We describe in detail the general methodology and numerical implementation of consistent N-body simulations for coupled scalar field cosmological models, including the background cosmology and the generation of initial conditions (with the different couplings to different matter species taken into account). We perform fully consistent simulations for a class of coupled scalar field models with an inverse power-law potential and negative coupling constant, for which the chameleon mechanism does not operate. We find that in such cosmological models the scalar-field potential plays a negligible role except in the background expansion, and the fifth force that is produced is proportional to gravity in magnitude, justifying the use of a rescaled gravitational constant G in some earlier N-body simulations of similar models. We study the effects of the scalar coupling on the nonlinear matter power spectra and compare with linear perturbation calculations to investigate where the nonlinear model deviates from the linear approximation. For the first time, the algorithm to identify gravitationally virialized matter halos is adapted to the scalar field cosmology, and then used to measure the mass function and study the properties of virialized halos. We find that the net effect of the scalar coupling helps produce more heavy halos in our simulation boxes and suppresses the inner (but not the outer) density profile of halos compared with those predicted by lambda-CDM, while this suppression weakens as the coupling between the scalar field and dark matter particles increases in strength.
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