .
5. Repeat steps 3 and 4 as needed to select more variables. Repeat step 2 to overlay data
from another file.
6. Click the Plot button 6 to generate the plot with WinEP.

Location in ArcSim
This library is accessible from several places in ArcSim.

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1. Accessed from the ribbon bar with the button:

2. Accessed with the Tools menu.
3. Accessed from the Plot Setup: Batch screen.
4. ArcSim Startup
Runs
Plot Setup: Single

File Location
Plot\Plot.tbk

Plot Transforms
This screen is used for setting up plots with smoothing (low pass filter) and unsmoothing
(high pass filter).

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Discussion
Filtering is normally used to view measured data. It is not routinely applied to simulation
results generated by ArcSim models. However, it is useful if you have occasion to view
experimental data with WinEP.

User Settings
1 Filter type. Press adjacent button to display pull-down menu with choice of LoPass,
HiPass, BandPass, or no filter. See the above screen for more details.
2 High-pass baselength. This is a baselength for a moving average when the filter type is
either high-pass or band-pass. For no filter or a low-pass, this field is hidden.
3 Low-pass baselength. This is a baselength for a moving average when the filter type is
either low-pass or band-pass. For no filter or a high-pass, this field is hidden.

Location in ArcSim
ArcSim Startup
Runs
Plot Setup: Single
Plot Transform

File Location
Plot\Transfrm\Transfrm.tbk

Runs
This is the main screen in ArcSim. It has two functions:
1. to set up simulation runs and make them, and
2. to run post-processing programs to view results
Note: The Runs Screen has several possible appearances depending on
whether various check boxes are checked. The first figure shows
the simplest display. The most complex is shown later, after the
basic controls have been described.

Discussion
The Runs screen controls all aspects of a ArcSim simulation. Notice that the screen
image is divided into three regions
• Model Parameters & Inputs — this has links to inputs to the computer model.
They include the vehicle and control inputs.

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• Run Control — here are parameters that control the extent of the run, and a
button to make the run.
• Output & Post Processing — this has controls for viewing outputs generated by
the run.
The Runs screen is special within ArcSim because it has several buttons that cause other
programs to run and do things (simulate a vehicle, animate results, show graphs of output
variables). However, like all the other screens covered in this chapter, it also defines a
data set within a library. In this case, the data set defines the conditions covered by a run.
Data in the left-most two regions do not have anything to do with outputs of a run. They
define the inputs and parameters that will be used in the computer model if and when a
run is made. In order to have an effect, changes must be made before a run is made. At
any time: (1) any of these inputs can be changed, and (2) a new run can be made. The
simulation program will always get its inputs using the current data from this screen.
On the other hand, settings in the right-most region have no use until after a run is made.
Linked data sets control the appearances of plots and animations. Changes in data in this
region do not affect a simulation. They only affect how the simulation results are viewed.

1 3 7

2 8
4 5
2 6
9
11
2 10
12
13

14

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User Settings and Controls (Simple Display)

1 Link to vehicle data set. As shipped, various data sets in the Runs library have links to all
kinds of vehicles that are supported by ArcSim.
The type of vehicle is shown as a sub-title above the blue field. In the figure, the type is
3A-tractor 2A-trailer.
If you want to simulate a different type of vehicle, the recommended method is to:
1. find an existing Runs data set that is already set up to simulate the desired
type of vehicle, then
2. copy the data set by clicking the New button (to avoid overwriting previous
simulation results), and then
3. modify the copied data set as desired for the new run.
2 Links to screens for inputs and disturbances. The main inputs used in ArcSim are
braking, steering wheel angle, speed control, and path input (closed-loop steering
control).
Not all inputs are used all the time. For example the vehicle can be steered according to a
prescribed table of steering wheel angle vs. time values, or it can be steered by a driver
model attempting to follow a prescribed path of X-Y coordinates. However, it can only
operate in one mode during a single run. Therefore, it makes no sense to link to both a
library of steering wheel angles and a library of input paths.
The speed control library is recommended only when you want to simulate the vehicle
changing speed according to a prescribed table of speed vs. time values. For constant
speed runs, it is simpler to enter the target speed in the yellow field 4 .
3 Run Simulation button. Click to run the appropriate vehicle simulation program using
the current model parameters and inputs.
4 Initial speed (keyword = SPEED). If a speed is entered into this field, the simulation
models normally apply a closed-loop speed controller to maintain this speed until the
brakes are applied. Speed has units of mi/h.
Whenever a speed is entered into this field, any speed tables specified in the input links
2 are not used. In order to specify a variable speed input, you must both

1. make sure that the field 4 is blank, and

2. link to an input speed table with one of the input links 2 .
5 Simulation stop time (keyword = STOPT). The simulation will not run past this time. Be
aware that the models have other conditions for stopping, such as coming to a stop in a
braking run, or rolling over. Therefore, the run will not always reach this value.
6 Computation Parameters link. The linked data set specifies the integration time step,
the print interval, the type of integration, and related parameters.

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7 Animate button. Click to run the animator program and view motions of the vehicle as
predicted by the simulation. An error message will be printed if the output file does not
exist, which usually indicates that the run has not yet been made.
8 Animator Setup link. The linked data controls how the animator interprets the outputs
produced by the simulation program.
The animator data set selected with this link must be appropriate for the type of vehicle
that was simulated. For example, if the animator is given data for a tractor semitrailer, but
the simulated vehicle was a truck, then the animation will show a tractor driving away
from a non-moving trailer and some of the axles. This is because the output file has no
information for the trailer and extra axles.
9 View Echo File (All Parameters) button. This button causes a text editor to run and
display an echo file produced by the simulation program. When shipped, the text editor is
a special data screen bult into ArcSim.
The echo file has the extension LPF, and is similar to the file listed in Appendix D. If the
run has not yet been made, or if it aborted without writing the LPF file, then the text
editor will show a blank window.
If you click this button and get an error message or a file browser dialog, then ArcSim
could not find the text editor.

If you want to change the default text editor, you can Control-click the button to bring up
the file dialog.
There are at least two options for rapidly linking to a text editor using the above dialog:
1. If you use large tables, the echo files may be larger than 32K and you should link to
WinPad. It is usually located in c:\Program Files\Accessories\
Winpad.exe. Another choice is NotePad, which is commonly located in
c:\Windows\Notepad.exe.

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2. If you want to restore the editor to the default built into ArcSim, change the file
name from *.exe to *.tbk, locate the file sgui_lib\textedit.tbk, and
select it.
10 Plot button. Click to view a plot of output variables calculated during the simulation run.
The plots are drawn by the WinEP program. An error message will be printed if the
output file does not exist (for example, if the run has not yet been made).
Up to four separate plots can be generated (each with many variables, taken from up to
three runs). In order to generate more than one plot, the Multiple Plots box 11 must be
checked.
11 Multiple Plots check box. This check box has two effects:
1. When checked it displays three plot setup links in addition to the first one 13 .
2. When checked, it allows up to four plots to be created with a single click to
the Plot button 10 .
If the box is not checked, the additional plot links are not cleared, they are just hidden.
12 Overlay Runs check box. This check box has two effects:
1. When checked it displays two links for other runs or ERD files.
2. When checked, it allows data from up to three files to be overlaid. (One file is
the output associated with the current Runs data set. The other two are
specified with the additional two links.)
If the box is not checked, the additional links are not cleared, they are just hidden.
13 Plot Setup link. The linked data controls what information will be extracted from the
output file and how that information will be displayed.
14 Show More check box. This check box has a single effect: it shows more control objects.

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1 3 7

2 8
4 5
2 6
9
11
2 15 10
12
13
17
16 23
18
23
20
23
21
24
19
22 24

14

Note: The above figure shows the Runs screen with all three boxes
checked. All possible data fields and links are displayed.

Additional User Settings and Controls

15 Simulation Type link. This shows the current type of simulation model. As shipped,
ArcSim has a single type: 3D Vehicle Dynamics. However, custom versions may have
modified or extended models.
The triangle button displays a pull-down menu with options for adding and deleting
simulation types, and for locating the simulation solver program (extension EXE). Unless
you add new solver programs, you should never use this menu. In fact, the menu is
disabled unless the check box for Advanced Users is checked in the Preferences screen.
16 Misc. Data field. This is a field where any parameters can be set. The format is a
parameter name and then at least a single blank space and then the parameter value. This
field can contain any text that would be recognized by the simulation program. See
Appendix D for a list of all the keywords and parameters that can be specified.
One parameter that is commonly set here is the tire/ground friction coefficient, MU.
17 Based On link. This link is sometimes used to base a new run on the data from an old
run. If a new run is made, all model parameters and inputs from the old run will be read
by the solver program before any of the inputs from this data screen are read. The final

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conditions from the other run are also read, which means that the new run will continue
where the old one left off. Any inputs specified on this page will overwrite the data from
the previous run.
This link is provided for special applications. (Most users never need it.) A few cases
where you might consider using it are:
• to continue a run, perhaps after changing one or more model parameters;
• to make a run using a vehicle description whose parameter values have been lost
(the based on method reads from an LPF echo file, rather than the normal PAR
files associated with the SGUI screens); or
• for certain debugging operations, such as confirming that the parameters specified
in the screen are being processed by the solver program.
18 Overriding Data link. This link is used by the system when batch runs are made using
the Runs: Batch library. If a run is made under batch control, this link can be used to go
to the batch data set.
19 Excerpts from Output File. This field shows selected lines from one of the output files
produced by the solver programs. It is updated whenever a run is made or when the
Rescan button 22 is clicked.
20 File extension. This determines which echo file is scanned when a run is made or the
Rescan File button is clicked. The normal values are LPF (scan the file made with final
conditions), or LPO (scan the file made with initial conditions).
21 Keywords field. Each line in this field is a keyword that will be used to scan an output
echo file whenever a run is made or when the Rescan button is clicked.
22 Rescan button. Click this button to cause ArcSim to scan a file for lines beginning with
the keywords listed in the Keywords field 21 . Those lines are copied into the adjacent
white field 19 . The file that is scanned has a root name matching the ID of the current
data set and the specified extension 20 .
23 Additional Plot Setup links. These links are to plot data, similar to that in 13 . A separate
plot will be generated for each active link.
24 Overlay Run links. These links are used to generate overlay plots, in which variables
from the current simulation run are compared with the same variables from other files. To
overlay variables from two or three simulation runs, link to this library (Runs) and then
pick another run to compare with. To overlay variables with ERD files not from this
library (for example, measured test data), use the menu command to open an ERD file.

Location in ArcSim
Accessed from the Tools menu and the ribbon bar button:
Also accessed from the ArcSim Startup screen:
ArcSim Startup
Runs

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File Location
Runs\Runs.tbk

Runs: Batch
The batch runs screen is used to set up several runs ahead of time and make them all at
once. It also can be used to override parameters.

Discussion
This screen is used to set up a batch of runs. It is handy for redoing a group of runs, say,
because an error was made in a vehicle parameter value. It can also be used to change a
parameter such as test speed, and make a set of runs again using the new parameter.
The basic method is:
1. Create a list of runs to be made using existing data sets from the Runs library.
2. Define parameters and link to other data sets to override the conditions specified
in the Runs data sets.
3. Click the Make Runs button.

1
6

2
7

7
3 4

6
5

8
7

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If no overriding data values or links are provided in step 2, the effect is exactly the same
as going to each of the data sets from the Runs library and making the run again.
However, if any parameters are specified or links are made, each data set in the Runs
library is modified to use the overriding data. A link called Overriding Data (from
Batch) is made to this data set. For example, in the figure above, the name of the data set
is Example, and one of the yellow fields is used to specify a speed of 20. If any runs
were made, each affected run would have the following link set automatically:

This link is made so you can get from the runs data set back to the batch data set and see
what parameters and links were used when the run was made.

User Settings and Controls

1 Runs link. In order for the batch run option to work, a link is needed to an existing Runs
library (e.g., Runs\Runs.tbk). When this data set is opened, the linked library is
automatically scanned by ArcSim, and the names of all data sets are listed in the field
below 2 . The adjacent triangle button has a pull-down menu that can be used to link to a
different Runs library.
2 The Data Sets From Runs Library list. This is a list of all of the data sets in the Runs
library whose local pathname is shown above 1 . Any line in brackets (<>) indicates a
category heading.
Double-click on a line to add that run to the list named Data Sets to Run 5 . This is the
same as selecting the line and then clicking the Add button 3 . Double-click on a line in
brackets (<>) to add all runs in the category to the list 5 .
3 The Add button. Click to add the currently highlighted lines from the Data Sets From
Runs Library list 2 to the Data Sets to Run list 5 . Shift-click to add all runs.
4 The Remove button. Click to remove highlighted data sets from the Data Sets to Run
list 5 . Shift-click to remove all.
Note: The Remove button only affects the list of Data Sets to Run 5 .
No data sets are deleted from the data base.

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5 The Data Sets to Run list. This is a list of the selected data sets from the Runs library.
These are the data sets that will be run using the overriding data to the right ( 6 , 7 ).
Any line in brackets (<>) indicates a category heading.
Double-click on a line to remove it from the list. This is the same as selecting the line and
then clicking the Remove button 5 . Double clicking on a line in brackets will remove
the entire category.
6 Parameter Sets (1, 2, and 3). These lists hold overriding data. If used, each line typically
has a keyword followed by a value. For example, to set the speed, enter the line speed
60. See Appendix D for the keywords recognized by ArcSim models.
Any parameters specified in these fields will be used instead of the ones referenced in the
Runs data set, or in data sets linked to the Runs data set.
This field should be left blank if you do not want to modify the input parameters or
model descriptions for the runs to be made.
7 Links (1, 2, and 3). Use these links to apply data from any other ArcSim library. If the
data in the library can be applied to different parts of the vehicle (for example, a tire
description can be applied to any of the axles on the vehicle), a reference to a part of the
vehicle must be specified in the preceding Parameter Set 6 .
8 The Make Runs button. Click to run all of the data sets listed in the Data Sets to Run
list 5 . Hold down the control key to interrupt the runs in progress.

Location in ArcSim
Accessed from the Tools menu and the ribbon bar button:

File Location
Batch\Runs_bat\Runs_bat.tbk

Springs
The Springs Screen is used to specify the force-displacement properties of the springs
used on a truck suspension system, including their friction.

Discussion
Trucks commonly use leaf springs in their suspensions. Leaf springs may have a high
level of interleaf friction which makes the suspension spring force dependent on past
motion. The simulation model use the UMTRI leaf spring model, which allows the spring
force to be dependent on where it is in its displacement and the direction it is traveling.
The rate at which force builds up with deflection when the motion direction is changed is
specified by the Beta value.
The spring model and its parameters are defined mathematically in Appendix E, along
with the rest of the vehicle model.

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In the event a suspension uses an alternate type of spring (e.g., air, torsion-bar) the same
representation can be used. The availability of non-linear rates and hysteretic friction
simply allows you, the user, to model them more precisely.
If it is anticipated that the suspension may hit its bump stops in the maneuver being
simulated, these can be incorporated in the spring model by an increase in spring rate at
the deflection point at which the bump stops are encountered.

2
3 3

User Settings
Note: User settings that are common for all tabular data screens are
described in Chapter 7, in the section Tabular Data.
1 Table field for envelope of spring force as a function of compression (keyword =
SPRING_UPPER_ENVELOPE). This represents the force vs. deflection that would be
measured while the spring is moving in compression (jounce).
2 Table field for envelope of spring force as a function of rebound (keyword = SPRING_
LOWER_ENVELOPE). This represents the force vs. deflection that would be measured
while the spring is moving in extension (rebound).
3 Upper Envelope and Lower Envelope radio buttons. Click in the plot area (with the
Locked box of the ribbon bar not checked) and the deflection-force coordinates of the

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point where you click are appended to one of the table field: 1 or 2 . These two buttons
determine which field is active. The numbers are appended to the field whose associated
radio button is selected.
4 Show Extra Data check box. Check the box to see additional information that can be
kept with the spring data. None of the additional information is used by the ArcSim
simulation models.

5 Beta parameter (keyword = SPRING_BETA). This is approximately 1/3 the distance

needed to travel through a spring hysteresis (friction) loop. This parameter is described
mathematically in Appendix E.

Location in ArcSim
ArcSim Startup
Runs
Loaded vehicle descriptions (Truck or combination vehicle)
Unit vehicles (unloaded truck, tractor, or trailer)
Suspensions
Springs

File Location
Vehicles\Parts\Susp_trk\Sprg_trk\Sprg_trk.tbk

Steering System
This screen is used to define the essential geometry and compliance coefficients of the
steering system.

Discussion
The geometry and compliance of the steering system strongly influence the vehicle’s
directional response. The geometry at the road wheels (caster angle, kingpin inclination
angle, and kingpin offset) influence the torque about the steer axis generated by the
forces and moments imposed at the tire contact patches. The combined torque from both

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wheels reacts against the compliance of the steering linkages causing the road wheels to
deviate from the command steer angle input at the steering wheel.
When the suspension deflects in jounce (compression) and rebound (extension), errors in
the geometry can produce steer inputs known as bump steer. With brake application the
axle wrap-up in the pitch direction can introduce further steering deviations, as well as
change in the caster angle. The parameters needed to model these effects are provided on
this screen.

3
4
5

6
1 7
8
2

10

10

11

11

User Settings
1 Steering torsional compliance (keyword = CSMZS). Compliance of the linkages between
the steering wheel and the left road wheel. The compliance is expressed in terms of the
steer that results due to torque applied to the wheel.
2 Tie rod torsional compliance (keyword = CSMZR). Compliance of the tie-rod linkage
connecting the left and right road wheels. The compliance is expressed in terms of the
steer that results due to torque applied to the wheel.
3 Kingpin offset (keyword = LKPO(1 or 2, 1 = Left wheel, 2 = Right wheel)). Lateral
distance between the kingpin axis and the center of the wheel on the wheel spin axis.

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4 Kingpin inclination (keyword = AKPI(1 or 2, 1 = Left wheel, 2 = Right wheel)). Kingpin

axis inclination in the lateral plane of the vehicle.
5 Caster angle (keyword = ACAST(1 or 2, 1 = Left wheel, 2 = Right wheel)). Kingpin axis
inclination in the longitudinal plane of the vehicle.
6 Axle wrap-up compliance (keyword = CWRAP). Compliance of the axle on its suspension
in the pitch direction which allows it to roll forward when acted upon by brake torque.
7 Wrap-up steer coefficient (keyword = RWRAPSTR). Coefficient for road-wheel steer per
unit of axle wrap-up.
8 Bump steer coefficient (keyword = RBMPSTR). Coefficient for average left and right steer
per unit of axle compression (jounce) displacement.
9 Optional miscellaneous field to support customized steering models. Not used in the
standard ArcSim.
10 Steering Kinematics links. The linked data sets describe the steering kinematics for the
left and right road wheels.
11 Optional links. These links support customized steering models but are not used in the
standard ArcSim.

Location in ArcSim
ArcSim Startup
Runs
Vehicle: (loaded truck or combination vehicle)
Vehicle Unit: (empty truck or tractor)
Steering System

File Location
Vehicles\Parts\Strs_trk\Strs_trk.tbk

Suspensions: Solid Axle

You use this screen to specify the relevant dimensional properties of the solid axles used
on trucks and trailers.

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1
2

5
9

6 8

7 8

Discussion
The lateral separation between the springs is important because it causes the springs to
resist roll. Likewise lateral separation of the shock absorbers produces roll damping. The
roll center height is the elevation at which lateral forces generated on the axle are
transmitted to the sprung mass. The roll center is assumed to fall on the center of the
vehicle, and any deviations when the vehicle rolls are neglected in the simulation. Roll
center heights are determined by the linkages used in the suspension.
Additional (auxiliary) roll stiffness can be produced in the suspension by mechanisms
such as stabilizer bars or twist in the leaf springs. Specification of an auxiliary roll
stiffness allows you to replicate the influences of these other mechanisms.
The roll steer coefficient quantifies the degree to which the axle may steer as the vehicle
takes on a roll angle.

User Settings
1 Shock absorber spacing (keyword = LTD(IUNIT, IAXLE)). Lateral distance between
the centerlines of left and right shocks.
2 Spring spacing (keyword = LTS(IUNIT, IAXLE)). Lateral distance between the
centerlines of left and right springs.

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3 Roll center height (keyword = HRC (IUNIT, IAXLE)). Height of the roll center
above the ground.
4 Auxiliary roll stiffness (keyword = KAUX (IUNIT, IAXLE)). Suspension roll
stiffness not accounted for by lateral spacing of the springs.
5 Roll steer coefficient (sprung mass) roll angle (keyword = RSTR (IUNIT, IAXLE)).
Coefficient describing degrees of axle steer per degree of frame roll relative to the axle.
6 Spring link. This links to spring data for this axle.
7 Shock Absorber link This links to shock absorber table for this axle.
8 Optional links. These links are for use with custom models but are not used with the
standard ArcSim package.
9 Miscellaneous field for additional data for custom models. Not used for standard ArcSim
models.

Location in ArcSim
ArcSim Startup
Runs
Vehicle: (loaded truck or combination vehicle)
Vehicle Unit: (empty truck, tractor, or trailer)
Suspensions: Solid Axle

File Location
Vehicles\Parts\Susp_trk\Susp_trk.tbk

Tires: Aligning Moment

Use this screen to define tire aligning moment as a two-dimensional table-lookup
function of slip angle and vertical load.

Discussion
When a tire assumes a slip angle and develops a lateral force, the resultant force is
generated toward the rear of the contact patch. It is standard practice to measure tire
forces and moments at the center of the contact patch. When the lateral force is resolved
to this point, a moment, known as the aligning moment, results. The aligning moment is
nominally related to the lateral slip angle and the vertical load.
This screen allows you to enter a two-dimensional table defining tire aligning moment as
a function of lateral slip angle and vertical load.
The tire model used in ArcSim assumes that the tire behavior is symmetric about the
origin with respect to lateral slip. Thus, only one quadrant of data is needed, for positive
values of slip.

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User Settings
Note: User settings that are common for all 2D tabular data screens are
described in Chapter 7, in the section 2D Tabular Data.
1 Tabular data for tire aligning moment (keyword = MZ_CARPET (IUNIT, IAXLE)).
The first value, in column 1 and row 1, is a place holder. It must be present, but the value
is not used. The first row has the vertical loads that apply for each column (except for the
first entry). The first column has the slip angles that apply for each row (except for the
first entry). All remaining numbers are values of aligning moment as a function of
vertical force and slip angle.
The ArcSim tire models assume that a row of zero values exists, such that for zero slip
there is zero moment, regardless of the load. Also, the models assume that a column of
zeros exists, such that for zero load there is no moment, regardless of slip.

Location in ArcSim
ArcSim Startup
Runs
Vehicle: (loaded truck or combination vehicle)
Vehicle Unit: (empty truck, tractor, or trailer)
Tires: Table-Lookup Model

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Chapter 8 Alphabetical Library Screen Reference

Tires: Aligning Moment

File Location
Vehicles\Tires\Tires_mz\Tires_mz.tbk

Tires: Lateral Force

Use this screen to define the absolute lateral tire force as a function of lateral slip angle
and tire vertical load.

Discussion
When a tire generates lateral force by slipping sideways with respect to the direction it is
pointed, the angle between the wheel heading and the tire velocity vector is known as slip
angle. The lateral force is strongly dependent on the slip angle and the vertical load. This
screen allows you to enter a two-dimensional table defining lateral force as a function of
slip angle and vertical load.

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The tire model used in ArcSim assumes that the tire behavior is symmetric about the
origin with respect to lateral slip. Thus, only one quadrant of data is needed, for positive
values of slip. With typical vehicle dynamics sign conventions, the lateral force has the
opposite sign of the slip angle: positive slip induces negative side force. To avoid
possible errors with minus signs, and to create more intuitive graphs, the data screen
requires all values to be positive. This is why the graph is labeled “Absolute lateral
force.”

User Settings
Note: User settings that are common for all 2D tabular data screens are
described in Chapter 7, in the section 2D Tabular Data.
1 Tabular data for tire side force (keyword = FY_CARPET (IUNIT, IAXLE)). The first
value, in column 1 and row 1, is a place holder. It must be present, but the value is not
used. The first row has the vertical loads that apply for each column (except for the first
entry). The first column has the slip angles that apply for each row (except for the first
entry). All remaining numbers are values of absolute lateral force as a function of vertical
force and slip angle.
The tire model is symmetric, using the same data for positive and negative slip angles.
Although positive slip causes negative lateral force, the sign conversion is handled
internally to avoid the need for entering large amounts of negative data. Therefore, only
positive values should be entered into the table.
The ArcSim tire models assume that a row of zero values exists, such that for zero slip
there is zero lateral force, regardless of the load. Also, the models assume that a column
of zeros exists, such that for zero load there is no lateral force, regardless of slip.

Location in ArcSim
ArcSim Startup
Runs
Vehicle: (loaded truck or combination vehicle)
Vehicle Unit: (empty truck, tractor, or trailer)
Tires: Table-Lookup Model
Tires: Lateral Force

File Location
Vehicles\Tires\Tires_fy\Tires_fy.tbk

Tires: Longitudinal Force

Use this screen to define longitudinal tire force as a function of slip ratio and tire vertical
force.

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Discussion
A tire generates longitudinal force when the rim speed (at the static tire radius) is
different from the vehicle forward speed. The difference in speed is known as
longitudinal slip when expressed in non-dimensional form. On dry pavements at normal
travel speed, the wheel must slip at around 10 to 20 percent of its forward velocity to
produce a maximum longitudinal force. Above this slip level the force diminishes. This
screen allows entry of a two-dimensional table defining longitudinal force as a function
of longitudinal slip and vertical load.
The tire model used in ArcSim assumes that the tire behavior is symmetric about the
origin with respect to longitudinal slip. Thus, only one quadrant of data is needed, for
positive values of slip. Longitudinal slip is defined as a negative quantity during braking.
Longitudinal force is also defined to be negative during braking. To avoid possible errors
with minus signs, and to create more intuitive graphs, the data screen requires both slip
and longitudinal force to be positive. This is why the graph is labeled “Absolute
longitudinal tire force” and “Absolute slip ratio.”

User Settings
Note: User settings that are common for all 2D tabular data screens are
described in Chapter 7, in the section 2D Tabular Data.

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1 Tabular data for tire longitudinal force (keyword = FX_CARPET (IUNIT, IAXLE)).
The first value, in column 1 and row 1, is a place holder. It must be present, but the value
is not used. The first row has the vertical loads that apply for each column (except for the
first entry). The first column has the slip ratios that apply for each row (except for the
first entry). All remaining numbers are values of longitudinal force as a function of
vertical force and slip ratio.
Only positive values should be entered into the table. The tire model is symmetric, using
the same data for drive and braking force.
The ArcSim tire models assume that a row of zero values exists, such that for zero slip
there is zero longitudinal force, regardless of the load. Also, the models assume that a
column of zeros exists, such that for zero load there is no longitudinal force, regardless of
slip.

Location in ArcSim
Location in ArcSim
ArcSim Startup
Runs
Vehicle: (loaded truck or combination vehicle)
Vehicle Unit: (empty truck, tractor, or trailer)
Tires: Table-Lookup Model
Tires: Longitudinal Force

File Location
Vehicles\Tires\Tires_fx\Tires_fx.tbk

Tires: Table-Lookup Model

Use this screen to change the constants and links to the table look-ups which define the
tire forces for the vehicle.

Discussion
This screen provides a location for you to enter a number of tire properties needed in the
simulation. Tire vertical stiffness determines how the load varies as the tire bounces on
the road. You can specify a vertical stiffness value here.
When a tire experiences a slip angle, it does not immediately generate a lateral force, but
must roll some distance to generate the lateral deflection necessary to sustain a force.
Under a step steer the force builds up like a first-order lag in distance. You can input this
distance, known as the relaxation length, on this screen.

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2 5 8

3 8
6

At low speeds the determination of tire forces can become erratic because of numerical
problems in calculating the slip conditions. In order to avoid these problems, you can
specify a cut-off speed below which such mechanisms as relaxation length are modified.
Most of the tire behavior is determined by table lookup. This screen has links for the
tabular data to predict longitudinal force, lateral force, and aligning moment.
When the tire is subjected to combined cornering and braking, the shear force (and
aligning moment) is limited by friction. The Pajecka “Magic Formula” is used to
combine the cornering and braking effects. Also, Pajecka’s method of similarity is used
to account for road surface friction that is different from the frictional conditions in the
laboratory test equipment. Details of the tire model are presented in Appendix E.
All properties are specified for one tires. If a wheel has dual tires, the simulation program
computes the tire forces separately for each.

User Settings
1 Longitudinal Force link. The linked data set contains longitudinal tire force data in
tabular form.
2 Lateral Force link. The linked data set contains lateral tire force data in tabular form.

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3 Aligning Moment link. The linked data set contains tire aligning moment data in tabular
form.
4 Tire vertical stiffness (keyword = KT (IUNIT, IAXLE)).
5 Tire relaxation length (keyword = LRELAX (IUNIT, IAXLE)). This is about one-
third the distance that the tire must roll before side force due to slip angle builds up to its
full value. It is basically a spatial version of a time constant.
6 Cutoff speed for tire relaxation equations (keyword = V_CUTOFF (IUNIT, IAXLE)).
The concept of relaxation length is valid for a range of speeds, but leads to strange
behavior as speeds approach zero because the time constant associated with the dynamic
lag goes to infinity. The time constant associated with relaxation is frozen when the speed
drops below this value.
7 This is an optional field for use with custom tire models. It is not used for the standard
ArcSim models.
8 These are optional links for use with custom tire models. They are not used for the
standard ArcSim models.

Location in ArcSim
ArcSim Startup
Runs
Vehicle: (loaded truck or combination vehicle)
Vehicle Unit: (empty truck, tractor, or trailer)
Tires: Table-Lookup Model

File Location
Vehicles\Tires\Tires.tbk

ArcSim Startup
This screen appears immediately after ArcSim has been started. Normally, to start a
simulation you just click the Start button and go directly to the Runs screen.

Discussion
This screen provides a starting point for the software. It also includes settings that help
configure ArcSim for your particular installation.

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1 2

Note: The ArcSim Startup Screen has two possible appearances. The
above figure shows the simplest display.

There are at least three reasons why you might someday want to modify the ArcSim
settings or make a new Startup data set with different settings:
1. If you move the ArcSim software to a new hard disk volume or folder, all of the
text files used to communicate between ArcSim data screens and the ArcSim
solver programs must be updated. Otherwise the solver programs will give error
messages about files not being found.
2. If you make many data sets in a library (e.g., the Runs library), you may want to
create a new folder and create a second library. If you add any folders to ArcSim,
you should install them in the Startup library.
3. You may want to change the GO menu, to show fewer libraries.
On the other hand, you may never need to change the settings contained in this library.

User Settings (Simple Display)

1 More Info button. Click this button to go to screens with information about ArcSim that
involve the version, copyright information, etc.

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2 Change Settings button. Click this button to show additional settings that can be
modified. When clicked, the ArcSim pictures are replaced with the settings shown in the
next figure.
3 Start button. Click this button to go to the Runs library. This is the most common way to
start using the software. The default is that clicking the button will take you to the most
recently used data set in the Runs library. However, you can modify the function of this
button as described below.

16

4 6
7

8 10
9 11
12

13

14

15

1 2

Note: The above figure shows the ArcSim Startup screen after the
Change Settings button 2 has been clicked.

Additional User Settings and Controls

4 List of libraries for the GO menu. This list is also used for other functions within ArcSim.
Basically, this list tells ArcSim what library files exist and where they are located.
The files are represented as pathnames relative to the ArcSim root directory. For
example, if ArcSim is in c:\ArcSim, then the partial pathname RUNS\RUNS.TBK
means the full pathname for the file is c:\ArcSim\Runs\Runs.tbk.
This list is used by ArcSim for two purposes:

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1. It defines which files are affected when text data files are updated if you click the
Update All PAR Files button 13 .
2. It determines which files are listed in the pull-down menu that appears when you
press the GO button in the ribbon bar 16 .
In both cases, files are included only if they are listed in the field and if they actually
exist.
This list cannot be edited directly. Lines in it can be selected by clicking on them, and the
contents are manipulated by using the adjacent buttons.
5 Add Default Libraries button. Click to add all of the library files included in the ArcSim
installation. This button is provided as a way to undo damage and return to the status “as
shipped.” If a default library file is already in the field 4 , it is not added again.
6 Add Libraries button. Use this to add new libraries files to ArcSim. For example, if you
have so many data sets in a library that it is unwieldy, you can duplicate the TBK file and
its folder, then delete all but one data set from the copy. Give it a new name and add it to
the system.
Click the button to bring up the Windows Find File browser dialog. TBK files selected
with the browser are added to the list 4 .

Note: You can add more than one file at a time. After you click OK, the
dialog re-appears. When you are through adding files, click the
Cancel button.
7 Remove Libraries From List button. Click to remove any selected lines from the list
4 . The actual files are not affected by this—only the list is altered.

8 Move to Top button. Click to move any selected lines in the list to the top. For example,
to make the Runs library the first item on the GO menu, select the line
RUNS\RUNS.TBK in the list 4 and then click this button.

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9 Move to Bottom button. Click to move any selected lines in the list to the bottom.
10 Select All button. Click to select all lines in the field 4 . The contents of the field usually
extend beyond the visible area, and can only be viewed by using the scroll bar. Clicking
this button causes all lines to be selected, even if they are not visible.
11 Deselect All button. Click to deselect all lines in the field 4 .
12 Ascending Order button. Click to alphabetically sort all lines in the field 4 .
13 Update All PAR Files button. Click to process all of the ArcSim library files in the field
4 , updating all text files. You should do this if you move ArcSim or rename any of the
TBK files or folders.
Each data set in the ArcSim library has an associated text file with extension PAR that is
used to communicate with the vehicle dynamics solver programs. These files have
absolute pathnames in them. If any changes have been made to the file system (say, you
moved ArcSim from drive C to drive D), all the old pathnames won’t work.
The operation initiated when you click this button will probably take a couple of minutes
to complete. The amount of time depends on the number of data sets in your ArcSim
installation and the speed of your computer.
14 Data Set for Start Button link. This link defines what happens when you click the Start
button 3 . You can link to a library with no particular data set, or you can link to a
particular data set within a library. If you do not choose a data set, then clicking the Start
button takes you to the last data set visited in the library. This is the way ArcSim is set
when initially installed. If you would like the Start button to always take you to a
specific data set, link to it here.
You might change this link if you move the Runs library, or if you create a new Runs
library in a different folder.
What if you have several Runs libraries? In that case, you can make several data sets in
the ArcSim Startup library. Click the New button to make a new data set. Then, in the
new data set, link to a different Runs library.
15 Done button. Click to hide all the user settings and return to the simpler view with the
ArcSim logo.

Location in ArcSim
ArcSim Startup

File Location
Startup

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Chapter 8 Alphabetical Library Screen Reference

Vehicle Unit: 3-Axle Trailer (Empty)

Use this screen to define the basic properties of an empty 2-axle and links to its
suspension system, axles, wheels, tires, and brakes.

Discussion
ArcSim allows you to connect a 2-axle semitrailer (tandem rear axle set) to a tractor. This
screen provides the means to define the relevant semitrailer characteristics as well as
links to the components and sub-systems that are specified in other libraries.
Although the picture on the screen shows a van body, the parameter set can describe a
flat bed or any configuration involving a two-axle trailer.

4 4
5

6
1 3 7
8

2 9

10 10 10

11 11 11

12 12 12

13 13 13

14 14 14

15 15 15

User Settings
1 Load bed height above the ground (keyword = HTLB(2)). This is used by the ArcSim
simulation programs to determine the height of the mass center of the load.
2 Wheelbase (keyword = LWB(2)). Distance from the fifth wheel pin to the centerline of
the axles.

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3 Height of the mass center above the ground (keyword = HCGTU(2)). This refers to the
mass center of the total unladen trailer (sprung plus unsprung masses).
4 Axle spacing (keywords = LTRIDF(2), LTRIDR(2)). Longitudinal distance between
the centerlines of the axles.
5 Empty trailer mass (keyword = MTRAIL(2)). This includes sprung plus unsprung
masses.
6 Roll moment of inertia of the total unladen semitrailer (keyword = IXXTU(2)). The
moment is taken about the mass center, normal to an X axis (longitudinal) that is parallel
with the ground when the vehicle is at rest on a flat level surface.
7 Pitch moment of inertia of the total unladen semitrailer (keyword = IYYTU(2)). The
moment is taken about the mass center, normal to a Y axis (lateral) that is parallel with
the ground when the vehicle is at rest on a flat level surface.
8 Yaw moment of inertia of the total unladen semitrailer (keyword = IZZTU(2)). The
moment is taken about the mass center, normal to a Z axis (vertical) that is parallel with
the gravity vector when the vehicle is at rest on a flat level surface.
9 Roll-yaw product of inertia of the total unladen semitrailer (keyword = IXZTU(2)). The
product is taken about the mass center, and is defined as the negative of the volume
integral over X*Z dV (Ixz = –Int(RHO*X*Z*DV). The product is positive when the
principle X axis tilts down (looking forward).
10 Axle load (keyword = MUL (IUNIT, IAXLE)). Weight that would be measured if the
indicated axle were placed on a weigh scale for the empty trailer.
11 Suspension link. The linked data set defines the suspension dimensions and components.
12 Axles & wheels link. The linked data set defines axle mass properties and dimensions of
the axle and wheels.
13 Brake torque gain (keyword = RMYBK(IUNIT,IAXLE)). This is the mechanical gain of
a single brake: in-lb of brake torque per psi unit of input air pressure.
14 Tires link. The linked data set defines the tire properties for the indicated axle.
15 Optional data link. These links are provided for custom models. They are not used for
standard ArcSim models.

Location in ArcSim
ArcSim Startup
Runs
Vehicle: Tractor-Semitrailer Combination
Vehicle Unit: 2-Axle Trailer (Empty)

File Location
Vehicles\2a_trail\2a_trail.tbk

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Chapter 8 Alphabetical Library Screen Reference

Vehicle Unit: 3-Axle Tractor

Use this screen to define the basic properties of a 3-axle tractor (with no trailer) and links
to its suspension system, steering system, axles, wheels, tires, and brakes.

9
5
6
1 3 7
8 10
11
12
2 4

13 13 13

14 14 14

15 15 15

16 16 16
17 17 17

18 18 18

Discussion
ArcSim allows you to define a 3-axle tractor (front steer axle and a tandem rear axle set)
to be used as the tow unit for a semitrailer. Use this screen to define the relevant tractor
characteristics as well as links to the other components and sub-systems that are specified
in other libraries.
Although the picture on the screen shows a conventional body, the parameter set can
describe a cab-over-engine or any configuration involving a 3-axle vehicle.
This data set is normally used to make up a combination vehicle. In this case, the data set
that links to it is a tractor-semitrailer combination data set.

User Settings
1 Height of the mass center above the ground (keyword = HCGTU(1)). This refers to the
mass center of the total bobtail tractor (sprung plus unsprung masses).

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2 Wheelbase (keyword = LWB(1)). Distance from the center of the front axle to the center
of the rear axle.
3 Hitch height above the ground (keyword = HH(1)). The point of interest is the hitch
pitch pivot.
4 Axle spacing (keyword = LTAND(1)). Longitudinal distance between the centers of the
rear axles.
5 Roll moment of inertia of the total unladen tractor (keyword = IXXTU(1)). The moment
is taken about the mass center, normal to an X axis (longitudinal) that is parallel with the
ground when the vehicle is at rest on a flat level surface.
6 Pitch moment of inertia of the total unladen tractor (keyword = IYYTU(1)). The
moment is taken about the mass center, normal to a Y axis (lateral) that is parallel with
the ground when the vehicle is at rest on a flat level surface.
7 Yaw moment of inertia of the total unladen tractor (keyword = IZZTU(1)). The
moment is taken about the mass center, normal to a Z axis (vertical) that is parallel with
the gravity vector when the vehicle is at rest on a flat level surface.
8 Roll-yaw product of inertia of the total unladen tractor (keyword = IXZTU(1)). The
product is taken about the mass center, and is defined as the negative of the volume
integral over X*Z dV (Ixz = –Int(RHO*X*Z*DV). The product is positive when the
principle X axis tilts down (looking forward).
9 Steering System link. The linked data set contains the steering system properties
10 Roll torsional stiffness of hitch (keyword = KHX(1)). Torsional stiffness of the fifth
wheel measured about the tractor roll axis.
11 Pitch torsional stiffness of hitch (keyword = KHY(1)). Torsional stiffness of the fifth
wheel measured about the hitch pitch axis.
12 Not applicable in ArcSim.
13 Axle load (keyword = MUL (IUNIT, IAXLE)). Weight that would be measured if the
indicated axle were placed on a weigh scale for the tractor without an attached trailer.
14 Suspension link. The linked data set defines the suspension dimensions and components.
15 Axles & wheels link. The linked data set defines axle mass properties and dimensions of
the axle and wheels.
16 Brake torque gain (keyword = RMYBK(IUNIT,IAXLE)). This is the mechanical gain of
a single brake: in-lb of brake torque per psi unit of input air pressure.
17 Tires link. The linked data set defines the tire properties for the indicated axle.
18 Optional data link. These links are provided for custom models. They are not used for
standard ArcSim models.

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Location in ArcSim
ArcSim Startup
Runs
Vehicle: Tractor-Semitrailer Combination
Vehicle Unit: 3-Axle Tractor

File Location
Vehicles\3a_tract\3a_tract.trk

Vehicle: Tractor-Semitrailer Combination

Use this screen to define the basic properties of a loaded tractor-semitrailer combination a
link to data sets for the empty tractor and trailer.

1 1 1 1 1 1

Discussion
This library screen has links for a tractor, a semitrailer, and cargo dimensions. It also has
fields for the axle loads. Added together, the axle loads provide the total vehicle weight.

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The ArcSim solver programs subtract the empty vehicle weight from the total weight to
determine the cargo weight. The cargo weight is then used, along with vehicle
dimensions, to modify the mass center location for the trailer and the hitch location.
If you want to simulate the same vehicle under different loading conditions, you need
only to modify the axle loads on this screen.

User Settings
1 Axle load (keyword = MUL (IUNIT, IAXLE)). Weight that would be measured if the
indicated axle were placed on a weigh scale.
2 Tractor link. The linked data set describes the properties of the empty tractor.
3 Trailer link. The linked data set describes the properties of the empty trailer.
4 Cargo Dimensions link. The linked data set contains the cargo (load) dimensions.
5 Optional data link. This link is provided for custom models. It is not used for standard
ArcSim models.

Location in ArcSim
ArcSim Startup
Runs
Vehicle: Tractor-Semitrailer Combination

File Location
Vehicles\Combos\Combos.trk

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Appendix A — ERD File Format
The ERD file format was developed within the Engineering Research Division (ERD) of
the University of Michigan Transportation Research Institute (UMTRI) to facilitate
automated plotting of simulation data, experimentally measured data, and data from
various analysis programs.
A freely available plotter called EP (Engineering Plotter) has been developed for viewing
data in ERD files. Versions of EP exist for Mac, Windows, and some UNIX platforms.
The Windows version is called WinEP.
The animator program in ArcSim is also designed to work with ERD files.
An ERD file contains two independent sections, the header and data. The header contains
only text, and the data section contains only numbers. The numbers can be written in
either text or binary form. The text form is convenient for viewing and editing data with a
word processor, whereas the binary form provides more efficient access for automatic
processing. If the data section is in text format, then both the header and the data are kept
in a single file. However, if the data are in binary format, two files are used. The header is
in an ordinary text file with the extension ERD, and the data are in a file with the name of
the header file and the extension BIN. For example, if the header file is named Out.erd
the name Out.bin must be used for the data file. Both files must lie in the same folder.
Note: For the Macintosh plotter, the ERD extension is not used for the
header. For example, if the binary file is Out.bin, then the
header file would be named Out.

The Header
The ERD file header consists of a series of conventional text lines that are human
readable. These lines contain the information used by post-processing tools to read the
numerical data.

Required Lines
As a minimum, the header contains three lines of text. The first line identifies the file as
following the ERD format. The second line describes the way that the numerical data are
stored in the data section of the file. The third required line is an END statement that
indicates the end of the header portion. Any number of optional lines can be included
between line #2 and the END line. Table A.1 summarizes the lines in an ERD file, and
describes the parameters used in line #2 to describe the numerical data.
The second line of the file shown in Listing A.1 shows that the file contains data for 2
channels, with 529 samples/channel, stored as 1 binary record consisting of 4232 bytes,

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 Appendix A
ERD File Format
that the data storage format is type 1 (4-byte binary), that the interval between samples is
1.00, and that the status of the auxiliary numbers is -1.
Table A.1. Summary of records in an ERD file header.
Line No. Description
1 ERDFILEV2.00 — identifies file as having ERD format
2 NCHAN, NSAMP, NRECS, NBYTES, KEYNUM, STEP, KEYOPT —
use commas to separate numbers
NCHAN [integer] = Number of data channels
NSAMP [integer] = Number of samples for each channel. The total
number of sampled values in the data portion of the file is
NCHAN × NSAMP. (If unknown, use –1.)
NRECS [integer] = Number of records of data. (record line)
Ignored for text data (KEYNUM = 5. ) (If unknown, use –1.)
NBYTES [integer]
binary data: Number of bytes per record. If KEYNUM=0,1, or
5, this should be chosen such that each record begins with
channel 1: that is, NBYTES = K × NCHAN × B, where K is
an integer and B is the number of bytes/number (B=2 for
integer, B=4 for floating-point). If KEYNUM=10,11,or 15,
this should be NSAMP × B.
text data: Number of samples per record. Thus each record
contains NBYTES × NCHAN numbers (for KEYNUM=5).
KEYNUM[integer] Indicates how the data are stored.
0, 10 = 2-byte integer (binary),
1, 11 = 4-byte floating point (binary),
5, 15 = Formatted floating-point (text). The format must
be specified using the FORMAT keyword.
For KEYNUM=0,1, and 5, the data are stored with all channels
for the first sample together, then all channels for the second
sample, etc.
For KEYNUM=10,11, and 15, the data are stored with all
samples for the first channel together, then all samples for
the second channel, etc.
STEP [real] = sample interval (e.g., time step)
KEYOPT [integer] = auxiliary number used by some programs
• Optional records. Each record begins with an 8-character keyword,
followed by information associated with that keyword.
Table A.2 lists keywords that have been used to date.
last line END — indicates the end of the header

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 Appendix A
ERD File Format
Listing A.1. Short Header for an ERD File with Binary Data.
ERDFILEV2.00
2, 529, 1, 4232, 1, 1.00000, -1,
TITLE 1993 RPUG Study, Dipstick, Section 1, Measurement 1
SHORTNAMLElev. RElev.
UNITSNAMft ft
XLABEL Distance
XUNITS ft
END

Listing A.2 shows a longer header for a file with its data in text form. Note that the data
begin immediately after the END line of the header.

Listing A.2. Typical Header for an ERD File with Text Data.
ERDFILEV2.00
2, 529, 1, 4232, 1, 1.00000, -1,
TITLE 1993 RPUG Study, Dipstick, Section 1, Measurement 1
SHORTNAMLElev. RElev.
LONGNAMELeft Elevation Right Elevation
UNITSNAMft ft
GENNAME Profile Elevation Profile Elevation
XLABEL Distance
XUNITS ft
FORMAT (2G14.6)
PROFINSTDipstick
HISTORY Converted to ERD format at 23:46, Oct. 23, 1994
END
0.000000 0.000000
0.416667E-03 -0.141667E-02
0.416667E-03 0.583333E-03
0.666667E-03 0.916667E-03
0.133333E-02 0.133333E-02
0.750000E-03 -0.166667E-02
-0.300000E-02 -0.458333E-02
-0.558333E-02 -0.500000E-02
-0.625000E-02 -0.658333E-02
-0.775000E-02 -0.825000E-02

Optional Lines with Keywords

Optional lines in the header begin with an eight-character keyword that defines a
particular type of data contained in the remainder of the line. Keywords are associated
with one of five general data types: integers, floating point (real) numbers, 8-character
names, 32-character names, and 80-character names. The number of data items is either
one per file (e.g., TITLE of data set in the file), one per channel (e.g., a short name for
each channel), an arbitrary number N (e.g., static axle loads for N axles), or repeatable
(e.g., comments stored using the HISTORY keyword).

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 Appendix A
ERD File Format
Table A.2 lists common keywords recognized by most post-processing tools. The use of
some of these keywords is demonstrated in Listing A.1 and Listing A.2.

Table A.2. Keywords in ERD file.

keyword Description No. of Variable
Values Type
VERSION Line 1 in header file. 1 char*32
LINE 2 Line 2 in header file. See Table A.2 for details. 7 int, real
&n Continuation keyword, indicates that the
previous line ended in column n and is
continued in this line in column 9. Used to
break long lines into multiple short lines.
(The following 6 lines are used by EP and are
recommended for inclusion in all ERD files)
GENNAME Generic names for variables, used for labeling NCHAN char*32
Y axis when several variables are plotted on the
same axis (e.g., Force).
LONGNAME Long names for channels. NCHAN char*32
SHORTNAM Short names for channels. NCHAN char*8
TITLE Title used for file. 1 char*80
UNITSNAM Units of channels. NCHAN char*8
XUNITS Units of independent variable (e.g., sec). 1 char*8
(The following line is required for EP to create
Channel 0, e.g., time)
XLABEL Name of ind. variable in ERD file (e.g., time). 1 char*32
FORMAT FORMAT statement for text data. Ex: (4F10.4) 1 char*32
GAIN Gains for channels. (Default = 1.) Usually NCHAN real
required for integer*2 data.
OFFSET Offsets for channels. (default = 0.) Usually NCHAN real
required for integer*2 data.
PROFINST Instrument or model associated with data 1 char*32
RIGIBODY Body or part associated with each channel NCHAN char*32
SPEEDMPH Speed associated with data, in mile/hr. 1 real
TESTID Number used to identify a test. 1 real
XSTART Starting value of ind. variable. At each sample 1 real
i, the X value is: X = (i-1) * STEP + XSTART

Usually, names associated with a keyword are shorter than the space allowed. When
several names are on the same line, the names are padded with blanks as needed so that
following names begin at the correct column positions. For example, the header shown in
Listing A.1 includes names of the units for each channel, as identified with the keyword
UNITSNAM. The name of units for the first channel, ft, has only two characters. Thus, it

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 Appendix A
ERD File Format
is followed by six spaces so that the name for the second channel, ft, begins in the correct
column position.

The Data Section

The data section of the ERD file contains nothing but numbers, organized into columns
and rows. The form in which the numbers are stored depends on the value of the
KEYNUM parameter from line 2 of the header (see Table A.1). The total number of
values that will appear in the data section is NCHAN x NSAMP. All of the numbers in
the data portion are stored in the same format, and there can be no missing values.

Text Data
The text format can be used for transporting data in ERD files between different
computers, and sometimes even for reading the same file with different programs on the
same computer. It is also convenient when numbers are typed in manually, or when
numbers are to be edited using a text editor. There are penalties for using text
representations of numbers, however. First and foremost, the computer must work hard to
translate the text numbers into binary form. It takes about 10 times longer to read a text
file than a binary equivalent. A second penalty is that text files take up much more disk
storage than binary files.
When data are stored in text form, the numbers are kept in the same file as the header,
with the numbers beginning immediately after the header. The ERD file in Listing A.2
shows an example of numerical data in text form.
Another option is available when the numbers are always separated by delimiters such as
spaces or commas. This occurs when the numbers are obtained by a commercial analysis
program or when they are "captured" from another computer. The file of numbers can be
made into an ERD file by inserting a 3-line header at the beginning of the file.
If the header of the ERD file does not contain a line with the FORMAT keyword, it is the
same as if the FORMAT is a blank. When this occurs for a text file, the file is assumed to
contain numbers in free form. The only restriction on free format numbers is that adjacent
numbers must be separated. For example, the following line is valid for representing 5
numbers 1.2, 3, 4, -.0201, 14.3: 1.2000 3 4 -2.01E-01 14.3
The following line is not, because the third and fourth numbers touch.
1.2000 3.0000 4.0000-2.01E-01 14.3000
Numbers may be separated by one or more spaces, the tab character, or a comma.

Binary Data
Reading and writing binary data is very efficient, because the computer does not need to
perform any conversions or transformations as the data values are moved between the file
and the computer memory. When a binary format is used, the data portion of an ERD file

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 Appendix A
ERD File Format
is a direct copy of a portion of the computer memory, corresponding to a two-
dimensional array having dimensions sized to the number of channels and the number of
samples. As indicated in Table A.1, two forms of binary data are presently supported: 2-
byte integer and 4-byte floating point. 2-byte integer data are typically obtained by data-
acquisition systems. Each integer value is a sampled reading obtained from a digitizer
during a test. For most engineering applications, data are stored (in the computer
memory) in 4-byte floating point format, also known as single-precision floating point.
The 4-byte floating point format is commonly used for data generated by computer. The
maximum efficiency for data processing is usually obtained when the 4-byte floating
point format is used.
The ERD file format is used on a variety of computer systems and for a variety of mass
storage media. On some systems, binary data are stored in discrete records. A computer
program reading such a file needs to know how many bytes each record contains, and
how many records are in the file. Thus, the header contains these two parameters.
Disk files on workstations and desktop computers are not structured: a binary file is
simply a continuous stream of bytes that continues to the end of the file. Thus, technically
correct parameter values for the header could be one record, containing all of the bytes
for the file. Also, there is a certain amount of overhead associated with reading a record.
The time needed to read the data for a file is minimized if a single read operation is
performed for the entire file.
On the other hand, if the file is large, the memory needed to read the entire file in one
chunk may not be available with some programs. A second problem can occur if the true
number of bytes in the file is less than the number as inferred by the parameters nbytes
and nrecs (i.e., the total size of the file should be NBYTES x NRECS). The last "record"
is not read, resulting in a loss of data. If the records are large, this loss could be
significant. These problems are reduced if a value of NBYTES is specified such that it
divides the data into NRECS records of smaller chunks of data.

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Appendix B — Plotter Files and Keywords
When WinEP is run from ArcSim, it receives the information that describes a plot or set
of plots from a text file. The passing of information between a ArcSim data screen and
WinEP is automatic, and the details of the files used to transfer information do not have
to be understood for normal use of ArcSim.

The RunWinEP Program

The current version of WinEP (4.0) has a minor conflict with the ToolBook program used
to manage the ArcSim data base. In some Windows installations, WinEP goes into the
background when launched directly from ToolBook. The problem is thought to be due to
an bug in the way ToolBook passes control to a Windows program created with the
Microsoft Studio compiler using the Microsoft Foundation Class (MFC).
As a work around, a separate program called RunWinEP.exe is used to launch WinEP.
As far as ToolBook is concerned, the plotter is RunWinEP. RunWinEP performs just one
function: it launches WinEP and then quits. (The RunWinEP program was created using
different compiler settings and does not have conflicts with ToolBook.)
The RunWinEP program is hard-coded to run the file WinEP.exe from the same folder
that it is in. Therefore, do not change the file name of the copy of WinEP that is used
within ArcSim.

PLT Batch Control Files

Most plots made in ArcSim are generated when you click the Plot button on the Runs
screen or the Plot Setup: Batch screen. When this occurs, the ArcSim library creates a
text file with the extension PLT and sends that file to WinEP. The PLT file is similar to
the PAR files used in ArcSim to transfer information from the data base to the simulation
solver programs. It is a plain ASCII text file that contains keywords with parameters that
tell WinEP how to make a plot.
Listing B.1 shows an example PLT file and Table B.1 summarizes the format.

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 Appendix B Plotter Files and Keywords

Listing B.1. Example PLT batch plot file.

FILELIST
FILENAME C:\ARCSIM\RUNS\491.ERD
FILENAME C:\ARCSIM\RUNS\430.erd
PARSFILE C:\ARCSIM\PLOT\422.par
RUN Screen

FILENAME C:\ARCSIM\RUNS\491.ERD
FILENAME C:\ARCSIM\RUNS\430.erd
PARSFILE C:\ARCSIM\PLOT\428.par
RUN Screen

FILENAME C:\ARCSIM\RUNS\491.ERD
FILENAME C:\ARCSIM\RUNS\430.erd
PARSFILE C:\ARCSIM\PLOT\433.par
RUN Screen

FILENAME C:\ARCSIM\RUNS\491.ERD
FILENAME C:\ARCSIM\RUNS\430.erd
PARSFILE C:\ARCSIM\PLOT\439.par
RUN Screen
END

The lines in the PLT file are grouped into plot sets, separated by lines beginning with the
RUN keyword. Lines within a plot set can be arranged in any order.

Table B.1. PLT batch plot file format.

Line Contents Instruction to Program
1 FILELIST Identify this file batch plot file.
. FILENAME filename Open the file named filename
. PARSFILE filename Open the file named filename and read a
single plot template
last line of RUN dest Use the current information to create a plot
plot set and send it to dest
last line read END Stop reading data.
. miscellaneous ignore all lines after END.

Plot Template Files

A plot template is a list of variables to extract from the data files, along with formatting
information. Templates are created automatically by the ArcSim library Plot Setup:
Single. They are stored in the same PARSFILE format used in ArcSim to transfer

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 Appendix B Plotter Files and Keywords

information from the data base to the simulation solver programs, and have the extension
PAR. Listing B.2 shows an example PARSFILE with information to define a plot.

Listing B.2. Example plot template file.

PARSFILE
DATASET C:\ARCSIM\RUNS\455.erd Time ,Ay
DATASET C:\ARCSIM\RUNS\455.erd Time ,Ay_2

PARSFILE C:\ARCSIM\PLOT\FORMAT\1.par
PARSFILE C:\ARCSIM\PLOT\transfrm\63.par
PTITLE Ay -- lat. accel. of CG's
END

WinEP processes a template in two possible ways, depending on the circumstances in

which the file is encountered. If WinEP is launched with the PAR file as the input, it
processes the file as a batch control file. Each ERD file named in a DATASET is opened.
This happens in ArcSim only when you click the Plot button in the Plot Setup: Single
library.
Note: Plotting from the Plot Setup: Single library is a feature that exists
in ArcSim for purposes of backward compatibility. This method of
making a plot is not recommended, and may be removed from
future versions.
On the other hand, if WinEP encounters the same file while processing a PLT file (first
line = FILELIST), then the files named in the PAR file are ignored. Only the variable
names and formatting information are used. The file acts as a template that is applied to
the files named in the PLT file.

Plot Format Files

The initial appearance of a plot is read from a format file. Format files are plain ASCII
text files which contain keywords with parameters that tell WinEP how to format a plot.
All format files follow the PARSFILE format and have the extension PAR.
To apply the format settings from a file, load the format file using thecommand Load
Plot Format from the File menu.
To create a format settings file, use the command Save Plot Format from the File menu.
The keywords used in a format file are described in Table B.2.

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 Appendix B Plotter Files and Keywords

Table B.2. Format keywords and descriptions.

Keyword Description
PARSFILE Specifies the start of the format file.
END Specifies the end of the format file.
XLINEAR type X axis type. Valid values are log and linear.
YLINEAR type Y axis type. Valid values are log and linear.
XMAXMIN type Either a keyword specifying that the X axis is auto-
scaled, or two numbers: the minimum and maximum
values for the axis.
YMAXMIN type Either a keyword specifying that the Y axis is auto-
scaled, or two numbers: the minimum and maximum
values for the axis.
SYMBOLS s1,s2, ...,s20 Symbols used for each X-Y data set. There must be a
total of 20 symbols indicated. Symbol key:
0 = No symbol
1 = Square
2 = Triangle
3 = Diamond
4 = Cross X
5 = Plus
6 = Circle
LINESTYL s1,s2,s3,...,s20 Line style for each each X-Y data set. There must be a
total of 20 styles indicated. Line style key:
0 = No Line
1 = Solid Line
2 = Dotted Line
3 = Heavy Solid Line
4 = Dash Line
5 = Dash Dot Line
6 = Dash Dot Dot Line
TITLEFONTSIZE ps Size of the title font: ps = font point size.
TITLEFONTNAME name Name of the title font (Ariel, etc.).
TITLEFONTSTYLE style Style of the title font ( Regular, Italic, Bold, Bold
Italic)
LEGENDEFONTSIZE ps Size of the legend font: ps = font point size.
LEGENDFONTNAME name Name of the legend font (Ariel, etc.).
LEGENDFONTSTYLE style Style of the legend font ( Regular, Italic, Bold, Bold
Italic)
LABELFONTSIZE ps Size of the axis label font: ps = font point size.
LABELFONTNAME name Name of the axis label font (Ariel, etc.).
LABELFONTSTYLE style Style of the axis label font ( Regular, Italic, etc.)
TICLABELFONTSIZE ps Size of the axis numbers: ps = font point size.
TICLABELFONTNAME name Name of the axis number font (Ariel, etc.).

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 Appendix B Plotter Files and Keywords

TICLABELFONTSTYLE style Style of the axis number font ( Regular, Italic, etc.)
LEGENDLABEL b1, b2, b3, Names to use in creating the legend. Values are 0 (do
b4, b5, b6 not use) or 1 (use). The sequence is: b1= shortname,
b2 = longname, b3 = genname, b4 = rigidbody name,
b5 = file title, b6 = file name.
LEGENDLOCATION name Location in plot window for legend. Options are
RightOfPlot, OnPlotUpperLeft,
OnPlotUpperRight, OnPlotLowerLeft, and
OnPlotLowerRight
GRID type Type of grid. Options are NoGrid, CourseGrid, and
FineGrid.
COLORS c1,c2,c3,...,c20 Color for each channel. There must be a total of 20
colors indicated. Color key:
0 = Black
1 = Maroon
2 = Red
3 = Green
4 = Bright Green
5 = Dark Blue
6 = Light Gray
7 = Light Blue
8 = Blue
9 = Muddy Yellow
10 = Yellow
11 = Gray
12 = Purple
13 = Teal
14 = Bright Purple

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 Appendix B Plotter Files and Keywords

Preference File Format

The preference file Epprefs.txt is used to set and save information that is retained
between WinEP sessions. This information includes the window positions and paths to
directories. The information can be viewed and edited using the command Preferences
under the Edit menu. Listing B.3 shows an example preferences file.

Listing B.3. Example Preferences file.

ep-prefs
temp-folder-path c:\Arcsim\plot\tmp
delete-temp-files off
last-datafile-path c:\Arcsim\plot
last-batchfile-path c:\Arcsim\plot\tmp
last-formatfile-path c:\Arcsim\plot\format
startup-window-mode maximize
plot-window-position 7,13,774,582
end

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Appendix C — Animator Files and Keywords
Most information about objects and how they are viewed is read from an input
PARSFILE. It contains several kinds of information: (1) numerical constants such as
coordinates of points, (2) names of variables in the ERD file that must be read by the
animator, (3) names associated with objects (e.g., black), and (4) pathnames for linked
PARSFILEs with more data. In all cases, white space immediately following the keyword
is skipped, and the remainder of the line is interpreted as the value to be assigned to an
internal variable. Spaces are significant after the first non-blank character following the
keyword.
The PARSFILE is similar to those used by other AutoSim-based programs. It should
begin with a line containing the single keyword, parsfile. It should end with a line
containing the single word end. (However, the end keyword is optional. If not present,
the animator reads to the end of the file.) Blank lines and lines with unknown keywords
are skipped when the file is read. Multiple lines with the same keyword are permitted.
Links to other PARSFILEs are provided with the parsfile keyword:

parsfile pathname
Through the use of the parsfile links, data for each object can be contained in a
separate parsfile. For example, each part data set can be placed in a separate file. The
data set for a reference-frame can be in a file that contains a parsfile link to
each part associated with the frame. The entire animation data can be just a set of
parsfile links to the non-moving parts, followed by the data sets for the moving
reference frames.
At the top level, the animation shape data should be organized by reference frame. When
a shape is introduced, it must be associated with a specific reference frame. After a new
reference frame is introduces, all following inputs are said to fall within the scope of that
reference frame. For example, a shape is in the scope of a reference frame if its
coordinates are defined by the animator as being fixed in that reference frame.
Overall, the animation input data should be organized as follows:

parsfile
<info for fixed frame>
add_reference_frame {name1}
<info for first moving reference frame>
add_reference_frame {name2}
<info for second moving reference frame>
add_reference_frame {name3}
<info for third moving reference frame>
end

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 Appendix C Animator Files and Keywords

Reference Frame
Listing C.1 shows an example reference_frame description.
Listing C.1. Data file for a vehicle body.
parsfile

; start moving reference frame and give name

add_reference_frame vehicle sprung mass

set_euler_angles yaw_pitch_roll

; Set 6 names of variables in ERD file with XYZ, Roll, Pitch, Yaw
set_x_name Xo
set_y_name Yo
set_z_name Zo
set_pitch_name Pitch
set_roll_name Roll
set_yaw_name Yaw

; links to parts that make up vehicle

parsfile c:\animate\hood.par
parsfile c:\animate\trunk.par
parsfile c:\animate\roof.par
parsfile c:\animate\fenderLF.par
...
end

The keyword add_reference_frame has the dual effect of starting the scope of a
new reference frame and ending the scope of the previous one. Until the first occurrence,
inputs associated with a reference frame will have unpredictable results. It also assigns a
name to the frame. In the example, the name is vehicle sprung mass.
Each reference frame must have a unique name.
The keyword set_euler_angles is used to specify the type of transformation used.
There are two options: yaw_pitch_roll (used for vehicle sprung mass reference
frames) and yaw_roll_pitch (used for rolling wheel reference frames).
The next six keywords in Listing C.1 are used to specify ERD file short names, and
therefore their values are strings of text. White space between the keyword and the short
name is ignored by the animator, and then the next eight characters are taken literally,
including spaces. However, if the line ends before eight characters are read, the animator
pads the short name with spaces until it is eight characters long. The 6 variables from the
ERD file define the position and orientation of the reference frame. All six are optional.
If not specified, the animator uses a value of zero for that variable.
Within the scope of each moving frame, you should specify one or more objects. The
keywords add_wheel and add_part have the effect of starting the scope of a new
object. They also have the effect of ending the scope of the previous object. However,
they do not affect the scope of the current moving reference frame. In the example listing,

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 Appendix C Animator Files and Keywords

descriptions of parts and wheels are contained in other PARSFILEs, identified with
pathnames following the parsfile keyword.

Parts
There are four properties that can be set for a part: a name, a list of XYZ coordinates,
line thickness, and color. Listing C.2 shows an example PARSFILE containing a
complete part description.
Listing C.2. Part data description
parsfile
add_part hood
set_Color blue

set_coordinates
-0.6273 -0.7344 0.8721
-0.5355 -0.4131 0.8874
-0.4896 -0.0000 0.9027
-0.5355 0.4131 0.8874
-0.6273 0.7344 0.8721
0.0000 0.7191 0.7803
0.5202 0.6579 0.6732
0.6426 0.2601 0.6885
0.6579 -0.0000 0.6885
0.6579 -0.2601 0.6885
0.4590 -0.6885 0.7038
0.0000 -0.7191 0.7803
-0.6273 -0.7344 0.8721
end_coordinates

set_scale_x 1
set_scale_y 1
set_scale_z 1

set_offset_x 0
set_offset_y 0
set_offset_z 0

end

It is sometimes convenient to use the same part in more than one reference frame.
Therefore, the name is not necessarily unique. The part name is used only to make the
PARSFILE more readable, and possibly to provide more detailed error messages in
future versions.
The color and line thickness default to values of black and 1, respectively. Therefore, the
commands set-line-thickness and set_color are optional. There is no default
set of coordinates, so the list must be provided. The list of coordinates begins with a line
containing the keyword set_coordinates. Each following line should contain an X,
Y, and Z coordinate, separated by white space, until the list ends with a line containing

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 Appendix C Animator Files and Keywords

the keyword end_coordinates. Within the block defined by the keywords

set_coordinates and end_coordinates, there must not be blank lines,
comments, or other keywords. The coordinates are assumed to apply to the current
reference frame.
The listed coordinates for the part are transformed by the equations:
xnew = xo + sx x
ynew = yo + sy y
znew = zo + sz z
where xo , yo , and zo are offsets and s x , s y, and sz are scale factors specified with the
keywords set_offset_x, set_offset_y, set_offset_z, set_scale_x,
set_scale_y, and set_scale_z. The keywords for scale factors and offsets are
optional. For each part, the scale factors default to values of 1 and the offsets default to 0.
By setting a scale factor to -1, a user can easily mirror a part. The offsets allow a user to
change the location of a part within the reference frame without calculating new values
for the coordinates.

Wheels
For a wheel, there are six properties that can be set: name, radius, thickness, line-
thickness, and color. All properties except the name have a default value, and therefore,
the commands shown below add_wheel are optional. It is likely that the same wheel
definition will be used several times, and therefore, the name is not necessarily unique.
Listing C.3. Wheel data set.
parsfile
add_wheel Black wheel with 0.3 m radius
set_color black
set_num_points 10
set_radius 0.3
set_thickness 0.2
end

The six keywords for setting offsets and scale factors can also be specified for a wheel. A
common application for vehicle animation is to use the set_offset_y keyword to
locate wheels laterally on an axle.

Grid
The animator will draw a grid fixed in the global reference frame. If not specified, then
there is no grid. It is added with the command add_grid, as shown in Listing C.4.

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 Appendix C Animator Files and Keywords

Listing C.4. Grid data set.

parsfile
add_grid
set_min_x 0
set_max_x 1000

set_min_y 0
set_max_y 500

set_interval_x 10
set_interval_y 5
end

Camera View
The viewing of a scene is controlled by the locations of two points: the camera and look
point. Listing C.5 shows how the camera view is set.
Listing C.5. Camera data set.
parsfile

; set the focal length for the camera. Is is roughly comparable to

; the lens of a 35-mm camera. For length units of meters, a typical
; value is 0.05 (50 mm). For units of feet, a typical value is 0.2.

set_focal_length 0.05

; Identify the camera reference frame and coordinates.

set_camera_reference_frame global

set_camera_point_x 100
set_camera_point_y 10
set_camera_point_z 1

set_focal_length 0.05

; Set the look point reference frame and coordinates.

set_camera_reference_frame sprung mass

set_look_point_x -2
set_look_point_y 0
set_look_point_z 1

end

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Appendix D — Model Files and Keywords
This appendix describes the input and output files associated with the simulation
programs in ArcSim. It also lists an example echo file, which contains the keywords
recognized by the baseline ArcSim solver program.

File Types
Every time a new run is made from the Runs screen, six files are created.
Table D.1. Standard files created when a simulation is run.
Name Location Creator Description
Simfile Programs SGUI Batch control file.
<id>.LPI Runs SGUI List of parameters, read as input by program.
<id>.LPO Runs Program List of parameters, written as output by program.
Also contains initial conditions. Can be used to
repeat a run.
<id>.LPF Runs Program List of parameters and final conditions, written
as output by program. Can be used to continue a
run.
<id>.ERD Runs Program Header for ERD file, needed by plotter and
animator programs.
<id>.BIN Runs Program Numerical values of output variables, stored in
binary form.

One file always has the same name, Simfile, and the other five all have the same base
name— the current ID number displayed in the upper-corner of the Runs screen.

Simfile
Simfile is a batch control file. When a simulation program starts, it looks for the
existence of Simfile. If the file is not found, the program will prompt you for an input
file name. If the file is found, the program obtains all necessary input and output file
names from Simfile. An example Simfile is shown below.

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Appendix D Model Files and Keywords

Listing D.1. Example Simfile.

SIMFILE
INPUT C:\ARCSIM\RUNS\471.LPI
ECHO C:\ARCSIM\RUNS\471.LPO
FINAL C:\ARCSIM\RUNS\471.LPF
ERDFILE C:\ARCSIM\RUNS\471.ERD
END

Although it is a convention in ArcSim to use the same root name for all files, the
individual simulation programs are capable of creating any names allowable under the
file operating system.
Notice that the names in Simfile are full pathnames. The individual files can be located
anywhere on the computer.
Whenever you click the Run button, a new Simfile is created in the same folder as the
simulation program (by convention, this is the folder Programs). If a file with that name
already exists, it is overwritten.

LPI Files
The LPI file lists the input parameters for the simulation program.
When you click the Run button, a new LPI file is created in the folder containing the
Runs library (i.e., the Runs.tbk file). The LPI file contains information from the Runs
screen. As shown in the following example, the file is relatively short.
Listing D.2. Example LPI file.
PARSFILE
parsfile C:\ARCSIM\VEHICLES\COMBOS\8.par
parsfile C:\ARCSIM\INPUT\PATH\28.par
parsfile C:\ARCSIM\INPUT\BRAKING\58.par
parsfile C:\ARCSIM\PLOT\428.par
parsfile C:\ARCSIM\PLOT\433.par
parsfile C:\ARCSIM\PLOT\439.par

parsfile C:\ARCSIM\comp_par\9.par
stopt 12
speed 100

testid 430
title Lane change (3a/2a combo) F
END

Each link seen in the Runs screen is represented with a full pathname to an existing data
file. In the above example, the data from the selected vehicle is contained in the file 8.par,
in the directory C:\ARCSIM\VEHICLES\COMBOS.

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Appendix D Model Files and Keywords

The keyword PARSFILE is similar to the INCLUDE directive in C or Fortran: it instructs

the program to open the specified file and to continue reading from the new file. When
the new file has been scanned to its end, the program continues reading from the original
file.
PARSFILEs are often nested five or six layers deep.
In order to view all of the parameters used in a simulation run, you could trace the input
files the same way as the program: start with the Simfile to find the name of the input
(LPI) file. Then, open the input file and view any parameter values in it. Open any files
identified with the keyword PARSFILE, and continue the inspection.

LPO and LPF Echo Files

In ArcSim, the input parameter values are typically spread over many files. When a
simulation program runs, it creates summary files that list each and every parameter value
that is being used in the current simulation.
One of these files is created before the run (LPO), and the other is created at the end of
the run. Both contain all parameter values used in the simulation. In addition, the LPO
file contains the initial conditions of the state variables in the simulation model. The
information in the LPO file is sufficient to exactly repeat a run, using only the LPO file as
an input.
The other file is nearly identical, except that instead of the initial values, it contains the
final values of the state variables. By modifying the start and stop time parameters, an
existing run can be continued if the LPF file is used as the input file for the simulation
solver program.
An example LPF file is listed later, to show all of the keywords recognized by a ArcSim
model.

ERD and BIN Files

The main purpose of each simulation program is to predict time histories of variables of
interest. These time histories are stored in a binary data file with the extension BIN. A
companion file, with extension ERD, describes the layout of the BIN file and also
contains labeling information for each variable.
The format of an ERD file is described in Appendix A. Appendix G contains a list of all
of the variables contained in the ERD and BIN files for one of the ArcSim models.

Keywords
The files read by the simulation programs in ArcSim are scanned for input data.
Parameters are identified by keywords.

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Appendix D Model Files and Keywords

Viewing a Complete List of Parameters

The following list of output variables was created from within the software for the 3a2a
tractor-semitrailer vehicle. To create a similar list for other vehicle models, do the
following:
1. Go to the Runs library, and find a run involving the vehicle of interest.
2. If the run has not already been made, click the Run button.
3. Click the View All Parameters button to view the file in a text editor.
Alternatively, look at the ID number in the upper-right corner of the Runs screen (e.g.,
430). Then, use a file browser such as Windows Explorer to find the files with the ID
numbers as a name with extensions LPO and LPF (e.g., 430.LPO, 430.LPF). Either
one contains every keyword recognized by the simulation program.

Indexed Keywords
Many of the parameters in the ArcSim models are applied in several places on the
vehicle. For example, every axle has a mass. The same data screen is used to describe an
axle mass, no matter where it is located in the vehicle. The location of the axle is
specified with additional keywords IUNIT and IAXLE. For components that differ on
the left and right side, a keyword ISIDE is also used.
Parameter values such as an axle mass are written in the PARSFILE with numerical
indices, e.g., MUS(2,1) indicates the unsprung mass of unit 2 (trailer) and axle 1.
Tabular data are written with keywords in front of the table to indicate which unit, axle,
etc. are associated with the table.

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Appendix D Model Files and Keywords

Listing D.3. LPF file for 6-axle vehicle.

PARSFILE
* 3-axle tractor with 3-axle trailer
* ARC Case study.
* IN-LB Units
* Generated by AutoSim July 18, 1997
* Copyright 1997. The Regents of the University of Michigan. All
Rights Reserved.

TITLE WC Steer + Brake

* Input File: 426.lpo

* Run was made 13:31 on Jul. 19, 1997
FORMAT binary

INTOPT 3 , Type of integration (0=Adams, 1=Gear+PEDERV, 2=Gear diff., 3=RK2)

(-)
IPRINT 50 , number of time steps between output printing (counts)
STEP0 1e-05 , Initial integration step (s)
STEPMIN 1e-07 , Minimum allowable integration step (s)
EPSINT 0.01 , Dimensionless integrator error tolerance (-)
STARTT 0 , simulation start time (s)
STEP 0.001 , simulation time step (s)
STOPT 4.002 , simulation stop time (s)

* PARAMETER VALUES

ACAST 4.1 , Caster angle (deg)

AFAERO 115 , Aerodynamic frontal area (ft2)
AKPI 2.1 , Kingpin inclination angle (deg)
BD(1,1) 28 , Damping rate for Axle 1 shock absorber (lb-s/in)
BD(1,2) 0 , Damping rate for Axle 2 shock absorber (lb-s/in)
BD(1,3) 0 , Damping rate for Axle 3 shock absorber (lb-s/in)
BD(2,1) 10 , Damping rate for Axle 4 shock absorber (lb-s/in)
BD(2,2) 10 , Damping rate for Axle 5 shock absorber (lb-s/in)
BD(2,3) 10 , Damping rate for Axle 6 shock absorber (lb-s/in)
CDAERO 0.65 , Aerodynamic drag coefficient (-)
CSMZR 0 , Torsional steering system complinace due to tie rods (deg/lb/in)
CSMZS 0 , Steering shaft compliance (deg/lb/in)
CWRAP 0 , Wrap-up compliance of front axle (deg/lb/in)
DAIR 0.00234003 , Air density (slug/ft^3)
GO_Z 0 , Global Z coordinate of ground surface origin. (ft)
GS_X 0 , dZ/dX: change in ground height per unit change in global X position (-)
GS_Y 0 , dZ/dY: change in ground height per unit change in global Y position (-)
G_PITCH 0 , CALC -- Pitch of the inclined ground surface (deg)

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Appendix D Model Files and Keywords

G_ROLL 0 , CALC -- Roll of the inclined ground surface (deg)

HCGA(1,1) 22.5 , Height of Axle 1 CG above ground (in)
HCGA(1,2) 22.5 , Height of Axle 2 CG above ground (in)
HCGA(1,3) 22.5 , Height of Axle 3 CG above ground (in)
HCGA(2,1) 17.7 , Height of Axle 4 CG above ground (in)
HCGA(2,2) 17.7 , Height of Axle 5 CG above ground (in)
HCGA(2,3) 17.7 , Height of Axle 6 CG above ground (in)
HCGPL 104 , CALC -- CG height of box load (in)
HCGSML(1) 43.9934 , CALC -- CG height of sprung mass of laden Tractor (in)
HCGSML(2) 94.9228 , CALC -- CG height of sprung mass of laden Semitrailer (in)
HCGTL(1) 35.3 , CALC -- CG height of total laden Tractor (in)
HCGTL(2) 91.2429 , CALC -- CG height of total laden Semitrailer (in)
HCGTU(1) 35.3 , Height of total unladen tractor CG above ground (in)
HCGTU(2) 38.2 , Height of total unladen semitrailer CG above ground (in)
HH(1) 64 , Height of hitch 1 above ground (in)
HLLB(1) 0 , Height of box load bottom above cargo floor (in)
HRC(1,1) 29 , Height of Axle 1 roll center above ground (in)
HRC(1,2) 29 , Height of Axle 2 roll center above ground (in)
HRC(1,3) 29 , Height of Axle 3 roll center above ground (in)
HRC(2,1) 15 , Height of Axle 4 roll center above ground (in)
HRC(2,2) 14.9 , Height of Axle 5 roll center above ground (in)
HRC(2,3) 15 , Height of Axle 6 roll center above ground (in)
HTLB(2) 40 , Height of semitrailer cargo floor above ground (in)
IA(1,1) 6000 , Axle 1 yaw and roll moment of inertia (in-lb-s2)
IA(1,2) 6000 , Axle 2 yaw and roll moment of inertia (in-lb-s2)
IA(1,3) 6000 , Axle 3 yaw and roll moment of inertia (in-lb-s2)
IA(2,1) 1061 , Axle 4 yaw and roll moment of inertia (in-lb-s2)
IA(2,2) 880 , Axle 5 yaw and roll moment of inertia (in-lb-s2)
IA(2,3) 1061 , Axle 6 yaw and roll moment of inertia (in-lb-s2)
IW(1,1) 500 , Wheel spin inertia, Axle 1 (in-lb-s2)
IW(1,2) 800 , Wheel spin inertia, Axle 2 (in-lb-s2)
IW(1,3) 800 , Wheel spin inertia, Axle 3 (in-lb-s2)
IW(2,1) 136 , Wheel spin inertia, Axle 4 (in-lb-s2)
IW(2,2) 136 , Wheel spin inertia, Axle 5 (in-lb-s2)
IW(2,3) 136 , Wheel spin inertia, Axle 6 (in-lb-s2)
IXXPL 458410 , CALC -- Moment of inertia for box load (in-lb-s2)
IXXSM(1) 32803.0 , CALC -- Moment of inertia for sprung mass of laden Tractor (in-lb-s2)
IXXSM(2) 627657 , CALC -- Moment of inertia for sprung mass of laden Semitrailer (in-
lb-s2)
IXXTL(1) 58000 , CALC -- Moment of inertia for total laden Tractor (in-lb-s2)
IXXTL(2) 701721 , CALC -- Moment of inertia for total laden Semitrailer (in-lb-s2)
IXXTU(1) 58000 , Moment of inertia for total unladen tractor (in-lb-s2)
IXXTU(2) 65630 , Moment of inertia for total unladen semitrailer (in-lb-s2)
IXZSM(1) 0.0232828 , CALC -- Product of inertia for sprung mass of laden Tractor (in-lb-s2)
IXZSM(2) -10943.1 , CALC -- Product of inertia for sprung mass of laden Semitrailer (in-lb-
s2)

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Appendix D Model Files and Keywords

IXZTL(1) -15503 , CALC -- Product of inertia for total laden Tractor (in-lb-s2)
IXZTL(2) -160469 , CALC -- Product of inertia for total laden Semitrailer (in-lb-s2)
IXZTU(1) -15503 , Product of inertia for total unladen tractor (in-lb-s2)
IXZTU(2) -41402 , Product of inertia for total unladen semitrailer (in-lb-s2)
IYYPL 1.87654e+06 , CALC -- Moment of inertia for box load (in-lb-s2)
IYYSM(1) 206064 , CALC -- Moment of inertia for sprung mass of laden Tractor (in-lb-s2)
IYYSM(2) 2.83498e+06 , CALC -- Moment of inertia for sprung mass of laden Semitrailer
(in-lb-s2)
IYYTL(1) 465000 , CALC -- Moment of inertia for total laden Tractor (in-lb-s2)
IYYTL(2) 3.24201e+06 , CALC -- Moment of inertia for total laden Semitrailer (in-lb-s2)
IYYTU(1) 465000 , Moment of inertia for total unladen tractor (in-lb-s2)
IYYTU(2) 1.108e+06 , Moment of inertia for total unladen semitrailer (in-lb-s2)
IZZPL 1.75695e+06 , CALC -- Moment of inertia for box load (in-lb-s2)
IZZSM(1) 205261 , CALC -- Moment of inertia for sprung mass of laden Tractor (in-lb-s2)
IZZSM(2) 2.63976e+06 , CALC -- Moment of inertia for sprung mass of laden Semitrailer (in-
lb-s2)
IZZTL(1) 475000 , CALC -- Moment of inertia for total laden Tractor (in-lb-s2)
IZZTL(2) 2.97873e+06 , CALC -- Moment of inertia for total laden Semitrailer (in-lb-s2)
IZZTU(1) 475000 , Moment of inertia for total unladen tractor (in-lb-s2)
IZZTU(2) 1.142e+06 , Moment of inertia for total unladen semitrailer (in-lb-s2)
KAUX(1,1) 20000 , Axle 1 auxiliary roll stiffness (in-lb/deg)
KAUX(1,2) 20000 , Axle 2 auxiliary roll stiffness (in-lb/deg)
KAUX(1,3) 20000 , Axle 3 auxiliary roll stiffness (in-lb/deg)
KAUX(2,1) 280000 , Axle 4 auxiliary roll stiffness (in-lb/deg)
KAUX(2,2) 2500 , Axle 5 auxiliary roll stiffness (in-lb/deg)
KAUX(2,3) 280000 , Axle 6 auxiliary roll stiffness (in-lb/deg)
KHX(1) 1e+06 , Hitch roll torsional stiffness (in-lb/deg)
KHY(1) 0 , Hitch pitch torsional stiffness (in-lb/deg)
KHZ(1) 0 , Hitch articulation torsional stiffness (in-lb/deg)
KT(1,1) 6900 , Axle 1 tire spring rate (lb/in)
KT(1,2) 6900 , Axle 2 tire spring rate (lb/in)
KT(1,3) 6900 , Axle 3 tire spring rate (lb/in)
KT(2,1) 5174 , Axle 4 tire spring rate (lb/in)
KT(2,2) 5174 , Axle 5 tire spring rate (lb/in)
KT(2,3) 5174 , Axle 6 tire spring rate (lb/in)
LDUAL(1,1) 0 , Axle 1 dual tire spacing (use 0 for singles) (in)
LDUAL(1,2) 13 , Axle 2 dual tire spacing (use 0 for singles) (in)
LDUAL(1,3) 13 , Axle 3 dual tire spacing (use 0 for singles) (in)
LDUAL(2,1) 13 , Axle 4 dual tire spacing (use 0 for singles) (in)
LDUAL(2,2) 13 , Axle 5 dual tire spacing (use 0 for singles) (in)
LDUAL(2,3) 13 , Axle 6 dual tire spacing (use 0 for singles) (in)
LKPO 3.11 , Kingpin offset (at wheel center) (in)
LRELAX(1,1) 30 , Tire relaxation length, axle 1 (in)
LRELAX(1,2) 30 , Tire relaxation length, axle 2 (in)
LRELAX(1,3) 30 , Tire relaxation length, axle 3 (in)
LRELAX(2,1) 30 , Tire relaxation length, axle 4 (in)

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Appendix D Model Files and Keywords

LRELAX(2,2) 30 , Tire relaxation length, axle 5 (in)

LRELAX(2,3) 30 , Tire relaxation length, axle 6 (in)
LTAND(1) 56 , Longitudinal tandem axle spacing for Tractor (in)
LTD(1,1) 38 , Distance between dampers on Axle 1 (in)
LTD(1,2) 38 , Distance between dampers on Axle 2 (in)
LTD(1,3) 38 , Distance between dampers on Axle 3 (in)
LTD(2,1) 38 , Distance between dampers on Axle 4 (in)
LTD(2,2) 38 , Distance between dampers on Axle 5 (in)
LTD(2,3) 38 , Distance between dampers on Axle 6 (in)
LTK(1,1) 80 , Axle 1 ltk (to center of dual tires) (in)
LTK(1,2) 72.7 , Axle 2 ltk (to center of dual tires) (in)
LTK(1,3) 72.7 , Axle 3 ltk (to center of dual tires) (in)
LTK(2,1) 71.5 , Axle 4 ltk (to center of dual tires) (in)
LTK(2,2) 71.5 , Axle 5 ltk (to center of dual tires) (in)
LTK(2,3) 71.5 , Axle 6 ltk (to center of dual tires) (in)
LTRIDF(2) 50 , Front longitudinal tridem axle spacing for Semitrailer (in)
LTRIDR(2) 50 , Rear longitudinal tridem axle spacing for Semitrailer (in)
LTS(1,1) 38 , Distance between springs on Axle 1 (in)
LTS(1,2) 38 , Distance between springs on Axle 2 (in)
LTS(1,3) 38 , Distance between springs on Axle 3 (in)
LTS(2,1) 38 , Distance between springs on Axle 4 (in)
LTS(2,2) 38 , Distance between springs on Axle 5 (in)
LTS(2,3) 38 , Distance between springs on Axle 6 (in)
LWB(1) 186 , Wheelbase of tractor (in)
LWB(2) 388.8 , Wheelbase of semitrailer (in)
LXCGPL 225.504 , CALC -- X dist (to rear) of box load CG (in)
LXCGSML(1) 75.2455 , CALC -- X dist (to rear) of sprung mass of laden Tractor CG (in)
LXCGSML(2) 226.310 , CALC -- X dist (to rear) of sprung mass of laden Semitrailer CG
(in)
LXCGTL(1) 93.9720 , CALC -- X dist (to rear) of total laden Tractor CG (in)
LXCGTL(2) 234.053 , CALC -- X dist (to rear) of total laden Semitrailer CG (in)
LXCGTUL(1) 93.9720 , CALC -- X dist (to rear) of total unladen Tractor CG (in)
LXCGTUL(2) 269.598 , CALC -- X dist (to rear) of total unladen Semitrailer CG (in)
LXHITCH(1) 176.458 , CALC -- X dist (to rear) of hitch 1
LXRL(1) 300 , Length of box load (in)
LYRL(1) 98 , Width of box load (in)
LZRL(1) 128 , Height of box load (in)
M(1,1) 14425 , Laden load for Axle 1 (lbm)
M(1,2) 25448 , Laden load for Axle 2 (lbm)
M(1,3) 25448 , Laden load for Axle 3 (lbm)
M(2,1) 20343 , Laden load for Axle 4 (lbm)
M(2,2) 20343 , Laden load for Axle 5 (lbm)
M(2,3) 20343 , Laden load for Axle 6 (lbm)
MPLD 81724 , CALC -- Mass of box load (lb)
MSTL(1) 14871 , CALC -- Sprung laden mass of Tractor (lb)
MSTL(2) 96548 , CALC -- Sprung laden mass of Semitrailer (lb)

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Appendix D Model Files and Keywords

MTL(1) 24971 , CALC -- Total laden mass of Tractor (lb)

MTL(2) 101379 , CALC -- Total laden mass of Semitrailer (lb)
MTRAIL(2) 19655 , Mass of total unloaded semitrailer (lbm)
MTUL(1) 24971 , CALC -- Total unladen mass of Tractor (lb)
MTUL(2) 19655 , CALC -- Total unladen mass of Semitrailer (lb)
MU 0.8 , Tire/ground friction coeffient (-)
MUL(1,1) 12355 , Unladen load for Axle 1 (lbm)
MUL(1,2) 6308 , Unladen load for Axle 2 (lbm)
MUL(1,3) 6308 , Unladen load for Axle 3 (lbm)
MUL(2,1) 4543 , Unladen load for Axle 4 (lbm)
MUL(2,2) 4543 , Unladen load for Axle 5 (lbm)
MUL(2,3) 4543 , Unladen load for Axle 6 (lbm)
MUS(1,1) 3500 , Mass of Axle 1 (lbm)
MUS(1,2) 3300 , Mass of Axle 2 (lbm)
MUS(1,3) 3300 , Mass of Axle 3 (lbm)
MUS(2,1) 1648 , Mass of Axle 4 (lbm)
MUS(2,2) 1535 , Mass of Axle 5 (lbm)
MUS(2,3) 1648 , Mass of Axle 6 (lbm)
PRH_INIT 1 , Vehicle pitch, roll and height initialization switch: if 0.0 --> do not
initialize, initialized otherwise (-)
RBMPSTR 0.3 , Bump-steer ratio: steer/jounce (deg/in)
RMYBK(1,1) 4000 , Ratio: brake torque per unit input for Axle 1 (lb-in/psi)
RMYBK(1,2) 8000 , Ratio: brake torque per unit input for Axle 2 (lb-in/psi)
RMYBK(1,3) 8000 , Ratio: brake torque per unit input for Axle 3 (lb-in/psi)
RMYBK(2,1) 9000 , Ratio: brake torque per unit input for Axle 4 (lb-in/psi)
RMYBK(2,2) 9000 , Ratio: brake torque per unit input for Axle 5 (lb-in/psi)
RMYBK(2,3) 9000 , Ratio: brake torque per unit input for Axle 6 (lb-in/psi)
ROLL_STOP 45 , Roll angle for stopping the simulation (deg)
RR_FR0(1,1) 0.0041 , Axle 1 zero speed nominal rolling resistance coefficient (-)
RR_FR0(1,2) 0.0041 , Axle 2 zero speed nominal rolling resistance coefficient (-)
RR_FR0(1,3) 0.0041 , Axle 3 zero speed nominal rolling resistance coefficient (-)
RR_FR0(2,1) 0.0041 , Axle 4 zero speed nominal rolling resistance coefficient (-)
RR_FR0(2,2) 0.0041 , Axle 5 zero speed nominal rolling resistance coefficient (-)
RR_FR0(2,3) 0.0041 , Axle 6 zero speed nominal rolling resistance coefficient (-)
RR_FRS(1,1) 4.1e-05 , Axle 1 rolling resistance coefficient speed proportionality constant
(1/mph)
RR_FRS(1,2) 4.1e-05 , Axle 2 rolling resistance coefficient speed proportionality constant
(1/mph)
RR_FRS(1,3) 4.1e-05 , Axle 3 rolling resistance coefficient speed proportionality constant
(1/mph)
RR_FRS(2,1) 4.1e-05 , Axle 4 rolling resistance coefficient speed proportionality constant
(1/mph)
RR_FRS(2,2) 4.1e-05 , Axle 5 rolling resistance coefficient speed proportionality constant
(1/mph)
RR_FRS(2,3) 4.1e-05 , Axle 6 rolling resistance coefficient speed proportionality constant
(1/mph)

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Appendix D Model Files and Keywords

RR_RSC 1 , Rolling resistance road surface coefficient (-)

RSKIN 30 , Steering gearbox kinematic ratio (-)
RSTR(1,1) 0 , Axle 1 roll-steer coefficient (axle steer / axle roll) (-)
RSTR(1,2) 0 , Axle 2 roll-steer coefficient (axle steer / axle roll) (-)
RSTR(1,3) 0 , Axle 3 roll-steer coefficient (axle steer / axle roll) (-)
RSTR(2,1) 0 , Axle 4 roll-steer coefficient (axle steer / axle roll) (-)
RSTR(2,2) 0 , Axle 5 roll-steer coefficient (axle steer / axle roll) (-)
RSTR(2,3) 0 , Axle 6 roll-steer coefficient (axle steer / axle roll) (-)
RTIME 18.2409 , CALC -- Computational efficiency (sec/sim. sec) (-)
RWRAPSTR 0.8 , Ratio: steer due to axle wrap (-)
SPEED_INIT 1 , Forward speed/spin rate initialization switch: if 0.0 --> do not initialize,
initialized otherwise (-)
SPEED_KI 0.157 , Integral control gain for speed controller (rev/s2)
SPEED_KP 0.141 , Proportional control gain for speed controller (rev/s)
SPEED_ON_OFF 0 , Speed control switch (0.0 -> off, 1.0 -> on) (-)
SPRING_INIT 1 , UMTRI spring init: 0.0 -> equilibrium, otherwize use initial condition
(-)
TESTID 426 , Run ID number (echoed in ERD file header) (-)
VWIND 0 , Speed of headwind (toward driver) relative to ground (negative values are
set to zero) (mph)
V_CUTOFF(1,1) 10 , Cutoff speed for tire relaxation equations, axle 1 (mph)
V_CUTOFF(1,2) 10 , Cutoff speed for tire relaxation equations, axle 2 (mph)
V_CUTOFF(1,3) 10 , Cutoff speed for tire relaxation equations, axle 3 (mph)
V_CUTOFF(2,1) 10 , Cutoff speed for tire relaxation equations, axle 4 (mph)
V_CUTOFF(2,2) 10 , Cutoff speed for tire relaxation equations, axle 5 (mph)
V_CUTOFF(2,3) 10 , Cutoff speed for tire relaxation equations, axle 6 (mph)
V_STOP 0.2 , Low-speed condition for stopping the simulation (mph)

BRKIN_TABLE Brake input vs. time

0, 0 , point in table: (s, psi)
2.05, 0 , point in table: (s, psi)
2.1, 20 , point in table: (s, psi)
3.05, 20 , point in table: (s, psi)
3.1, 0 , point in table: (s, psi)
8, 0 , point in table: (s, psi)
ENDTABLE

SPEED_TABLE Vehicle forward speed vs. time (speed control)

0, 60 , point in table: (s, mph)
ENDTABLE

* Data for the UMTRI spring model

IUNIT 1
IAXLE 1

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Appendix D Model Files and Keywords

SPRING_BETA 0.04 , "beta" parameter--characteristic deflection (in)

SPRING_UPPER_ENVELOPE
0, 0 , point in table: (in, lb)
0.075, 900 , point in table: (in, lb)
0.5, 5100 , point in table: (in, lb)
0.575, 6000 , point in table: (in, lb)
0.75, 7890 , point in table: (in, lb)
0.95, 10200 , point in table: (in, lb)
1.125, 12390 , point in table: (in, lb)
1.25, 14190 , point in table: (in, lb)
1.375, 16590 , point in table: (in, lb)
ENDTABLE

SPRING_LOWER_ENVELOPE
0, 0 , point in table: (in, lb)
0.125, 525 , point in table: (in, lb)
0.275, 1200 , point in table: (in, lb)
0.425, 2100 , point in table: (in, lb)
0.575, 3000 , point in table: (in, lb)
0.75, 4200 , point in table: (in, lb)
0.95, 5700 , point in table: (in, lb)
1.05, 6600 , point in table: (in, lb)
1.375, 9600 , point in table: (in, lb)
ENDTABLE

* Data for the UMTRI spring model

IUNIT 1
IAXLE 2
SPRING_BETA 0.05 , "beta" parameter--characteristic deflection (in)

SPRING_UPPER_ENVELOPE
2, -717 , point in table: (in, lb)
2.35, 716 , point in table: (in, lb)
3, 3242 , point in table: (in, lb)
3.5, 5153 , point in table: (in, lb)
4, 7064 , point in table: (in, lb)
5, 11092 , point in table: (in, lb)
5.5, 13071 , point in table: (in, lb)
6, 15324 , point in table: (in, lb)
6.5, 18064 , point in table: (in, lb)
ENDTABLE

SPRING_LOWER_ENVELOPE

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Appendix D Model Files and Keywords

2.15, -1059 , point in table: (in, lb)

2.5, 238.45 , point in table: (in, lb)
3, 1945 , point in table: (in, lb)
3.5, 3856 , point in table: (in, lb)
4, 5563 , point in table: (in, lb)
4.5, 7542 , point in table: (in, lb)
5, 9521 , point in table: (in, lb)
5.5, 11706 , point in table: (in, lb)
6, 13959 , point in table: (in, lb)
6.5, 16484 , point in table: (in, lb)
ENDTABLE

* Data for the UMTRI spring model

IUNIT 1
IAXLE 3
SPRING_BETA 0.05 , "beta" parameter--characteristic deflection (in)

SPRING_UPPER_ENVELOPE
2, -717 , point in table: (in, lb)
2.35, 716 , point in table: (in, lb)
3, 3242 , point in table: (in, lb)
3.5, 5153 , point in table: (in, lb)
4, 7064 , point in table: (in, lb)
5, 11092 , point in table: (in, lb)
5.5, 13071 , point in table: (in, lb)
6, 15324 , point in table: (in, lb)
6.5, 18064 , point in table: (in, lb)
ENDTABLE

SPRING_LOWER_ENVELOPE
2.15, -1059 , point in table: (in, lb)
2.5, 238.45 , point in table: (in, lb)
3, 1945 , point in table: (in, lb)
3.5, 3856 , point in table: (in, lb)
4, 5563 , point in table: (in, lb)
4.5, 7542 , point in table: (in, lb)
5, 9521 , point in table: (in, lb)
5.5, 11706 , point in table: (in, lb)
6, 13959 , point in table: (in, lb)
6.5, 16484 , point in table: (in, lb)
ENDTABLE

* Data for the UMTRI spring model

IUNIT 2
IAXLE 1

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Appendix D Model Files and Keywords

SPRING_BETA 0.08 , "beta" parameter--characteristic deflection (in)

SPRING_UPPER_ENVELOPE
0.16, 17 , point in table: (in, lb)
0.26, 266 , point in table: (in, lb)
2.25, 470 , point in table: (in, lb)
2.5, 2029 , point in table: (in, lb)
2.97, 7792 , point in table: (in, lb)
3.28, 12741 , point in table: (in, lb)
3.62, 19382 , point in table: (in, lb)
ENDTABLE

SPRING_LOWER_ENVELOPE
0.28, 19 , point in table: (in, lb)
0.35, 199 , point in table: (in, lb)
2.33, 402 , point in table: (in, lb)
2.64, 1351 , point in table: (in, lb)
3.1, 4199 , point in table: (in, lb)
3.37, 7995 , point in table: (in, lb)
3.87, 18571 , point in table: (in, lb)
ENDTABLE

* Data for the UMTRI spring model

IUNIT 2
IAXLE 2
SPRING_BETA 0.08 , "beta" parameter--characteristic deflection (in)

SPRING_UPPER_ENVELOPE
0.16, 17 , point in table: (in, lb)
0.26, 266 , point in table: (in, lb)
2.25, 470 , point in table: (in, lb)
2.5, 2029 , point in table: (in, lb)
2.97, 7792 , point in table: (in, lb)
3.28, 12741 , point in table: (in, lb)
3.62, 19382 , point in table: (in, lb)
ENDTABLE

SPRING_LOWER_ENVELOPE
0.28, 19 , point in table: (in, lb)
0.35, 199 , point in table: (in, lb)
2.33, 402 , point in table: (in, lb)
2.64, 1351 , point in table: (in, lb)
3.1, 4199 , point in table: (in, lb)
3.37, 7995 , point in table: (in, lb)

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Appendix D Model Files and Keywords

3.87, 18571 , point in table: (in, lb)

ENDTABLE

* Data for the UMTRI spring model

IUNIT 2
IAXLE 3
SPRING_BETA 0.08 , "beta" parameter--characteristic deflection (in)

SPRING_UPPER_ENVELOPE
0.16, 17 , point in table: (in, lb)
0.26, 266 , point in table: (in, lb)
2.25, 470 , point in table: (in, lb)
2.5, 2029 , point in table: (in, lb)
2.97, 7792 , point in table: (in, lb)
3.28, 12741 , point in table: (in, lb)
3.62, 19382 , point in table: (in, lb)
ENDTABLE

SPRING_LOWER_ENVELOPE
0.28, 19 , point in table: (in, lb)
0.35, 199 , point in table: (in, lb)
2.33, 402 , point in table: (in, lb)
2.64, 1351 , point in table: (in, lb)
3.1, 4199 , point in table: (in, lb)
3.37, 7995 , point in table: (in, lb)
3.87, 18571 , point in table: (in, lb)
ENDTABLE

STEERSW_TABLE Front wheel steer vs. time (500 pts max)

0, -50 , point in table: (s, deg)
0.45, -50 , point in table: (s, deg)
0.55, 50 , point in table: (s, deg)
3.35, 50 , point in table: (s, deg)
3.4, -50 , point in table: (s, deg)
7, -50 , point in table: (s, deg)
8, 0 , point in table: (s, deg)
ENDTABLE

* Tire Data:
IUNIT 1
IAXLE 1
* Longitudinal force (lb) as a function of slip rate (-) and vertical load (lb).
* top row = load, left column = slip, other cells = longitudinal tire force

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Appendix D Model Files and Keywords

FX_CARPET 2 , columns in table

0, 6000
0.1, 3600
0.2, 4500
0.3, 4500
ENDTABLE

* Lateral force (lb) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = lateral tire force

FY_CARPET 4 , columns in table

0, 1925, 6600, 9300
1, 356.94, 835.38, 944.1
2, 634.56, 1611.09, 1793.79
4, 1070.82, 2804.49, 3398.76
8, 1526.91, 3938.22, 5192.55
12, 1804.53, 4355.91, 5759.01
ENDTABLE

* Aligning moment (lb-in) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = aligning moment

MZ_CARPET 6 , columns in table

0, 2000, 3980, 5970, 7950, 9440
1, 335.52, 1019.52, 1764, 2484, 2999.52
2, 528.48, 1716.48, 3156.48, 4608, 5616
4, 659.52, 2256.48, 4344.48, 6720.48, 8604
8, 443.52, 1728, 3240, 5303.52, 7103.52
12, 252, 1091.52, 2184.48, 3575.52, 4619.52
15, 252, 1091.52, 2184.48, 3575.52, 4619.52
ENDTABLE

* Tire Data:
IUNIT 1
IAXLE 2
* Longitudinal force (lb) as a function of slip rate (-) and vertical load (lb).
* top row = load, left column = slip, other cells = longitudinal tire force

FX_CARPET 2 , columns in table

0, 6000
0.1, 3600
0.2, 4500
0.3, 4500
ENDTABLE

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Appendix D Model Files and Keywords

* Lateral force (lb) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = lateral tire force

FY_CARPET 4 , columns in table

0, 1925, 6600, 9300
1, 356.94, 835.38, 944.1
2, 634.56, 1611.09, 1793.79
4, 1070.82, 2804.49, 3398.76
8, 1526.91, 3938.22, 5192.55
12, 1804.53, 4355.91, 5759.01
ENDTABLE

* Aligning moment (lb-in) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = aligning moment

MZ_CARPET 6 , columns in table

0, 2000, 3980, 5970, 7950, 9440
1, 335.52, 1019.52, 1764, 2484, 2999.52
2, 528.48, 1716.48, 3156.48, 4608, 5616
4, 659.52, 2256.48, 4344.48, 6720.48, 8604
8, 443.52, 1728, 3240, 5303.52, 7103.52
12, 252, 1091.52, 2184.48, 3575.52, 4619.52
15, 252, 1091.52, 2184.48, 3575.52, 4619.52
ENDTABLE

* Tire Data:
IUNIT 1
IAXLE 3
* Longitudinal force (lb) as a function of slip rate (-) and vertical load (lb).
* top row = load, left column = slip, other cells = longitudinal tire force

FX_CARPET 2 , columns in table

0, 6000
0.1, 3600
0.2, 4500
0.3, 4500
ENDTABLE

* Lateral force (lb) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = lateral tire force

FY_CARPET 4 , columns in table

0, 1925, 6600, 9300
1, 356.94, 835.38, 944.1

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Appendix D Model Files and Keywords

2, 634.56, 1611.09, 1793.79

4, 1070.82, 2804.49, 3398.76
8, 1526.91, 3938.22, 5192.55
12, 1804.53, 4355.91, 5759.01
ENDTABLE

* Aligning moment (lb-in) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = aligning moment

MZ_CARPET 6 , columns in table

0, 2000, 3980, 5970, 7950, 9440
1, 335.52, 1019.52, 1764, 2484, 2999.52
2, 528.48, 1716.48, 3156.48, 4608, 5616
4, 659.52, 2256.48, 4344.48, 6720.48, 8604
8, 443.52, 1728, 3240, 5303.52, 7103.52
12, 252, 1091.52, 2184.48, 3575.52, 4619.52
15, 252, 1091.52, 2184.48, 3575.52, 4619.52
ENDTABLE

* Tire Data:
IUNIT 2
IAXLE 1
* Longitudinal force (lb) as a function of slip rate (-) and vertical load (lb).
* top row = load, left column = slip, other cells = longitudinal tire force

FX_CARPET 2 , columns in table

0, 6000
0.1, 3600
0.2, 4500
0.3, 4500
ENDTABLE

* Lateral force (lb) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = lateral tire force

FY_CARPET 4 , columns in table

0, 1925, 6600, 9300
1, 356.94, 835.38, 944.1
2, 634.56, 1611.09, 1793.79
4, 1070.82, 2804.49, 3398.76
8, 1526.91, 3938.22, 5192.55
12, 1804.53, 4355.91, 5759.01
ENDTABLE

* Aligning moment (lb-in) as a function of slip angle (deg) and vertical load (lb).

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Appendix D Model Files and Keywords

* top row = load, left column = slip, other cells = aligning moment

MZ_CARPET 6 , columns in table

0, 2000, 3980, 5970, 7950, 9440
1, 335.52, 1019.52, 1764, 2484, 2999.52
2, 528.48, 1716.48, 3156.48, 4608, 5616
4, 659.52, 2256.48, 4344.48, 6720.48, 8604
8, 443.52, 1728, 3240, 5303.52, 7103.52
12, 252, 1091.52, 2184.48, 3575.52, 4619.52
15, 252, 1091.52, 2184.48, 3575.52, 4619.52
ENDTABLE

* Tire Data:
IUNIT 2
IAXLE 2
* Longitudinal force (lb) as a function of slip rate (-) and vertical load (lb).
* top row = load, left column = slip, other cells = longitudinal tire force

FX_CARPET 2 , columns in table

0, 6000
0.1, 3600
0.2, 4500
0.3, 4500
ENDTABLE

* Lateral force (lb) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = lateral tire force

FY_CARPET 4 , columns in table

0, 1925, 6600, 9300
1, 356.94, 835.38, 944.1
2, 634.56, 1611.09, 1793.79
4, 1070.82, 2804.49, 3398.76
8, 1526.91, 3938.22, 5192.55
12, 1804.53, 4355.91, 5759.01
ENDTABLE

* Aligning moment (lb-in) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = aligning moment

MZ_CARPET 6 , columns in table

0, 2000, 3980, 5970, 7950, 9440
1, 335.52, 1019.52, 1764, 2484, 2999.52
2, 528.48, 1716.48, 3156.48, 4608, 5616
4, 659.52, 2256.48, 4344.48, 6720.48, 8604

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Appendix D Model Files and Keywords

8, 443.52, 1728, 3240, 5303.52, 7103.52

12, 252, 1091.52, 2184.48, 3575.52, 4619.52
15, 252, 1091.52, 2184.48, 3575.52, 4619.52
ENDTABLE

* Tire Data:
IUNIT 2
IAXLE 3
* Longitudinal force (lb) as a function of slip rate (-) and vertical load (lb).
* top row = load, left column = slip, other cells = longitudinal tire force

FX_CARPET 2 , columns in table

0, 6000
0.1, 3600
0.2, 4500
0.3, 4500
ENDTABLE

* Lateral force (lb) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = lateral tire force

FY_CARPET 4 , columns in table

0, 1925, 6600, 9300
1, 356.94, 835.38, 944.1
2, 634.56, 1611.09, 1793.79
4, 1070.82, 2804.49, 3398.76
8, 1526.91, 3938.22, 5192.55
12, 1804.53, 4355.91, 5759.01
ENDTABLE

* Aligning moment (lb-in) as a function of slip angle (deg) and vertical load (lb).
* top row = load, left column = slip, other cells = aligning moment

MZ_CARPET 6 , columns in table

0, 2000, 3980, 5970, 7950, 9440
1, 335.52, 1019.52, 1764, 2484, 2999.52
2, 528.48, 1716.48, 3156.48, 4608, 5616
4, 659.52, 2256.48, 4344.48, 6720.48, 8604
8, 443.52, 1728, 3240, 5303.52, 7103.52
12, 252, 1091.52, 2184.48, 3575.52, 4619.52
15, 252, 1091.52, 2184.48, 3575.52, 4619.52
ENDTABLE

* FINAL CONDITIONS

XO 320.3265320667 , Tractor sprung mass origin X position (ft)

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Appendix D Model Files and Keywords

YO 31.8753261761 , Tractor sprung mass origin Y position (ft)

ZO 2.315548183336 , Tractor sprung mass origin Z position (ft)
YAW 20.16635017603 , Tractor sprung mass yaw (deg)
PITCH 0.5011038251716 , Tractor sprung mass pitch (deg)
ROLL 45.05632626722 , Tractor sprung mass roll (deg)
PITCH_2 0.2342679649854 , Semitrailer rel. pitch (deg)
ROLL_H1 0.9323853157104 , Semitrailer rel. roll (deg)
ART_H1 1.062942985627 , Semitrailer articulation (deg)
ROLL_A4 0.6231882713031 , Axle 4 roll (deg)
JNC_A4 -0.4020702249281 , Axle 4 jounce (in)
ROLL_A5 4.931494448902 , Axle 5 roll (deg)
JNC_A5 -1.734055763914 , Axle 5 jounce (in)
ROLL_A6 0.6297443294858 , Axle 6 roll (deg)
JNC_A6 -0.3736959544235 , Axle 6 jounce (in)
ROLL_A1 2.066465564980 , Axle 1 roll (deg)
JNC_A1 -0.1248639756907 , Axle 1 jounce (in)
ROLL_A2 5.550033853609 , Axle 2 roll (deg)
JNC_A2 -1.080718946085 , Axle 2 jounce (in)
ROLL_A3 5.412836234093 , Axle 3 roll (deg)
JNC_A3 -1.241020778254 , Axle 3 jounce (in)
FSL1 -530.9753271697 , Spring force, L side, axle 1 (lb)
FSR1 11007.10351104 , Spring force, R side, axle 1 (lb)
FSL2 -746.8363357953 , Spring force, L side, axle 2 (lb)
FSR2 13543.59420971 , Spring force, R side, axle 2 (lb)
FSL3 -1164.912507566 , Spring force, L side, axle 3 (lb)
FSR3 12625.56313420 , Spring force, R side, axle 3 (lb)
FSL4 3076.842518304 , Spring force, L side, axle 4 (lb)
FSR4 3960.918507164 , Spring force, R side, axle 4 (lb)
FSL5 -612.5814248500 , Spring force, L side, axle 5 (lb)
FSR5 5821.956142552 , Spring force, R side, axle 5 (lb)
FSL6 3318.64295809 , Spring force, L side, axle 6 (lb)
FSR6 4197.476721816 , Spring force, R side, axle 6 (lb)
ROTL1 24.31161019663 , L wheel, axle 1 rotation (rev)
ROTR1 27.50821354895 , R wheel, axle 1 rotation (rev)
ROTL2 20.57730674497 , L wheel, axle 2 rotation (rev)
ROTR2 27.20712997536 , R wheel, axle 2 rotation (rev)
ROTL3 19.26300159668 , L wheel, axle 3 rotation (rev)
ROTR3 27.13293925273 , R wheel, axle 3 rotation (rev)
ROTL4 19.86494744739 , L wheel, axle 4 rotation (rev)
ROTR4 34.23384824966 , R wheel, axle 4 rotation (rev)
ROTL5 20.07026233064 , L wheel, axle 5 rotation (rev)
ROTR5 32.04470327393 , R wheel, axle 5 rotation (rev)
ROTL6 19.85745177503 , L wheel, axle 6 rotation (rev)
ROTR6 34.08395475860 , R wheel, axle 6 rotation (rev)
TANAL1 -0.02531259231427 , Tan of lagged slip angle, L wheel, axle 1 (-)
TANAR1 0.05289089647898 , Tan of lagged slip angle, R wheel, axle 1 (-)

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Appendix D Model Files and Keywords

TANAL2 -0.04443028465498 , Tan of lagged slip angle, L wheel, axle 2 (-)

TANAR2 0.03894898710595 , Tan of lagged slip angle, R wheel, axle 2 (-)
TANAL3 -0.03963386782254 , Tan of lagged slip angle, L wheel, axle 3 (-)
TANAR3 0.05147293518429 , Tan of lagged slip angle, R wheel, axle 3 (-)
TANAL4 -0.0956946188048 , Tan of lagged slip angle, L wheel, axle 4 (-)
TANAR4 -0.02059027739200 , Tan of lagged slip angle, R wheel, axle 4 (-)
TANAL5 -0.09593135763514 , Tan of lagged slip angle, L wheel, axle 5 (-)
TANAR5 -0.02359570448625 , Tan of lagged slip angle, R wheel, axle 5 (-)
TANAL6 -0.1025435940133 , Tan of lagged slip angle, L wheel, axle 6 (-)
TANAR6 -0.02945186903833 , Tan of lagged slip angle, R wheel, axle 6 (-)
IVERR 27.74286898482 , Integral of velocity error for speed controller (ft)
VXS 46.71276366550 , Tractor sprung mass CG forward speed (mph)
VYS -1.802530682803 , Tractor sprung mass CG lat. speed (mph)
VZS 3.558360629307 , Tractor sprung mass CG vert. speed (mph)
AVZ -8.894021484341 , Tractor sprung mass yaw rate (deg/s)
AVY 4.319266262618 , Tractor sprung mass pitch rate (deg/s)
AVX 96.38796495723 , Tractor sprung mass roll rate (deg/s)
AVY_H2 -1.33375434677 , Semitrailer rel. pitch rate (deg/s)
AVX_H1 71.07502131709 , Semitrailer rel. roll rate (deg/s)
AVZ_H1 3.106295551343 , Semitrailer rel. yaw rate (deg/s)
AVX_A4 -4.777509491212 , Axle 4 roll rate (deg/s)
JNCR_A4 -1.988724430115 , Axle 4 jounce rate (in/s)
AVX_A5 -5.594172056173 , Axle 5 roll rate (deg/s)
JNCR_A5 0.6328928210225 , Axle 5 jounce rate (in/s)
AVX_A6 -1.612281126109 , Axle 6 roll rate (deg/s)
JNCR_A6 -1.116928239636 , Axle 6 jounce rate (in/s)
AVX_A1 50.11538610582 , Axle 1 roll rate (deg/s)
JNCR_A1 -17.64882425308 , Axle 1 jounce rate (in/s)
AVX_A2 1.210699019365 , Axle 2 roll rate (deg/s)
JNCR_A2 -20.41623710356 , Axle 2 jounce rate (in/s)
AVX_A3 -10.27986183873 , Axle 3 roll rate (deg/s)
JNCR_A3 -22.22275786843 , Axle 3 jounce rate (in/s)
AVy_L1 4.06201595759 , L wheel, axle 1 spin (rev/s)
AVy_R1 5.786784361245 , R wheel, axle 1 spin (rev/s)
AVy_L2 1.340416880743 , L wheel, axle 2 spin (rev/s)
AVy_R2 5.777902409392 , R wheel, axle 2 spin (rev/s)
AVy_L3 1.426198824133 , L wheel, axle 3 spin (rev/s)
AVy_R3 5.783555881177 , R wheel, axle 3 spin (rev/s)
AVy_L4 0.08743644845656 , L wheel, axle 4 spin (rev/s)
AVy_R4 7.415881099309 , R wheel, axle 4 spin (rev/s)
AVy_L5 0.1546933545566 , L wheel, axle 5 spin (rev/s)
AVy_R5 7.41431878129 , R wheel, axle 5 spin (rev/s)
AVy_L6 0.0892549901003 , L wheel, axle 6 spin (rev/s)
AVy_R6 7.415911295598 , R wheel, axle 6 spin (rev/s)

END

Rev: July 20, 1997 223

Appendix E — Vehicle Multibody Model
This appendix describes the vehicle models used in ArcSim. It is intended to convey the
modeling assumptions that were used to build a “fleet” of truck simulation programs for
straight trucks and tractor-semitrailers with different axle configurations.
An earlier version of this appendix was published as SAE paper 960173, by Michael W.
Sayers and Stephen M. Riley.

Conventions
The global inertial frame is denoted by N (for Newtonian frame) and has unit vectors nx,
ny and nz . The convention of ISO 8855 is followed, in which nz is “up” (opposite to the
direction of gravity) [2].
The terms nominal and nominal configuration refer to a state of the multibody system in
which all position state variables are zero.
The abbreviation DOF refers to the term degree of freedom or degrees of freedom,
depending on the context.
When a body is added to the multibody system, its allowable motion is defined relative to
a body already in the model. (N is considered a body for this purpose.) The new body is
said to be a child of the previously existing body, and the previously existing body is said
to be the parent of the new body.

Overview of the Basic Factors Affecting Vehicle Behavior

The purpose of ArcSim models is to predict the dynamic three-dimensional motions of
heavy trucks in response to steering and braking inputs. Generally, directional control,
roll stability, and stopping distance are of particular concern. Braking performance, and
directional control and stability mainly involve dynamics in the yaw plane, while roll
stability is principally related to the roll plane. Aerodynamic effects have a secondary
influence with regard to both concerns and are ignored in ArcSim models.
Note: Aerodynamic drag is included in ArcSim, to support research
versions that involve interactions between the drive train and the
vehicle dynamics.

Yaw Plane
Figure E.1 shows a free-body diagram of a four-wheeled tractor as viewed from the top
(the yaw plane). There are just three equations that govern its basic behavior in the yaw

Rev: July 20, 1997 224

 Appendix E Vehicle Multibody Model

plane: the sum of the tire shear forces and the horizontal hitch force must equal the
vehicle mass times its acceleration in both the vehicle X and Y directions, and the
moment of those forces about the vehicle mass center must be equal to the product of the
yaw acceleration and the vehicle yaw moment of inertia. Aligning moments at each
wheel (Mzi) also contribute to the overall yaw moment. Thus, a main objective of ArcSim
models is to accurately predict tire shear forces, tire aligning moments, and hitch forces.
Yaw behavior is also influenced by the rotary motion of the vehicle bodies in roll and
pitch. Mechanical energy is transferred as the vehicle rolls and pitches, and these motions
contribute to the vehicle transient response.

f2 Mz 2 f1 Mz1
dV
r2 dt r1
Hitch r
5 dω
f4 f3 dt
mass
r4 center r 3
f5
M z4 Mz 3
y
dV
x • ∑fi = x • m
dt
dV x
y • ∑f i = y • m
dt
dω
z • ∑ (r i × f i + Mzi ) = z • Izz
dt
Figure E.1. Free body diagram in the yaw plane.

Note: The equations appearing in the first two figures are written only to
identify the basic factors affecting vehicle behavior. All equations
for the rigid body motions in the ArcSim models were actually
derived automatically by the AutoSim code generator. The
AutoSim equations are exact for the nonlinear 3D kinematical and
dynamical models that will be described.

Roll Plane
Figure E.2 shows a free-body diagram in the roll plane for a truck body and one axle as
viewed from the rear when making a left-hand turn. (A left turn implies a positive
rotation of the vehicle about the Z axis.) The only external forces acting on the vehicle
system are due to the tires and any hitches connecting it to other vehicle units. The
vehicle is also subjected to roll moments (M h ) from the hitch(es). The vertical

Rev: July 20, 1997 225

 Appendix E Vehicle Multibody Model

components of the tire forces, which do not appear explicitly in the yaw-plane equations,
are basic factors in the roll-plane equations. The overall roll stability is characterized by
the first equation in Figure E.2, involving the balance of moments about the vehicle mass
center. When tires lift-off of the ground, the forces are zero on one side of the axle. Lift-
off usually occurs first for tires on the axle furthest to the rear of all vehicle units in the
system, on the side that is on the inside of the turn (the left side in Figure E.2). When lift-
off has occurred for more than a critical number of axles, roll stability cannot be
maintained. This condition is considered to be the onset of rollover. Thus, the basic
factors for predicting roll stability are the vertical tire forces, and their points of
application relative to the vehicle mass center, which change as the vehicle rolls.

dω
dt
dV
dt mass
center z

r1 y
-mgz r4

r2
{
x • M h + ∑ (r i × f i ) }
r3 dω
= x • I xx
dt
dV
y • ∑fi =y • m
dt
dV
f1 f z • ∑ f i = mg + z •m
2 f3 f4 dt

Figure E.2. Free body diagram in the roll plane.

For simplicity in Figure E.2, the separate motion of the axle is not shown, and the
moment balance in the X direction is written as if all of the roll inertia were lumped into
the sprung mass. The independent motions of the axles relative to the main bodies are a
secondary factor that must be included in the model to obtain realistic transient effects.

Rigid Body Kinematics

The tractor-semitrailer model consists of rigid bodies for the sprung mass of the lead unit,
the sprung mass of the trailing unit (if there is one), and the axles. The kinematics of
these rigid bodies are described below.

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 Appendix E Vehicle Multibody Model

Sprung Masses
The sprung mass of the lead unit, S1, (with body fixed unit vectors s1x , s1y and s1z ) is
given six kinematical DOF, such that it can attain any position and/or any orientation in
space.
The sprung mass of the trailing unit, S2 (with body fixed unit vectors s2x, s2y and s2z ), is a
child of S1. The hitch connection between S1 and S2 is modeled kinematically as a ball
joint. It is given three rotational DOF relative to S1, but no translational DOF. The motion
of S2 about the hitch is further retarded by a roll torsional spring, described later.

Axles
The movement of an axle relative to the sprung mass to which it is attached can be
described by a sequence of two motions: (1) a rotation in roll, and (2) a vertical
translation [15]. Two rigid bodies, Ar and A, are used to model the axle, each with one
DOF. Body A r is an intermediate frame that is given zero mass and rotational inertia.
Body A is given the mass and rotational inertia properties of the axle. All external forces
and moments that act on the axle (i.e., suspension and tire forces and moments) are
applied to body A.
The bodies Ar and A, respectively, have body fixed unit vectors: arx, ary, arz and ax, ay,
az . Figure E.3 shows the directions of the unit vectors in the nominal configuration for a
positive roll-steer coefficient. Body Ar is a child of S that rotates in roll about an axis
aligned with arx.

AAAAA
sz sz

AAAAA
Roll axis
sy arx
tan-1(R

AAAAA
sx STR)
az az
arz
HRC ay ax
HRC
HCGA HCGA

Front view Side view

Figure E.3. Axle axes and directions.

The roll axis (ar x ) is inclined from –S x by the arc-tangent of R STR, the roll-steer
coefficient. The axis direction is set such that a positive roll of the sprung mass (leaning
to the right, relative to the axle) also corresponds to a positive rotation of the axle about
arx, relative to the sprung mass. Positive roll angle causes the axle to steer to the left for a
positive value of R STR. This sign convention for roll-steer is consistent with the ISO axis
system where sz is up and steer to the left is positive. However, for the SAE coordinate

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 Appendix E Vehicle Multibody Model

system, in which the sz axis is pointed down, the sign of the roll-steer coefficient would
be reversed because the left-hand steer would be negative [1].
Body A translates vertically in the direction az and it is a child of A r. Nominally, body A
is aligned with body S. (Thus, A is tilted with respect to A r.) The origin of the coordinate
system of body A body is located at the axle mass center, which is assumed to be in line
with the spin axis of the wheels on the axle.
The axle roll and mass centers are assumed to lie at the center of the axle laterally and
longitudinally. The heights of the roll and mass centers are specified by the user with the
parameters HRC and HCGA.

Mass and Rotational Inertia

The lateral locations of all mass centers (sprung masses and axles) are given Y
coordinates of zero, placing them in the center pitch plane of the vehicle. The locations of
the axle mass centers are also at the centers of the axles. The heights of the mass centers
are provided by the user for the axles individually, and for the entire vehicle units. The
heights of the mass centers for the sprung masses are calculated by ArcSim from other
user input parameters.
The masses of the sprung masses are described with equations involving the axle loads.
Equations are also used to locate the mass centers longitudinally. This is done to
eliminate the need for the user to calculate mass properties that are based on axle loads—
axle loads are instead used directly as inputs.
It is usuallly easier to measure the inertial properties for an entire unladen unit than for
the laden (or unladen) sprung mass alone. ArcSim calculates the mass and rotational
inertia properties of the sprung mass from measurements made for the entire unladen
unit, the difference between the laden and unladen axle loads, and parameters that the
user must set to estimate the size of the load. The load is assumed to be rectangular and
of uniform density. This approach is taken to permit the user to enter data for the
complete unladen units. These numbers never change for a particular vehicle, regardless
of how it is loaded. Thus, to change the load, the user need only modify the load
parameters.
The roll, pitch and yaw moments of inertia are about the mass center with respect to the
body X, Y, and Z axes. The products of inertia are not zero, but for most loading
conditions, they contribute little to the system dynamics. For unusual loading conditions,
however, (e.g., when the load mass center is very high, or very far forward or rearward),
the X-Z product of inertia can affect the transient response (yaw rate in particular). A
parameter for the X-Z product of inertia is included to account for such situations.
For the axles, the moments of inertia about the mass center in yaw and roll are assumed
to be equal and must be provided by the user. The moment of inertia in pitch and the
products of inertia are relatively small. They are neglected by setting them to zero in the
ArcSim models.

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 Appendix E Vehicle Multibody Model

Equilibrium
The heights of reference points such as wheel centers and the top side of the load bed are
defined for the case of the vehicle resting in equilibrium on a flat level surface. In a real
vehicle, these heights depend on the load: the heights decrease slightly as the vehicle
settles down when the payload is increased.
In general, the sensitivity of these heights to load has a negligible effect on the vehicle
behavior. The common practice is to use the same height values for all load conditions.
However, if you are concerned with this effect, then the height parameters can be
adjusted for the various loads.

Suspensions
The significant forces and moments acting between the suspensions and the sprung
masses are due to suspension springs, hydraulic dampers, and auxiliary roll stiffness.

Vertical Spring Forces

The vertical stiffness of a truck suspension is modeled with two springs. The force of
each spring acts through a point that is fixed in the axle body, and is reacted by the
sprung mass. The two spring points for an axle are defined by the distance separating
them (the parameter L SPR ). They are on the axle Y axis, with local Y coordinates of
L
± SPR . The direction of the force is coincident with az .
2
The force-deflection properties of the spring are intended to capture the observed
hysteretic frictional behavior of heavy truck suspensions, as shown in Figure E.4. Each
spring is characterized by three elements: (1) a tabular function that defines an upper
force limit for deflection ∆S, FU(∆S), (2) a similar tabular function that defines a lower
force limit, FL(∆S), and (3) a characteristic deflection parameter β. The describing
equations for the spring are built on a simpler model originally published by Fancher [6].
A state variable (FS) is added to the model for each spring. The value of F S is the
instantaneous force of the spring.

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 Appendix E Vehicle Multibody Model

Compressive spring force - lbf

9000

Upper force limit: FU(∆s)

8500

8000

7500

7000

Lower force limit: FL(∆s)

6500

6000
6.5 7 7.5 8 8.5 9
Spring compression - in
Figure E.4. Force-deflection behavior of spring.

At the beginning of the simulation run, FS is set to an initial value, F S0. The value of FS0
for a simulation run is determined by the parameter INIT_SPG. If INIT_SPG is non-
zero, FS0 is computed to keep the vehicle in static equilibrium (for a flat, level surface)
and is given by
FS0 = (M − MUS)g/2 (1)
where M is the laden axle load and MUS is the axle mass. The tables FU and FL are
searched for an initial spring deflection, ∆S0, that will place FS0 midway between FU and
FL. This definition of the static deflection means that the jounce variables computed
during a simulation have the same physical interpretation as the spring compression
provided in the input tables. Therefore, force-deflection curves (e.g., Figure E.4) based on
simulation outputs should match the original data.
If INIT_SPG is zero, FS0 is set to the value of the state FS read from the LPI file created
by ArcSim. This allows the simulation to start from the final conditions of a run that was
made previously.
Once the simulation starts, FS is calculated by integrating the following differential
equation:

{ ( )
F˙ S = ∆˙ S sign ∆˙ S ( Flim − F ) / β +

[F − FL( ∆ S )]  ∂FU( ∆ S ) ∂FL( ∆ S )  ∂FL( ∆ S ) 

− +
S
 
[FU(∆ ) − FL(∆ )]
(2)
S S  ∂∆ S ∂∆ S  ∂∆ S 

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 Appendix E Vehicle Multibody Model

where
FU( ∆ S ), if ∆˙ S > 0
Flim =  (3)
 FL( ∆ S ), if ∆˙ S < 0
This equation quite accurately captures the observed hysteretic behavior of the Coulomb
friction in heavy truck leaf springs. This same model can also be used to accurately
model heavy truck air springs. Typically, however, the difference between the upper and
lower envelopes, FU and FL, is much smaller for air springs.

Hydraulic Dampers
In addition to suspension damping due to the Coulomb friction in the vertical springs, a
truck suspension may be equipped with a pair of hydraulic dampers. The dampers in the
model are added in the same way as the springs. Each acts in the az direction through a
point fixed in the axle body. The points are located with a single parameter that specifies
the distance between them. (This distance is not necessarily the same as that which is
used for the springs.) The dampers are modeled with a nonlinear table of values of force
vs. stoke rate.
Note: In ArcSim, each shock absorber is represented with a linear
coefficient that relates force to stroke rate.

Auxiliary Roll Stiffness

Roll of the axle is resisted in the model by the vertical suspension springs and also by a
torsional spring whose restoring moment is proportional to the roll of body Ar about arx.
The moment is applied to the axle (body A) in the s x direction and reacted by the sprung
mass body S. The torsional spring accounts for additional stiffness due to linkages, and
also from an anti-sway bar (if there is one).
The torsional spring rate is determined from test data by measuring the total roll stiffness
from the axle and then subtracting the stiffness due to the springs at their spacing. It is
possible for the auxiliary roll stiffness to be negative, if the frame has considerable
compliance in twist.

Hitch Moments
The hitch is modeled as a ball joint. The trailing unit sprung mass (body S 2) is a “child”
of the leading unit sprung mass (body S1) in a multibody tree topology. The origin of the
frame of reference of S 2 is at the hitch point. The origin is fixed in S1, but S2 is given
three rotational DOF relative to S1. The sequence of rotations is intended to match the
kinematics of a conventional fifth wheel. The first rotation, pitch, is about s1y. The third
rotation, yaw (articulation angle), is about s2z , and corresponds to the axis of the kingpin
(assuming the kingpin is perfectly rigid). The second rotation, roll, is about the X-axis of
an intermeditate axis system. The rotations are shown in Figure E.5.

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 Appendix E Vehicle Multibody Model

s
2z

X-axis of 3rd rotation

intermediate
frame

2nd rotation

1st rotation

s
1y

Figure E.5. Hitch model.

Proportional restoring moments act between S1 and S2. The pitch moment is about the
Yaxis, the roll moment is about the X axis, and the yaw moment is about the Z axis. For a
conventional fifth wheel, the pitch and yaw stiffnesses are often set to zero, and the roll
stiffness is usually given a value of 1 to 3 million in-lbf/deg. The pitch and yaw
stiffnesses are included in the model to represent the behavior of a hitch other than a
conventional fifth wheel.
Note: In ArcSim, the articulation stiffness is always zero. The rotational
and pitch torsional springs can be adjusted.

Tires
The interaction of the tires with the ground is modeled by longitudinal force (FX), lateral
force (FY), vertical force (FZ), and aligning moment (MZ). FX, F Y, FZ and MZ are applied to
the axles and reacted by the ground, as shown in Figure E.6. Overturning moment (MX)
and rolling resistance moment (M Y) have insignificant influence on vehicle braking and
handling behavior and are ignored. FZ is determined by assuming the tire behaves as a
linear spring-damper when deformed vertically. FX, FY and M Z are more complicated to
compute. Their calculation can be broken into two basic steps.
1. FX, F Y and MZ are modeled as table functions of two independent variables. The
data for these table functions is supplied by the ArcSim user in the form of carpet
plot data. Linear interpolation/extrapolation is used to evaluate the table functions.
FX is modeled as a function of FZ and longitudinal slip rate (κ), FX(F Z, κ). F Y and
MZ are modeled as table functions of FZ and lateral slip angle (α), FY(F Z, α) and
MZ(FZ, α), respectively.

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 Appendix E Vehicle Multibody Model

2. Combined slip theory is used to adjust the values of FX, FY and MZ (as computed
in step 1) to account for the force and moment coupling that occurs during
maneuvers in which there is both braking and turning.

wz
HCGA
Wo
rz
Wc
Wc vy

tx VC vx
Fx Fy
tx ty
Mz ty
Fz
Figure E.6. Tire points and axes.

Note: FX, FY and MZ also depend upon tire inclination (γ). However, with
the solid axle suspensions of most trucks, inclination angles are
determined by the roll of the axle relative to the ground and are
very small prior to first tire lift-off. Thus, the effect of inclination
angle is neglected in ArcSim models.

Tire/Wheel Kinematics
Most of the arithmetic operations in the expressions for tire forces and moments arise
from deriving expressions for various kinematical quantities associated with the
tires/wheels. It is necessary to (1) define a point where the tire forces act on the
multibody model, (2) establish the unit vector directions for the tire X and Y directions
(tx and ty, respectively) given the ground normal (rz), and (3) determine expressions for κ
and α. These steps are explained below. The expressions are given for an arbitrary rz as a
function of the location of the center of tire contact. However, for a flat, level surface, rz
is simply nz .

Center of Tire Contact

The tire model in ArcSim (and most other tire models) makes use of a point called the
center of tire contact (CTC) for the definition of the location of the tire on the ground, the
calculation of slip angles, and the point of application of tire forces. In the nominal
configuration, in which the vehicle is at rest in equilibrium on a flat, level surface, CTC
corresponds to the point Wc shown in Figure E.6.

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 Appendix E Vehicle Multibody Model

CTC remains in the ground plane as the wheel moves up and down. For a flat surface, the
kinematical expressions for calculating the position and velocity of CTC are well defined,
but extremely complex. In nearly all vehicle dynamics models that have been developed
by hand (without multibody programs), approximations to CTC for a flat surface have
been used. The exact expressions can be obtained easily with the aid of a multibody
program. However, the complexity of the exact equations requires many mathematical
operations per time step during numerical integration. Most of the complexity arises from
terms that are negligible (such as small changes in the vertical position of CTC in the
frame of the axle (body A), and vertical components of the velocity of CTC that
contribute little to the slip angle).
When the ground surface is permitted to take on an arbitrary shape, calculating the
location of CTC becomes even more complex. This is because rz is a function of the
global location of CTC, but at the same time, rz determines the instantaneous tire
deflection, which in turn affects the location of CTC. (The general solution of the
location of CTC on an arbitrarily shaped surface requires an iterative solution at each
time step.) To obtain shorter run times and avoid the complexities associated with the
precise definition of CTC, ArcSim uses a point Wc fixed in body A, as described below.

Wheel Plane
Each tire on an axle has an associated wheel plane that is perpendicular to the wheel spin
axis, wy. For the front axle, the wheels are steered with angles δL and δR relative to the
axle Y axis. The spin axis for a wheel is:
wy = cos(δ) ay – sin(δ) ax (4)
For all axles but the front, the steer is zero, which makes wy the same as ay.
Point Wc , fixed in body A, is located in the wheel plane and is nominally coincident with
the precise definition of CTC (see Figure E.6). FX , F Y, and F Z act on the axle through
point Wc . The X, Y and Z coordinates of Wc in the frame of body A are:
Wcx = 0
L TK L DUAL
Wcy = ± ± (5)
2 2
Wcz = –HCGA
Here, LTK is the axle track to the center plane of the dual-tire set and LDUAL is the dual tire
spacing. The algebraic signs of the terms in the Y coordinate depend on the side of the
L L
axle (left: + TK , right: – TK ) and whether the wheel plane is located in the inner or
2 2
L DUAL L DUAL
outer tire (inner: – , outer: + ).
2 2

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 Appendix E Vehicle Multibody Model

Ground Geometry
The coordinates of the absolute position of W c in the global frame N are:

Xc = nx • pos(Wc)
Yc = ny • pos(Wc) (6)
Zc = nz • pos(Wc)
ArcSim models are based on the assumption of a ground surface that is flat but possibly
inclined. The formulation is easily extended to work with a three-dimensional ground
surface, where the ground normal rz is determined as a function of the location of point
Wc:
rz = Xrz nx + Yrz ny + Zrz nz (7)
where
[Zroad, Xrz, Yrz, Zrz] = func(Xc , Yc ) (8)
and func(Xc, Yc ) is a function of Xc and Y c that returns the four variables shown in
braces.

Vertical Tire Deflection

Vertical tire deflection ( T), and its time derivative, are needed to calculate F Z. ∆Τ is the
distance between point Wc and the road, in the plane of the wheel:

∆T =
(Z road − Z c ) rz • n z
(9)
rz • a z

Tire Axes
The tire X and Y axes, tx and ty, lie in the plane of the road (tz = rz). The longitudinal axis
(tx ) is defined as being perpendicular to the wheel spin axis. Thus,
w y × rz rz × t x
tx = ty = (10)
w y × rz rz × t x

Wheel Spin and Longitudinal Slip Rate

The wheel spin, ω, is described with a differential equation:
Fx (Hcga - ∆ T ) + sign(M ybk , ω )
ω̇ = -
Iw (11)
where Hcga - ∆ Τ is the instantaneous tire radius (moment arm of FX about the wheel
center), Mybk is the braking torque, and Iw is the polar moment of inertia of the spinning
wheel.

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 Appendix E Vehicle Multibody Model

κ is calculated as
ω Hcga
κ= −1 (12)
vx
The wheel spin is integrated to calculate the wheel rotation angle needed for making
animations of the rotating wheels.

Lateral Slip Angle

The definition of α for each tire is based on the velocity of point CTC. The slip angles of
the inner and outer tires of a dual-wheel assembly are nearly the same. Therefore, a single
slip angle is defined for both. It is developed using the velocity of a point Pslip, defined for
a wheel plane midway between the two wheel planes of the dual wheel assembly. The
coordinates of Pslip in the frame of body A are:

L
Pslipx = 0 Pslipy = ± 2TK Pslipz = –HCGA (13)

The slip angle is defined in terms of the X and Y velocity of P slip , vx and vy, expressed in
the ground plane:

( )
v x = t x • vel Pslip ( )
v y = t y • vel Pslip (14)

where tx and ty are defined for the midway wheel plane that contains point Pslip. The
instant slip angle is the arc-tangent of the ratio: vy /vx.

Tire Relaxation
Tires develop shear forces in response to deformation of the tire structure. The forces do
not develop instantaneously, but build as the tire rolls [9]. For example, Figure E.7 shows
how FY builds in response to a step change in slip angle.
Two methods are commonly used for including the tire lag in a vehicle model: (1) use a
tire model with the dynamics built in, or (2) use a static (steady-state) tire model with a
separate filter to account for the lag. The second approach is used in ArcSim because it
offers two practical advantages. First, it allows the use of any static tire model from the
literature independently of the method used to introduce lag. Second, it simplifies the
calculation of the kinematical variables used as inputs to the tire model. Lag is introduced
into the slip angle such that the instantaneous response calculated for the lagged slip
angle yields the lagged side force and aligning moment.

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 Appendix E Vehicle Multibody Model

x
Fy
5%

x
3L
Figure E.7. Tire relaxation.

A method described by Bernard [4] is used to account for the lag in tire response. In this
method, α is defined as the arc tangent of an auxiliary state variable, τ.
α = tan −1 (τ ) (15)
A state variable is added for each wheel and defined with a first-order differential
equation:

dτ vx  vy 
=  −τ 
dt L RELAX  v x 
vy − vx τ
= (16)
L RELAX
The parameter LRELAX is the tire relaxation length. The absolute value of vx is used in
Equation 16 to maintain continuity in case the vehicle spins out and v x assumes a
negative value.
When the speed v x approaches zero, the time constant of eq. 16 goes to infinity. To avoid
peculiear behavior at near-zero speeds, an alternative equaiton is used.
dτ v − vx τ  v cut 
= y × min 50, (16b)
max( v x , ε ) 
If |vx| < vcut
dt L RELAX 

where vcut is a cut-off speed that can be set by the user, and ε is a small positive number
used to avoid division by zero.

Tire Forces and Moments

Once expressions are obtained for the needed kinematical quantities, the tire force and
moment magnitudes can be calculated. FZ must be calculated first, because FX, FY and MZ
depend upon it.

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 Appendix E Vehicle Multibody Model

Vertical Tire Force

Vertical tire force is proportional to the tire deflection:
Fz = max (0 , Fzstat + K T ∆ T ) (17)
where Fzstat is the static axle load divided by the number of tires (2 or 4) and K T is the
vertical tire stiffness.
The above definition of F Z establishes the force to be in equilibrium when the vehicle is
in the nominal configuration. The use of the max function prevents the magnitude of the
force from going negative when the tire leaves the ground.
ArcSim models also place a linear damping force in parallel with the above spring force
to help smooth the simulated vehicle response. The force is implemented with an IF
statement so that when FZ given in Equation 17 is less than a threshold, the damping force
is zero. This is done to eliminate damping when the tire is off the ground. The damping
rate is set internally to KT/2000 and cannot be changed by the user.

Combined Slip Theory

Under a pure longitudinal or lateral slip condition, FX , FY and M Z are equivalent to the
result of simple linear interpolation of the carpet plot data. When there is both
longitudinal and lateral slip, the combined slip theory of Pacejka’s Magic Formula is used
to modify the values obtained by table look-up (see Equations 88-93 in [13]).
First the longitudinal and lateral slips are combined to get total theoretical (combined)
slip:
σ total = σ X2 + σ Y2 (18)
where
κ tan(α )
σX = − σY =
1+κ 1+κ (19)
The theoretical slips are then normalized by peak slip values, σXmax and σYmax. Peak slip
values are those that cause peak FX and FY. They are functions of F z and are obtained by
linear interpolation and a search algorithm.

σ total = σ X* + σ Y*
* 2 2
(20)
where
σX σY
σ X* = σ Y* =
σ Xmax σ Ymax (21)

The equivalent longitudinal and lateral slips are calculated from the normalized total
theoretical slip,

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 Appendix E Vehicle Multibody Model

σ total
*
⋅ σ Xmax ⋅ sign(σ X )
κ' = (22)
1 + σ total ⋅ σ Xmax ⋅ sign(σ X )
*

α ' = tan −1 [σ total

*
⋅ σ Ymax ⋅ sign(σ Y )] (23)
Using the equivalent longitudinal and lateral slips, the so-called “base-curves” are
obtained by means of linear interpolation of the tabular data.
FX0 = FX(FZ , κ ' )
(24)
FY0 = FY(FZ , α ' )
The base-curves are then modified to account for the anisotropic properties of the tire-
road friction.
2
 σ* 
F*
= FX0 − ε ( FX0 − FY0 ) ⋅  *Y 
 σ total 
X0

2
(25)
 σ* 
*
FY0 = FY0 − ε ( FY0 − FX0 ) ⋅  *X 
 σ total 

where ε = σ total
*
for σ total
*
< 1 and ε = 1 for σ total
*
> 1.
The longitudinal and lateral tire forces are then calculated by
σX
FX = FX0
*
⋅
σ total
(26)
σ
FY = F ⋅ Y
*

σ total
Y0

and the aligning moment is calculated by

MZ(FZ , α ' )
MZ = ⋅ FY (27)
FY0

Sequence Of Calculations
The vehicle simulation is run by numerically integrating a set of ordinary differential
equations. At the beginning of each time step, the values of all of the state variables are
known, including the τ variables. The various quantities necessary for the tire equations
are calculated in the following sequence:
1. Compute FZ, which depend only on the state variables.
2. Compute FX, F Y and MZ with the static tire model (table look-up/combined slip
theory) using τ.
3. Compute δ, including the effect of steer compliances coupled with tire actions of
FX, FY and MZ.
4. Determine tx and ty .

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 Appendix E Vehicle Multibody Model

5. Calculate terms that depend on tx and ty:

• Apply forces FX and FY to the multibody model at the point Wc .
• Calculate time derivatives of τ.

Notes on sign conventions

• Positive κ generates positive FX.
• Positive α generates negative FY.
• Positive (small) α generates positive MZ.

Steering System
Figure E.8 shows a top view of a truck steering system. The steering wheel angle is
denoted by δSW . The total steer at the road of the left and right wheels on the front axle
(δTL and δTR, respectively) is the sum of three kinematical terms: (1) roll-steer (δroll) (2)
bump-steer (δb ) and (3) Ackerman-steer (δaL and δaR, for the left and right wheels,
respectively), and two compliance terms: (1) wrap-steer (δw ) and (2) steer due to the
combined effect of tie rod and steering column compliance (δcL and δcR, for the left and
right wheels, respectively). The modeling of these effects is described below. For all
axles other than the front axle, the only steering effect taken into account is roll-steer.

Roll-steer
As mentioned in the section above on axle kinematics, the roll axis of each axle, arx, is
defined such that as the axle rolls, it steers in accordance with its roll-steer coefficient,
RSTR. The steering due to roll-steer enters the equations of motion through Equation 4.
The motion of the axle about its roll axis causes the directions the vectors ay and ax to
contain the effects of roll-steer, and thus, so does the wheel spin axis, wy . The wheel spin
axis is used to define the tire X and Y axes, tx and ty , which in turn determine the tangent
of the instantaneous value of lateral slip via Equations 14 and 16.
The roll-steer at the road is slightly asymmetric from left to right. The exact expressions
are very complex, and are not given here. For the purpose of outputing total steer at the
road, roll-steer is assumed to be the same for the left and right wheels, and is represented
with the very good approximation of
δ roll = R str rq(A) (28)
where rq(A) is the rotational coordinate of the axle.

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 Appendix E Vehicle Multibody Model

δTL δTR
Intersection of
steer axis and
ground
MZL
MZR
LMTL Axle

FYL FYR
Tie Rod
Pc FXL FXR
CSMZR
CSMZS
LTKPOL s1x
Steering
Column

s1y
δ SW

Steering
Wheel

Figure E.8. Steering system.

Bump-steer
When an axle translates vertically, the geometry ofthe steering linkages can induce some
steering. This effect is known as bump-steer. Bump-steer is assumed to be the same for
the left and right wheels, and it is modeled with a single coefficient, RBMPSTR , that has
units of degrees of steer per unit of axle jounce. Axle jounce is defined as the
translational coordinate of the axle, tq(A 1 ). This is equal to the amount that the axle CG
has translated vertically (in the a1z direction) from its nominal location in body A1r (i.e., at
a distance HCGA above the ground). Bump-steer is thus given by
δ b = R BMPSTR tq( A1 ) (29)

Ackerman-steer
If the front of the leading unit is supported in the air by its frame (such that the front
wheels can freely steer without the tires contacting the ground), the kinematical gains
between the steering wheel and the left wheel, and the steering wheel and the right wheel,
are normally nonlinear, and different from side to side. This is mostly by design, in an
attempt to produce Ackerman-steer, but also due to the complex geometry of the steering
linkages. ArcSim provides a separate table function for the kinematical steer (at zero
jounce and zero roll) of each front wheel as a function of steering wheel angle. These are

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 Appendix E Vehicle Multibody Model

assumed to contain the total kinematical gains (i.e., including the steering gearbox
reduction gear gain) from the steering wheel to the road. The left and right Ackerman
steering gains are given by
δ aL = straL (δ SW ) δ aR = straR (δ SW ) (30)

respectively, where straL and straR denote table-lookup functions.

Note: In ArcSim, the Ackerman geometry is replaced with a simple gear
ratio between steering wheel angle and road wheel angle.

Wrap-steer
When the vehicle accelerates longitudinally, the axles tend to wrap (twist about the Y
axis). This can cause steering, especially on the front axle. This type of steering is
modeled by a wrap-steer coefficient (RWRAPSTR) multiplied by the amount of axle wrap.
Axle wrap is measured in degrees, and thus R WRAPSTR is dimensionless. The amount of
axle wrap is in turn modeled by a wrap-up compliance coefficient (CWRAP) multiplied by
the sum of the moments of the tire longitudinal forces about the axle spin axis, ay. C WRAP
thus has the dimensions of degrees per unit of moment. The wrap steer of the front axle is
given by

[
δ w = R WRAPSTR C WRAP (H CGA − ∆ TL )FXL + (H CGA − ∆ TR )FXR ] (31)

where HCGA - ∆TL and HCGA - ∆ TL are the instantaneous left and right front tire radii, and
FXL and FXR are the left and right front tire longitudinal forces, respectively.

Steering system compliance

Compliance in the the steering column and tie rod (C SMZS and CSMZR), respectively,
decrease the steer angle at the road [5] when the steering is resisted by self-aligning
torque.
Steering compliances is very significant in determing the relation between steering wheel
angle and road-wheel steer. For example, δTL and δTR calculated for a rigid steering
system (CSMZS = CSMZR = zero) can be on the order of 20% and 75% too large, respectively,
even when compared to a “stiff” steering system (e.g., CSMZS = C SMZR = 4x10-5 deg/(in-
lb)). This can result in predicted lateral accelerations that are too large by 50% or more
for a given steering wheel input.
ArcSim solves for the left and right steer angles due to steering system compliance using
a quasi-static moment balance on the two wheels.
Note: Quasi-static means that inertial forces and moments are ignored —
these are small and to include them would introduce unecessary
high frequency dynamics into the model.
The moment balance involves the left and right tire forces and moments (FXL, FYL, FZL
MZL and FXR, F YR, FZR MZR), as well as the left and right caster angles, kingpin inclination

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 Appendix E Vehicle Multibody Model

angles, and the kingpin offsets at the wheel center (ACASTL, AKPIL LKPOL and ACASTL, AKPIL
LKPOL).
The left and right mechanical trail (LMTL and LMTR) at the ground are given by
L MTL = (H CGA − ∆ TL ) tan −1 ( A CASTL − pitch(S1 ))
(32)
L MTR = (H CGA − ∆ TR ) tan −1 ( A CASTR − pitch(S1 ))
where pitch(S1 ) is the pitch angle of body S1.
The left and right kingpin offsets at the ground (LTKPOL and LTKPOR) are given by
L TKPOL = L KPOL − (H CGA − ∆ TL ) tan −1 ( A KPIL )
(33)
L TKPOR = L KPOR − (H CGA − ∆ TR ) tan −1 ( A KPIR )
The total steering moments acting on the left and right wheels (MSZL and MSZR) are:
M SZL = M ZL − L MTL FYL − L TKPOL FXL
[ ]
− L MTLsin( A KPIL ) + L TKPOLsin( A CASTL − pitch(S1 )) FZL
(34)
M SZR = M ZR − L MTR FYR + L TKPOR FXR
[ ]
+ L MTRsin( A KPIR ) + L TKPORsin( A CASTR − pitch(S1 )) FZR

Finally, δcL and δcR are given by

δ cL = CSMZS (M ZL + M ZR )
(35)
δ cR = δ cL + CSMZR M ZR
Note: In ArcSim, the same geometry is assumed for the left and right
wheels. Asymmetric steering geometry is supported in TruckSim.

Total steer at the road

The wheel steer angles relative to the spin axes, δL and δR, used in eq. 4 are given by
δ L = δ b + δ aL + δ w + δ cL
(36)
δ R = δ b + δ aR + δ w + δ cR

The total steer angles at the road, δTL and δTR, are equal to δL and δR, plus the effect of
roll-steer
δ TL = δ L + δ roll
(37)
δ TR = δ R + δ roll

References
1. “Vehicle Dynamics Terminology.” SAE J670e, 1976.

Rev: July 20, 1997 243

 Appendix E Vehicle Multibody Model

2. “International Standard, Road vehicles - Vehicle dynamics and road-holding ability -

Vocabulary.” ISO 8855, 1991.
3. Antoun, R.J., et al. “Vehicle Dynamic Handling Computer Simulation - Model
Development, Correlation, and Application Using ADAMS.” SAE Paper No. 860574,
1986.
4. Bernard, J.E., et al. “Tire Modeling for Low–Speed and High–Speed Calculations.” SAE
Paper No. 950311, 1995.
5. Durstine, J.W. “The Truck Steering System from Hand Wheel to Road Wheel.” SAE
Paper No. 730039, 1973.
6. Fancher, P.S., et al. “Measurement and Representation of the Mechanical Properties of
Truck Leaf Springs.” SAE Paper No. 800905, 1980.
7. Gillespie, T.D., et al., “Constant Velocity Yaw/Roll Program.” The University of
Michigan Transportation Research Institute, UMTRI-82-39, 1982.
8. Kortüm, W., et al., eds., Multibody Computer Codes in Vehicle System Dynamics, Lisse,
Swetz and Zeitlinger, 1993.
9. Loeb, J.S., et al. “Lateral Stiffness, Cornering Stiffness and Relaxation Length of the
Pneumatic Tire.” SAE Paper No. 900129, 1990.
10. MacAdam, C.C., et al., “A Computerized Model for Simulating the Braking and Steering
Dynamics of Trucks, Tractor-Semitrailers, Doubles, and Triples Combinations - User's
Manual, Phase 4.” Highway Safety Research Institute, University of Michigan, UM-
HSRI-80-58, 1980.
11. Mallikarjunarao, C., “Road Tanker Design: It's Influence on the Risk and Economic
Aspects of Transporting Gasoline in Michigan.” Ph. D. thesis, University of Michigan,
1982.
12. Orlandea, N., et al. “Simulation Of A Vehicle Suspension With The Adams Computer
Program.” SAE Paper No. 770053, 1977.
13. Pacejka, H., et al. “Shear Force Development by Pneumatic Tyres in Steady State
Conditions: A Review of Modelling Aspects.” Vehicle System Dynamics, Vol. 20, 1991,
pp. 121-176, Eqs. 88-93.
14. Sayers, M.W. “Symbolic Vector/Dyadic Multibody Formalism for Tree-Topology
Systems.” Journal of Guidance, Control, and Dynamics, Vol. 14, 6, 1991, pp. 1240-1250.
15. Winkler, C.B., et al. “A Test Facility for the Measurement of Heavy Vehicle Suspension
Parameter.” SAE Paper No. 800906, 1980.
16. Winkler, C.B., et al. “Roll-Stability Performance of Heavy-Truck Suspensions.” SAE
Paper No. 922426, 1992.

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Appendix F — Model Output Variables
The following list of output variables was created from within the software for the 3a2a
tractor-semitrailer vehicle.
To create a similar list for other vehicle models, do the following:
1. Go to the Runs library, and find a run involving the vehicle of interest.
2. If the run has not already been made, click the Run button.
3. Click the Plot button to bring up WinEP.
4. Select the menu item Save Channel List (ctrl-S) from the File menu.
5. A Save File dialog box will come up.
6. Enter a name for the text file and locate it in a directory where you can find it later.
7. Click the Save button to create the file.
8. You will be returned to the WinEP graphics window.
9. Exit WinEP.

List of Output Variables for ArcSim vehicle.

0 - : Time - sec
1 - AVy_L1W : Spin of L wheel, axle 1 - rev/s
2 - AVy_L2W : Spin of L wheel, axle 2 - rev/s
3 - AVy_L3W : Spin of L wheel, axle 3 - rev/s
4 - AVy_L4W : Spin of L wheel, axle 4 - rev/s
5 - AVy_L5W : Spin of L wheel, axle 5 - rev/s
6 - AVy_L6W : Spin of L wheel, axle 6 - rev/s
7 - AVy_R1W : Spin of R wheel, axle 1 - rev/s
8 - AVy_R2W : Spin of R wheel, axle 2 - rev/s
9 - AVy_R3W : Spin of R wheel, axle 3 - rev/s
10 - AVy_R4W : Spin of R wheel, axle 4 - rev/s
11 - AVy_R5W : Spin of R wheel, axle 5 - rev/s
12 - AVy_R6W : Spin of R wheel, axle 6 - rev/s
13 - AVz : Tractor yaw velocity - deg/s
14 - AVz_2 : Semitrailer yaw velocity - deg/s
15 - Ax : Tractor long. acceleration - g's
16 - Ax_2 : Semitrailer long. acceleration - g's
17 - Ay : Tractor lateral accel. - g's
18 - Ay_2 : Semitrailer lateral accel. - g's
19 - Brake_in: Brake control input - psi
20 - Fd_L1 : Damper force, L side, axle 1 - lb
21 - Fd_L2 : Damper force, L side, axle 2 - lb

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 Appendix F Model Output Variables

22 - Fd_L3 : Damper force, L side, axle 3 - lb

23 - Fd_L4 : Damper force, L side, axle 4 - lb
24 - Fd_L5 : Damper force, L side, axle 5 - lb
25 - Fd_L6 : Damper force, L side, axle 6 - lb
26 - Fd_R1 : Damper force, R side, axle 1 - lb
27 - Fd_R2 : Damper force, R side, axle 2 - lb
28 - Fd_R3 : Damper force, R side, axle 3 - lb
29 - Fd_R4 : Damper force, R side, axle 4 - lb
30 - Fd_R5 : Damper force, R side, axle 5 - lb
31 - Fd_R6 : Damper force, R side, axle 6 - lb
32 - Fs_L1 : Spring force, L side, axle 1 - lb
33 - Fs_L2 : Spring force, L side, axle 2 - lb
34 - Fs_L3 : Spring force, L side, axle 3 - lb
35 - Fs_L4 : Spring force, L side, axle 4 - lb
36 - Fs_L5 : Spring force, L side, axle 5 - lb
37 - Fs_L6 : Spring force, L side, axle 6 - lb
38 - Fs_R1 : Spring force, R side, axle 1 - lb
39 - Fs_R2 : Spring force, R side, axle 2 - lb
40 - Fs_R3 : Spring force, R side, axle 3 - lb
41 - Fs_R4 : Spring force, R side, axle 4 - lb
42 - Fs_R5 : Spring force, R side, axle 5 - lb
43 - Fs_R6 : Spring force, R side, axle 6 - lb
44 - Fxaero : Aerodynamic drag force - lb
45 - Jnce_L1 : Jounce (compression), L side, ax - in
46 - Jnce_L2 : Jounce (compression), L side, ax - in
47 - Jnce_L3 : Jounce (compression), L side, ax - in
48 - Jnce_L4 : Jounce (compression), L side, ax - in
49 - Jnce_L5 : Jounce (compression), L side, ax - in
50 - Jnce_L6 : Jounce (compression), L side, ax - in
51 - Jnce_R1 : Jounce (compression), R side, ax - in
52 - Jnce_R2 : Jounce (compression), R side, ax - in
53 - Jnce_R3 : Jounce (compression), R side, ax - in
54 - Jnce_R4 : Jounce (compression), R side, ax - in
55 - Jnce_R5 : Jounce (compression), R side, ax - in
56 - Jnce_R6 : Jounce (compression), R side, ax - in
57 - Kappa_L1: Long. slip, L wheel, axle 1 - -
58 - Kappa_L2: Long. slip, L wheel, axle 2 - -
59 - Kappa_L3: Long. slip, L wheel, axle 3 - -
60 - Kappa_L4: Long. slip, L wheel, axle 4 - -
61 - Kappa_L5: Long. slip, L wheel, axle 5 - -
62 - Kappa_L6: Long. slip, L wheel, axle 6 - -
63 - Kappa_R1: Long. slip, R wheel, axle 1 - -
64 - Kappa_R2: Long. slip, R wheel, axle 2 - -
65 - Kappa_R3: Long. slip, R wheel, axle 3 - -
66 - Kappa_R4: Long. slip, R wheel, axle 4 - -
67 - Kappa_R5: Long. slip, R wheel, axle 5 - -

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 Appendix F Model Output Variables

68 - Kappa_R6: Long. slip, R wheel, axle 6 - -

69 - Maux1 : Auxiliary roll moment, Axle 1 - lb-in
70 - Maux2 : Auxiliary roll moment, Axle 2 - lb-in
71 - Maux3 : Auxiliary roll moment, Axle 3 - lb-in
72 - Maux4 : Auxiliary roll moment, Axle 4 - lb-in
73 - Maux5 : Auxiliary roll moment, Axle 5 - lb-in
74 - Maux6 : Auxiliary roll moment, Axle 6 - lb-in
75 - Mx_H : Hitch X moment on tractor - lb-in
76 - Mybk_L1 : Brake torque for L wheel, axle 1 - lb-in
77 - Mybk_L2 : Brake torque for L wheel, axle 2 - lb-in
78 - Mybk_L3 : Brake torque for L wheel, axle 3 - lb-in
79 - Mybk_L4 : Brake torque for L wheel, axle 4 - lb-in
80 - Mybk_L5 : Brake torque for L wheel, axle 5 - lb-in
81 - Mybk_L6 : Brake torque for L wheel, axle 6 - lb-in
82 - Mybk_R1 : Brake torque for R wheel, axle 1 - lb-in
83 - Mybk_R2 : Brake torque for R wheel, axle 2 - lb-in
84 - Mybk_R3 : Brake torque for R wheel, axle 3 - lb-in
85 - Mybk_R4 : Brake torque for R wheel, axle 4 - lb-in
86 - Mybk_R5 : Brake torque for R wheel, axle 5 - lb-in
87 - Mybk_R6 : Brake torque for R wheel, axle 6 - lb-in
88 - My_H : Hitch Y moment on tractor - lb-in
89 - Mz_H : Hitch Z moment on tractor - lb-in
90 - Pitch : Tractor pitch - deg
91 - Pitch_2 : Semitrailer pitch - deg
92 - Pitch_A1: Pitch of front axle - deg
93 - Pitch_H1: Hitch pitch - deg
94 - RolAb_A1: Absolute roll of Axle 1 - deg
95 - RolAb_A2: Absolute roll of Axle 2 - deg
96 - RolAb_A3: Absolute roll of Axle 3 - deg
97 - RolAb_A4: Absolute roll of Axle 4 - deg
98 - RolAb_A5: Absolute roll of Axle 5 - deg
99 - RolAb_A6: Absolute roll of Axle 6 - deg
100 - Roll : Tractor roll - deg
101 - Roll_2 : Semitrailer roll - deg
102 - Roll_E : Tractor roll - deg
103 - Roll_E_2: Semitrailer roll - deg
104 - Roll_H1 : Hitch roll - deg
105 - Rot_L1W : Rotation of L wheel, axle 1 - rev
106 - Rot_L2W : Rotation of L wheel, axle 2 - rev
107 - Rot_L3W : Rotation of L wheel, axle 3 - rev
108 - Rot_L4W : Rotation of L wheel, axle 4 - rev
109 - Rot_L5W : Rotation of L wheel, axle 5 - rev
110 - Rot_L6W : Rotation of L wheel, axle 6 - rev
111 - Rot_R1W : Rotation of R wheel, axle 1 - rev
112 - Rot_R2W : Rotation of R wheel, axle 2 - rev
113 - Rot_R3W : Rotation of R wheel, axle 3 - rev

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 Appendix F Model Output Variables

114 - Rot_R4W : Rotation of R wheel, axle 4 - rev

115 - Rot_R5W : Rotation of R wheel, axle 5 - rev
116 - Rot_R6W : Rotation of R wheel, axle 6 - rev
117 - Steer_SW: Steering wheel angle - deg
118 - StrT_L : L total steer - deg
119 - StrT_R : R total steer - deg
120 - Vx : Tractor long. velocity - mph
121 - Vx_2 : Semitrailer long. velocity - mph
122 - Vx_con : Target longitudinal velocity - mph
123 - Vx_IErr : Integrated velocity error - ft
124 - Vx_L1 : Rolling speed of L wheel, axle 1 - mph
125 - Vx_L2 : Rolling speed of L wheel, axle 2 - mph
126 - Vx_L3 : Rolling speed of L wheel, axle 3 - mph
127 - Vx_L4 : Rolling speed of L wheel, axle 4 - mph
128 - Vx_L5 : Rolling speed of L wheel, axle 5 - mph
129 - Vx_L6 : Rolling speed of L wheel, axle 6 - mph
130 - Vx_R1 : Rolling speed of R wheel, axle 1 - mph
131 - Vx_R2 : Rolling speed of R wheel, axle 2 - mph
132 - Vx_R3 : Rolling speed of R wheel, axle 3 - mph
133 - Vx_R4 : Rolling speed of R wheel, axle 4 - mph
134 - Vx_R5 : Rolling speed of R wheel, axle 5 - mph
135 - Vx_R6 : Rolling speed of R wheel, axle 6 - mph
136 - Vy : Tractor lateral velocity - mph
137 - Vy_2 : Semitrailer lateral velocity - mph
138 - Xo : X position of Tractor - ft
139 - Xo_2 : X position of Semitrailer - ft
140 - X_A1 : X position of Axle 1 - ft
141 - X_A2 : X position of Axle 2 - ft
142 - X_A3 : X position of Axle 3 - ft
143 - X_A4 : X position of Axle 4 - ft
144 - X_A5 : X position of Axle 5 - ft
145 - X_A6 : X position of Axle 6 - ft
146 - X_WLF : X Position of L wheel, axle 1 - ft
147 - X_WRF : X Position of R wheel, axle 1 - ft
148 - Yaw : Tractor yaw - deg
149 - Yaw_2 : Semitrailer yaw - deg
150 - Yaw_H1 : Hitch yaw - deg
151 - Yaw_WLF : Yaw angle of L wheel, axle 1 - deg
152 - Yaw_WRF : Yaw angle of R wheel, axle 1 - deg
153 - Yo : Y position of Tractor - ft
154 - Yo_2 : Y position of Semitrailer - ft
155 - Y_A1 : Y position of Axle 1 - ft
156 - Y_A2 : Y position of Axle 2 - ft
157 - Y_A3 : Y position of Axle 3 - ft
158 - Y_A4 : Y position of Axle 4 - ft
159 - Y_A5 : Y position of Axle 5 - ft

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 Appendix F Model Output Variables

160 - Y_A6 : Y position of Axle 6 - ft

161 - Y_WLF : Y Position of L wheel, axle 1 - ft
162 - Y_WRF : Y Position of R wheel, axle 1 - ft
163 - Zo : Z position of Tractor - ft
164 - Zo_2 : Z position of Semitrailer - ft
165 - Z_A1 : Z position of Axle 1 - ft
166 - Z_A2 : Z position of Axle 2 - ft
167 - Z_A3 : Z position of Axle 3 - ft
168 - Z_A4 : Z position of Axle 4 - ft
169 - Z_A5 : Z position of Axle 5 - ft
170 - Z_A6 : Z position of Axle 6 - ft
171 - Z_WLF : Z Position of L wheel, axle 1 - ft
172 - Z_WRF : Z Position of R wheel, axle 1 - ft

Rev: July 20, 1997 249