From 33d7fbc03268089293e11313c16cfab837f5d20c Mon Sep 17 00:00:00 2001 From: Wouter Horlings Date: Thu, 23 Jul 2020 10:06:47 +0200 Subject: [PATCH] Add complex arm model --- implementation/SCARA/06_arm/arm_model.emx | 6106 +++++++++++++++++++++ 1 file changed, 6106 insertions(+) create mode 100644 implementation/SCARA/06_arm/arm_model.emx diff --git a/implementation/SCARA/06_arm/arm_model.emx b/implementation/SCARA/06_arm/arm_model.emx new file mode 100644 index 0000000..8a3d39e --- /dev/null +++ b/implementation/SCARA/06_arm/arm_model.emx @@ -0,0 +1,6106 @@ + + + + + + 4.8 +0 + False + C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\06_arm\arm_model.emx + 2020-7-23 10:05:57 + +'; + type Mainmodel + end; + implementation bg + submodels + Body1 520 496 + description '4.0 + Template\Submodel-Equation.emx +1 + False + 2007-11-1 22:32:1 + False +'; + type 'Submodel-Equation' + ports + signal in input [4,4]; + end; + implementation eq +variables + real position[3]; + real rotation[3]; + real R[3,3]; +equations + position = input[1:3,4]; + rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input); + //[input[3,2];input[1,3];input[2,1]]; + R = input[1:3,1:3];implementation_end; + Body2 896 544 + description '4.0 + Template\Submodel-Equation.emx +1 + False + 2007-11-1 22:32:1 + False +'; + type 'Submodel-Equation' + ports + signal in input [4,4]; + end; + implementation eq +variables + real position[3]; + real rotation[3]; + real R[3,3]; +equations + position = input[1:3,4]; + rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input); + //[input[3,2];input[1,3];input[2,1]]; + R = input[1:3,1:3];implementation_end; + Body3 704 496 + description '4.0 + Template\Submodel-Equation.emx +1 + False + 2007-11-1 22:32:1 + False +'; + type 'Submodel-Equation' + ports + signal in input [4,4]; + end; + implementation eq +variables + real position[3]; + real rotation[3]; + real R[3,3]; +equations + position = input[1:3,4]; + rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input); + //[input[3,2];input[1,3];input[2,1]]; + R = input[1:3,1:3];implementation_end; + Body4 368 152 + description '4.0 + Template\Submodel-Equation.emx +1 + False + 2007-11-1 22:32:1 + False +'; + type 'Submodel-Equation' + ports + signal in input [4,4]; + end; + implementation eq +variables + real position[3]; + real rotation[3]; + real R[3,3]; +equations + position = input[1:3,4]; + rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input); + //[input[3,2];input[1,3];input[2,1]]; + R = input[1:3,1:3];implementation_end; + Body5 832 208 + description '4.0 + Template\Submodel-Equation.emx +1 + False + 2007-11-1 22:32:1 + False +'; + type 'Submodel-Equation' + ports + signal in input [4,4]; + end; + implementation eq +variables + real position[3]; + real rotation[3]; + real R[3,3]; +equations + position = input[1:3,4]; + rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input); + //[input[3,2];input[1,3];input[2,1]]; + R = input[1:3,1:3];implementation_end; + COM_body1 496 376 + description '4.81Bond Graph\MR\center_of_mass_v2.emx2020-7-21 12:24:38parameters + real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s}; + real m = 0.00455 {kg};'; + type Submodel + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power out p [6,1]; + end; + icon bg bottom + figures + rectangle 480 344 512 408 color 0 fill 139; + text 'COM' 496 376 color 0 'Clear Sans' 16; + terminals + Hin 480 360 fixed; + p 480 392 fixed; + end; + implementation bg + submodels + AdHi0 544 400 + description '4.01False2007-9-25 12:3:3True'; + type MTF + ports + power in p1 [6,1]; + power out p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg left + figures + text 'MTF' 544 400 color 0 18 bold; + end; + implementation eq +variables + real onlyRotH[4,4]; +code + //Only rotations with respect to the inertial system matter! + onlyRotH = H; + onlyRotH[1,4] = 0; + onlyRotH[2,4] = 0; + onlyRotH[3,4] = 0; + + p2.e = transpose(Adjoint(onlyRotH)) * p1.e; + p1.f = Adjoint(onlyRotH) * p2.f; +implementation_end; + EJS 616 336 + description '4.01False2007-10-31 11:43:6True'; + type MGY + ports + power in p1 [6,1]; + end; + icon bg top + figures + text 'MGY' 616 336 color 0 18 bold; + end; + implementation eq +//EJS / Gyroscopic effects +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Q[6,6]; + real QI[6,6]; + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + Q = transpose(adjoint(p1.f)); + QI = Q*II; + p1.e = QI*p1.f;implementation_end; + Gravity 624 400 + description '4.01False2007-9-25 12:3:26True'; + type Se + ports + power out p [6,1]; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'Se' 624 400 color 0 18 bold; + end; + implementation eq +parameters + real global m; +variables + real effort[6]; +equations + effort = [0;0;0;0;0;-g_n*m]; + p.e = effort; +implementation_end; + InertialTensor 544 272 + description '4.01False + Bond Graph\3D\I-3.emx + 2007-9-25 12:12:14 +'; + type 'I-3' + ports + power in p [6,1]; + signal out state [6,1]; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 544 272 color 0 18 bold; + end; + implementation eq +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + state = int(p.e); //state = generalized momentum + p.f = inverse(II)*state; +implementation_end; + plug Hin 433.4 496; + plug Hout 691.2 496; + plug p 439.4 336; + Splitter1 544 496 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; + ellipse 539.7 491.7 548.3 500.3 color -1; + terminals + input 544 496 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Ta0j 544 336 + description ' + 4.0 + 1 + False + Bond Graph\OneJunction.emx + 2007-9-27 9:51:18 + True + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg bottom + figures + text '1' 544 336 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + ZeroJunction1 504 336 + description ' + + 4.2 +1 + False + Bond Graph\ZeroJunction.emx + 2011-11-29 16:45:16 + +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg + figures + text '0' 504 336 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 + AdHi0\p2 => Ta0j\p; + Gravity\p => AdHi0\p1; + Hin -> Splitter1\input; + Splitter1\output -> AdHi0\H; + Splitter1\output -> Hout; + Ta0j\p => EJS\p1; + Ta0j\p => InertialTensor\p; + ZeroJunction1\p => p; + ZeroJunction1\p => Ta0j\p; + end; + implementation_end; + COM_body2 776 688 + description ' + + 4.8 +1 + Bond Graph\MR\center_of_mass_v2.emx + 2020-7-21 12:24:38 + + + parameters + real I [3,1] = [0.01;0.01;0.0001] {N.m.s}; + real m = 0.5 {kg}; + +'; + type Submodel + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power out p [6,1]; + end; + icon bg bottom + figures + rectangle 744 672 808 704 color 0 fill 139; + text 'COM' 776 688 color 0 'Clear Sans' 16; + terminals + Hin 792 672 fixed; + p 760 672 fixed; + end; + implementation bg + submodels + AdHi0 544 400 + description '4.01False2007-9-25 12:3:3True'; + type MTF + ports + power in p1 [6,1]; + power out p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg left + figures + text 'MTF' 544 400 color 0 18 bold; + end; + implementation eq +variables + real onlyRotH[4,4]; +code + //Only rotations with respect to the inertial system matter! + onlyRotH = H; + onlyRotH[1,4] = 0; + onlyRotH[2,4] = 0; + onlyRotH[3,4] = 0; + + p2.e = transpose(Adjoint(onlyRotH)) * p1.e; + p1.f = Adjoint(onlyRotH) * p2.f; +implementation_end; + EJS 616 336 + description '4.01False2007-10-31 11:43:6True'; + type MGY + ports + power in p1 [6,1]; + end; + icon bg top + figures + text 'MGY' 616 336 color 0 18 bold; + end; + implementation eq +//EJS / Gyroscopic effects +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Q[6,6]; + real QI[6,6]; + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + Q = transpose(adjoint(p1.f)); + QI = Q*II; + p1.e = QI*p1.f;implementation_end; + Gravity 624 400 + description '4.01False2007-9-25 12:3:26True'; + type Se + ports + power out p [6,1]; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'Se' 624 400 color 0 18 bold; + end; + implementation eq +parameters + real global m; +variables + real effort[6]; +equations + effort = [0;0;0;0;0;-g_n*m]; + p.e = effort; +implementation_end; + InertialTensor 544 272 + description '4.01False + Bond Graph\3D\I-3.emx + 2007-9-25 12:12:14 +'; + type 'I-3' + ports + power in p [6,1]; + signal out state [6,1]; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 544 272 color 0 18 bold; + end; + implementation eq +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + state = int(p.e); //state = generalized momentum + p.f = inverse(II)*state; +implementation_end; + plug Hin 433.4 496; + plug Hout 691.2 496; + plug p 439.4 336; + Splitter1 544 496 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; + ellipse 539.7 491.7 548.3 500.3 color -1; + terminals + input 544 496 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Ta0j 544 336 + description ' + 4.0 + 1 + False + Bond Graph\OneJunction.emx + 2007-9-27 9:51:18 + True + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg bottom + figures + text '1' 544 336 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + ZeroJunction1 504 336 + description ' + + 4.2 +1 + False + Bond Graph\ZeroJunction.emx + 2011-11-29 16:45:16 + +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg + figures + text '0' 504 336 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 + AdHi0\p2 => Ta0j\p; + Gravity\p => AdHi0\p1; + Hin -> Splitter1\input; + Splitter1\output -> AdHi0\H; + Splitter1\output -> Hout; + Ta0j\p => EJS\p1; + Ta0j\p => InertialTensor\p; + ZeroJunction1\p => p; + ZeroJunction1\p => Ta0j\p; + end; + implementation_end; + COM_body3 696 376 + description '4.81Bond Graph\MR\center_of_mass_v2.emx2020-7-21 12:24:38parameters + real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s}; + real m = 0.00455 {kg};'; + type Submodel + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power out p [6,1]; + end; + icon bg bottom + figures + rectangle 680 344 712 408 color 0 fill 139; + text 'COM' 696 376 color 0 'Clear Sans' 16; + terminals + Hin 680 360 fixed; + p 680 392 fixed; + end; + implementation bg + submodels + AdHi0 544 400 + description '4.01False2007-9-25 12:3:3True'; + type MTF + ports + power in p1 [6,1]; + power out p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg left + figures + text 'MTF' 544 400 color 0 18 bold; + end; + implementation eq +variables + real onlyRotH[4,4]; +code + //Only rotations with respect to the inertial system matter! + onlyRotH = H; + onlyRotH[1,4] = 0; + onlyRotH[2,4] = 0; + onlyRotH[3,4] = 0; + + p2.e = transpose(Adjoint(onlyRotH)) * p1.e; + p1.f = Adjoint(onlyRotH) * p2.f; +implementation_end; + EJS 616 336 + description '4.01False2007-10-31 11:43:6True'; + type MGY + ports + power in p1 [6,1]; + end; + icon bg top + figures + text 'MGY' 616 336 color 0 18 bold; + end; + implementation eq +//EJS / Gyroscopic effects +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Q[6,6]; + real QI[6,6]; + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + Q = transpose(adjoint(p1.f)); + QI = Q*II; + p1.e = QI*p1.f;implementation_end; + Gravity 624 400 + description '4.01False2007-9-25 12:3:26True'; + type Se + ports + power out p [6,1]; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'Se' 624 400 color 0 18 bold; + end; + implementation eq +parameters + real global m; +variables + real effort[6]; +equations + effort = [0;0;0;0;0;-g_n*m]; + p.e = effort; +implementation_end; + InertialTensor 544 272 + description '4.01False + Bond Graph\3D\I-3.emx + 2007-9-25 12:12:14 +'; + type 'I-3' + ports + power in p [6,1]; + signal out state [6,1]; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 544 272 color 0 18 bold; + end; + implementation eq +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + state = int(p.e); //state = generalized momentum + p.f = inverse(II)*state; +implementation_end; + plug Hin 433.4 496; + plug Hout 691.2 496; + plug p 439.4 336; + Splitter1 544 496 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; + ellipse 539.7 491.7 548.3 500.3 color -1; + terminals + input 544 496 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Ta0j 544 336 + description ' + 4.0 + 1 + False + Bond Graph\OneJunction.emx + 2007-9-27 9:51:18 + True + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg bottom + figures + text '1' 544 336 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + ZeroJunction1 504 336 + description ' + + 4.2 +1 + False + Bond Graph\ZeroJunction.emx + 2011-11-29 16:45:16 + +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg + figures + text '0' 504 336 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 + AdHi0\p2 => Ta0j\p; + Gravity\p => AdHi0\p1; + Hin -> Splitter1\input; + Splitter1\output -> AdHi0\H; + Splitter1\output -> Hout; + Ta0j\p => EJS\p1; + Ta0j\p => InertialTensor\p; + ZeroJunction1\p => p; + ZeroJunction1\p => Ta0j\p; + end; + implementation_end; + COM_body4 632 56 + description '4.81Bond Graph\MR\center_of_mass_v2.emx2020-7-21 12:24:38parameters + real I [3,1] = [7.583333333333335e-7; 3.645833333333334e-8; 7.364583333333335e-7] {N.m.s}; + real m = 0.0035 {kg};'; + type Submodel + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power out p [6,1]; + end; + icon bg bottom + figures + rectangle 600 40 664 72 color 0 fill 139; + text 'COM' 632 56 color 0 'Clear Sans' 16; + terminals + Hin 648 72 fixed; + p 616 72 fixed; + end; + implementation bg + submodels + AdHi0 544 400 + description '4.01False2007-9-25 12:3:3True'; + type MTF + ports + power in p1 [6,1]; + power out p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg left + figures + text 'MTF' 544 400 color 0 18 bold; + end; + implementation eq +variables + real onlyRotH[4,4]; +code + //Only rotations with respect to the inertial system matter! + onlyRotH = H; + onlyRotH[1,4] = 0; + onlyRotH[2,4] = 0; + onlyRotH[3,4] = 0; + + p2.e = transpose(Adjoint(onlyRotH)) * p1.e; + p1.f = Adjoint(onlyRotH) * p2.f; +implementation_end; + EJS 616 336 + description '4.01False2007-10-31 11:43:6True'; + type MGY + ports + power in p1 [6,1]; + end; + icon bg top + figures + text 'MGY' 616 336 color 0 18 bold; + end; + implementation eq +//EJS / Gyroscopic effects +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Q[6,6]; + real QI[6,6]; + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + Q = transpose(adjoint(p1.f)); + QI = Q*II; + p1.e = QI*p1.f;implementation_end; + Gravity 624 400 + description '4.01False2007-9-25 12:3:26True'; + type Se + ports + power out p [6,1]; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'Se' 624 400 color 0 18 bold; + end; + implementation eq +parameters + real global m; +variables + real effort[6]; +equations + effort = [0;0;0;0;0;-g_n*m]; + p.e = effort; +implementation_end; + InertialTensor 544 272 + description '4.01False + Bond Graph\3D\I-3.emx + 2007-9-25 12:12:14 +'; + type 'I-3' + ports + power in p [6,1]; + signal out state [6,1]; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 544 272 color 0 18 bold; + end; + implementation eq +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + state = int(p.e); //state = generalized momentum + p.f = inverse(II)*state; +implementation_end; + plug Hin 433.4 496; + plug Hout 691.2 496; + plug p 439.4 336; + Splitter1 544 496 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; + ellipse 539.7 491.7 548.3 500.3 color -1; + terminals + input 544 496 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Ta0j 544 336 + description ' + 4.0 + 1 + False + Bond Graph\OneJunction.emx + 2007-9-27 9:51:18 + True + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg bottom + figures + text '1' 544 336 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + ZeroJunction1 504 336 + description ' + + 4.2 +1 + False + Bond Graph\ZeroJunction.emx + 2011-11-29 16:45:16 + +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg + figures + text '0' 504 336 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 + AdHi0\p2 => Ta0j\p; + Gravity\p => AdHi0\p1; + Hin -> Splitter1\input; + Splitter1\output -> AdHi0\H; + Splitter1\output -> Hout; + Ta0j\p => EJS\p1; + Ta0j\p => InertialTensor\p; + ZeroJunction1\p => p; + ZeroJunction1\p => Ta0j\p; + end; + implementation_end; + COM_body5 960 136 + description '4.81Bond Graph\MR\center_of_mass_v2.emx2020-7-21 12:24:38parameters + real I [3,1] = [0.018;0.159;0.159] {mN.m.s}; + real m = 0.015 {kg};'; + type Submodel + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power out p [6,1]; + end; + icon bg bottom + figures + rectangle 944 104 976 168 color 0 fill 139; + text 'COM' 960 136 color 0 'Clear Sans' 16; + terminals + Hin 944 152 fixed; + p 944 120 fixed; + end; + implementation bg + submodels + AdHi0 544 400 + description '4.01False2007-9-25 12:3:3True'; + type MTF + ports + power in p1 [6,1]; + power out p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg left + figures + text 'MTF' 544 400 color 0 18 bold; + end; + implementation eq +variables + real onlyRotH[4,4]; +code + //Only rotations with respect to the inertial system matter! + onlyRotH = H; + onlyRotH[1,4] = 0; + onlyRotH[2,4] = 0; + onlyRotH[3,4] = 0; + + p2.e = transpose(Adjoint(onlyRotH)) * p1.e; + p1.f = Adjoint(onlyRotH) * p2.f; +implementation_end; + EJS 616 336 + description '4.01False2007-10-31 11:43:6True'; + type MGY + ports + power in p1 [6,1]; + end; + icon bg top + figures + text 'MGY' 616 336 color 0 18 bold; + end; + implementation eq +//EJS / Gyroscopic effects +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Q[6,6]; + real QI[6,6]; + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + Q = transpose(adjoint(p1.f)); + QI = Q*II; + p1.e = QI*p1.f;implementation_end; + Gravity 624 400 + description '4.01False2007-9-25 12:3:26True'; + type Se + ports + power out p [6,1]; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'Se' 624 400 color 0 18 bold; + end; + implementation eq +parameters + real global m; +variables + real effort[6]; +equations + effort = [0;0;0;0;0;-g_n*m]; + p.e = effort; +implementation_end; + InertialTensor 544 272 + description '4.01False + Bond Graph\3D\I-3.emx + 2007-9-25 12:12:14 +'; + type 'I-3' + ports + power in p [6,1]; + signal out state [6,1]; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 544 272 color 0 18 bold; + end; + implementation eq +parameters + real global I[3]; + real global m; +variables + real II[6,6]; //Inertial tensor + real Ia[6]; +initialequations + Ia[1:3] = I; + Ia[4:6] = m; + II = diag(Ia); +equations + state = int(p.e); //state = generalized momentum + p.f = inverse(II)*state; +implementation_end; + plug Hin 433.4 496; + plug Hout 691.2 496; + plug p 439.4 336; + Splitter1 544 496 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; + ellipse 539.7 491.7 548.3 500.3 color -1; + terminals + input 544 496 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Ta0j 544 336 + description ' + 4.0 + 1 + False + Bond Graph\OneJunction.emx + 2007-9-27 9:51:18 + True + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg bottom + figures + text '1' 544 336 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + ZeroJunction1 504 336 + description ' + + 4.2 +1 + False + Bond Graph\ZeroJunction.emx + 2011-11-29 16:45:16 + +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg + figures + text '0' 504 336 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 + AdHi0\p2 => Ta0j\p; + Gravity\p => AdHi0\p1; + Hin -> Splitter1\input; + Splitter1\output -> AdHi0\H; + Splitter1\output -> Hout; + Ta0j\p => EJS\p1; + Ta0j\p => InertialTensor\p; + ZeroJunction1\p => p; + ZeroJunction1\p => Ta0j\p; + end; + implementation_end; + Ground 436 615.5 + description ' + + 4.8 +1 + Bond Graph\MR\Ground.emx + 2020-7-23 09:30:51 + +'; + type Submodel + ports + power in p [6,1]; + signal out output [4,4]; + end; + icon bg bottom + figures + line 400 608 416 624 color 0 fill 15132390; + line 408 608 424 624 color 0 fill 15132390; + line 392 608 408 624 color 0 fill 15132390; + line 432 624 416 608 color 0 fill 15132390; + line 440 624 424 608 color 0 fill 15132390; + line 448 624 432 608 color 0 fill 15132390; + line 464 624 448 608 color 0 fill 15132390; + line 456 624 440 608 color 0 fill 15132390; + line 472 624 456 608 color 0 fill 15132390; + line 480 624 464 608 color 0 fill 15132390; + line 392 608 480 608 color 0 fill 15132390 width 2; + line 472 608 480 616 color 0 fill 15132390; + line 392 616 400 624 color 0 fill 15132390; + terminals + p 416 608 fixed; + output 448 608 fixed; + end; + implementation bg + submodels + plug p 240 88; + plug output 240 120; + OneJunction2 192 88 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 192 88 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + Sf2 136 88 + description '4.01False + Bond Graph\2D\Sf-2.emx + 2007-9-25 12:7:5 +'; + type 'Sf-2' + ports + power out p [6,1]; + restrictions + causality fixed in p; + end; + icon bg bottom + figures + text 'Sf' 136 88 color 0 18 bold; + end; + implementation eq +parameters + real flow[6,1] = 0; +variables + real effort [6]; +equations + p.f = flow; + effort = p.e; +implementation_end; + Zero 144 120 + description '4.01False + Signal\Sources\Zero.emx + 2007-9-27 15:54:36 + +'; + type Zero + ports + signal out output [4,4]; + end; + icon bg bottom + figures + rectangle 128.1 104 159.9 136 color 0 fill 15132390; + text '0' 144 120 color 16711680 18 bold; + end; + implementation eq +equations + output = eye(4);implementation_end; + end; + connections + p => OneJunction2\p; + Sf2\p => OneJunction2\p; + Zero\output -> output; + end; + implementation_end; + Ground1 1052 727.5 + description ' + + 4.8 +1 + Bond Graph\MR\Ground.emx + 2020-7-23 09:30:51 + +'; + type Submodel + ports + power in p [6,1]; + signal out output [4,4]; + end; + icon bg bottom + figures + line 1016 720 1032 736 color 0 fill 15132390; + line 1024 720 1040 736 color 0 fill 15132390; + line 1008 720 1024 736 color 0 fill 15132390; + line 1048 736 1032 720 color 0 fill 15132390; + line 1056 736 1040 720 color 0 fill 15132390; + line 1064 736 1048 720 color 0 fill 15132390; + line 1080 736 1064 720 color 0 fill 15132390; + line 1072 736 1056 720 color 0 fill 15132390; + line 1088 736 1072 720 color 0 fill 15132390; + line 1096 736 1080 720 color 0 fill 15132390; + line 1008 720 1096 720 color 0 fill 15132390 width 2; + line 1088 720 1096 728 color 0 fill 15132390; + line 1008 728 1016 736 color 0 fill 15132390; + terminals + p 1032 720 fixed; + output 1064 720 fixed; + end; + implementation bg + submodels + plug p 240 88; + plug output 240 120; + OneJunction2 192 88 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 192 88 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + Sf2 136 88 + description '4.01False + Bond Graph\2D\Sf-2.emx + 2007-9-25 12:7:5 +'; + type 'Sf-2' + ports + power out p [6,1]; + restrictions + causality fixed in p; + end; + icon bg bottom + figures + text 'Sf' 136 88 color 0 18 bold; + end; + implementation eq +parameters + real flow[6,1] = 0; +variables + real effort [6]; +equations + p.f = flow; + effort = p.e; +implementation_end; + Zero 144 120 + description '4.01False + Signal\Sources\Zero.emx + 2007-9-27 15:54:36 + +'; + type Zero + ports + signal out output [4,4]; + end; + icon bg bottom + figures + rectangle 128.1 104 159.9 136 color 0 fill 15132390; + text '0' 144 120 color 16711680 18 bold; + end; + implementation eq +equations + output = eye(4);implementation_end; + end; + connections + p => OneJunction2\p; + Sf2\p => OneJunction2\p; + Zero\output -> output; + end; + implementation_end; + JointA 432 536 + description ' + + 4.8 +1 + Bond Graph\MR\joint-v3.emx + 2020-7-21 12:08:53 + +'; + type 'Submodel-v3' + ports + power in Pin [6,1]; + power in Pdiff [6,1]; + signal in Hin [4,4]; + signal out Hout [4,4]; + signal out Hdiff [4,4]; + power out Pout [6,1]; + end; + icon bg bottom + figures + rectangle 400 512 464 560 color 0 fill 14745599; + text 'Joint' 432 536 color 0 'Clear Sans' 16; + terminals + Pin 416 512 fixed; + Hin 448 560 fixed; + Hout 448 512 fixed; + Pout 416 560 fixed; + end; + implementation bg + submodels + AdHji 424 424 + description ' + 4.0 + 1 + False + Bond Graph\MTF.emx + 2007-9-25 12:3:3 + True +'; + type MTF + ports + power out p1 [6,1]; + power in p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg bottom + figures + text 'MTF' 424 424 color 0 18 bold; + end; + implementation eq +equations + p2.e = transpose(Adjoint(H)) * p1.e; + p1.f = Adjoint(H) * p2.f;implementation_end; + FlowSensor2 184 311.9 + description ' + + 4.2 +1 + False + Bond Graph\FlowSensor.emx + 2011-11-29 15:50:53 + +'; + knot FlowSensor + ports + power knot in p1 [6,1]; + power knot out p2 [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg ellipse + figures + ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; + text 'f' 184 311.2 color 0; + end; + implementation eq +equations + p2.f = p1.f; + p1.e = p2.e; + flow = p1.f; +implementation_end; + Hmatrix 256 312 + description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; + type 'Submodel-Equation' + ports + signal in flow [6,1]; + signal out H [4,4]; + end; + icon bg + figures + rectangle 224 296 288 328 color 0 fill 15132390; + text 'name' 256 312 color 0 'Clear Sans' 16; + end; + implementation eq +parameters + real init[4] = [1;0;0;0]; +variables + real q[4]; //quaternions + real W[3,4]; //Quaternion Rates Matrix + real R[3,3]; //Rotation Matrix + real p[3]; //Position Vector + real dq[4]; + real Wb[3,4]; +equations + dq = transpose(Wb) * flow[1:3] ./ 2; + q = int(dq,init); + p = int(flow[4:6]); + W = [-q[2], q[1], -q[4], q[3]; + -q[3], q[4], q[1], -q[2]; + -q[4], -q[3], q[2], q[1]]; + Wb = [ -q[2], q[1], q[4], -q[3]; + -q[3], -q[4], q[1], q[2]; + -q[4], q[3], -q[2], q[1]]; + R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); + 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); + 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; + H = homogeneous(R,p); + implementation_end; + MatrixMul 320 576 + description ' + 4.0 + 1 + False + Signal\Block Diagram\Gain.emx + 2007-9-26 12:15:12 + True +'; + type Gain + ports + signal in input1 [4,4]; + signal out output [4,4]; + signal in input2 [4,4]; + end; + icon bg bottom + figures + rectangle 304.1 560 335.9 592 color 0 fill 15132390; + text 'X' 320 576 color 16711680 16 bold; + end; + implementation eq +equations + output = input2*input1; implementation_end; + plug Pin 492.1 424; + plug Pdiff 184 225; + plug Hin 130.8 576; + plug Hout 478.4 576; + plug Hdiff 320 222; + plug Pout 134.7 424; + Splitter2 320 312 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; + ellipse 315.7 307.7 324.3 316.3 color -1; + terminals + input 320 312 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Wbai 184 424 + description ' + 4.0 + 1 + False + Bond Graph\ZeroJunction.emx + 2007-9-27 9:51:43 + True +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg bottom + figures + text '0' 184 424 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 + FlowSensor2\flow -> Hmatrix\flow; + FlowSensor2\p2 => Wbai\p; + Hin -> MatrixMul\input2; + Hmatrix\H -> Splitter2\input; + MatrixMul\output -> Hout; + Pdiff => FlowSensor2\p1; + Pin => AdHji\p2; + Splitter2\output -> AdHji\H 424 312; + Splitter2\output -> Hdiff; + Splitter2\output -> MatrixMul\input1; + Wbai\p <= AdHji\p1; + Wbai\p => Pout; + end; + implementation_end; + JointB 432 216 + description ' + + 4.8 +1 + Bond Graph\MR\joint-v3.emx + 2020-7-21 12:08:53 + +'; + type 'Submodel-v3' + ports + power in Pin [6,1]; + power in Pdiff [6,1]; + signal in Hin [4,4]; + signal out Hout [4,4]; + signal out Hdiff [4,4]; + power out Pout [6,1]; + end; + icon bg bottom + figures + rectangle 400 192 464 240 color 0 fill 14745599; + text 'Joint' 432 216 color 0 'Clear Sans' 16; + terminals + Pin 416 192 fixed; + Hin 448 240 fixed; + Hout 448 192 fixed; + Pout 416 240 fixed; + end; + implementation bg + submodels + AdHji 424 424 + description ' + 4.0 + 1 + False + Bond Graph\MTF.emx + 2007-9-25 12:3:3 + True +'; + type MTF + ports + power out p1 [6,1]; + power in p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg bottom + figures + text 'MTF' 424 424 color 0 18 bold; + end; + implementation eq +equations + p2.e = transpose(Adjoint(H)) * p1.e; + p1.f = Adjoint(H) * p2.f;implementation_end; + FlowSensor2 184 311.9 + description ' + + 4.2 +1 + False + Bond Graph\FlowSensor.emx + 2011-11-29 15:50:53 + +'; + knot FlowSensor + ports + power knot in p1 [6,1]; + power knot out p2 [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg ellipse + figures + ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; + text 'f' 184 311.2 color 0; + end; + implementation eq +equations + p2.f = p1.f; + p1.e = p2.e; + flow = p1.f; +implementation_end; + Hmatrix 256 312 + description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; + type 'Submodel-Equation' + ports + signal in flow [6,1]; + signal out H [4,4]; + end; + icon bg + figures + rectangle 224 296 288 328 color 0 fill 15132390; + text 'name' 256 312 color 0 'Clear Sans' 16; + end; + implementation eq +parameters + real init[4] = [1;0;0;0]; +variables + real q[4]; //quaternions + real W[3,4]; //Quaternion Rates Matrix + real R[3,3]; //Rotation Matrix + real p[3]; //Position Vector + real dq[4]; + real Wb[3,4]; +equations + dq = transpose(Wb) * flow[1:3] ./ 2; + q = int(dq,init); + p = int(flow[4:6]); + W = [-q[2], q[1], -q[4], q[3]; + -q[3], q[4], q[1], -q[2]; + -q[4], -q[3], q[2], q[1]]; + Wb = [ -q[2], q[1], q[4], -q[3]; + -q[3], -q[4], q[1], q[2]; + -q[4], q[3], -q[2], q[1]]; + R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); + 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); + 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; + H = homogeneous(R,p); + implementation_end; + MatrixMul 320 576 + description ' + 4.0 + 1 + False + Signal\Block Diagram\Gain.emx + 2007-9-26 12:15:12 + True +'; + type Gain + ports + signal in input1 [4,4]; + signal out output [4,4]; + signal in input2 [4,4]; + end; + icon bg bottom + figures + rectangle 304.1 560 335.9 592 color 0 fill 15132390; + text 'X' 320 576 color 16711680 16 bold; + end; + implementation eq +equations + output = input2*input1; implementation_end; + plug Pin 492.1 424; + plug Pdiff 184 225; + plug Hin 130.8 576; + plug Hout 478.4 576; + plug Hdiff 320 222; + plug Pout 134.7 424; + Splitter2 320 312 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; + ellipse 315.7 307.7 324.3 316.3 color -1; + terminals + input 320 312 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Wbai 184 424 + description ' + 4.0 + 1 + False + Bond Graph\ZeroJunction.emx + 2007-9-27 9:51:43 + True +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg bottom + figures + text '0' 184 424 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 + FlowSensor2\flow -> Hmatrix\flow; + FlowSensor2\p2 => Wbai\p; + Hin -> MatrixMul\input2; + Hmatrix\H -> Splitter2\input; + MatrixMul\output -> Hout; + Pdiff => FlowSensor2\p1; + Pin => AdHji\p2; + Splitter2\output -> AdHji\H 424 312; + Splitter2\output -> Hdiff; + Splitter2\output -> MatrixMul\input1; + Wbai\p <= AdHji\p1; + Wbai\p => Pout; + end; + implementation_end; + JointC 928 616 + description ' + + 4.8 +1 + Bond Graph\MR\joint-v3.emx + 2020-7-21 12:08:53 + +'; + type 'Submodel-v3' + ports + power in Pin [6,1]; + power in Pdiff [6,1]; + signal in Hin [4,4]; + signal out Hout [4,4]; + signal out Hdiff [4,4]; + power out Pout [6,1]; + end; + icon bg bottom + figures + rectangle 904 584 952 648 color 0 fill 14745599; + text 'Joint' 928 616 color 0 'Clear Sans' 16; + terminals + Pin 904 632 fixed; + Hin 952 600 fixed; + Hout 904 600 fixed; + Pout 952 632 fixed; + end; + implementation bg + submodels + AdHji 424 424 + description ' + 4.0 + 1 + False + Bond Graph\MTF.emx + 2007-9-25 12:3:3 + True +'; + type MTF + ports + power out p1 [6,1]; + power in p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg bottom + figures + text 'MTF' 424 424 color 0 18 bold; + end; + implementation eq +equations + p2.e = transpose(Adjoint(H)) * p1.e; + p1.f = Adjoint(H) * p2.f;implementation_end; + FlowSensor2 184 311.9 + description ' + + 4.2 +1 + False + Bond Graph\FlowSensor.emx + 2011-11-29 15:50:53 + +'; + knot FlowSensor + ports + power knot in p1 [6,1]; + power knot out p2 [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg ellipse + figures + ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; + text 'f' 184 311.2 color 0; + end; + implementation eq +equations + p2.f = p1.f; + p1.e = p2.e; + flow = p1.f; +implementation_end; + Hmatrix 256 312 + description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; + type 'Submodel-Equation' + ports + signal in flow [6,1]; + signal out H [4,4]; + end; + icon bg + figures + rectangle 224 296 288 328 color 0 fill 15132390; + text 'name' 256 312 color 0 'Clear Sans' 16; + end; + implementation eq +parameters + real init[4] = [1;0;0;0]; +variables + real q[4]; //quaternions + real W[3,4]; //Quaternion Rates Matrix + real R[3,3]; //Rotation Matrix + real p[3]; //Position Vector + real dq[4]; + real Wb[3,4]; +equations + dq = transpose(Wb) * flow[1:3] ./ 2; + q = int(dq,init); + p = int(flow[4:6]); + W = [-q[2], q[1], -q[4], q[3]; + -q[3], q[4], q[1], -q[2]; + -q[4], -q[3], q[2], q[1]]; + Wb = [ -q[2], q[1], q[4], -q[3]; + -q[3], -q[4], q[1], q[2]; + -q[4], q[3], -q[2], q[1]]; + R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); + 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); + 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; + H = homogeneous(R,p); + implementation_end; + MatrixMul 320 576 + description ' + 4.0 + 1 + False + Signal\Block Diagram\Gain.emx + 2007-9-26 12:15:12 + True +'; + type Gain + ports + signal in input1 [4,4]; + signal out output [4,4]; + signal in input2 [4,4]; + end; + icon bg bottom + figures + rectangle 304.1 560 335.9 592 color 0 fill 15132390; + text 'X' 320 576 color 16711680 16 bold; + end; + implementation eq +equations + output = input2*input1; implementation_end; + plug Pin 492.1 424; + plug Pdiff 184 225; + plug Hin 130.8 576; + plug Hout 478.4 576; + plug Hdiff 320 222; + plug Pout 134.7 424; + Splitter2 320 312 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; + ellipse 315.7 307.7 324.3 316.3 color -1; + terminals + input 320 312 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Wbai 184 424 + description ' + 4.0 + 1 + False + Bond Graph\ZeroJunction.emx + 2007-9-27 9:51:43 + True +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg bottom + figures + text '0' 184 424 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 + FlowSensor2\flow -> Hmatrix\flow; + FlowSensor2\p2 => Wbai\p; + Hin -> MatrixMul\input2; + Hmatrix\H -> Splitter2\input; + MatrixMul\output -> Hout; + Pdiff => FlowSensor2\p1; + Pin => AdHji\p2; + Splitter2\output -> AdHji\H 424 312; + Splitter2\output -> Hdiff; + Splitter2\output -> MatrixMul\input1; + Wbai\p <= AdHji\p1; + Wbai\p => Pout; + end; + implementation_end; + JointD 632 536 + description ' + + 4.8 +1 + Bond Graph\MR\joint-v3.emx + 2020-7-21 12:08:53 + +'; + type 'Submodel-v3' + ports + power in Pin [6,1]; + power in Pdiff [6,1]; + signal in Hin [4,4]; + signal out Hout [4,4]; + signal out Hdiff [4,4]; + power out Pout [6,1]; + end; + icon bg bottom + figures + rectangle 600 512 664 560 color 0 fill 14745599; + text 'Joint' 632 536 color 0 'Clear Sans' 16; + terminals + Pin 616 512 fixed; + Hin 648 560 fixed; + Hout 648 512 fixed; + Pout 616 560 fixed; + end; + implementation bg + submodels + AdHji 424 424 + description ' + 4.0 + 1 + False + Bond Graph\MTF.emx + 2007-9-25 12:3:3 + True +'; + type MTF + ports + power out p1 [6,1]; + power in p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg bottom + figures + text 'MTF' 424 424 color 0 18 bold; + end; + implementation eq +equations + p2.e = transpose(Adjoint(H)) * p1.e; + p1.f = Adjoint(H) * p2.f;implementation_end; + FlowSensor2 184 311.9 + description ' + + 4.2 +1 + False + Bond Graph\FlowSensor.emx + 2011-11-29 15:50:53 + +'; + knot FlowSensor + ports + power knot in p1 [6,1]; + power knot out p2 [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg ellipse + figures + ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; + text 'f' 184 311.2 color 0; + end; + implementation eq +equations + p2.f = p1.f; + p1.e = p2.e; + flow = p1.f; +implementation_end; + Hmatrix 256 312 + description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; + type 'Submodel-Equation' + ports + signal in flow [6,1]; + signal out H [4,4]; + end; + icon bg + figures + rectangle 224 296 288 328 color 0 fill 15132390; + text 'name' 256 312 color 0 'Clear Sans' 16; + end; + implementation eq +parameters + real init[4] = [1;0;0;0]; +variables + real q[4]; //quaternions + real W[3,4]; //Quaternion Rates Matrix + real R[3,3]; //Rotation Matrix + real p[3]; //Position Vector + real dq[4]; + real Wb[3,4]; +equations + dq = transpose(Wb) * flow[1:3] ./ 2; + q = int(dq,init); + p = int(flow[4:6]); + W = [-q[2], q[1], -q[4], q[3]; + -q[3], q[4], q[1], -q[2]; + -q[4], -q[3], q[2], q[1]]; + Wb = [ -q[2], q[1], q[4], -q[3]; + -q[3], -q[4], q[1], q[2]; + -q[4], q[3], -q[2], q[1]]; + R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); + 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); + 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; + H = homogeneous(R,p); + implementation_end; + MatrixMul 320 576 + description ' + 4.0 + 1 + False + Signal\Block Diagram\Gain.emx + 2007-9-26 12:15:12 + True +'; + type Gain + ports + signal in input1 [4,4]; + signal out output [4,4]; + signal in input2 [4,4]; + end; + icon bg bottom + figures + rectangle 304.1 560 335.9 592 color 0 fill 15132390; + text 'X' 320 576 color 16711680 16 bold; + end; + implementation eq +equations + output = input2*input1; implementation_end; + plug Pin 492.1 424; + plug Pdiff 184 225; + plug Hin 130.8 576; + plug Hout 478.4 576; + plug Hdiff 320 222; + plug Pout 134.7 424; + Splitter2 320 312 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; + ellipse 315.7 307.7 324.3 316.3 color -1; + terminals + input 320 312 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Wbai 184 424 + description ' + 4.0 + 1 + False + Bond Graph\ZeroJunction.emx + 2007-9-27 9:51:43 + True +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg bottom + figures + text '0' 184 424 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 + FlowSensor2\flow -> Hmatrix\flow; + FlowSensor2\p2 => Wbai\p; + Hin -> MatrixMul\input2; + Hmatrix\H -> Splitter2\input; + MatrixMul\output -> Hout; + Pdiff => FlowSensor2\p1; + Pin => AdHji\p2; + Splitter2\output -> AdHji\H 424 312; + Splitter2\output -> Hdiff; + Splitter2\output -> MatrixMul\input1; + Wbai\p <= AdHji\p1; + Wbai\p => Pout; + end; + implementation_end; + JointE 632 216 + description ' + + 4.8 +1 + Bond Graph\MR\joint-v3.emx + 2020-7-21 12:08:53 + +'; + type 'Submodel-v3' + ports + power in Pin [6,1]; + power in Pdiff [6,1]; + signal in Hin [4,4]; + signal out Hout [4,4]; + signal out Hdiff [4,4]; + power out Pout [6,1]; + end; + icon bg bottom + figures + rectangle 600 192 664 240 color 0 fill 14745599; + text 'Joint' 632 216 color 0 'Clear Sans' 16; + terminals + Pin 616 192 fixed; + Hin 648 240 fixed; + Hout 648 192 fixed; + Pout 616 240 fixed; + end; + implementation bg + submodels + AdHji 424 424 + description ' + 4.0 + 1 + False + Bond Graph\MTF.emx + 2007-9-25 12:3:3 + True +'; + type MTF + ports + power out p1 [6,1]; + power in p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg bottom + figures + text 'MTF' 424 424 color 0 18 bold; + end; + implementation eq +equations + p2.e = transpose(Adjoint(H)) * p1.e; + p1.f = Adjoint(H) * p2.f;implementation_end; + FlowSensor2 184 311.9 + description ' + + 4.2 +1 + False + Bond Graph\FlowSensor.emx + 2011-11-29 15:50:53 + +'; + knot FlowSensor + ports + power knot in p1 [6,1]; + power knot out p2 [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg ellipse + figures + ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; + text 'f' 184 311.2 color 0; + end; + implementation eq +equations + p2.f = p1.f; + p1.e = p2.e; + flow = p1.f; +implementation_end; + Hmatrix 256 312 + description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; + type 'Submodel-Equation' + ports + signal in flow [6,1]; + signal out H [4,4]; + end; + icon bg + figures + rectangle 224 296 288 328 color 0 fill 15132390; + text 'name' 256 312 color 0 'Clear Sans' 16; + end; + implementation eq +parameters + real init[4] = [1;0;0;0]; +variables + real q[4]; //quaternions + real W[3,4]; //Quaternion Rates Matrix + real R[3,3]; //Rotation Matrix + real p[3]; //Position Vector + real dq[4]; + real Wb[3,4]; +equations + dq = transpose(Wb) * flow[1:3] ./ 2; + q = int(dq,init); + p = int(flow[4:6]); + W = [-q[2], q[1], -q[4], q[3]; + -q[3], q[4], q[1], -q[2]; + -q[4], -q[3], q[2], q[1]]; + Wb = [ -q[2], q[1], q[4], -q[3]; + -q[3], -q[4], q[1], q[2]; + -q[4], q[3], -q[2], q[1]]; + R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); + 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); + 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; + H = homogeneous(R,p); + implementation_end; + MatrixMul 320 576 + description ' + 4.0 + 1 + False + Signal\Block Diagram\Gain.emx + 2007-9-26 12:15:12 + True +'; + type Gain + ports + signal in input1 [4,4]; + signal out output [4,4]; + signal in input2 [4,4]; + end; + icon bg bottom + figures + rectangle 304.1 560 335.9 592 color 0 fill 15132390; + text 'X' 320 576 color 16711680 16 bold; + end; + implementation eq +equations + output = input2*input1; implementation_end; + plug Pin 492.1 424; + plug Pdiff 184 225; + plug Hin 130.8 576; + plug Hout 478.4 576; + plug Hdiff 320 222; + plug Pout 134.7 424; + Splitter2 320 312 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; + ellipse 315.7 307.7 324.3 316.3 color -1; + terminals + input 320 312 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Wbai 184 424 + description ' + 4.0 + 1 + False + Bond Graph\ZeroJunction.emx + 2007-9-27 9:51:43 + True +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg bottom + figures + text '0' 184 424 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 + FlowSensor2\flow -> Hmatrix\flow; + FlowSensor2\p2 => Wbai\p; + Hin -> MatrixMul\input2; + Hmatrix\H -> Splitter2\input; + MatrixMul\output -> Hout; + Pdiff => FlowSensor2\p1; + Pin => AdHji\p2; + Splitter2\output -> AdHji\H 424 312; + Splitter2\output -> Hdiff; + Splitter2\output -> MatrixMul\input1; + Wbai\p <= AdHji\p1; + Wbai\p => Pout; + end; + implementation_end; + JointF 792 136 + description ' + + 4.8 +1 + Bond Graph\MR\joint-v3.emx + 2020-7-21 12:08:53 + +'; + type 'Submodel-v3' + ports + power in Pin [6,1]; + power in Pdiff [6,1]; + signal in Hin [4,4]; + signal out Hout [4,4]; + signal out Hdiff [4,4]; + power out Pout [6,1]; + end; + icon bg bottom + figures + rectangle 768 104 816 168 color 0 fill 14745599; + text 'Joint' 792 136 color 0 'Clear Sans' 16; + terminals + Pin 816 120 fixed; + Hin 768 152 fixed; + Hout 816 152 fixed; + Pout 768 120 fixed; + end; + implementation bg + submodels + AdHji 424 424 + description ' + 4.0 + 1 + False + Bond Graph\MTF.emx + 2007-9-25 12:3:3 + True +'; + type MTF + ports + power out p1 [6,1]; + power in p2 [6,1]; + signal in H [4,4]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg bottom + figures + text 'MTF' 424 424 color 0 18 bold; + end; + implementation eq +equations + p2.e = transpose(Adjoint(H)) * p1.e; + p1.f = Adjoint(H) * p2.f;implementation_end; + FlowSensor2 184 311.9 + description ' + + 4.2 +1 + False + Bond Graph\FlowSensor.emx + 2011-11-29 15:50:53 + +'; + knot FlowSensor + ports + power knot in p1 [6,1]; + power knot out p2 [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint not_equal p1 p2; + end; + icon bg ellipse + figures + ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; + text 'f' 184 311.2 color 0; + end; + implementation eq +equations + p2.f = p1.f; + p1.e = p2.e; + flow = p1.f; +implementation_end; + Hmatrix 256 312 + description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; + type 'Submodel-Equation' + ports + signal in flow [6,1]; + signal out H [4,4]; + end; + icon bg + figures + rectangle 224 296 288 328 color 0 fill 15132390; + text 'name' 256 312 color 0 'Clear Sans' 16; + end; + implementation eq +parameters + real init[4] = [1;0;0;0]; +variables + real q[4]; //quaternions + real W[3,4]; //Quaternion Rates Matrix + real R[3,3]; //Rotation Matrix + real p[3]; //Position Vector + real dq[4]; + real Wb[3,4]; +equations + dq = transpose(Wb) * flow[1:3] ./ 2; + q = int(dq,init); + p = int(flow[4:6]); + W = [-q[2], q[1], -q[4], q[3]; + -q[3], q[4], q[1], -q[2]; + -q[4], -q[3], q[2], q[1]]; + Wb = [ -q[2], q[1], q[4], -q[3]; + -q[3], -q[4], q[1], q[2]; + -q[4], q[3], -q[2], q[1]]; + R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); + 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); + 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; + H = homogeneous(R,p); + implementation_end; + MatrixMul 320 576 + description ' + 4.0 + 1 + False + Signal\Block Diagram\Gain.emx + 2007-9-26 12:15:12 + True +'; + type Gain + ports + signal in input1 [4,4]; + signal out output [4,4]; + signal in input2 [4,4]; + end; + icon bg bottom + figures + rectangle 304.1 560 335.9 592 color 0 fill 15132390; + text 'X' 320 576 color 16711680 16 bold; + end; + implementation eq +equations + output = input2*input1; implementation_end; + plug Pin 492.1 424; + plug Pdiff 184 225; + plug Hin 130.8 576; + plug Hout 478.4 576; + plug Hdiff 320 222; + plug Pout 134.7 424; + Splitter2 320 312 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; + ellipse 315.7 307.7 324.3 316.3 color -1; + terminals + input 320 312 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Wbai 184 424 + description ' + 4.0 + 1 + False + Bond Graph\ZeroJunction.emx + 2007-9-27 9:51:43 + True +'; + knot ZeroJunction + ports + power knot duplicatable none p [6,1]; + signal knot out effort [6,1]; + restrictions + causality constraint one_in p; + end; + icon bg bottom + figures + text '0' 184 424 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 + FlowSensor2\flow -> Hmatrix\flow; + FlowSensor2\p2 => Wbai\p; + Hin -> MatrixMul\input2; + Hmatrix\H -> Splitter2\input; + MatrixMul\output -> Hout; + Pdiff => FlowSensor2\p1; + Pin => AdHji\p2; + Splitter2\output -> AdHji\H 424 312; + Splitter2\output -> Hdiff; + Splitter2\output -> MatrixMul\input1; + Wbai\p <= AdHji\p1; + Wbai\p => Pout; + end; + implementation_end; + Joint_dynA 336 536 + description ' + 4.8 + 1 + '; + type Submodel + ports + power out output [6,1]; + end; + implementation bg + submodels + C1 191.8 216.2 + description '4.01False + Bond Graph\3D\C-3.emx + 2007-9-25 12:12:8 +'; + type 'C-3' + ports + power in p [3,1]; + signal out state [3,1]; + restrictions + causality preferred out p; + end; + icon bg top + figures + text 'C' 191.8 216.2 color 0 18 bold; + end; + implementation eq +parameters + real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + C4 191.8 232.2 + description '4.01False + Bond Graph\2D\C-2.emx + 2007-9-25 12:7:27 +'; + type 'C-2' + ports + power in p [2,1]; + signal out state [2,1]; + restrictions + causality preferred out p; + end; + icon bg bottom + figures + text 'C' 191.8 232.2 color 0 18 bold; + end; + implementation eq +parameters + real c[2,2] = [0.1, 0.0; 0.0, 0.1] {mN.m/rad}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + plug output 396 216; + OneJunction5 239.8 232.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [2,1]; + signal knot out flow [2,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 232.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction7 239.8 216.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [3,1]; + signal knot out flow [3,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 216.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction8 288 200 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 288 200 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + PowerMux 330 216 + specifications active 'rot_x' + specification 'rot_x' + description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-20 14:35:23 +1 + False + True + +'; + type 'PowerMux-Rotation' + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 328 192 328 240 color 0 width 2; + rectangle 324 192 336 240 color -1; + text '1' 333 210 color 8421504 8; + terminals + input 328 200 fixed; + output 328 216 fixed; + input_rot2 328 232 fixed; + input_pos3 328 216 fixed; + end; + implementation eq +equations + output.e[1] = input.e; + output.e[2:3] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[1] = input.f; + output.f[2:3] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_y' +description ' + 4.1 + Bond Graph\PowerMux.emx + 2011-3-4 15:12:50 +1 + False + True +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[1] = input_rot2.e[1]; + output.e[2] = input.e; + output.e[3] = input_rot2.e[2]; + output.e[4:6] = input_pos3.e; + output.f[1] = input_rot2.f[1]; + output.f[2] = input.f; + output.f[3] = input_rot2.f[2]; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_z' +description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-21 12:05:13 +1 + False + True + +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[3] = input.e; + output.e[1:2] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[3] = input.f; + output.f[1:2] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + end; + R 288 152 + description ' + + 4.2 +1 + False + Bond Graph\R.emx + 2011-11-29 16:35:37 + +'; + type R + ports + power in p; + end; + icon bg top + figures + text 'R' 288 152 color 0 18 bold; + end; + implementation eq +parameters + real r = 0.01; +equations + p.e = r * p.f; +implementation_end; + R4 239.8 288.2 + description '4.01False + Bond Graph\2D\R-2.emx + 2007-9-25 12:6:54 +'; + type 'R-2' + ports + power in p [2,1]; + end; + icon bg bottom + figures + text 'R' 239.8 288.2 color 0 18 bold; + end; + implementation eq +parameters + real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; +equations + p.e = r * p.f; +implementation_end; + R5 239.8 168.2 + description '4.01False + Bond Graph\3D\R-3.emx + 2007-9-25 12:11:54 +'; + type 'R-3' + ports + power in p [3,1]; + end; + icon bg top + figures + text 'R' 239.8 168.2 color 0 18 bold; + end; + implementation eq +parameters + real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; +equations + p.e = r * p.f; +implementation_end; + end; + connections + C1\p <= OneJunction7\p; + OneJunction5\p => C4\p; + OneJunction5\p => PowerMux\input_rot2; + OneJunction5\p => R4\p; + OneJunction7\p => PowerMux\input_pos3; + OneJunction7\p => R5\p; + OneJunction8\p => PowerMux\input; + PowerMux\output => output; + R\p <= OneJunction8\p; + end; + implementation_end; + Joint_dynB 336 216 + description ' + 4.8 + 1 + '; + type Submodel + ports + power out output [6,1]; + end; + implementation bg + submodels + C1 191.8 216.2 + description '4.01False + Bond Graph\3D\C-3.emx + 2007-9-25 12:12:8 +'; + type 'C-3' + ports + power in p [3,1]; + signal out state [3,1]; + restrictions + causality preferred out p; + end; + icon bg top + figures + text 'C' 191.8 216.2 color 0 18 bold; + end; + implementation eq +parameters + real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + C4 191.8 232.2 + description '4.01False + Bond Graph\2D\C-2.emx + 2007-9-25 12:7:27 +'; + type 'C-2' + ports + power in p [2,1]; + signal out state [2,1]; + restrictions + causality preferred out p; + end; + icon bg bottom + figures + text 'C' 191.8 232.2 color 0 18 bold; + end; + implementation eq +parameters + real c[2,2] = [0.1, 0.0; 0.0, 0.1] {mN.m/rad}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + plug output 396 216; + OneJunction5 239.8 232.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [2,1]; + signal knot out flow [2,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 232.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction7 239.8 216.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [3,1]; + signal knot out flow [3,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 216.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction8 288 200 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 288 200 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + PowerMux 330 216 + specifications active 'rot_x' + specification 'rot_x' + description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-20 14:35:23 +1 + False + True + +'; + type 'PowerMux-Rotation' + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 328 192 328 240 color 0 width 2; + rectangle 324 192 336 240 color -1; + text '1' 333 210 color 8421504 8; + terminals + input 328 200 fixed; + output 328 216 fixed; + input_rot2 328 232 fixed; + input_pos3 328 216 fixed; + end; + implementation eq +equations + output.e[1] = input.e; + output.e[2:3] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[1] = input.f; + output.f[2:3] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_y' +description ' + 4.1 + Bond Graph\PowerMux.emx + 2011-3-4 15:12:50 +1 + False + True +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[1] = input_rot2.e[1]; + output.e[2] = input.e; + output.e[3] = input_rot2.e[2]; + output.e[4:6] = input_pos3.e; + output.f[1] = input_rot2.f[1]; + output.f[2] = input.f; + output.f[3] = input_rot2.f[2]; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_z' +description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-21 12:05:13 +1 + False + True + +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[3] = input.e; + output.e[1:2] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[3] = input.f; + output.f[1:2] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + end; + R 288 152 + description ' + + 4.2 +1 + False + Bond Graph\R.emx + 2011-11-29 16:35:37 + +'; + type R + ports + power in p; + end; + icon bg top + figures + text 'R' 288 152 color 0 18 bold; + end; + implementation eq +parameters + real r = 0.01; +equations + p.e = r * p.f; +implementation_end; + R4 239.8 288.2 + description '4.01False + Bond Graph\2D\R-2.emx + 2007-9-25 12:6:54 +'; + type 'R-2' + ports + power in p [2,1]; + end; + icon bg bottom + figures + text 'R' 239.8 288.2 color 0 18 bold; + end; + implementation eq +parameters + real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; +equations + p.e = r * p.f; +implementation_end; + R5 239.8 168.2 + description '4.01False + Bond Graph\3D\R-3.emx + 2007-9-25 12:11:54 +'; + type 'R-3' + ports + power in p [3,1]; + end; + icon bg top + figures + text 'R' 239.8 168.2 color 0 18 bold; + end; + implementation eq +parameters + real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; +equations + p.e = r * p.f; +implementation_end; + end; + connections + C1\p <= OneJunction7\p; + OneJunction5\p => C4\p; + OneJunction5\p => PowerMux\input_rot2; + OneJunction5\p => R4\p; + OneJunction7\p => PowerMux\input_pos3; + OneJunction7\p => R5\p; + OneJunction8\p => PowerMux\input; + PowerMux\output => output; + R\p <= OneJunction8\p; + end; + implementation_end; + Joint_dynC 928 696 + description ' + 4.8 + 1 + '; + type Submodel + ports + power out output [6,1]; + end; + implementation bg + submodels + C1 191.8 216.2 + description '4.01False + Bond Graph\3D\C-3.emx + 2007-9-25 12:12:8 +'; + type 'C-3' + ports + power in p [3,1]; + signal out state [3,1]; + restrictions + causality preferred out p; + end; + icon bg top + figures + text 'C' 191.8 216.2 color 0 18 bold; + end; + implementation eq +parameters + real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + C4 191.8 232.2 + description '4.01False + Bond Graph\2D\C-2.emx + 2007-9-25 12:7:27 +'; + type 'C-2' + ports + power in p [2,1]; + signal out state [2,1]; + restrictions + causality preferred out p; + end; + icon bg bottom + figures + text 'C' 191.8 232.2 color 0 18 bold; + end; + implementation eq +parameters + real c[2,2] = [0.1, 0.0; 0.0, 0.1] {mN.m/rad}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + plug output 396 216; + OneJunction5 239.8 232.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [2,1]; + signal knot out flow [2,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 232.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction7 239.8 216.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [3,1]; + signal knot out flow [3,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 216.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction8 288 200 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 288 200 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + PowerMux 330 216 + specifications active 'rot_x' + specification 'rot_x' + description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-20 14:35:23 +1 + False + True + +'; + type 'PowerMux-Rotation' + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 328 192 328 240 color 0 width 2; + rectangle 324 192 336 240 color -1; + text '1' 333 210 color 8421504 8; + terminals + input 328 200 fixed; + output 328 216 fixed; + input_rot2 328 232 fixed; + input_pos3 328 216 fixed; + end; + implementation eq +equations + output.e[1] = input.e; + output.e[2:3] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[1] = input.f; + output.f[2:3] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_y' +description ' + 4.1 + Bond Graph\PowerMux.emx + 2011-3-4 15:12:50 +1 + False + True +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[1] = input_rot2.e[1]; + output.e[2] = input.e; + output.e[3] = input_rot2.e[2]; + output.e[4:6] = input_pos3.e; + output.f[1] = input_rot2.f[1]; + output.f[2] = input.f; + output.f[3] = input_rot2.f[2]; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_z' +description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-21 12:05:13 +1 + False + True + +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[3] = input.e; + output.e[1:2] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[3] = input.f; + output.f[1:2] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + end; + R 288 152 + description ' + + 4.2 +1 + False + Bond Graph\R.emx + 2011-11-29 16:35:37 + +'; + type R + ports + power in p; + end; + icon bg top + figures + text 'R' 288 152 color 0 18 bold; + end; + implementation eq +parameters + real r = 0.01; +equations + p.e = r * p.f; +implementation_end; + R4 239.8 288.2 + description '4.01False + Bond Graph\2D\R-2.emx + 2007-9-25 12:6:54 +'; + type 'R-2' + ports + power in p [2,1]; + end; + icon bg bottom + figures + text 'R' 239.8 288.2 color 0 18 bold; + end; + implementation eq +parameters + real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; +equations + p.e = r * p.f; +implementation_end; + R5 239.8 168.2 + description '4.01False + Bond Graph\3D\R-3.emx + 2007-9-25 12:11:54 +'; + type 'R-3' + ports + power in p [3,1]; + end; + icon bg top + figures + text 'R' 239.8 168.2 color 0 18 bold; + end; + implementation eq +parameters + real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; +equations + p.e = r * p.f; +implementation_end; + end; + connections + C1\p <= OneJunction7\p; + OneJunction5\p => C4\p; + OneJunction5\p => PowerMux\input_rot2; + OneJunction5\p => R4\p; + OneJunction7\p => PowerMux\input_pos3; + OneJunction7\p => R5\p; + OneJunction8\p => PowerMux\input; + PowerMux\output => output; + R\p <= OneJunction8\p; + end; + implementation_end; + Joint_dynD 536 536 + description ' + 4.8 + 1 + '; + type Submodel + ports + power out output [6,1]; + end; + implementation bg + submodels + C1 191.8 216.2 + description '4.01False + Bond Graph\3D\C-3.emx + 2007-9-25 12:12:8 +'; + type 'C-3' + ports + power in p [3,1]; + signal out state [3,1]; + restrictions + causality preferred out p; + end; + icon bg top + figures + text 'C' 191.8 216.2 color 0 18 bold; + end; + implementation eq +parameters + real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + C4 191.8 232.2 + description '4.01False + Bond Graph\2D\C-2.emx + 2007-9-25 12:7:27 +'; + type 'C-2' + ports + power in p [2,1]; + signal out state [2,1]; + restrictions + causality preferred out p; + end; + icon bg bottom + figures + text 'C' 191.8 232.2 color 0 18 bold; + end; + implementation eq +parameters + real c[2,2] = [0.1, 0.0; 0.0, 0.1] {mN.m/rad}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + plug output 396 216; + OneJunction5 239.8 232.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [2,1]; + signal knot out flow [2,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 232.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction7 239.8 216.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [3,1]; + signal knot out flow [3,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 216.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction8 288 200 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 288 200 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + PowerMux 330 216 + specifications active 'rot_x' + specification 'rot_x' + description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-20 14:35:23 +1 + False + True + +'; + type 'PowerMux-Rotation' + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 328 192 328 240 color 0 width 2; + rectangle 324 192 336 240 color -1; + text '1' 333 210 color 8421504 8; + terminals + input 328 200 fixed; + output 328 216 fixed; + input_rot2 328 232 fixed; + input_pos3 328 216 fixed; + end; + implementation eq +equations + output.e[1] = input.e; + output.e[2:3] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[1] = input.f; + output.f[2:3] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_y' +description ' + 4.1 + Bond Graph\PowerMux.emx + 2011-3-4 15:12:50 +1 + False + True +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[1] = input_rot2.e[1]; + output.e[2] = input.e; + output.e[3] = input_rot2.e[2]; + output.e[4:6] = input_pos3.e; + output.f[1] = input_rot2.f[1]; + output.f[2] = input.f; + output.f[3] = input_rot2.f[2]; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_z' +description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-21 12:05:13 +1 + False + True + +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[3] = input.e; + output.e[1:2] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[3] = input.f; + output.f[1:2] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + end; + R 288 152 + description ' + + 4.2 +1 + False + Bond Graph\R.emx + 2011-11-29 16:35:37 + +'; + type R + ports + power in p; + end; + icon bg top + figures + text 'R' 288 152 color 0 18 bold; + end; + implementation eq +parameters + real r = 0.01; +equations + p.e = r * p.f; +implementation_end; + R4 239.8 288.2 + description '4.01False + Bond Graph\2D\R-2.emx + 2007-9-25 12:6:54 +'; + type 'R-2' + ports + power in p [2,1]; + end; + icon bg bottom + figures + text 'R' 239.8 288.2 color 0 18 bold; + end; + implementation eq +parameters + real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; +equations + p.e = r * p.f; +implementation_end; + R5 239.8 168.2 + description '4.01False + Bond Graph\3D\R-3.emx + 2007-9-25 12:11:54 +'; + type 'R-3' + ports + power in p [3,1]; + end; + icon bg top + figures + text 'R' 239.8 168.2 color 0 18 bold; + end; + implementation eq +parameters + real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; +equations + p.e = r * p.f; +implementation_end; + end; + connections + C1\p <= OneJunction7\p; + OneJunction5\p => C4\p; + OneJunction5\p => PowerMux\input_rot2; + OneJunction5\p => R4\p; + OneJunction7\p => PowerMux\input_pos3; + OneJunction7\p => R5\p; + OneJunction8\p => PowerMux\input; + PowerMux\output => output; + R\p <= OneJunction8\p; + end; + implementation_end; + Joint_dynE 536 216 + description ' + 4.8 + 1 + '; + type Submodel + ports + power out output [6,1]; + end; + implementation bg + submodels + C1 191.8 216.2 + description '4.01False + Bond Graph\3D\C-3.emx + 2007-9-25 12:12:8 +'; + type 'C-3' + ports + power in p [3,1]; + signal out state [3,1]; + restrictions + causality preferred out p; + end; + icon bg top + figures + text 'C' 191.8 216.2 color 0 18 bold; + end; + implementation eq +parameters + real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + C4 191.8 232.2 + description '4.01False + Bond Graph\2D\C-2.emx + 2007-9-25 12:7:27 +'; + type 'C-2' + ports + power in p [2,1]; + signal out state [2,1]; + restrictions + causality preferred out p; + end; + icon bg bottom + figures + text 'C' 191.8 232.2 color 0 18 bold; + end; + implementation eq +parameters + real c[2,2] = [0.1, 0.0; 0.0, 0.1] {mN.m/rad}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + plug output 396 216; + OneJunction5 239.8 232.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [2,1]; + signal knot out flow [2,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 232.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction7 239.8 216.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [3,1]; + signal knot out flow [3,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 216.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction8 288 200 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 288 200 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + PowerMux 330 216 + specifications active 'rot_x' + specification 'rot_x' + description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-20 14:35:23 +1 + False + True + +'; + type 'PowerMux-Rotation' + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 328 192 328 240 color 0 width 2; + rectangle 324 192 336 240 color -1; + text '1' 333 210 color 8421504 8; + terminals + input 328 200 fixed; + output 328 216 fixed; + input_rot2 328 232 fixed; + input_pos3 328 216 fixed; + end; + implementation eq +equations + output.e[1] = input.e; + output.e[2:3] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[1] = input.f; + output.f[2:3] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_y' +description ' + 4.1 + Bond Graph\PowerMux.emx + 2011-3-4 15:12:50 +1 + False + True +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[1] = input_rot2.e[1]; + output.e[2] = input.e; + output.e[3] = input_rot2.e[2]; + output.e[4:6] = input_pos3.e; + output.f[1] = input_rot2.f[1]; + output.f[2] = input.f; + output.f[3] = input_rot2.f[2]; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_z' +description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-21 12:05:13 +1 + False + True + +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[3] = input.e; + output.e[1:2] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[3] = input.f; + output.f[1:2] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + end; + R 288 152 + description ' + + 4.2 +1 + False + Bond Graph\R.emx + 2011-11-29 16:35:37 + +'; + type R + ports + power in p; + end; + icon bg top + figures + text 'R' 288 152 color 0 18 bold; + end; + implementation eq +parameters + real r = 0.01; +equations + p.e = r * p.f; +implementation_end; + R4 239.8 288.2 + description '4.01False + Bond Graph\2D\R-2.emx + 2007-9-25 12:6:54 +'; + type 'R-2' + ports + power in p [2,1]; + end; + icon bg bottom + figures + text 'R' 239.8 288.2 color 0 18 bold; + end; + implementation eq +parameters + real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; +equations + p.e = r * p.f; +implementation_end; + R5 239.8 168.2 + description '4.01False + Bond Graph\3D\R-3.emx + 2007-9-25 12:11:54 +'; + type 'R-3' + ports + power in p [3,1]; + end; + icon bg top + figures + text 'R' 239.8 168.2 color 0 18 bold; + end; + implementation eq +parameters + real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; +equations + p.e = r * p.f; +implementation_end; + end; + connections + C1\p <= OneJunction7\p; + OneJunction5\p => C4\p; + OneJunction5\p => PowerMux\input_rot2; + OneJunction5\p => R4\p; + OneJunction7\p => PowerMux\input_pos3; + OneJunction7\p => R5\p; + OneJunction8\p => PowerMux\input; + PowerMux\output => output; + R\p <= OneJunction8\p; + end; + implementation_end; + Joint_dynF 792 56 + description ' + 4.8 + 1 + '; + type Submodel + ports + power out output [6,1]; + end; + implementation bg + submodels + C 264 200 + description ' + + 4.2 +1 + False + Bond Graph\C.emx + 2011-11-29 15:58:35 + +'; + type C + ports + power in p; + signal out state; + restrictions + causality preferred out p; + end; + icon bg bottom + figures + text 'C' 264 200 color 0 18 bold; + end; + implementation eq +parameters + real c = 0.001; +equations + state = int(p.f); + p.e = state / c; +implementation_end; + C1 191.8 216.2 + description '4.01False + Bond Graph\3D\C-3.emx + 2007-9-25 12:12:8 +'; + type 'C-3' + ports + power in p [3,1]; + signal out state [3,1]; + restrictions + causality preferred out p; + end; + icon bg top + figures + text 'C' 191.8 216.2 color 0 18 bold; + end; + implementation eq +parameters + real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + C4 191.8 232.2 + description '4.01False + Bond Graph\2D\C-2.emx + 2007-9-25 12:7:27 +'; + type 'C-2' + ports + power in p [2,1]; + signal out state [2,1]; + restrictions + causality preferred out p; + end; + icon bg bottom + figures + text 'C' 191.8 232.2 color 0 18 bold; + end; + implementation eq +parameters + real c[2,2] = [0.1, 0.0; 0.0, 0.1] {mN.m/rad}; +equations + state = int(p.f); + p.e = inverse(c) *state; +implementation_end; + plug output 396 216; + OneJunction5 239.8 232.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [2,1]; + signal knot out flow [2,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 232.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction7 239.8 216.2 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [3,1]; + signal knot out flow [3,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 239.8 216.2 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction8 296 200 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 296 200 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + PowerMux 330 216 + specifications active 'rot_z' + specification 'rot_x' + description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-20 14:35:23 +1 + False + True + +'; + type 'PowerMux-Rotation' + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 328 192 328 240 color 0 width 2; + rectangle 324 192 336 240 color -1; + text '1' 333 210 color 8421504 8; + terminals + input 328 200 fixed; + output 328 216 fixed; + input_rot2 328 232 fixed; + input_pos3 328 216 fixed; + end; + implementation eq +equations + output.e[1] = input.e; + output.e[2:3] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[1] = input.f; + output.f[2:3] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_y' +description ' + 4.1 + Bond Graph\PowerMux.emx + 2011-3-4 15:12:50 +1 + False + True +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 242 274 290 274 color 0 width 2; + rectangle 242 266 290 278 color -1; + text '1' 260 269 color 8421504 8; + terminals + input 250 274 fixed; + output 266 274 fixed; + input_rot2 282 274 fixed; + input_pos3 266 274 fixed; + end; + implementation eq +equations + output.e[1] = input_rot2.e[1]; + output.e[2] = input.e; + output.e[3] = input_rot2.e[2]; + output.e[4:6] = input_pos3.e; + output.f[1] = input_rot2.f[1]; + output.f[2] = input.f; + output.f[3] = input_rot2.f[2]; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + specification 'rot_z' + description ' + + 4.8 + Bond Graph\MR\PowerMux-Rotation.emx + 2020-7-21 12:05:13 +1 + False + True + +'; + type PowerMux + ports + power in input; + power out output [6,1]; + power in input_rot2 [2,1]; + power in input_pos3 [3,1]; + restrictions + causality constraint not_equal input output; + causality constraint not_equal input_rot2 output; + causality constraint not_equal input_pos3 output; + end; + icon bg bottom + figures + line 328 192 328 240 color 0 width 2; + rectangle 324 192 336 240 color -1; + text '1' 333 210 color 8421504 8; + terminals + input 328 200 fixed; + output 328 216 fixed; + input_rot2 328 232 fixed; + input_pos3 328 216 fixed; + end; + implementation eq +equations + output.e[3] = input.e; + output.e[1:2] = input_rot2.e; + output.e[4:6] = input_pos3.e; + output.f[3] = input.f; + output.f[1:2] = input_rot2.f; + output.f[4:6] = input_pos3.f;implementation_end; +specification_end; + end; + R 296 152 + description ' + + 4.2 +1 + False + Bond Graph\R.emx + 2011-11-29 16:35:37 + +'; + type R + ports + power in p; + end; + icon bg top + figures + text 'R' 296 152 color 0 18 bold; + end; + implementation eq +parameters + real r = 1000; +equations + p.e = r * p.f; +implementation_end; + R4 239.8 288.2 + description '4.01False + Bond Graph\2D\R-2.emx + 2007-9-25 12:6:54 +'; + type 'R-2' + ports + power in p [2,1]; + end; + icon bg bottom + figures + text 'R' 239.8 288.2 color 0 18 bold; + end; + implementation eq +parameters + real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; +equations + p.e = r * p.f; +implementation_end; + R5 239.8 168.2 + description '4.01False + Bond Graph\3D\R-3.emx + 2007-9-25 12:11:54 +'; + type 'R-3' + ports + power in p [3,1]; + end; + icon bg top + figures + text 'R' 239.8 168.2 color 0 18 bold; + end; + implementation eq +parameters + real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; +equations + p.e = r * p.f; +implementation_end; + end; + connections + C\p <= OneJunction8\p; + C1\p <= OneJunction7\p; + OneJunction5\p => C4\p; + OneJunction5\p => PowerMux\input_rot2; + OneJunction5\p => R4\p; + OneJunction7\p => PowerMux\input_pos3; + OneJunction7\p => R5\p; + OneJunction8\p => PowerMux\input; + PowerMux\output => output; + R\p <= OneJunction8\p; + end; + implementation_end; + Link1 704 136 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-21 11:14:41 +False + +'; + type 'Submodel-Equation' + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power in Pin [6,1]; + power out Pout [6,1]; + restrictions + causality constraint not_equal Pin Pout; + end; + icon bg bottom + figures + rectangle 672 112 736 160 color 0 fill 8454041; + text 'Link' 704 136 color 0 'Clear Sans' 16; + terminals + Hin 672 152 fixed; + Hout 736 152 fixed; + Pin 736 120 fixed; + Pout 672 120 fixed; + end; + implementation eq +parameters + real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; + real R[3,3]; + real omega[3]; +initialequations + omega = offset[1:3]; + R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); + Hab = homogeneous(R,offset[4:6]); + AdHab = Adjoint(Hab); +equations + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Link2 544 136 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-21 11:14:41 +False + +'; + type 'Submodel-Equation' + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power in Pin [6,1]; + power out Pout [6,1]; + restrictions + causality constraint not_equal Pin Pout; + end; + icon bg bottom + figures + rectangle 512 112 576 160 color 0 fill 8454041; + text 'Link' 544 136 color 0 'Clear Sans' 16; + terminals + Hin 512 152 fixed; + Hout 576 152 fixed; + Pin 576 120 fixed; + Pout 512 120 fixed; + end; + implementation eq +parameters + real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; + real R[3,3]; + real omega[3]; +initialequations + omega = offset[1:3]; + R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); + Hab = homogeneous(R,offset[4:6]); + AdHab = Adjoint(Hab); +equations + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Link3 432 304 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-21 11:14:41 +False + +'; + type 'Submodel-Equation' + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power in Pin [6,1]; + power out Pout [6,1]; + restrictions + causality constraint not_equal Pin Pout; + end; + icon bg bottom + figures + rectangle 408 272 456 336 color 0 fill 8454041; + text 'Link' 432 304 color 0 'Clear Sans' 16; + terminals + Hin 448 336 fixed; + Hout 448 272 fixed; + Pin 416 272 fixed; + Pout 416 336 fixed; + end; + implementation eq +parameters + real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; + real R[3,3]; + real omega[3]; +initialequations + omega = offset[1:3]; + R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); + Hab = homogeneous(R,offset[4:6]); + AdHab = Adjoint(Hab); +equations + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Link4 632 304 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-21 11:14:41 +False + +'; + type 'Submodel-Equation' + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power in Pin [6,1]; + power out Pout [6,1]; + restrictions + causality constraint not_equal Pin Pout; + end; + icon bg bottom + figures + rectangle 608 272 656 336 color 0 fill 8454041; + text 'Link' 632 304 color 0 'Clear Sans' 16; + terminals + Hin 648 336 fixed; + Hout 648 272 fixed; + Pin 616 272 fixed; + Pout 616 336 fixed; + end; + implementation eq +parameters + real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; + real R[3,3]; + real omega[3]; +initialequations + omega = offset[1:3]; + R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); + Hab = homogeneous(R,offset[4:6]); + AdHab = Adjoint(Hab); +equations + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Link5 848 616 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-21 11:14:41 +False + +'; + type 'Submodel-Equation' + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power in Pin [6,1]; + power out Pout [6,1]; + restrictions + causality constraint not_equal Pin Pout; + end; + icon bg bottom + figures + rectangle 816 592 880 640 color 0 fill 8454041; + text 'Link' 848 616 color 0 'Clear Sans' 16; + terminals + Hin 880 600 fixed; + Hout 816 600 fixed; + Pin 816 632 fixed; + Pout 880 632 fixed; + end; + implementation eq +parameters + real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; + real R[3,3]; + real omega[3]; +initialequations + omega = offset[1:3]; + R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); + Hab = homogeneous(R,offset[4:6]); + AdHab = Adjoint(Hab); +equations + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Link6 432 448 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-21 11:14:41 +False + +'; + type 'Submodel-Equation' + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power in Pin [6,1]; + power out Pout [6,1]; + restrictions + causality constraint not_equal Pin Pout; + end; + icon bg bottom + figures + rectangle 408 416 456 480 color 0 fill 8454041; + text 'Link' 432 448 color 0 'Clear Sans' 16; + terminals + Hin 448 480 fixed; + Hout 448 416 fixed; + Pin 416 416 fixed; + Pout 416 480 fixed; + end; + implementation eq +parameters + real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; + real R[3,3]; + real omega[3]; +initialequations + omega = offset[1:3]; + R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); + Hab = homogeneous(R,offset[4:6]); + AdHab = Adjoint(Hab); +equations + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Link7 704 616 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-21 11:14:41 +False + +'; + type 'Submodel-Equation' + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power in Pin [6,1]; + power out Pout [6,1]; + restrictions + causality constraint not_equal Pin Pout; + end; + icon bg bottom + figures + rectangle 672 592 736 640 color 0 fill 8454041; + text 'Link' 704 616 color 0 'Clear Sans' 16; + terminals + Hin 736 600 fixed; + Hout 672 600 fixed; + Pin 672 632 fixed; + Pout 736 632 fixed; + end; + implementation eq +parameters + real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; + real R[3,3]; + real omega[3]; +initialequations + omega = offset[1:3]; + R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); + Hab = homogeneous(R,offset[4:6]); + AdHab = Adjoint(Hab); +equations + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Link8 880 136 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-21 11:14:41 +False + +'; + type 'Submodel-Equation' + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power in Pin [6,1]; + power out Pout [6,1]; + restrictions + causality constraint not_equal Pin Pout; + end; + icon bg bottom + figures + rectangle 848 112 912 160 color 0 fill 8454041; + text 'Link' 880 136 color 0 'Clear Sans' 16; + terminals + Hin 848 152 fixed; + Hout 912 152 fixed; + Pin 912 120 fixed; + Pout 848 120 fixed; + end; + implementation eq +parameters + real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; + real R[3,3]; + real omega[3]; +initialequations + omega = offset[1:3]; + R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); + Hab = homogeneous(R,offset[4:6]); + AdHab = Adjoint(Hab); +equations + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Link9 632 448 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-21 11:14:41 +False + +'; + type 'Submodel-Equation' + ports + signal in Hin [4,4]; + signal out Hout [4,4]; + power in Pin [6,1]; + power out Pout [6,1]; + restrictions + causality constraint not_equal Pin Pout; + end; + icon bg bottom + figures + rectangle 608 416 656 480 color 0 fill 8454041; + text 'Link' 632 448 color 0 'Clear Sans' 16; + terminals + Hin 648 480 fixed; + Hout 648 416 fixed; + Pin 616 416 fixed; + Pout 616 480 fixed; + end; + implementation eq +parameters + real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; + real R[3,3]; + real omega[3]; +initialequations + omega = offset[1:3]; + R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); + Hab = homogeneous(R,offset[4:6]); + AdHab = Adjoint(Hab); +equations + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + OneJunction1 760 632 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 760 632 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction2 416 392 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 416 392 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction3 616 120 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 616 120 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction4 616 392 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + power knot duplicatable none p [6,1]; + signal knot out flow [6,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 616 392 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + Splitter1 792 600 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 788.8 596.8 795.2 603.2 color -1 fill 0; + ellipse 787.7 595.7 796.3 604.3 color -1; + terminals + input 792 600 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Splitter2 448 360 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 444.8 356.8 451.2 363.2 color -1 fill 0; + ellipse 443.7 355.7 452.3 364.3 color -1; + terminals + input 448 360 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Splitter3 648 360 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 644.8 356.8 651.2 363.2 color -1 fill 0; + ellipse 643.7 355.7 652.3 364.3 color -1; + terminals + input 648 360 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Splitter4 648 152 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 644.8 148.8 651.2 155.2 color -1 fill 0; + ellipse 643.7 147.7 652.3 156.3 color -1; + terminals + input 648 152 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Splitter5 448 496 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 444.8 492.8 451.2 499.2 color -1 fill 0; + ellipse 443.7 491.7 452.3 500.3 color -1; + terminals + input 448 496 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Splitter6 896 600 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 892.8 596.8 899.2 603.2 color -1 fill 0; + ellipse 891.7 595.7 900.3 604.3 color -1; + terminals + input 896 600 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Splitter7 648 496 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 644.8 492.8 651.2 499.2 color -1 fill 0; + ellipse 643.7 491.7 652.3 500.3 color -1; + terminals + input 648 496 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Splitter8 448 152 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 444.8 148.8 451.2 155.2 color -1 fill 0; + ellipse 443.7 147.7 452.3 156.3 color -1; + terminals + input 448 152 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Splitter9 832 152 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [4,4]; + signal knot in input [4,4]; + end; + icon bg ellipse + figures + ellipse 828.8 148.8 835.2 155.2 color -1 fill 0; + ellipse 827.7 147.7 836.3 156.3 color -1; + terminals + input 832 152 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + end; + connections + COM_body3\p => OneJunction4\p; + COM_body4\p => OneJunction3\p; + COM_body5\p => Link8\Pin; + Ground\output -> JointA\Hin; + Ground\p <= JointA\Pout; + Ground1\output -> JointC\Hin 1064 600; + Ground1\p <= JointC\Pout 1032 632; + Joint_dynB\output => JointB\Pdiff; + Joint_dynC\output => JointC\Pdiff; + Joint_dynD\output => JointD\Pdiff; + Joint_dynE\output => JointE\Pdiff; + Joint_dynF\output => JointF\Pdiff; + JointA\Hout -> Splitter5\input; + JointA\Pdiff <= Joint_dynA\output; + JointA\Pin <= Link6\Pout; + JointB\Hout -> Splitter8\input; + JointB\Pin <= Link2\Pout 416 120; + JointC\Hout -> Splitter6\input; + JointC\Pin <= Link5\Pout; + JointD\Hin <- Link7\Hout 648 600; + JointD\Hout -> Splitter7\input; + JointD\Pin <= Link9\Pout; + JointD\Pout => Link7\Pin 616 632; + JointE\Pout => Link4\Pin; + JointF\Hout -> Splitter9\input; + JointF\Pout => Link1\Pin; + Link1\Hout -> JointF\Hin; + Link2\Hout -> Splitter4\input; + Link2\Pin <= OneJunction3\p; + Link3\Hout -> JointB\Hin; + Link3\Pin <= JointB\Pout; + Link4\Hout -> JointE\Hin; + Link5\Hout -> Splitter1\input; + Link5\Pin <= OneJunction1\p; + Link6\Hout -> Splitter2\input; + Link6\Pin <= OneJunction2\p; + Link8\Hout -> COM_body5\Hin; + Link8\Pout => JointF\Pin; + Link9\Hout -> Splitter3\input; + Link9\Pin <= OneJunction4\p; + OneJunction1\p <= COM_body2\p; + OneJunction1\p <= Link7\Pout; + OneJunction2\p <= COM_body1\p; + OneJunction2\p <= Link3\Pout; + OneJunction3\p <= Link1\Pout; + OneJunction3\p => JointE\Pin; + OneJunction4\p <= Link4\Pout; + Splitter1\output -> COM_body2\Hin; + Splitter1\output -> Link7\Hin; + Splitter2\output -> COM_body1\Hin; + Splitter2\output -> Link3\Hin; + Splitter3\output -> COM_body3\Hin; + Splitter3\output -> Link4\Hin; + Splitter4\output -> COM_body4\Hin; + Splitter4\output -> Link1\Hin; + Splitter5\output -> Body1\input; + Splitter5\output -> Link6\Hin; + Splitter6\output -> Body2\input; + Splitter6\output -> Link5\Hin; + Splitter7\output -> Body3\input; + Splitter7\output -> Link9\Hin; + Splitter8\output -> Body4\input; + Splitter8\output -> Link2\Hin 448 152; + Splitter9\output -> Body5\input; + Splitter9\output -> Link8\Hin; + end; + implementation_end; +]]> + + + + + + + Experiment 1 + + + + 4.8 + + + + + + + + + + COM_body2\InertialTensor\state_initial + 6 + 1 + 0 0 0 0 0 0 + + + COM_body3\InertialTensor\state_initial + 6 + 1 + 0 0 0 0 0 0 + + + COM_body5\InertialTensor\state_initial + 6 + 1 + 0 0 0 0 0 0 + + + COM_body1\InertialTensor\state_initial + 6 + 1 + 0 0 0 0 0 0 + + + JointB\Hmatrix\p_initial + 3 + 1 + 0 0 0 + + + JointD\Hmatrix\p_initial + 3 + 1 + 0 0 0 + + + JointA\Hmatrix\p_initial + 3 + 1 + 0 0 0 + + + JointC\Hmatrix\p_initial + 3 + 1 + 0 0 0 + + + JointF\Hmatrix\p_initial + 3 + 1 + 0 0 0 + + + JointE\Hmatrix\p_initial + 3 + 1 + 0 0 0 + + + Joint_dynE\C1\state_initial + 3 + 1 + 0 0 0 + + + Joint_dynE\C4\state_initial + 2 + 1 + 0 0 + + + Joint_dynD\C1\state_initial + 3 + 1 + 0 0 0 + + + Joint_dynD\C4\state_initial + 2 + 1 + 0 0 + + + Joint_dynA\C1\state_initial + 3 + 1 + 0 0 0 + + + Joint_dynA\C4\state_initial + 2 + 1 + 0 0 + + + Joint_dynC\C1\state_initial + 3 + 1 + 0 0 0 + + + Joint_dynC\C4\state_initial + 2 + 1 + 0 0 + + + Joint_dynF\C1\state_initial + 3 + 1 + 0 0 0 + + + Joint_dynF\C4\state_initial + 2 + 1 + 0 0 + + + Joint_dynF\C\state_initial + 0 + + + Joint_dynB\C1\state_initial + 3 + 1 + 0 0 0 + + + Joint_dynB\C4\state_initial + 2 + 1 + 0 0 + + + Link1\Pin.e_initial + 6 + 1 + 0 0 0 0 0 0 + + + + + + time + + + + GraphPlot + + 1 + false + 16777215 + true + + + true + 15780518 + 12624260 + 0 + 10 + 10 + 10 + false + + 16777215 + true + 1 + model + true + + + Arial + 12 + 34 + 400 + 0 + 0 + 0 + 0 + + + Arial + 12 + 34 + 400 + 0 + 0 + 0 + 0 + + + Arial + 10 + 34 + 400 + 0 + 0 + 0 + 0 + + + Arial + 12 + 34 + 400 + 0 + 0 + 0 + 0 + + + true + true + false + + + 0.0 + 10.0 + true + 3 + + + + + + 0.0 + 10.0 + true + 2 + + + + + + + + 3355111 + 1 + 3355111 + 0 + true + 1 + 1 + 1 + true + + true + time + + + + + true + 0 + 16777215 + + + + + + 1 + true + Window 1 + 0 + + 1 + + Base + + + + + + 0.0 + 10.0 + false + false + false + false + 0.1 + 1.0e-6 + 1.0e-7 + false + true + + + + Euler + 0.01 + false + + + BackwardEuler + 1.0e-5 + 1.0e-5 + 1.0e-5 + 1.0e-5 + 0.01 + 1.0 + + + AdamsBashforth + 0.01 + false + + + RungeKutta2 + 0.01 + false + + + RungeKutta4 + 0.01 + false + + + RungeKutta8 + false + 0.001 + false + 1.0 + 1.0e-6 + 1.0e-6 + 0.9 + 0.33 + 6.0 + 0.0 + false + 100000 + false + 1000 + + + RungeKuttaFehlberg + false + 0.001 + false + 1.0 + 1.0e-6 + 1.0e-6 + + + VodeAdams + false + 0.001 + false + 1.0 + 1.0e-6 + 1.0e-6 + true + true + + + BDFMethod + 1.0e-5 + 1.0e-5 + 1.0e-5 + 1.0e-5 + false + 0.001 + false + 1.0 + + + MeBDFiMethod + 1.0e-5 + 1.0e-5 + 1.0e-5 + 1.0e-5 + false + 0.001 + false + 1.0 + + 8 + + + + 10 + false + true + true + false + true + 0 + 0.0 + true + MultipleRun + true + + UseEndValue + 0.001 + BroydonFletcherGoldfarbShanno + + + + + true + true + true + true + + + false + + + time + + + + + + + + + + +