看adams是如何进行动力学计算的，而后，自己使用它的方法进行计算，使用它的方法编程，就是这样子。
用他的方法作足地力，
用它的方法作编程。
SUBROUTIN 子程序的类型：重要
（1） Utility Subroutines 的作用是什么？是否可以是提取信息用的，即提取仿真过程中的反馈量的作用？
（2） User-Written Subroutines的作用是什么？具体可以实现什么功能的？
（3） Call的意思是调用吧？
上图中的GFORCE与GFRSUB，是什么区别？前者是软件自身的命令，后者是子程序的函数吗？
GFOSUB
The GFOSUB evaluation subroutine computes a set of six force values applied by a GFORCE statement (C++ or FORTRAN). You can use a GFOSUB when the functions are too cumbersome or complex to enter as expressions in a GFORCE statement.
The GFORCE statement with a function expression is usually adequate for defining functions that represent the three translational and three rotational vector components of a force at a point. However, if the force and torque expressions become lengthy and awkward, you can use a GFOSUB
.
Avoiding Discontinuities
As with run-time expressions, when using a subroutine to define motions, sensors, forces, or state equations in a model, you must ensure that these functions are continuous. Furthermore, when defining displacement-based motions, these functions are expected to be twice differentiable.
Discontinuous functions are difficult to handle because most numerical integration schemes require, and therefore assume, that system equations are inherently continuous. If you violate this rule, ADAMS/Solver could produce unexpected results such as integration failure at the discontinuity. Discontinuous functions are created most often when using IF statements to piece together separate functions. To ensure that the complete function is indeed continuous, be very careful when using this type of logic.
1、FORTRAN Input/Output Units
If you need to read or write files from your user-written subroutines, use FORTRAN units 90 and above. ADAMS/Solver reserves these units for your use
2. Determine which user-written subroutine you need to use (see Table 1). For example, if you have a GFORCE statement, you need to create a GFOSUB user-written subroutine.
3.Copy the appropriate user-written subroutine template from the installation directory to your local directory. The template directory contains all the subroutine templates you might need to use.
4.Link all object files into one user library. For example:
·
· On Windows: adams03 cr-user myvarsub.obj yourreqsub.obj –n my_lib.dll
· On UNIX: adams03 –c cr-user myvarsub.f yourreqsub.f –n my_lib.so
1.
2. statement/commend 与subroutine 是什么关系呢 ？
子程序的调用、启动方法吗
�GFORCE 函数在哪里定义，在哪里设置？如何应用？
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