From bf93132eeac127f1547f721dbf7d0ab1d92b0c6c Mon Sep 17 00:00:00 2001 From: Wouter Horlings Date: Thu, 30 Jul 2020 10:16:33 +0200 Subject: [PATCH] New stepper motor design --- implementation/SCARA/05_stepper/stepper.emx | 555 +++++++++++--------- 1 file changed, 299 insertions(+), 256 deletions(-) diff --git a/implementation/SCARA/05_stepper/stepper.emx b/implementation/SCARA/05_stepper/stepper.emx index 8f3076b..04c8651 100644 --- a/implementation/SCARA/05_stepper/stepper.emx +++ b/implementation/SCARA/05_stepper/stepper.emx @@ -8,7 +8,7 @@ 0 False C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\05_stepper\stepper.emx - 2020-7-22 16:26:16 + 2020-7-23 10:09:09 True @@ -31,7 +31,7 @@ initialequations end; implementation bg submodels - C 456 232 + C 528 216 description ' 4.2 @@ -50,7 +50,7 @@ initialequations end; icon bg bottom figures - text 'C' 456 232 color 0 18 bold; + text 'C' 528 216 color 0 18 bold; end; implementation eq parameters @@ -59,7 +59,7 @@ equations state = int(p.f); p.e = state / c; implementation_end; - C1 640 264 + C1 712 232 description '4.01False Bond Graph\3D\C-3.emx 2007-9-25 12:12:8 @@ -73,7 +73,7 @@ implementation_end; end; icon bg bottom figures - text 'C' 640 264 color 0 18 bold; + text 'C' 712 232 color 0 18 bold; end; implementation eq parameters @@ -82,7 +82,7 @@ equations state = int(p.f); p.e = inverse(c) *state; implementation_end; - C2 304 272 + C2 376 256 description '4.01False Bond Graph\3D\C-3.emx 2007-9-25 12:12:8 @@ -96,7 +96,7 @@ implementation_end; end; icon bg bottom figures - text 'C' 304 272 color 0 18 bold; + text 'C' 376 256 color 0 18 bold; end; implementation eq parameters @@ -105,7 +105,7 @@ equations state = int(p.f); p.e = inverse(c) *state; implementation_end; - C3 304 224 + C3 376 208 description '4.01False Bond Graph\2D\C-2.emx 2007-9-25 12:7:27 @@ -119,7 +119,7 @@ implementation_end; end; icon bg bottom figures - text 'C' 304 224 color 0 18 bold; + text 'C' 376 208 color 0 18 bold; end; implementation eq parameters @@ -128,7 +128,7 @@ equations state = int(p.f); p.e = inverse(c) *state; implementation_end; - C4 640 216 + C4 712 216 description '4.01False Bond Graph\2D\C-2.emx 2007-9-25 12:7:27 @@ -140,9 +140,9 @@ implementation_end; restrictions causality preferred out p; end; - icon bg bottom + icon bg top figures - text 'C' 640 216 color 0 18 bold; + text 'C' 712 216 color 0 18 bold; end; implementation eq parameters @@ -151,7 +151,7 @@ equations state = int(p.f); p.e = inverse(c) *state; implementation_end; - C5 32 232 + C5 104 216 description ' 4.2 @@ -170,7 +170,7 @@ implementation_end; end; icon bg bottom figures - text 'C' 32 232 color 0 18 bold; + text 'C' 104 216 color 0 18 bold; end; implementation eq parameters @@ -179,7 +179,7 @@ equations state = int(p.f); p.e = state / c; implementation_end; - COM 376 208 + COM 448 192 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};'; @@ -191,11 +191,11 @@ implementation_end; end; icon bg bottom figures - rectangle 344 192 408 224 color 0 fill 139; - text 'COM' 376 208 color 0 'Clear Sans' 16; + rectangle 416 176 480 208 color 0 fill 139; + text 'COM' 448 192 color 0 'Clear Sans' 16; terminals - Hin 392 192 fixed; - p 360 192 fixed; + Hin 464 176 fixed; + p 432 176 fixed; end; implementation bg submodels @@ -399,7 +399,7 @@ implementation_end; ZeroJunction1\p => Ta0j\p; end; implementation_end; - COM1 720 200 + COM1 792 184 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};'; @@ -411,11 +411,11 @@ implementation_end; end; icon bg bottom figures - rectangle 688 184 752 216 color 0 fill 139; - text 'COM' 720 200 color 0 'Clear Sans' 16; + rectangle 760 168 824 200 color 0 fill 139; + text 'COM' 792 184 color 0 'Clear Sans' 16; terminals - Hin 736 184 fixed; - p 704 184 fixed; + Hin 808 168 fixed; + p 776 168 fixed; end; implementation bg submodels @@ -619,7 +619,7 @@ implementation_end; ZeroJunction1\p => Ta0j\p; end; implementation_end; - COM2 904 184 + COM2 976 168 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};'; @@ -631,11 +631,11 @@ implementation_end; end; icon bg bottom figures - rectangle 872 168 936 200 color 0 fill 139; - text 'COM' 904 184 color 0 'Clear Sans' 16; + rectangle 944 152 1008 184 color 0 fill 139; + text 'COM' 976 168 color 0 'Clear Sans' 16; terminals - Hin 920 168 fixed; - p 888 168 fixed; + Hin 992 152 fixed; + p 960 152 fixed; end; implementation bg submodels @@ -839,7 +839,120 @@ implementation_end; ZeroJunction1\p => Ta0j\p; end; implementation_end; - inverse_kinematics1 272 552 + Ground 144 104 + 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 108 96.5 124 112.5 color 0 fill 15132390; + line 116 96.5 132 112.5 color 0 fill 15132390; + line 100 96.5 116 112.5 color 0 fill 15132390; + line 140 112.5 124 96.5 color 0 fill 15132390; + line 148 112.5 132 96.5 color 0 fill 15132390; + line 156 112.5 140 96.5 color 0 fill 15132390; + line 172 112.5 156 96.5 color 0 fill 15132390; + line 164 112.5 148 96.5 color 0 fill 15132390; + line 180 112.5 164 96.5 color 0 fill 15132390; + line 188 112.5 172 96.5 color 0 fill 15132390; + line 100 96.5 188 96.5 color 0 fill 15132390 width 2; + line 180 96.5 188 104.5 color 0 fill 15132390; + line 100 104.5 108 112.5 color 0 fill 15132390; + terminals + p 124 96.5 fixed; + output 156 96.5 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; + inverse_kinematics1 344 536 description ' 4.8 @@ -884,7 +997,7 @@ equations implementation_end; - Joint 192 120 + Joint 264 104 description ' 4.8 @@ -904,13 +1017,13 @@ equations end; icon bg bottom figures - rectangle 168 88 216 152 color 0 fill 14745599; - text 'Joint' 192 120 color 0 'Clear Sans' 16; + rectangle 240 72 288 136 color 0 fill 14745599; + text 'Joint' 264 104 color 0 'Clear Sans' 16; terminals - Pin 216 104 fixed; - Hin 168 136 fixed; - Hout 216 136 fixed; - Pout 168 104 fixed; + Pin 288 88 fixed; + Hin 240 120 fixed; + Hout 288 120 fixed; + Pout 240 88 fixed; end; implementation bg submodels @@ -1099,7 +1212,7 @@ implementation_end; Wbai\p => Pout; end; implementation_end; - Joint1 536 120 + Joint1 608 104 description ' 4.8 @@ -1119,13 +1232,13 @@ implementation_end; end; icon bg bottom figures - rectangle 512 88 560 152 color 0 fill 14745599; - text 'Joint' 536 120 color 0 'Clear Sans' 16; + rectangle 584 72 632 136 color 0 fill 14745599; + text 'Joint' 608 104 color 0 'Clear Sans' 16; terminals - Pin 560 104 fixed; - Hin 512 136 fixed; - Hout 560 136 fixed; - Pout 512 104 fixed; + Pin 632 88 fixed; + Hin 584 120 fixed; + Hout 632 120 fixed; + Pout 584 88 fixed; end; implementation bg submodels @@ -1314,7 +1427,7 @@ implementation_end; Wbai\p => Pout; end; implementation_end; - Link 288 120 + Link 360 104 description ' 4.8 @@ -1336,13 +1449,13 @@ implementation_end; end; icon bg bottom figures - rectangle 256 96 320 144 color 0 fill 8454041; - text 'Link' 288 120 color 0 'Clear Sans' 16; + rectangle 328 80 392 128 color 0 fill 8454041; + text 'Link' 360 104 color 0 'Clear Sans' 16; terminals - Hin 256 136 fixed; - Hout 320 136 fixed; - Pin 320 104 fixed; - Pout 256 104 fixed; + Hin 328 120 fixed; + Hout 392 120 fixed; + Pin 392 88 fixed; + Pout 328 88 fixed; end; implementation eq parameters @@ -1363,7 +1476,7 @@ equations Pin.f = AdHab * Pout.f; implementation_end; - Link1 456 120 + Link1 528 104 description ' 4.8 @@ -1385,13 +1498,13 @@ equations end; icon bg bottom figures - rectangle 424 96 488 144 color 0 fill 8454041; - text 'Link' 456 120 color 0 'Clear Sans' 16; + rectangle 496 80 560 128 color 0 fill 8454041; + text 'Link' 528 104 color 0 'Clear Sans' 16; terminals - Hin 424 136 fixed; - Hout 488 136 fixed; - Pin 488 104 fixed; - Pout 424 104 fixed; + Hin 496 120 fixed; + Hout 560 120 fixed; + Pin 560 88 fixed; + Pout 496 88 fixed; end; implementation eq parameters @@ -1412,7 +1525,7 @@ equations Pin.f = AdHab * Pout.f; implementation_end; - Link2 624 120 + Link2 696 104 description ' 4.8 @@ -1434,13 +1547,13 @@ equations end; icon bg bottom figures - rectangle 592 96 656 144 color 0 fill 8454041; - text 'Link' 624 120 color 0 'Clear Sans' 16; + rectangle 664 80 728 128 color 0 fill 8454041; + text 'Link' 696 104 color 0 'Clear Sans' 16; terminals - Hin 592 136 fixed; - Hout 656 136 fixed; - Pin 656 104 fixed; - Pout 592 104 fixed; + Hin 664 120 fixed; + Hout 728 120 fixed; + Pin 728 88 fixed; + Pout 664 88 fixed; end; implementation eq parameters @@ -1456,7 +1569,7 @@ equations Pin.f = AdHab * Pout.f; implementation_end; - Link3 800 120 + Link3 872 104 description ' 4.8 @@ -1478,13 +1591,13 @@ equations end; icon bg bottom figures - rectangle 768 96 832 144 color 0 fill 8454041; - text 'Link' 800 120 color 0 'Clear Sans' 16; + rectangle 840 80 904 128 color 0 fill 8454041; + text 'Link' 872 104 color 0 'Clear Sans' 16; terminals - Hin 768 136 fixed; - Hout 832 136 fixed; - Pin 832 104 fixed; - Pout 768 104 fixed; + Hin 840 120 fixed; + Hout 904 120 fixed; + Pin 904 88 fixed; + Pout 840 88 fixed; end; implementation eq parameters @@ -1500,7 +1613,7 @@ equations Pin.f = AdHab * Pout.f; implementation_end; - Negate1 272 472 + Negate1 344 456 description '4.01False Signal\Block Diagram\Negate.emx 2007-9-26 12:14:11 @@ -1512,14 +1625,14 @@ equations end; icon bg bottom figures - rectangle 256 456 288 488 color 0 fill 15132390; - text '-1' 272 472 color 16711680 16 bold; + rectangle 328 440 360 472 color 0 fill 15132390; + text '-1' 344 456 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; - Negate2 520 552 + Negate2 592 536 description '4.01False Signal\Block Diagram\Negate.emx 2007-9-26 12:14:11 @@ -1531,14 +1644,14 @@ equations end; icon bg bottom figures - rectangle 504 536 536 568 color 0 fill 15132390; - text '-1' 520 552 color 16711680 16 bold; + rectangle 576 520 608 552 color 0 fill 15132390; + text '-1' 592 536 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; - new_joint1 376 280 + new_joint1 448 264 description '4.0 Template\Submodel-Equation.emx 1 @@ -1560,7 +1673,7 @@ equations rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input); //[input[3,2];input[1,3];input[2,1]]; R = input[1:3,1:3];implementation_end; - new_joint2 720 256 + new_joint2 792 240 description '4.0 Template\Submodel-Equation.emx 1 @@ -1582,7 +1695,7 @@ equations position = input[1:3,4]; rotation = [input[3,2];input[1,3];input[2,1]]; R = input[1:3,1:3];implementation_end; - new_joint3 1016 184 + new_joint3 1088 168 description '4.0 Template\Submodel-Equation.emx 1 @@ -1603,7 +1716,7 @@ equations position = input[1:3,4]; rotation = [input[3,2];input[1,3];input[2,1]]; R = input[1:3,1:3];implementation_end; - OneJunction1 360 104 + OneJunction1 432 88 description ' 4.2 @@ -1622,7 +1735,7 @@ equations end; icon bg figures - text '1' 360 104 color 0 18 bold; + text '1' 432 88 color 0 18 bold; end; implementation eq equations @@ -1630,7 +1743,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction11 520 352 + OneJunction11 592 336 description ' 4.2 @@ -1649,7 +1762,7 @@ implementation_end; end; icon bg figures - text '1' 520 352 color 0 18 bold; + text '1' 592 336 color 0 18 bold; end; implementation eq equations @@ -1657,7 +1770,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction12 888 104 + OneJunction12 960 88 description ' 4.2 @@ -1676,7 +1789,7 @@ implementation_end; end; icon bg figures - text '1' 888 104 color 0 18 bold; + text '1' 960 88 color 0 18 bold; end; implementation eq equations @@ -1684,7 +1797,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction14 112 352 + OneJunction14 184 328 description ' 4.2 @@ -1703,7 +1816,7 @@ implementation_end; end; icon bg figures - text '1' 112 352 color 0 18 bold; + text '1' 184 328 color 0 18 bold; end; implementation eq equations @@ -1711,7 +1824,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction17 456 280 + OneJunction17 528 264 description ' 4.2 @@ -1730,34 +1843,7 @@ implementation_end; end; icon bg figures - text '1' 456 280 color 0 18 bold; - end; - implementation eq -equations - sum (direct (p.e)) = 0; - equal (collect (p.f)); - flow = first (p.f); -implementation_end; - OneJunction2 120 104 - 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' 120 104 color 0 18 bold; + text '1' 528 264 color 0 18 bold; end; implementation eq equations @@ -1765,7 +1851,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction3 704 104 + OneJunction3 776 88 description ' 4.2 @@ -1784,7 +1870,7 @@ implementation_end; end; icon bg figures - text '1' 704 104 color 0 18 bold; + text '1' 776 88 color 0 18 bold; end; implementation eq equations @@ -1792,7 +1878,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction4 593 232 + OneJunction4 664 216 description ' 4.2 @@ -1811,7 +1897,7 @@ implementation_end; end; icon bg figures - text '1' 593 232 color 0 18 bold; + text '1' 664 216 color 0 18 bold; end; implementation eq equations @@ -1819,7 +1905,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction5 257 240 + OneJunction5 329 224 description ' 4.2 @@ -1838,7 +1924,7 @@ implementation_end; end; icon bg figures - text '1' 257 240 color 0 18 bold; + text '1' 329 224 color 0 18 bold; end; implementation eq equations @@ -1846,7 +1932,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction6 257 256 + OneJunction6 329 240 description ' 4.2 @@ -1865,7 +1951,7 @@ implementation_end; end; icon bg figures - text '1' 257 256 color 0 18 bold; + text '1' 329 240 color 0 18 bold; end; implementation eq equations @@ -1873,7 +1959,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction7 593 248 + OneJunction7 664 232 description ' 4.2 @@ -1892,7 +1978,7 @@ implementation_end; end; icon bg figures - text '1' 593 248 color 0 18 bold; + text '1' 664 232 color 0 18 bold; end; implementation eq equations @@ -1900,7 +1986,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction8 32 280 + OneJunction8 104 264 description ' 4.2 @@ -1919,7 +2005,7 @@ implementation_end; end; icon bg figures - text '1' 32 280 color 0 18 bold; + text '1' 104 264 color 0 18 bold; end; implementation eq equations @@ -1927,7 +2013,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - PowerMux 192 214 + PowerMux 264 198 specifications active 'rot_x' specification 'rot_x' description ' @@ -1953,14 +2039,14 @@ implementation_end; end; icon bg bottom figures - line 168 216 216 216 color 0 width 2; - rectangle 168 208 216 220 color -1; - text '1' 186 211 color 8421504 8; + line 240 200 288 200 color 0 width 2; + rectangle 240 192 288 204 color -1; + text '1' 258 195 color 8421504 8; terminals - input 176 216 fixed; - output 192 216 fixed; - input_rot2 208 216 fixed; - input_pos3 192 216 fixed; + input 248 200 fixed; + output 264 200 fixed; + input_rot2 280 200 fixed; + input_pos3 264 200 fixed; end; implementation eq equations @@ -2050,7 +2136,7 @@ equations output.f[4:6] = input_pos3.f;implementation_end; specification_end; end; - PowerMux1 536 206 + PowerMux1 608 190 specifications active 'rot_x' specification 'rot_x' description ' @@ -2076,14 +2162,14 @@ specification_end; end; icon bg bottom figures - line 512 208 560 208 color 0 width 2; - rectangle 512 200 560 212 color -1; - text '1' 530 203 color 8421504 8; + line 584 192 632 192 color 0 width 2; + rectangle 584 184 632 196 color -1; + text '1' 602 187 color 8421504 8; terminals - input 520 208 fixed; - output 536 208 fixed; - input_rot2 552 208 fixed; - input_pos3 536 208 fixed; + input 592 192 fixed; + output 608 192 fixed; + input_rot2 624 192 fixed; + input_pos3 608 192 fixed; end; implementation eq equations @@ -2173,7 +2259,7 @@ equations output.f[4:6] = input_pos3.f;implementation_end; specification_end; end; - R1 456 328 + R1 528 312 description ' 4.2 @@ -2189,7 +2275,7 @@ specification_end; end; icon bg bottom figures - text 'R' 456 328 color 0 18 bold; + text 'R' 528 312 color 0 18 bold; end; implementation eq parameters @@ -2197,7 +2283,7 @@ parameters equations p.e = r * p.f; implementation_end; - R2 257 184 + R2 329 168 description '4.01False Bond Graph\2D\R-2.emx 2007-9-25 12:6:54 @@ -2208,7 +2294,7 @@ implementation_end; end; icon bg bottom figures - text 'R' 257 184 color 0 18 bold; + text 'R' 329 168 color 0 18 bold; end; implementation eq parameters @@ -2216,7 +2302,7 @@ parameters equations p.e = r * p.f; implementation_end; - R3 257 312 + R3 329 296 description '4.01False Bond Graph\3D\R-3.emx 2007-9-25 12:11:54 @@ -2227,7 +2313,7 @@ implementation_end; end; icon bg bottom figures - text 'R' 257 312 color 0 18 bold; + text 'R' 329 296 color 0 18 bold; end; implementation eq parameters @@ -2235,7 +2321,7 @@ parameters equations p.e = r * p.f; implementation_end; - R4 593 176 + R4 664 160 description '4.01False Bond Graph\2D\R-2.emx 2007-9-25 12:6:54 @@ -2244,9 +2330,9 @@ implementation_end; ports power in p [2,1]; end; - icon bg bottom + icon bg top figures - text 'R' 593 176 color 0 18 bold; + text 'R' 664 160 color 0 18 bold; end; implementation eq parameters @@ -2254,7 +2340,7 @@ parameters equations p.e = r * p.f; implementation_end; - R5 593 304 + R5 664 280 description '4.01False Bond Graph\3D\R-3.emx 2007-9-25 12:11:54 @@ -2265,7 +2351,7 @@ implementation_end; end; icon bg bottom figures - text 'R' 593 304 color 0 18 bold; + text 'R' 664 280 color 0 18 bold; end; implementation eq parameters @@ -2273,7 +2359,7 @@ parameters equations p.e = r * p.f; implementation_end; - R6 32 328 + R6 104 312 description ' 4.2 @@ -2289,7 +2375,7 @@ implementation_end; end; icon bg bottom figures - text 'R' 32 328 color 0 18 bold; + text 'R' 104 312 color 0 18 bold; end; implementation eq parameters @@ -2297,7 +2383,7 @@ parameters equations p.e = r * p.f; implementation_end; - rectanglepath 104 552 + rectanglepath 176 536 description ' 4.8 @@ -2335,7 +2421,7 @@ equations output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1]; output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2]; implementation_end; - rectanglepath1 272 656 + rectanglepath1 344 640 description ' 4.8 @@ -2352,8 +2438,8 @@ implementation_end; end; icon bg figures - rectangle 216 640 328 672 color 0 fill 15132390; - text 'name' 272 656 color 0 'Clear Sans' 16; + rectangle 288 624 400 656 color 0 fill 15132390; + text 'name' 344 640 color 0 'Clear Sans' 16; end; implementation eq /* @@ -2397,31 +2483,7 @@ end; //output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1]; //output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2]; implementation_end; - Sf2 64 104 - 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' 64 104 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; - Splitter1 392 136 + Splitter1 464 120 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 @@ -2435,16 +2497,16 @@ implementation_end; end; icon bg ellipse figures - ellipse 388.8 132.8 395.2 139.2 color -1 fill 0; - ellipse 387.7 131.7 396.3 140.3 color -1; + ellipse 460.8 116.8 467.2 123.2 color -1 fill 0; + ellipse 459.7 115.7 468.3 124.3 color -1; terminals - input 392 136 fixed; + input 464 120 fixed; end; implementation eq equations collect (output) = input; implementation_end; - Splitter2 736 136 + Splitter2 808 120 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 @@ -2458,16 +2520,16 @@ implementation_end; end; icon bg ellipse figures - ellipse 732.8 132.8 739.2 139.2 color -1 fill 0; - ellipse 731.7 131.7 740.3 140.3 color -1; + ellipse 804.8 116.8 811.2 123.2 color -1 fill 0; + ellipse 803.7 115.7 812.3 124.3 color -1; terminals - input 736 136 fixed; + input 808 120 fixed; end; implementation eq equations collect (output) = input; implementation_end; - stepper_control 112 472 + stepper_control 184 456 description ' 4.8 @@ -2756,7 +2818,7 @@ equations Velocity_limit\output -> PlusMinus2\plus; end; implementation_end; - stepper_control1 520 472 + stepper_control1 592 456 description ' 4.8 @@ -3045,7 +3107,7 @@ equations Velocity_limit\output -> PlusMinus2\plus; end; implementation_end; - stepper_model 112 392 + stepper_model 184 376 description ' 4.8 @@ -3583,7 +3645,7 @@ implementation_end; Se\p => OneJunction4\p; end; implementation_end; - stepper_model1 520 392 + stepper_model1 592 376 description ' 4.8 @@ -4121,25 +4183,7 @@ implementation_end; Se\p => OneJunction4\p; end; implementation_end; - Zero 112 136 - 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 96.1 120 127.9 152 color 0 fill 15132390; - text '0' 112 136 color 16711680 18 bold; - end; - implementation eq -equations - output = eye(4);implementation_end; - ZeroJunction2 520 280 + ZeroJunction2 592 264 description ' 4.2 @@ -4158,7 +4202,7 @@ equations end; icon bg figures - text '0' 520 280 color 0 18 bold; + text '0' 592 264 color 0 18 bold; end; implementation eq equations @@ -4166,7 +4210,7 @@ equations equal (collect (p.e)); effort = first (p.e); implementation_end; - ZeroJunction3 112 288 + ZeroJunction3 184 264 description ' 4.2 @@ -4185,7 +4229,7 @@ implementation_end; end; icon bg figures - text '0' 112 288 color 0 18 bold; + text '0' 184 264 color 0 18 bold; end; implementation eq equations @@ -4199,15 +4243,16 @@ implementation_end; C2\p <= OneJunction6\p; COM\Hout -> new_joint1\input; COM1\Hout -> new_joint2\input; - COM2\Hin <- Link3\Hout 920 136; + COM2\Hin <- Link3\Hout 992 120; COM2\Hout -> new_joint3\input; COM2\p => OneJunction12\p; + Ground\output -> Joint\Hin; inverse_kinematics1\angle1 -> Negate1\input; inverse_kinematics1\angle2 -> Negate2\input; Joint\Hout -> Link\Hin; Joint\Pdiff <= PowerMux\output; Joint\Pin <= Link\Pout; - Joint\Pout => OneJunction2\p; + Joint\Pout => Ground\p; Link\Pin <= OneJunction1\p; Link1\Hout -> Joint1\Hin; Link1\Pin <= Joint1\Pout; @@ -4240,7 +4285,6 @@ implementation_end; R1\p <= OneJunction17\p; R6\p <= OneJunction8\p; rectanglepath1\output -> inverse_kinematics1\input; - Sf2\p => OneJunction2\p; Splitter1\input <- Link\Hout; Splitter1\output -> COM\Hin; Splitter1\output -> Link1\Hin; @@ -4250,7 +4294,6 @@ implementation_end; stepper_control1\output -> stepper_model1\angle; stepper_model\p => OneJunction14\p; stepper_model1\p => OneJunction11\p; - Zero\output -> Joint\Hin; ZeroJunction2\p => OneJunction17\p; ZeroJunction2\p => PowerMux1\input; ZeroJunction3\p => OneJunction8\p; @@ -4364,6 +4407,10 @@ implementation_end; stepper_model1\I1\state_initial 0 + + stepper_model1\I2\state_initial + 0 + stepper_model1\I\state_initial 0 @@ -4377,6 +4424,10 @@ implementation_end; stepper_model\I1\state_initial 0 + + stepper_model\I2\state_initial + 0 + stepper_model\I\state_initial 0 @@ -4392,14 +4443,6 @@ implementation_end; 1 0 0 0 0 0 0 - - stepper_model1\I2\p.e_initial - 0 - - - stepper_model\I2\p.e_initial - 0 - @@ -4427,7 +4470,12 @@ implementation_end; new_joint3\position[2] rectanglepath1\output[2] rectanglepath1\output[1] - Integrate2\output + stepper_control\Acceleration_int\output + stepper_control\Acceleration_int\input + stepper_control\Velocity_int\output + stepper_control1\Acceleration_int\output + stepper_control1\Acceleration_int\input + stepper_control1\Velocity_int\output Submodel3\dimension[1] Submodel3\dimension[2] Submodel3\dimension[3] @@ -4435,13 +4483,8 @@ implementation_end; Submodel4\dimension[2] Submodel4\dimension[3] Step\output + Integrate2\output motor_joint2\SignalLimiter2\output - stepper_control\Acceleration_int\output - stepper_control\Acceleration_int\input - stepper_control\Velocity_int\output - stepper_control1\Acceleration_int\output - stepper_control1\Acceleration_int\input - stepper_control1\Velocity_int\output @@ -5410,11 +5453,11 @@ implementation_end; new_joint1\position[2] - -0.01651527795907241 + 0.004779004084536204 new_joint1\position[3] - 0.027946459849279154 + 0.032131984037075616 @@ -5425,11 +5468,11 @@ implementation_end; new_joint1\R[2,3] - -0.8611149858648751 + -0.9891507613546217 new_joint1\R[3,3] - -0.5084102488334947 + 0.14690395267511475 @@ -5439,11 +5482,11 @@ implementation_end; new_joint1\R[2,2] - -0.5084102488334947 + 0.14690395267511475 new_joint1\R[3,2] - 0.8611149858648751 + 0.9891507613546217 Matrix @@ -5529,11 +5572,11 @@ implementation_end; new_joint2\position[2] - -0.008092142484759316 + 0.03341576943552989 new_joint2\position[3] - 0.05482151967891108 + 0.05682777438151479 @@ -5544,11 +5587,11 @@ implementation_end; new_joint2\R[2,3] - 0.04312796974618256 + 0.29812485436275077 new_joint2\R[3,3] - 0.9990695562500003 + 0.9545268834407906 @@ -5558,11 +5601,11 @@ implementation_end; new_joint2\R[2,2] - 0.9990695562500003 + 0.9545268834407906 new_joint2\R[3,2] - -0.043127969746182555 + -0.29812485436275077 Matrix @@ -5663,8 +5706,8 @@ implementation_end; - -0.06 - 0.14 + -0.020000000000000004 + 0.07999999999999999 true 1 @@ -5968,7 +6011,7 @@ implementation_end; 0.0 - 6.088762158038446 + 0.13434062268478064 true 3 @@ -6178,7 +6221,7 @@ implementation_end; -0.0703125 0.0435185 0.872917 0.814815 +0.0744792 0.00462963 0.86875 0.755556 0.130729 0.0842593 0.846354 0.864815