<?xml version="1.0" encoding="UTF-8"?>
<Document>
 <Model version="4.8" build="4.8.2.10124">
  <Sidops><![CDATA[model 128 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>0</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\05_stepper\stepper_103H5208_controller.emx</LibraryPath>
  <TimeStamp>2020-7-22 15:25:39</TimeStamp>
</Description>
</Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   C 976 392
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\C.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:58:35</TimeStamp>
</Description>
</Information>';
    type C
     ports
      power in p;
      signal out state;
     restrictions
      causality preferred out p;
    end;
    icon bg bottom
     figures
      text 'C' 976 392 color 0 18 bold;
    end;
    implementation eq
parameters
	real c = 0.00001;
equations
	state = int(p.f);
	p.e = state / c;
implementation_end;
   I2 1024 272
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
    type I
     ports
      power in p;
      signal out state;
     restrictions
      causality preferred in p;
    end;
    icon bg bottom
     figures
      text 'I' 1024 272 color 0 18 bold;
    end;
    implementation eq
parameters
	real i = 8e-5 {kg.m2};
equations
    state = int(p.e);
    p.f = state / i;
implementation_end;
   OneJunction 1024 336
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      rotation knot duplicatable none p [1];
      signal knot out flow [1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 1024 336 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction1 936 392
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      rotation knot duplicatable none p [1];
      signal knot out flow [1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 936 392 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   R 896 392
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
    type R
     ports
      power in p;
    end;
    icon bg bottom
     figures
      text 'R' 896 392 color 0 18 bold;
    end;
    implementation eq
parameters
	real r = 100;
equations
	p.e = r * p.f;
implementation_end;
   Square 432 336
    description '<Description>
   <Version>4.0</Version>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Sources\WaveGenerator-Square.emx</LibraryPath>
  <TimeStamp>2009-3-5 16:05:33</TimeStamp>
</Description>';
    type 'WaveGenerator-Square'
     ports
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 416.1 320 447.9 352 color 0 fill 15132390;
      line 420.1 323.9 419.9 350.2 color 0 fill 0;
      line 417.9 348.1 443.9 348.1 color 0 fill 0;
      line 420.1 348.1 424 348.1 424 336 color 16711680 fill 0;
      line 432 336 424 336 432 336 color 16711680 fill 0;
      line 432 348.1 432 336 432 348.1 color 16711680 fill 0;
      line 440 336 440 348.1 440 336 color 16711680 fill 0;
      line 443.9 336.1 439.7 336.1 color 16711680 fill 0;
      line 432 348.1 440 348.1 color 16711680 fill 0;
    end;
    implementation eq
parameters
	real amplitude = 50;			// amplitude of the wave
	real omega = 2 {rad/s};		// angular frequency of the wave
variables					
	real hidden s, half;
	boolean hidden change;
equations
	"calculate at least 2 points per period 
	(just after the change in sign)"
	half = pi / omega;
	change = frequencyevent (half, 1e-14);

	"calculate the square wave"
	s = sign (sin (omega * time));
	output = if( s == 0 ) then
		amplitude
	else
		(amplitude / 2) * (s + 1)
	end;
implementation_end;
   stepper_control 584 336
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Motor\stepper_control.emx</LibraryPath>
  <TimeStamp>2020-7-22 15:25:26</TimeStamp>
</Description>
</Information>';
    type Submodel
     ports
      signal in setpoint {rad} ;
      signal out output {rad} ;
    end;
    implementation bg
     submodels
      Acceleration_int 648 336
       description '<Information>
 <Description>
    <Version>4.3</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
  <TimeStamp>2013-3-8 14:47:42</TimeStamp>
</Description>
</Information>';
       type Integrate
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 632 320 664 352 color 0 fill 15132390;
         text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;
       end;
       implementation eq
parameters
	real initial = 0;		// initial value
equations
	output = int (input, initial);
     implementation_end;
      Acceleration_limit 568 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 552 320 584 352 color 0 fill 15132390;
          line 567.9 324.5 567.9 349 color 0 fill 15132390;
          line 555 336.2 580.7 336.2 color 0 fill 15132390;
          spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;
          spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;
          spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 200;
	real minimum = -200;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
      plug setpoint 136 336;
      plug output 791 336;
      PlusMinus1 240 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
       knot PlusMinus
        ports
         signal knot duplicatable in plus [1];
         signal knot duplicatable in minus [1];
         signal knot out output [1];
       end;
       icon bg ellipse
        figures
         ellipse 232 328 248 344 color 0 fill 16777215;
       end;
       implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
      PlusMinus2 432 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
       knot PlusMinus
        ports
         signal knot duplicatable in plus [1];
         signal knot duplicatable in minus [1];
         signal knot out output [1];
       end;
       icon bg ellipse
        figures
         ellipse 424 328 440 344 color 0 fill 16777215;
       end;
       implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
      Position_control 296 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:7</TimeStamp>
</Description>';
       type PD
        ports
         signal in error;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 280 320 312 352 color 0 fill 15132390;
         text 'PD' 296.5 336.1 color 16711680 18 bold;
       end;
       implementation eq
parameters
	real kp = 4 {};			// Proportional gain
	real tauD = 100 {s};		// Derivative time constant: tauD > 0
	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1
	real maximum = 25;
variables
	real state, rate;
equations
	rate = (kp * error - output) / (beta * tauD);
	state = int (rate);
	output = state + kp * error /  beta;
      implementation_end;
      Splitter3 688 336
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;
         ellipse 683.7 331.7 692.3 340.3 color -1;
        terminals
         input 688 336 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Splitter4 752 336
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;
         ellipse 747.7 331.7 756.3 340.3 color -1;
        terminals
         input 752 336 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Velocity_control 480 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:7</TimeStamp>
</Description>';
       type PD
        ports
         signal in error;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 464 320 496 352 color 0 fill 15132390;
         text 'PD' 480.5 336.1 color 16711680 18 bold;
       end;
       implementation eq
parameters
	real kp = 12 {};			// Proportional gain
	real tauD = 10 {s};		// Derivative time constant: tauD > 0
	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1
	real maximum = 100;
variables
	real state, rate;
equations
	rate = (kp * error - output) / (beta * tauD);
	state = int (rate);
	output = state + kp * error /  beta;
      implementation_end;
      Velocity_int 720 336
       description '<Information>
 <Description>
    <Version>4.3</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
  <TimeStamp>2013-3-8 14:47:42</TimeStamp>
</Description>
</Information>';
       type Integrate
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 704 320 736 352 color 0 fill 15132390;
         text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;
       end;
       implementation eq
parameters
	real initial = 0;		// initial value
equations
	output = int (input, initial);
     implementation_end;
      Velocity_limit 376 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 360 320 392 352 color 0 fill 15132390;
          line 375.9 324.5 375.9 349 color 0 fill 15132390;
          line 363 336.2 388.7 336.2 color 0 fill 15132390;
          spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;
          spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;
          spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 25;
	real minimum = -25;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Acceleration_int\output -> Splitter3\input;
      Acceleration_limit\output -> Acceleration_int\input;
      PlusMinus1\output -> Position_control\error;
      PlusMinus2\output -> Velocity_control\error;
      Position_control\output -> Velocity_limit\input;
      setpoint -> PlusMinus1\plus;
      Splitter3\output -> PlusMinus2\minus 688 288 432 288;
      Splitter3\output -> Velocity_int\input;
      Splitter4\output -> output;
      Splitter4\output -> PlusMinus1\minus 752 400 240 400;
      Velocity_control\output -> Acceleration_limit\input;
      Velocity_int\output -> Splitter4\input;
      Velocity_limit\output -> PlusMinus2\plus;
     end;
    implementation_end;
   stepper_model 768 336
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Motor\stepper_model.emx</LibraryPath>
  <TimeStamp>2020-7-22 15:25:37</TimeStamp>
</Description>
 <Attributes>
  <GlobalRelations>parameters 
	real I_phase = 3.4 {mH};
	real R_phase = 2.9 {ohm};
	real u_max = 3.4 {V};
	real RotorInertia = 5.6e-6 {kg.m2};
	real StepperMass = 0.29 {kg};
	real angle_step = 1.8 {deg};
	real n_phase = 2 {none};
	real fluxLinkage = 0.0022 {Wb};
	real detentTorque = 0.01 {N.m};
variables
	real omega;
	real p; // rotor division
initialequations
	p = 2 * pi / (2 * n_phase * angle_step);
	omega = 200;</GlobalRelations>
 </Attributes>
</Information>';
    type Submodel
     ports
      signal in angle;
      rotation out p;
    end;
    implementation bg
     submodels
      I 560 104
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
       type I
        ports
         power in p;
         signal out state;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 560 104 color 0 18 bold;
       end;
       implementation eq
parameters
	real global I_phase;
equations
    state = int(p.e);
    p.f = state / I_phase;
implementation_end;
      I1 608 328
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
       type I
        ports
         power in p;
         signal out state;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 608 328 color 0 18 bold;
       end;
       implementation eq
parameters
	real global I_phase;
equations
    state = int(p.e);
    p.f = state / I_phase;
implementation_end;
      I2 752 160
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
       type I
        ports
         power in p;
         signal out state;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 752 160 color 0 18 bold;
       end;
       implementation eq
parameters
	real i = 8e-5 {kg.m2};
	real global RotorInertia;
equations
    state = int(p.e);
    p.f = state / (RotorInertia);
implementation_end;
      MGY_a 656 160
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
       type MGY
        ports
         power in p1;
         power out p2;
         signal in r;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MGY' 656 160 color 0 18 bold;
       end;
       implementation eq
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MGY_b 656 272
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
       type MGY
        ports
         power in p1;
         power out p2;
         signal in r;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MGY' 656 272 color 0 18 bold;
       end;
       implementation eq
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MSe_a 512 160
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
       type MSe
        ports
         electric out p;
         signal in effort;
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 512 160 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      MSe_b 512 272
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
       type MSe
        ports
         electric out p;
         signal in effort;
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 512 272 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      plug angle 200 216;
      plug p 1472 216;
      OneJunction1 840 216
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         rotation knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 840 216 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction2 584 160
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         electric knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 584 160 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction3 584 272
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         electric knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 584 272 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction4 752 216
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         rotation knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 752 216 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      phase_control 512 216
       description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
       type Submodel
        ports
         signal in angle;
         signal out a;
         signal out b;
       end;
       icon bg
        figures
         rectangle 472 200 552 232 color 0 fill 15132390;
         text 'name' 512 216 color 0 'Clear Sans' 16;
       end;
       implementation eq
parameters
	real global u_max {V};
	real global angle_step;
	real max_a {m/s2};
variables
	real current_angle;
	real c,s;
	real global p;
	boolean hidden eventa, eventb;
equations
	a = u_max * (cos (p*angle));
	eventa = event(a);
	b = u_max * -(sin (p*angle));
	eventb = event(b);
	current_angle = angle;

	
	
 implementation_end;
      R 608 104
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg bottom
        figures
         text 'R' 608 104 color 0 18 bold;
       end;
       implementation eq
parameters
	real global R_phase;
equations
	p.e = R_phase * p.f;
implementation_end;
      R1 560 328
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg bottom
        figures
         text 'R' 560 328 color 0 18 bold;
       end;
       implementation eq
parameters
	real global R_phase;
equations
	p.e = R_phase * p.f;
implementation_end;
      R2 824 264
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg bottom
        figures
         text 'R' 824 264 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 1.0e-3;
equations
	p.e = r * p.f;
implementation_end;
      RotorAngle 656 216
       description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
       type Submodel
        ports
         signal out output_b;
         signal out output_a;
         signal in omega {rad/s} ;
         signal out output_d;
       end;
       icon bg
        figures
         rectangle 616 200 696 232 color 0 fill 15132390;
         text 'name' 656 216 color 0 'Clear Sans' 16;
       end;
       implementation eq
parameters
	real global fluxLinkage;
	real global detentTorque;
variables
	real global p;
	real angle {rad};
equations
	angle = int(omega);
	output_a = -p * fluxLinkage * sin(p * angle);
	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);
	output_d =  detentTorque * sin(2 * p * angle);
 implementation_end;
      Se 752 272
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
       type MSe
        ports
         power out p;
         signal in effort;
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 752 272 color 0 18 bold;
       end;
       implementation eq

variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
     end;
     connections
      angle -> phase_control\angle;
      I2\p <= OneJunction4\p;
      MGY_a\p2 => OneJunction4\p;
      MGY_b\p2 => OneJunction4\p;
      MSe_b\p => OneJunction3\p;
      OneJunction1\p => p;
      OneJunction2\p <= MSe_a\p;
      OneJunction2\p => I\p;
      OneJunction2\p => MGY_a\p1;
      OneJunction2\p => R\p;
      OneJunction3\p => I1\p;
      OneJunction3\p => MGY_b\p1;
      OneJunction3\p => R1\p;
      OneJunction4\flow -> RotorAngle\omega;
      OneJunction4\p => OneJunction1\p;
      OneJunction4\p => R2\p;
      phase_control\a -> MSe_a\effort;
      phase_control\b -> MSe_b\effort;
      RotorAngle\output_a -> MGY_a\r;
      RotorAngle\output_b -> MGY_b\r;
      RotorAngle\output_d -> Se\effort;
      Se\p => OneJunction4\p;
     end;
    implementation_end;
   ZeroJunction1 936 336
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      rotation knot duplicatable none p [1];
      signal knot out effort [1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 936 336 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
  end;
  connections
   C\p <= OneJunction1\p;
   OneJunction\p => I2\p;
   OneJunction1\p => R\p;
   OneJunction1\p => ZeroJunction1\p;
   Square\output -> stepper_control\setpoint;
   stepper_control\output -> stepper_model\angle;
   stepper_model\p => ZeroJunction1\p;
   ZeroJunction1\p => OneJunction\p;
  end;
 implementation_end;
]]>
</Sidops>
 </Model>
 <Experiments>
     <DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
  <Experiment>
    <Name>Experiment 1</Name>
    <CreatedBy></CreatedBy>
    <Info></Info>
<ExpData>
  <VersionNumber>4.8</VersionNumber>
  <ModelProperties>
  </ModelProperties>
  <Variables>
   <Constants>
   </Constants>
   <Parameters>
    <Variable>
     <Name>stepper_model\phase_control\max_a</Name>
     <Unit>m/s2</Unit>
     <Value>0</Value>
    </Variable>
   </Parameters>
   <Initials>
    <Variable>
     <Name>C\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>I2\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_control\Position_control\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_control\Velocity_control\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_model\I1\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_model\I2\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_model\I\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_model\RotorAngle\angle_initial</Name>
     <Unit>rad</Unit>
     <Value>0</Value>
    </Variable>
   </Initials>
  </Variables>
  <PlotSpecs>
   <VarNames>
    <VarName>time</VarName>
    <VarName>stepper_model\I2\p.e</VarName>
    <VarName>stepper_model\I2\p.f</VarName>
    <VarName>stepper_model\RotorAngle\angle</VarName>
    <VarName>stepper_model\MSe_a\effort</VarName>
    <VarName>stepper_model\MSe_b\effort</VarName>
    <VarName>stepper_model\Submodel2\a</VarName>
    <VarName>stepper_model\Submodel2\b</VarName>
    <VarName>stepper_control\Integrate\input</VarName>
    <VarName>stepper_control\Integrate\output</VarName>
    <VarName>stepper_control\Integrate1\output</VarName>
    <VarName>Square\output</VarName>
    <VarName>stepper_control\PD\error</VarName>
    <VarName>stepper_control\PD1\error</VarName>
   </VarNames>
   <Plots>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>1</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>false</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>2.0</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-0.025</Minimum>
       <Maximum>0.025</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>I2\p.e</Label>
      </Axis>
      <Axis>
       <Minimum>-25.0</Minimum>
       <Maximum>25.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>I2\p.f</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>3355111</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>stepper_model\I2\p.e</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>stepper_model\I2\p.f</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>2</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model(2)</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>2.0</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-30.0</Minimum>
       <Maximum>70.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>angle</Label>
      </Axis>
      <Axis>
       <Minimum>-1.5</Minimum>
       <Maximum>3.5</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>output</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>3355111</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>stepper_model\RotorAngle\angle</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Square\output</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>3</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model(1)</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>2.0</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-250.0</Minimum>
       <Maximum>250.0</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>a</Label>
      </Axis>
      <Axis>
       <Minimum>-400.0</Minimum>
       <Maximum>600.0</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>v</Label>
      </Axis>
      <Axis>
       <Minimum>-400.0</Minimum>
       <Maximum>600.0</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>x</Label>
      </Axis>
      <Axis>
       <Minimum>-400.0</Minimum>
       <Maximum>600.0</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>error v</Label>
      </Axis>
      <Axis>
       <Minimum>-400.0</Minimum>
       <Maximum>600.0</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>error x</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>3355111</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>stepper_control\Integrate\input</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>stepper_control\Integrate\output</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>12553035</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>12553035</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
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