$---------------------------------------------------------------------MDI_HEADER
[MDI_HEADER]
 FILE_TYPE     =  'sub'
 FILE_VERSION  =  7.0
 FILE_FORMAT   =  'ASCII'
(COMMENTS)
{comment_string}
'Example Front Rack & Pinion Steering System'
$---------------------------------------------------------------SUBSYSTEM_HEADER
[SUBSYSTEM_HEADER]
 TEMPLATE_NAME  =  '<model_adams>/templates.tbl/_rack_pinion_steering.tpl'
 MAJOR_ROLE     =  'steering'
 MINOR_ROLE     =  'front'
 TIMESTAMP      =  '2019/06/18,09:00:41'
$--------------------------------------------------------------------------UNITS
[UNITS]
 LENGTH  =  'mm'
 FORCE   =  'newton'
 ANGLE   =  'deg'
 MASS    =  'kg'
 TIME    =  'sec'
$----------------------------------------------------------------------HARDPOINT
[HARDPOINT]
{hardpoint_name                  symmetry         x_value    y_value    z_value}
 'intermediate_shaft_forward  '  'single    '      400.0      -350.0       260.0
 'intermediate_shaft_rearward '  'single    '      570.0      -350.0       550.0
 'pinion_pivot                '  'single    '      -70.0      -300.0       -20.0
 'steering_wheel_center       '  'single    '      975.0      -350.0       800.0
 'rack_house_mount            '  'left/right'      -70.0      -390.0       -20.0
 'tierod_inner                '  'left/right'      -70.0      -390.0       -20.0
$------------------------------------------------------------------PART_ASSEMBLY
[PART_ASSEMBLY]
 USAGE                    =  'intermediate_shaft'
 SYMMETRY                 =  'single'
 MODE                     =  'rigid'
$ Rigid body data:
 MASS                     =  1.1871102599
 SPRUNG_PERCENTAGE        =  100.0
$ Part location is dependent.
$   X,Y,Z location = 485.0, -350.0, 405.0
$ Part orientation is dependent.
$   ZP vector = 0.5057194997,  0.0,  0.8626979701
$   XP vector = 0.8626979701,  0.0,  -0.5057194997
 CM_LOCATION_FROM_PART_X  =  0.0
 CM_LOCATION_FROM_PART_Y  =  0.0
 CM_LOCATION_FROM_PART_Z  =  0.0
 IXX                      =  4597.9763067294
 IYY                      =  4597.9763067294
 IZZ                      =  134.3442959728
 IXY                      =  0.0
 IZX                      =  0.0
 IYZ                      =  0.0
$------------------------------------------------------------------LINK_GEOMETRY
[LINK_GEOMETRY]
 USAGE       =  'intermediate_shaft'
 PART        =  'intermediate_shaft'
 SYMMETRY    =  'single'
 RADIUS      =  15.0445459276
$------------------------------------------------------------------PART_ASSEMBLY
[PART_ASSEMBLY]
 USAGE                    =  'pinion'
 SYMMETRY                 =  'single'
 MODE                     =  'rigid'
$ Rigid body data:
 MASS                     =  0.5
 SPRUNG_PERCENTAGE        =  100.0
$ Part location is dependent.
$   X,Y,Z location = -70.0, -300.0, -20.0
$ Part orientation is dependent.
$   ZP vector = 0.8555359041,  -0.0910144579,  0.5096809642
$   XP vector = 0.5118051751,  0.0,  -0.8591015439
 CM_LOCATION_FROM_PART_X  =  0.0
 CM_LOCATION_FROM_PART_Y  =  0.0
 CM_LOCATION_FROM_PART_Z  =  0.0
 IXX                      =  1.0
 IYY                      =  1.0
 IZZ                      =  1.0
 IXY                      =  0.0
 IZX                      =  0.0
 IYZ                      =  0.0
$------------------------------------------------------------------PART_ASSEMBLY
[PART_ASSEMBLY]
 USAGE                    =  'rack'
 SYMMETRY                 =  'single'
 MODE                     =  'rigid'
$ Rigid body data:
 MASS                     =  1.8888888889
 SPRUNG_PERCENTAGE        =  100.0
$ Part location is dependent.
$   X,Y,Z location = -70.0, 0.0, -20.0
$ Part orientation is dependent.
$   ZP vector = 0.0,  -1.0,  0.0
$   XP vector = 1.0,  0.0,  0.0
 CM_LOCATION_FROM_PART_X  =  0.0
 CM_LOCATION_FROM_PART_Y  =  0.0
 CM_LOCATION_FROM_PART_Z  =  0.0
 IXX                      =  1.1376967058E+05
 IYY                      =  1.1376967058E+05
 IZZ                      =  85.6374549196
 IXY                      =  0.0
 IZX                      =  0.0
 IYZ                      =  0.0
$------------------------------------------------------------------LINK_GEOMETRY
[LINK_GEOMETRY]
 USAGE       =  'rack'
 PART        =  'rack'
 SYMMETRY    =  'single'
 RADIUS      =  9.5223396425
$------------------------------------------------------------------PART_ASSEMBLY
[PART_ASSEMBLY]
 USAGE                    =  'rack_housing'
 SYMMETRY                 =  'single'
 MODE                     =  'rigid'
$ Rigid body data:
 MASS                     =  4.0
 SPRUNG_PERCENTAGE        =  100.0
$ Part location is dependent.
$   X,Y,Z location = -70.0, 0.0, -20.0
$ Part orientation is dependent.
$   ZP vector = 0.0,  -1.0,  0.0
$   XP vector = 1.0,  0.0,  0.0
 CM_LOCATION_FROM_PART_X  =  0.0
 CM_LOCATION_FROM_PART_Y  =  0.0
 CM_LOCATION_FROM_PART_Z  =  0.0
 IXX                      =  2.1353735198E+05
 IYY                      =  2.1353735198E+05
 IZZ                      =  408.0372851994
 IXY                      =  0.0
 IZX                      =  0.0
 IYZ                      =  0.0
$------------------------------------------------------------------LINK_GEOMETRY
[LINK_GEOMETRY]
 USAGE       =  'rack_housing'
 PART        =  'rack_housing'
 SYMMETRY    =  'single'
 RADIUS      =  14.2835094637
$------------------------------------------------------------------PART_ASSEMBLY
[PART_ASSEMBLY]
 USAGE                    =  'steering_column'
 SYMMETRY                 =  'single'
 MODE                     =  'rigid'
$ Rigid body data:
 MASS                     =  2.2682384487
 SPRUNG_PERCENTAGE        =  100.0
$ Part location is dependent.
$   X,Y,Z location = 772.5, -350.0, 675.0
$ Part orientation is dependent.
$   ZP vector = -0.8509361101,  0.0,  -0.5252692038
$   XP vector = -0.5252692038,  0.0,  0.8509361101
 CM_LOCATION_FROM_PART_X  =  0.0
 CM_LOCATION_FROM_PART_Y  =  0.0
 CM_LOCATION_FROM_PART_Z  =  0.0
 IXX                      =  32340.842223
 IYY                      =  32340.842223
 IZZ                      =  254.2615078302
 IXY                      =  0.0
 IZX                      =  0.0
 IYZ                      =  0.0
$------------------------------------------------------------------LINK_GEOMETRY
[LINK_GEOMETRY]
 USAGE       =  'steering_column'
 PART        =  'steering_column'
 SYMMETRY    =  'single'
 RADIUS      =  14.9730733795
$------------------------------------------------------------------PART_ASSEMBLY
[PART_ASSEMBLY]
 USAGE                    =  'steering_shaft'
 SYMMETRY                 =  'single'
 MODE                     =  'rigid'
$ Rigid body data:
 MASS                     =  1.9736728745
 SPRUNG_PERCENTAGE        =  100.0
$ Part location is dependent.
$   X,Y,Z location = 165.0, -325.0, 120.0
$ Part orientation is dependent.
$   ZP vector = 0.8555359041,  -0.0910144579,  0.5096809642
$   XP vector = 0.5118051751,  0.0,  -0.8591015439
 CM_LOCATION_FROM_PART_X  =  0.0
 CM_LOCATION_FROM_PART_Y  =  0.0
 CM_LOCATION_FROM_PART_Z  =  0.0
 IXX                      =  20933.928297
 IYY                      =  20933.928297
 IZZ                      =  223.3589429307
 IXY                      =  0.0
 IZX                      =  0.0
 IYZ                      =  0.0
$------------------------------------------------------------------LINK_GEOMETRY
[LINK_GEOMETRY]
 USAGE       =  'steering_shaft'
 PART        =  'steering_shaft'
 SYMMETRY    =  'single'
 RADIUS      =  15.0445459276
$------------------------------------------------------------------PART_ASSEMBLY
[PART_ASSEMBLY]
 USAGE                    =  'steering_wheel'
 SYMMETRY                 =  'single'
 MODE                     =  'rigid'
$ Rigid body data:
 MASS                     =  2.0
 SPRUNG_PERCENTAGE        =  100.0
$ Part location is dependent.
$   X,Y,Z location = 975.0, -350.0, 800.0
$ Part orientation is dependent.
$   ZP vector = -0.8509361101,  0.0,  -0.5252692038
$   XP vector = -0.5252692038,  0.0,  0.8509361101
 CM_LOCATION_FROM_PART_X  =  0.0
 CM_LOCATION_FROM_PART_Y  =  0.0
 CM_LOCATION_FROM_PART_Z  =  0.0
 IXX                      =  1.0
 IYY                      =  1.0
 IZZ                      =  1.0
 IXY                      =  0.0
 IZX                      =  0.0
 IYZ                      =  0.0
$--------------------------------------------------------------------SWITCH_PART
[SWITCH_PART]
 USAGE       =  'rack_house_mount'
 SYMMETRY    =  'single'
$ Switched Parts:
$   [1] = nd (unknown part)
$   [2] = subframe (general part)
 INDEX       =  1
$---------------------------------------------------------------BUSHING_ASSEMBLY
[BUSHING_ASSEMBLY]
 DEFINITION              =  '.ACAR.attachments.ac_bushing'
 USAGE                   =  'torsion_bar'
 SYMMETRY                =  'single'
$ Bushing orientation is dependent.
$   ZP vector = 0.8555359041,  -0.0910144579,  0.5096809642
$   XP vector = 0.5118051751,  0.0,  -0.8591015439
 T_PRELOAD_X             =  0.0
 T_PRELOAD_Y             =  0.0
 T_PRELOAD_Z             =  0.0
 R_PRELOAD_X             =  0.0
 R_PRELOAD_Y             =  0.0
 R_PRELOAD_Z             =  0.0
 T_OFFSET_X              =  0.0
 T_OFFSET_Y              =  0.0
 T_OFFSET_Z              =  0.0
 R_OFFSET_X              =  0.0
 R_OFFSET_Y              =  0.0
 R_OFFSET_Z              =  0.0
 FX_SCALING_FACTOR       =  1.0
 FY_SCALING_FACTOR       =  1.0
 FZ_SCALING_FACTOR       =  1.0
 TX_SCALING_FACTOR       =  1.0
 TY_SCALING_FACTOR       =  1.0
 TZ_SCALING_FACTOR       =  1.0
 TX_DAMPING_FORCE_SCALE  =  1.0
 TY_DAMPING_FORCE_SCALE  =  1.0
 TZ_DAMPING_FORCE_SCALE  =  1.0
 RX_DAMPING_FORCE_SCALE  =  1.0
 RY_DAMPING_FORCE_SCALE  =  1.0
 RZ_DAMPING_FORCE_SCALE  =  1.0
 PROPERTY_FILE           =  '<model_adams>/bushings.tbl/mdi_steering_tbar.bus'
$---------------------------------------------------------------BUSHING_ASSEMBLY
[BUSHING_ASSEMBLY]
 DEFINITION              =  '.ACAR.attachments.ac_bushing'
 USAGE                   =  'rack_housing_bushing'
 SYMMETRY                =  'left/right'
$ Bushing orientation is dependent.
$   ZP vector = 0.0,  1.0,  0.0
$   XP vector = 1.0,  0.0,  0.0
 T_PRELOAD_X             =  0.0
 T_PRELOAD_Y             =  0.0
 T_PRELOAD_Z             =  0.0
 R_PRELOAD_X             =  0.0
 R_PRELOAD_Y             =  0.0
 R_PRELOAD_Z             =  0.0
 T_OFFSET_X              =  0.0
 T_OFFSET_Y              =  0.0
 T_OFFSET_Z              =  0.0
 R_OFFSET_X              =  0.0
 R_OFFSET_Y              =  0.0
 R_OFFSET_Z              =  0.0
 FX_SCALING_FACTOR       =  1.0
 FY_SCALING_FACTOR       =  1.0
 FZ_SCALING_FACTOR       =  1.0
 TX_SCALING_FACTOR       =  1.0
 TY_SCALING_FACTOR       =  1.0
 TZ_SCALING_FACTOR       =  1.0
 TX_DAMPING_FORCE_SCALE  =  1.0
 TY_DAMPING_FORCE_SCALE  =  1.0
 TZ_DAMPING_FORCE_SCALE  =  1.0
 RX_DAMPING_FORCE_SCALE  =  1.0
 RY_DAMPING_FORCE_SCALE  =  1.0
 RZ_DAMPING_FORCE_SCALE  =  1.0
 PROPERTY_FILE           =  '<model_adams>/bushings.tbl/MDI_steer_rack_house.bus'
$------------------------------------------------------------------GEAR_ASSEMBLY
[GEAR_ASSEMBLY]
 USAGE            =  'input_shaft_pinion_lock'
 SYMMETRY         =  'single'
 REDUCTION_RATIO  =  1.0
 INVERT_INPUT     =  'yes'
$------------------------------------------------------------------GEAR_ASSEMBLY
[GEAR_ASSEMBLY]
 USAGE            =  'pinion_to_rack'
 SYMMETRY         =  'single'
 REDUCTION_RATIO  =  0.1745329252
 INVERT_INPUT     =  'yes'
$------------------------------------------------------------------GEAR_ASSEMBLY
[GEAR_ASSEMBLY]
 USAGE            =  'steering_wheel_column_lock'
 SYMMETRY         =  'single'
 REDUCTION_RATIO  =  1.0
 INVERT_INPUT     =  'no'
$-----------------------------------------------------------------GENERAL_SPLINE
[GENERAL_SPLINE]
 USAGE          =  'steering_assist'
 SYMMETRY       =  'single'
 TYPE           =  'two_dimensional'
 PROPERTY_FILE  =  '<model_adams>/steering_assists.tbl/mdi_steer_assist.ste'
 CURVE_NAME     =  'steering_assist'
(COMMENTS)
{comment_line}
'Example of a steering assist spline'
$--------------------------------------------------------------GENERAL_PARAMETER
[GENERAL_PARAMETER]
 USAGE           =  'rack_piston_area'
 SYMMETRY        =  'single'
 PROPERTY_FILE   =  '<model_adams>/steering_assists.tbl/mdi_steer_assist.ste'
 DATA_BLOCK      =  'STEERING_ASSIST'
 ATTRIBUTE_NAME  =  'piston_area'
$----------------------------------------------------------------------PARAMETER
[PARAMETER]
{parameter_name                  symmetry       type       value}
 'kinematic_flag              '  'single    '   'integer'  0
 'steering_assist_active      '  'single    '   'integer'  1
 'max_rack_displacement       '  'single    '   'real'     100.0
 'max_rack_force              '  'single    '   'real'     500.0
 'max_steering_angle          '  'single    '   'real'     720.0
 'max_steering_torque         '  'single    '   'real'     500.0
