diff --git a/implementation/library/Motor/stepper_103H5208.emx b/implementation/library/Motor/stepper_103H5208.emx index e5a20c5..ed4ba62 100644 --- a/implementation/library/Motor/stepper_103H5208.emx +++ b/implementation/library/Motor/stepper_103H5208.emx @@ -8,31 +8,42 @@ 0 False Motor\stepper_103H5208.emx - 2020-7-21 18:09:21 + 2020-7-22 15:08:02 - - parameters - real I_phase = 3.4 {mH}; - real R_phase = 2.9 {ohm}; - real RotorInertia = 5.6e-6 {kg.m2}; - real StepperMass = 0.29 {kg}; - real angle_step = 1.8 {deg}; - real n_phase = 2 {none}; - real fluxLinkage = 15.0e-4 {Wb}; - real detentTorque = 0.01 {N.m}; -variables - real omega; - real p; // rotor division -initialequations - p = 2 * pi / (2 * n_phase * angle_step); - omega = 200; - '; type Mainmodel end; implementation bg submodels - Cycloid 352 216 + C 976 392 + 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' 976 392 color 0 18 bold; + end; + implementation eq +parameters + real c = 0.00001; +equations + state = int(p.f); + p.e = state / c; +implementation_end; + Cycloid 184 224 description '4.01False Signal\Sources\SignalGenerator-Cycloid.emx 2007-9-27 16:0:53 @@ -43,17 +54,17 @@ initialequations end; icon bg bottom figures - rectangle 336 200 368 232 color 0 fill 15132390; - line 338.9 224 365.1 224 color 0; - line 341.1 208 341.1 226.2 color 0; - spline 341 224 345.8 222.1 352.2 212.8 364.3 210.7 color 16711680 fill 15132390; - line 361.8 224 361.8 210.7 color 0 fill 15132390 dotted; + rectangle 168 208 200 240 color 0 fill 15132390; + line 170.9 232 197.1 232 color 0; + line 173.1 216 173.1 234.2 color 0; + spline 173 232 177.8 230.1 184.2 220.8 196.3 218.7 color 16711680 fill 15132390; + line 193.8 232 193.8 218.7 color 0 fill 15132390 dotted; end; implementation eq parameters - real amplitude = 25 {none}; - real start_time = 0.0 {s}; - real stop_time = 2.0 {s}; + real amplitude = 3.1415 {none}; + real start_time = 1.0 {s}; + real stop_time = 1.3{s}; variables real hidden tDelta, cycl; boolean hidden change; @@ -74,63 +85,7 @@ equations end end; implementation_end; - I 560 104 - description ' - - 4.2 -1 - False - Bond Graph\I.emx - 2011-11-29 15:55:55 - -'; - type I - ports - power in p; - signal out state; - restrictions - causality preferred in p; - end; - icon bg bottom - figures - text 'I' 560 104 color 0 18 bold; - end; - implementation eq -parameters - real global I_phase; -equations - state = int(p.e); - p.f = state / I_phase; -implementation_end; - I1 608 328 - description ' - - 4.2 -1 - False - Bond Graph\I.emx - 2011-11-29 15:55:55 - -'; - type I - ports - power in p; - signal out state; - restrictions - causality preferred in p; - end; - icon bg bottom - figures - text 'I' 608 328 color 0 18 bold; - end; - implementation eq -parameters - real global I_phase; -equations - state = int(p.e); - p.f = state / I_phase; -implementation_end; - I2 752 160 + I2 1024 272 description ' 4.2 @@ -149,17 +104,16 @@ implementation_end; end; icon bg bottom figures - text 'I' 752 160 color 0 18 bold; + text 'I' 1024 272 color 0 18 bold; end; implementation eq parameters real i = 8e-5 {kg.m2}; - real global RotorInertia; equations state = int(p.e); - p.f = state / (i+RotorInertia); + p.f = state / i; implementation_end; - Integrate 424 216 + Integrate 656 336 description ' 4.3 @@ -176,8 +130,8 @@ implementation_end; end; icon bg bottom figures - rectangle 408 200 440 232 color 0 fill 15132390; - text '∫' 424 216.3 color 16711680 'Lucida Sans' 21 italic; + rectangle 640 320 672 352 color 0 fill 15132390; + text '∫' 656 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters @@ -185,117 +139,33 @@ parameters equations output = int (input, initial); implementation_end; - MGY_a 656 160 - description ' - - 4.2 -1 - False - Bond Graph\MGY.emx - 2011-11-29 16:03:53 - -'; - type MGY - ports - power in p1; - power out p2; - signal in r; - restrictions - causality constraint equal p1 p2; - end; - icon bg bottom - figures - text 'MGY' 656 160 color 0 18 bold; - end; - implementation eq -equations - p1.e = r * p2.f; - p2.e = r * p1.f; -implementation_end; - MGY_b 656 272 - description ' - - 4.2 -1 - False - Bond Graph\MGY.emx - 2011-11-29 16:03:53 - -'; - type MGY - ports - power in p1; - power out p2; - signal in r; - restrictions - causality constraint equal p1 p2; - end; - icon bg bottom - figures - text 'MGY' 656 272 color 0 18 bold; - end; - implementation eq -equations - p1.e = r * p2.f; - p2.e = r * p1.f; -implementation_end; - MSe_a 512 160 - description ' - - 4.2 -1 - False - Bond Graph\MSe.emx - 2011-11-29 16:12:33 - -'; - type MSe - ports - electric out p; - signal in effort; - restrictions - causality fixed out p; - end; - icon bg bottom - figures - text 'MSe' 512 160 color 0 18 bold; - end; - implementation eq -variables - real flow; -equations - p.e = effort; - flow = p.f; -implementation_end; - MSe_b 512 272 + Integrate1 720 336 description ' - 4.2 + 4.3 1 False - Bond Graph\MSe.emx - 2011-11-29 16:12:33 + Signal\Block Diagram\Integrate.emx + 2013-3-8 14:47:42 '; - type MSe + type Integrate ports - electric out p; - signal in effort; - restrictions - causality fixed out p; + signal in input; + signal out output; end; icon bg bottom figures - text 'MSe' 512 272 color 0 18 bold; + rectangle 704 320 736 352 color 0 fill 15132390; + text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq -variables - real flow; +parameters + real initial = 0; // initial value equations - p.e = effort; - flow = p.f; -implementation_end; - OneJunction 896 216 + output = int (input, initial); + implementation_end; + OneJunction 1024 336 description ' 4.2 @@ -314,7 +184,7 @@ implementation_end; end; icon bg figures - text '1' 896 216 color 0 18 bold; + text '1' 1024 336 color 0 18 bold; end; implementation eq equations @@ -322,7 +192,7 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction1 584 160 + OneJunction1 936 392 description ' 4.2 @@ -334,14 +204,14 @@ implementation_end; '; knot OneJunction ports - electric knot duplicatable none p [1]; + rotation knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures - text '1' 584 160 color 0 18 bold; + text '1' 936 392 color 0 18 bold; end; implementation eq equations @@ -349,61 +219,69 @@ equations equal (collect (p.f)); flow = first (p.f); implementation_end; - OneJunction2 584 272 - description ' - - 4.2 -1 - False - Bond Graph\OneJunction.emx - 2011-11-29 16:17:51 - -'; - knot OneJunction + PD 568 336 + description ' + 4.0 + 1 + False + Signal\Control\PID Control\Continuous\PD.emx + 2008-1-17 10:49:7 +'; + type PD ports - electric knot duplicatable none p [1]; - signal knot out flow [1]; - restrictions - causality constraint one_out p; + signal in error; + signal out output; end; - icon bg + icon bg bottom figures - text '1' 584 272 color 0 18 bold; + rectangle 552 320 584 352 color 0 fill 15132390; + text 'PD' 568.5 336.1 color 16711680 18 bold; end; implementation eq +parameters + real kp = 6 {}; // Proportional gain + real tauD = 7.5 {s}; // Derivative time constant: tauD > 0 + real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 + real maximum = 100; +variables + real state, rate; equations - sum (direct (p.e)) = 0; - equal (collect (p.f)); - flow = first (p.f); -implementation_end; - OneJunction3 752 216 - description ' - - 4.2 -1 - False - Bond Graph\OneJunction.emx - 2011-11-29 16:17:51 - -'; - knot OneJunction + rate = (kp * error - output) / (beta * tauD); + state = int (rate); + output = state + kp * error / beta; + implementation_end; + PD1 432 336 + description ' + 4.0 + 1 + False + Signal\Control\PID Control\Continuous\PD.emx + 2008-1-17 10:49:7 +'; + type PD ports - rotation knot duplicatable none p [1]; - signal knot out flow [1]; - restrictions - causality constraint one_out p; + signal in error; + signal out output; end; - icon bg + icon bg bottom figures - text '1' 752 216 color 0 18 bold; + rectangle 416 320 448 352 color 0 fill 15132390; + text 'PD' 432.5 336.1 color 16711680 18 bold; end; implementation eq +parameters + real kp = 3 {}; // Proportional gain + real tauD = 50 {s}; // Derivative time constant: tauD > 0 + real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 + real maximum = 25; +variables + real state, rate; equations - sum (direct (p.e)) = 0; - equal (collect (p.f)); - flow = first (p.f); -implementation_end; - PlusMinus1 448 160 + rate = (kp * error - output) / (beta * tauD); + state = int (rate); + output = state + kp * error / beta; + implementation_end; + PlusMinus1 392 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 @@ -416,13 +294,13 @@ implementation_end; end; icon bg ellipse figures - ellipse 440 152 456 168 color 0 fill 16777215; + ellipse 384 328 400 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; - PlusMinus2 448 272 + PlusMinus2 528 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 @@ -435,13 +313,13 @@ equations end; icon bg ellipse figures - ellipse 440 264 456 280 color 0 fill 16777215; + ellipse 520 328 536 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; - R 608 104 + R 896 392 description ' 4.2 @@ -457,101 +335,117 @@ equations end; icon bg bottom figures - text 'R' 608 104 color 0 18 bold; + text 'R' 896 392 color 0 18 bold; end; implementation eq parameters - real global R_phase; + real r = 100; equations - p.e = R_phase * p.f; + p.e = r * p.f; implementation_end; - R1 560 328 - description ' - - 4.2 -1 - False - Bond Graph\R.emx - 2011-11-29 16:35:37 - -'; - type R + SignalLimiter1 480 336 + description '4.01False + Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx + 2007-9-26 12:47:40 +'; + type 'SignalLimiter-Limit' ports - power in p; + signal in input; + signal out output; end; icon bg bottom figures - text 'R' 560 328 color 0 18 bold; + group + rectangle 464 320 496 352 color 0 fill 15132390; + line 479.9 324.5 479.9 349 color 0 fill 15132390; + line 467 336.2 492.7 336.2 color 0 fill 15132390; + spline 473.9 343.1 485.9 329.4 color 16711680 fill 15132390 width 2; + spline 485.3 330.2 493.9 329.8 color 16711680 fill 15132390 width 2; + spline 467 343.6 473.9 343.1 color 16711680 fill 15132390 width 2; + end; end; implementation eq parameters - real global R_phase; + real maximum = 25; + real minimum = -25; equations - p.e = R_phase * p.f; -implementation_end; - RotorAngle 656 216 - description '4.0 - Template\Submodel-Equation.emx -1 - False - 2007-11-1 22:32:1 - False + output = limit (input, minimum, maximum); + implementation_end; + SignalLimiter2 616 336 + description '4.01False + Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx + 2007-9-26 12:47:40 '; - type Submodel + type 'SignalLimiter-Limit' ports - signal out output_b; - signal out output_a; - signal in omega {rad/s} ; - signal out output_d; + signal in input; + signal out output; end; - icon bg + icon bg bottom figures - rectangle 616 200 696 232 color 0 fill 15132390; - text 'name' 656 216 color 0 'Clear Sans' 16; + group + rectangle 600 320 632 352 color 0 fill 15132390; + line 615.9 324.5 615.9 349 color 0 fill 15132390; + line 603 336.2 628.7 336.2 color 0 fill 15132390; + spline 609.9 343.1 621.9 329.4 color 16711680 fill 15132390 width 2; + spline 621.3 330.2 629.9 329.8 color 16711680 fill 15132390 width 2; + spline 603 343.6 609.9 343.1 color 16711680 fill 15132390 width 2; + end; end; implementation eq parameters - real global fluxLinkage; - real global detentTorque; -variables - real global p; - real angle {rad}; + real maximum = 100; + real minimum = -100; equations - angle = int(omega); - output_a = -p * fluxLinkage * sin(p * angle); - output_b = p * fluxLinkage * sin(p * angle - pi / 2); - output_d = detentTorque * sin(2 * p * angle); - implementation_end; - Se 752 272 - description ' - - 4.2 + output = limit (input, minimum, maximum); + implementation_end; + Splitter2 304 336 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 1 - False - Bond Graph\MSe.emx - 2011-11-29 16:12:33 - -'; - type MSe + False +'; + knot Splitter ports - power out p; - signal in effort; - restrictions - causality fixed out p; + signal knot duplicatable out output [1]; + signal knot in input [1]; end; - icon bg bottom + icon bg ellipse figures - text 'MSe' 752 272 color 0 18 bold; + ellipse 300.8 332.8 307.2 339.2 color -1 fill 0; + ellipse 299.7 331.7 308.3 340.3 color -1; + terminals + input 304 336 fixed; end; implementation eq - -variables - real flow; equations - p.e = effort; - flow = p.f; + collect (output) = input; +implementation_end; + Splitter3 688 336 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [1]; + signal knot in input [1]; + end; + icon bg ellipse + figures + ellipse 684.8 332.8 691.2 339.2 color -1 fill 0; + ellipse 683.7 331.7 692.3 340.3 color -1; + terminals + input 688 336 fixed; + end; + implementation eq +equations + collect (output) = input; implementation_end; - Splitter1 720 216 + Splitter4 752 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 @@ -565,16 +459,16 @@ implementation_end; end; icon bg ellipse figures - ellipse 716.8 212.8 723.2 219.2 color -1 fill 0; - ellipse 715.7 211.7 724.3 220.3 color -1; + ellipse 748.8 332.8 755.2 339.2 color -1 fill 0; + ellipse 747.7 331.7 756.3 340.3 color -1; terminals - input 720 216 fixed; + input 752 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; - Square 448 96 + Square 216 336 description ' 4.0 1 @@ -582,27 +476,27 @@ implementation_end; Signal\Sources\WaveGenerator-Square.emx 2009-3-5 16:05:33 '; - type WaveGenerator + type 'WaveGenerator-Square' ports signal out output; end; icon bg bottom figures - rectangle 432.1 80 463.9 112 color 0 fill 15132390; - line 436.1 83.9 435.9 110.2 color 0 fill 0; - line 433.9 108.1 459.9 108.1 color 0 fill 0; - line 436.1 108.1 440 108.1 440 96 color 16711680 fill 0; - line 448 96 440 96 448 96 color 16711680 fill 0; - line 448 108.1 448 96 448 108.1 color 16711680 fill 0; - line 456 96 456 108.1 456 96 color 16711680 fill 0; - line 459.9 96.1 455.7 96.1 color 16711680 fill 0; - line 448 108.1 456 108.1 color 16711680 fill 0; + rectangle 200.1 320 231.9 352 color 0 fill 15132390; + line 204.1 323.9 203.9 350.2 color 0 fill 0; + line 201.9 348.1 227.9 348.1 color 0 fill 0; + line 204.1 348.1 208 348.1 208 336 color 16711680 fill 0; + line 216 336 208 336 216 336 color 16711680 fill 0; + line 216 348.1 216 336 216 348.1 color 16711680 fill 0; + line 224 336 224 348.1 224 336 color 16711680 fill 0; + line 227.9 336.1 223.7 336.1 color 16711680 fill 0; + line 216 348.1 224 348.1 color 16711680 fill 0; end; implementation eq parameters - real amplitude = 3.4; // amplitude of the wave + real amplitude = 1.0; // amplitude of the wave + real omega = 0.1 {rad/s}; // angular frequency of the wave variables - real global omega; // angular frequency of the wave real hidden s, half; boolean hidden change; equations @@ -619,156 +513,566 @@ equations (amplitude / 2) * (s + 1) end; implementation_end; - Square1 384 272 - description ' - 4.0 -1 - False - Signal\Sources\WaveGenerator-Square.emx - 2009-3-5 16:05:33 + Step 528 472 + description '4.01False + Signal\Sources\SignalGenerator-Step.emx + 2007-9-27 16:2:44 '; - type WaveGenerator + type 'SignalGenerator-Step' ports signal out output; end; icon bg bottom figures - rectangle 368.1 256 399.9 288 color 0 fill 15132390; - line 372.1 259.9 371.9 286.2 color 0 fill 0; - line 369.9 284.1 395.9 284.1 color 0 fill 0; - line 372.1 284.1 376 284.1 376 272 color 16711680 fill 0; - line 384 272 376 272 384 272 color 16711680 fill 0; - line 384 284.1 384 272 384 284.1 color 16711680 fill 0; - line 392 272 392 284.1 392 272 color 16711680 fill 0; - line 395.9 272.1 391.7 272.1 color 16711680 fill 0; - line 384 284.1 392 284.1 color 16711680 fill 0; + group + rectangle 512 456 544 488 color 0 fill 15132390; + line 521.6 468.8 538.6 468.8 color 16711680 width 2; + line 514.9 480 541.1 480 color 0; + line 517.1 480.1 521.7 480.1 521.7 468.7 color 16711680 width 2; + line 517.1 464 517.1 482.2 color 0; + end; end; implementation eq parameters - real amplitude = -3.4; // amplitude of the wave -variables - real global omega; // angular frequency of the wave - real hidden s, half; + real amplitude = 25; + real start_time = 1.0 {s}; +variables boolean hidden change; equations - "calculate at least 2 points per period - (just after the change in sign)" - half = pi / omega; - change = frequencyevent (half, 1e-14); - - "calculate the square wave" - s = sign (sin (omega * time + pi/2)); - output = if( s == 0 ) then - amplitude - else - (amplitude / 2) * (s + 1) - end; + "calculate at least at the start time" + change = timeevent (start_time); + + "calculate the step signal" + output = amplitude * step (start_time); implementation_end; + Submodel1 304 200 + description '4.0 + Template\Submodel-Equation.emx +1 + False + 2007-11-1 22:32:1 + False +'; + type 'Submodel-Equation' + ports + signal in input; + signal out output; + end; + implementation eq +parameters + real angleStep = 1.8 {deg}; + real C = 5 {none}; + real D = 3 {none}; + real omega_max = 27.5 {rad/s}; +variables + real a_max {rad/s2}; + real currentAngle {rad}; + real omega {rad/s}; + real acc {rad/s2}; +initialequations + currentAngle = 0; + omega = 0; +equations + a_max = C * exp(D * abs(omega)); + acc = limit(input - currentAngle, -a_max, a_max); + omega = limint(acc, -omega_max, omega_max); + currentAngle = int(omega); + output = currentAngle; +/* +parameters + real kp = 0.1 {}; // Proportional gain + real tauD = 2.0 {s}; // Derivative time constant: tauD > 0 + real beta = 0.1 {}; // Tameness constant: 0 < beta << 1 +variables + real state, rate; +equations + rate = (kp * error - output) / (beta * tauD); + state = int (rate); + output = state + kp * error / beta;*/ + + implementation_end; + Submodel3 832 336 + description '4.81parameters + real I_phase = 3.4 {mH}; + real R_phase = 2.9 {ohm}; + real u_max = 3.4 {V}; + real RotorInertia = 5.6e-6 {kg.m2}; + real StepperMass = 0.29 {kg}; + real angle_step = 1.8 {deg}; + real n_phase = 2 {none}; + real fluxLinkage = 0.0022 {Wb}; + real detentTorque = 0.01 {N.m}; +variables + real omega; + real p; // rotor division +initialequations + p = 2 * pi / (2 * n_phase * angle_step); + omega = 200;'; + type Submodel + ports + signal in angle; + rotation out p; + end; + implementation bg + submodels + I 560 104 + description ' + + 4.2 +1 + False + Bond Graph\I.emx + 2011-11-29 15:55:55 + +'; + type I + ports + power in p; + signal out state; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 560 104 color 0 18 bold; + end; + implementation eq +parameters + real global I_phase; +equations + state = int(p.e); + p.f = state / I_phase; +implementation_end; + I1 608 328 + description ' + + 4.2 +1 + False + Bond Graph\I.emx + 2011-11-29 15:55:55 + +'; + type I + ports + power in p; + signal out state; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 608 328 color 0 18 bold; + end; + implementation eq +parameters + real global I_phase; +equations + state = int(p.e); + p.f = state / I_phase; +implementation_end; + I2 752 160 + description ' + + 4.2 +1 + False + Bond Graph\I.emx + 2011-11-29 15:55:55 + +'; + type I + ports + power in p; + signal out state; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 752 160 color 0 18 bold; + end; + implementation eq +parameters + real i = 8e-5 {kg.m2}; + real global RotorInertia; +equations + state = int(p.e); + p.f = state / (RotorInertia); +implementation_end; + MGY_a 656 160 + description ' + + 4.2 +1 + False + Bond Graph\MGY.emx + 2011-11-29 16:03:53 + +'; + type MGY + ports + power in p1; + power out p2; + signal in r; + restrictions + causality constraint equal p1 p2; + end; + icon bg bottom + figures + text 'MGY' 656 160 color 0 18 bold; + end; + implementation eq +equations + p1.e = r * p2.f; + p2.e = r * p1.f; +implementation_end; + MGY_b 656 272 + description ' + + 4.2 +1 + False + Bond Graph\MGY.emx + 2011-11-29 16:03:53 + +'; + type MGY + ports + power in p1; + power out p2; + signal in r; + restrictions + causality constraint equal p1 p2; + end; + icon bg bottom + figures + text 'MGY' 656 272 color 0 18 bold; + end; + implementation eq +equations + p1.e = r * p2.f; + p2.e = r * p1.f; +implementation_end; + MSe_a 512 160 + description ' + + 4.2 +1 + False + Bond Graph\MSe.emx + 2011-11-29 16:12:33 + +'; + type MSe + ports + electric out p; + signal in effort; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'MSe' 512 160 color 0 18 bold; + end; + implementation eq +variables + real flow; +equations + p.e = effort; + flow = p.f; +implementation_end; + MSe_b 512 272 + description ' + + 4.2 +1 + False + Bond Graph\MSe.emx + 2011-11-29 16:12:33 + +'; + type MSe + ports + electric out p; + signal in effort; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'MSe' 512 272 color 0 18 bold; + end; + implementation eq +variables + real flow; +equations + p.e = effort; + flow = p.f; +implementation_end; + plug angle 200 216; + plug p 1472 216; + OneJunction1 840 216 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + rotation knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 840 216 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction2 584 160 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + electric knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 584 160 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction3 584 272 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + electric knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 584 272 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction4 752 216 + description ' + + 4.2 +1 + False + Bond Graph\OneJunction.emx + 2011-11-29 16:17:51 + +'; + knot OneJunction + ports + rotation knot duplicatable none p [1]; + signal knot out flow [1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 752 216 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + R 608 104 + description ' + + 4.2 +1 + False + Bond Graph\R.emx + 2011-11-29 16:35:37 + +'; + type R + ports + power in p; + end; + icon bg bottom + figures + text 'R' 608 104 color 0 18 bold; + end; + implementation eq +parameters + real global R_phase; +equations + p.e = R_phase * p.f; +implementation_end; + R1 560 328 + description ' + + 4.2 +1 + False + Bond Graph\R.emx + 2011-11-29 16:35:37 + +'; + type R + ports + power in p; + end; + icon bg bottom + figures + text 'R' 560 328 color 0 18 bold; + end; + implementation eq +parameters + real global R_phase; +equations + p.e = R_phase * p.f; implementation_end; - Square2 384 160 - description ' - 4.0 + R2 824 264 + description ' + + 4.2 1 - False - Signal\Sources\WaveGenerator-Square.emx - 2009-3-5 16:05:33 -'; - type WaveGenerator - ports - signal out output; - end; - icon bg bottom - figures - rectangle 368.1 144 399.9 176 color 0 fill 15132390; - line 372.1 147.9 371.9 174.2 color 0 fill 0; - line 369.9 172.1 395.9 172.1 color 0 fill 0; - line 372.1 172.1 376 172.1 376 160 color 16711680 fill 0; - line 384 160 376 160 384 160 color 16711680 fill 0; - line 384 172.1 384 160 384 172.1 color 16711680 fill 0; - line 392 160 392 172.1 392 160 color 16711680 fill 0; - line 395.9 160.1 391.7 160.1 color 16711680 fill 0; - line 384 172.1 392 172.1 color 16711680 fill 0; - end; - implementation eq + False + Bond Graph\R.emx + 2011-11-29 16:35:37 + +'; + type R + ports + power in p; + end; + icon bg bottom + figures + text 'R' 824 264 color 0 18 bold; + end; + implementation eq parameters - real amplitude = -3.4; // amplitude of the wave -variables - real global omega; // angular frequency of the wave - real hidden s, half; - boolean hidden change; + real r = 1.0e-3; equations - "calculate at least 2 points per period - (just after the change in sign)" - half = pi / omega; - change = frequencyevent (half, 1e-14); - - "calculate the square wave" - s = sign (sin (omega * time + pi)); - output = if( s == 0 ) then - amplitude - else - (amplitude / 2) * (s + 1) - end; + p.e = r * p.f; implementation_end; - Square3 448 336 - description ' - 4.0 + RotorAngle 656 216 + description '4.0 + Template\Submodel-Equation.emx 1 False - Signal\Sources\WaveGenerator-Square.emx - 2009-3-5 16:05:33 + 2007-11-1 22:32:1 + False '; - type WaveGenerator - ports - signal out output; - end; - icon bg bottom - figures - rectangle 432.1 320 463.9 352 color 0 fill 15132390; - line 436.1 323.9 435.9 350.2 color 0 fill 0; - line 433.9 348.1 459.9 348.1 color 0 fill 0; - line 436.1 348.1 440 348.1 440 336 color 16711680 fill 0; - line 448 336 440 336 448 336 color 16711680 fill 0; - line 448 348.1 448 336 448 348.1 color 16711680 fill 0; - line 456 336 456 348.1 456 336 color 16711680 fill 0; - line 459.9 336.1 455.7 336.1 color 16711680 fill 0; - line 448 348.1 456 348.1 color 16711680 fill 0; - end; - implementation eq + type Submodel + ports + signal out output_b; + signal out output_a; + signal in omega {rad/s} ; + signal out output_d; + end; + icon bg + figures + rectangle 616 200 696 232 color 0 fill 15132390; + text 'name' 656 216 color 0 'Clear Sans' 16; + end; + implementation eq parameters - real amplitude = 3.4; // amplitude of the wave -variables - real global omega; // angular frequency of the wave - real hidden s, half; - boolean hidden change; + real global fluxLinkage; + real global detentTorque; +variables + real global p; + real angle {rad}; equations - "calculate at least 2 points per period - (just after the change in sign)" - half = pi / omega; - change = frequencyevent (half, 1e-14); + angle = int(omega); + output_a = -p * fluxLinkage * sin(p * angle); + output_b = p * fluxLinkage * sin(p * angle - pi / 2); + output_d = detentTorque * sin(2 * p * angle); + implementation_end; + Se 752 272 + description ' + + 4.2 +1 + False + Bond Graph\MSe.emx + 2011-11-29 16:12:33 + +'; + type MSe + ports + power out p; + signal in effort; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'MSe' 752 272 color 0 18 bold; + end; + implementation eq - "calculate the square wave" - s = sign (sin (omega * time - pi/2)); - output = if( s == 0 ) then - amplitude - else - (amplitude / 2) * (s + 1) - end; +variables + real flow; +equations + p.e = effort; + flow = p.f; implementation_end; - Submodel2 512 216 - description '4.0 + Submodel2 512 216 + description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; - type 'Submodel-Equation' - ports - signal in angle; - signal out a; - signal out b; - end; - implementation eq + type Submodel + ports + signal in angle; + signal out a; + signal out b; + end; + icon bg + figures + rectangle 472 200 552 232 color 0 fill 15132390; + text 'name' 512 216 color 0 'Clear Sans' 16; + end; + implementation eq parameters real global u_max {V}; real global angle_step; @@ -779,43 +1083,90 @@ variables real global p; boolean hidden eventa, eventb; equations - a = -sign (cos (p*angle)); + a = u_max * (cos (p*angle)); eventa = event(a); - b = sign (sin (p*angle)); + b = u_max * -(sin (p*angle)); eventb = event(b); + current_angle = angle; - implementation_end; + end; + connections + angle -> Submodel2\angle; + I2\p <= OneJunction4\p; + MGY_a\p2 => OneJunction4\p; + MGY_b\p2 => OneJunction4\p; + MSe_b\p => OneJunction3\p; + OneJunction1\p => p; + OneJunction2\p <= MSe_a\p; + OneJunction2\p => I\p; + OneJunction2\p => MGY_a\p1; + OneJunction2\p => R\p; + OneJunction3\p => I1\p; + OneJunction3\p => MGY_b\p1; + OneJunction3\p => R1\p; + OneJunction4\flow -> RotorAngle\omega; + OneJunction4\p => OneJunction1\p; + OneJunction4\p => R2\p; + RotorAngle\output_a -> MGY_a\r; + RotorAngle\output_b -> MGY_b\r; + RotorAngle\output_d -> Se\effort; + Se\p => OneJunction4\p; + Submodel2\a -> MSe_a\effort; + Submodel2\b -> MSe_b\effort; + end; + implementation_end; + ZeroJunction1 936 336 + description ' + + 4.2 +1 + False + Bond Graph\ZeroJunction.emx + 2011-11-29 16:45:16 + +'; + knot ZeroJunction + ports + rotation knot duplicatable none p [1]; + signal knot out effort [1]; + restrictions + causality constraint one_in p; + end; + icon bg + figures + text '0' 936 336 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.f)) = 0; + equal (collect (p.e)); + effort = first (p.e); +implementation_end; end; connections - Cycloid\output -> Integrate\input; - I2\p <= OneJunction3\p; - Integrate\output -> Submodel2\angle; - MGY_a\p2 => OneJunction3\p; - MGY_b\p2 => OneJunction3\p; - MSe_a\p => OneJunction1\p; - MSe_b\p => OneJunction2\p; - OneJunction1\p => I\p; - OneJunction1\p => MGY_a\p1; + C\p <= OneJunction1\p; + Integrate\output -> Splitter3\input; + Integrate1\output -> Splitter4\input; + OneJunction\p => I2\p; OneJunction1\p => R\p; - OneJunction2\p => I1\p; - OneJunction2\p => MGY_b\p1; - OneJunction2\p => R1\p; - OneJunction3\flow -> Splitter1\input; - OneJunction3\p => OneJunction\p; - RotorAngle\output_a -> MGY_a\r; - RotorAngle\output_b -> MGY_b\r; - RotorAngle\output_d -> Se\effort; - Se\p => OneJunction3\p; - Splitter1\output -> RotorAngle\omega; - Square\output -> PlusMinus1\plus; - Square1\output -> PlusMinus2\plus; - Square2\output -> PlusMinus1\plus; - Square3\output -> PlusMinus2\plus; - Submodel2\a -> MSe_a\effort; - Submodel2\b -> MSe_b\effort; + PD\output -> SignalLimiter2\input; + PD1\output -> SignalLimiter1\input; + PlusMinus1\output -> PD1\error; + PlusMinus2\output -> PD\error; + SignalLimiter1\output -> PlusMinus2\plus; + SignalLimiter2\output -> Integrate\input; + Splitter2\output -> PlusMinus1\plus; + Splitter2\output -> Submodel1\input; + Splitter3\output -> Integrate1\input; + Splitter3\output -> PlusMinus2\minus 688 288 528 288; + Splitter4\output -> PlusMinus1\minus 752 384 392 384; + Splitter4\output -> Submodel3\angle; + Square\output -> Splitter2\input; + Submodel3\p => ZeroJunction1\p; + ZeroJunction1\p => OneJunction\p; end; implementation_end; ]]> @@ -837,19 +1188,14 @@ equations - Submodel2\max_a + Submodel3\Submodel2\max_a m/s2 0 - - u_max - V - 0 - - I1\state_initial + C\state_initial 0 @@ -857,11 +1203,32 @@ equations 0 - I\state_initial + PD1\state_initial + 0 + + + PD\state_initial + 0 + + + Submodel1\currentAngle_initial + rad + 0 + + + Submodel1\omega_initial 0 - RotorAngle\angle_initial + Submodel3\I1\state_initial + 0 + + + Submodel3\I\state_initial + 0 + + + Submodel3\RotorAngle\angle_initial rad 0 @@ -870,14 +1237,19 @@ equations time - I2\p.e - I2\p.f - RotorAngle\angle - omega - Submodel2\c - MSe_a\effort - MSe_b\effort - Submodel2\s + Submodel3\I2\p.e + Submodel3\I2\p.f + Submodel3\RotorAngle\angle + Submodel3\MSe_a\effort + Submodel3\MSe_b\effort + Submodel3\Submodel2\a + Submodel3\Submodel2\b + Integrate\input + Integrate\output + Integrate1\output + Square\output + PD\error + PD1\error @@ -946,12 +1318,12 @@ equations true - true + false false 0.0 - 5.207213548315313 + 1.8 true 3 @@ -959,15 +1331,15 @@ equations - -10.0 - 10.0 + -0.005 + 0.005 true 2 - -0.05 - 0.05 + -2.0 + 8.0 true 2 @@ -992,7 +1364,7 @@ equations true - I2\p.e + Submodel3\I2\p.e @@ -1011,7 +1383,7 @@ equations true - I2\p.f + Submodel3\I2\p.f @@ -1092,7 +1464,7 @@ equations 0.0 - 5.207213548315313 + 1.8 true 3 @@ -1100,12 +1472,19 @@ equations - -0.19999999999999993 - 0.8 + -0.39999999999999986 + 1.6 true 2 + + -1.5 + 3.5 + true + 2 + + @@ -1126,7 +1505,26 @@ equations true - RotorAngle\angle + Submodel3\RotorAngle\angle + + + + 6076255 + 1 + 6076255 + 0 + true + 1 + 1 + 1 + true + + true + time + + + true + Square\output @@ -1207,7 +1605,7 @@ equations 0.0 - 5.207213548315313 + 1.8 true 3 @@ -1215,11 +1613,39 @@ equations - -50.0 - 450.0 + -60.0 + 140.0 + true + 1 + + + + -400.0 + 600.0 + true + 1 + + + + -400.0 + 600.0 + true + 1 + + + + -400.0 + 600.0 + true + 1 + + + + -400.0 + 600.0 true 1 - + @@ -1241,7 +1667,83 @@ equations true - omega + Integrate\input + + + + 6076255 + 1 + 6076255 + 0 + true + 1 + 1 + 1 + true + + true + time + + + true + Integrate\output + + + + 12553035 + 1 + 12553035 + 0 + true + 1 + 1 + 1 + true + + true + time + + + true + Integrate1\output + + + + 15086320 + 1 + 15086320 + 0 + true + 1 + 1 + 1 + true + + true + time + + + true + PD\error + + + + 15790150 + 1 + 15790150 + 0 + true + 1 + 1 + 1 + true + + true + time + + + true + PD1\error @@ -1272,7 +1774,7 @@ equations 16777215 true 1 - Plot + Window 2 true @@ -1322,7 +1824,7 @@ equations 0.0 - 5.207213548315313 + 1.8 true 3 @@ -1330,32 +1832,32 @@ equations - -2.5 - 2.5 + -5.0 + 5.0 true 2 - + - 0.0 - 10.0 + -5.0 + 5.0 true 2 - 0.0 - 10.0 + -5.0 + 5.0 true 2 - 0.0 - 10.0 + -5.0 + 5.0 true 2 - + @@ -1377,7 +1879,7 @@ equations true - Submodel2\c + Submodel3\Submodel2\a @@ -1396,7 +1898,7 @@ equations true - MSe_a\effort + Submodel3\MSe_a\effort @@ -1415,7 +1917,7 @@ equations true - MSe_b\effort + Submodel3\MSe_b\effort @@ -1434,7 +1936,7 @@ equations true - Submodel2\s + Submodel3\Submodel2\b @@ -1460,28 +1962,28 @@ equations 2 - true + false Window 2 2 4 - StripChart + Base -0.130729 0.114815 0.9375 0.896296 +0.0260417 0.025 0.908854 0.872222 -0 0.0259259 1 1 +0.172917 0.158333 0.841667 0.919444 0.0 - 20.0 + 1.8 false false false @@ -1585,22 +2087,45 @@ equations - 10 + 20 false - true + false true false - true - 0 + false + 1 0.0 - true - MultipleRun + false + Optimization true - - UseEndValue + Submodel3\RotorAngle\angle + Square\output + UseIntegralAbsolute 0.001 BroydonFletcherGoldfarbShanno + + PD1\kp + 1.0 + 50.0 + Linear + Uniform + 15.0 + 3.75 + 1.0 + 10.0 + + + PD1\tauD + 1.0 + 50.0 + Linear + Uniform + 6.0 + 1.5 + 1.0 + 10.0 + diff --git a/implementation/library/Motor/stepper_control.emx b/implementation/library/Motor/stepper_control.emx new file mode 100644 index 0000000..f912944 --- /dev/null +++ b/implementation/library/Motor/stepper_control.emx @@ -0,0 +1,15 @@ + + + + + + + 4.8 +1 + Motor\stepper_control.emx + 2020-7-22 15:25:26 + +'; type Submodel ports signal in setpoint {rad} ; signal out output {rad} ; end; implementation bg submodels Acceleration_int 648 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 632 320 664 352 color 0 fill 15132390; text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real initial = 0; // initial value equations output = int (input, initial); implementation_end; Acceleration_limit 568 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 552 320 584 352 color 0 fill 15132390; line 567.9 324.5 567.9 349 color 0 fill 15132390; line 555 336.2 580.7 336.2 color 0 fill 15132390; spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2; spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2; spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real maximum = 200; real minimum = -200; equations output = limit (input, minimum, maximum); implementation_end; plug setpoint 136 336; plug output 791 336; PlusMinus1 240 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 232 328 248 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus2 432 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 424 328 440 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; Position_control 296 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PD.emx 2008-1-17 10:49:7 '; type PD ports signal in error; signal out output; end; icon bg bottom figures rectangle 280 320 312 352 color 0 fill 15132390; text 'PD' 296.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 4 {}; // Proportional gain real tauD = 100 {s}; // Derivative time constant: tauD > 0 real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 real maximum = 25; variables real state, rate; equations rate = (kp * error - output) / (beta * tauD); state = int (rate); output = state + kp * error / beta; implementation_end; Splitter3 688 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 684.8 332.8 691.2 339.2 color -1 fill 0; ellipse 683.7 331.7 692.3 340.3 color -1; terminals input 688 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter4 752 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 748.8 332.8 755.2 339.2 color -1 fill 0; ellipse 747.7 331.7 756.3 340.3 color -1; terminals input 752 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Velocity_control 480 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PD.emx 2008-1-17 10:49:7 '; type PD ports signal in error; signal out output; end; icon bg bottom figures rectangle 464 320 496 352 color 0 fill 15132390; text 'PD' 480.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 12 {}; // Proportional gain real tauD = 10 {s}; // Derivative time constant: tauD > 0 real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 real maximum = 100; variables real state, rate; equations rate = (kp * error - output) / (beta * tauD); state = int (rate); output = state + kp * error / beta; implementation_end; Velocity_int 720 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 704 320 736 352 color 0 fill 15132390; text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real initial = 0; // initial value equations output = int (input, initial); implementation_end; Velocity_limit 376 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 360 320 392 352 color 0 fill 15132390; line 375.9 324.5 375.9 349 color 0 fill 15132390; line 363 336.2 388.7 336.2 color 0 fill 15132390; spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2; spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2; spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real maximum = 25; real minimum = -25; equations output = limit (input, minimum, maximum); implementation_end; end; connections Acceleration_int\output -> Splitter3\input; Acceleration_limit\output -> Acceleration_int\input; PlusMinus1\output -> Position_control\error; PlusMinus2\output -> Velocity_control\error; Position_control\output -> Velocity_limit\input; setpoint -> PlusMinus1\plus; Splitter3\output -> PlusMinus2\minus 688 288 432 288; Splitter3\output -> Velocity_int\input; Splitter4\output -> output; Splitter4\output -> PlusMinus1\minus 752 400 240 400; Velocity_control\output -> Acceleration_limit\input; Velocity_int\output -> Splitter4\input; Velocity_limit\output -> PlusMinus2\plus; end; implementation_end; ]]> + + + diff --git a/implementation/library/Motor/stepper_model.emx b/implementation/library/Motor/stepper_model.emx new file mode 100644 index 0000000..8be3bf6 --- /dev/null +++ b/implementation/library/Motor/stepper_model.emx @@ -0,0 +1,33 @@ + + + + + + + 4.8 +1 + Motor\stepper_model.emx + 2020-7-22 15:25:37 + + + parameters + real I_phase = 3.4 {mH}; + real R_phase = 2.9 {ohm}; + real u_max = 3.4 {V}; + real RotorInertia = 5.6e-6 {kg.m2}; + real StepperMass = 0.29 {kg}; + real angle_step = 1.8 {deg}; + real n_phase = 2 {none}; + real fluxLinkage = 0.0022 {Wb}; + real detentTorque = 0.01 {N.m}; +variables + real omega; + real p; // rotor division +initialequations + p = 2 * pi / (2 * n_phase * angle_step); + omega = 200; + +'; type Submodel ports signal in angle; rotation out p; end; implementation bg submodels I 560 104 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 560 104 color 0 18 bold; end; implementation eq parameters real global I_phase; equations state = int(p.e); p.f = state / I_phase; implementation_end; I1 608 328 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 608 328 color 0 18 bold; end; implementation eq parameters real global I_phase; equations state = int(p.e); p.f = state / I_phase; implementation_end; I2 752 160 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 752 160 color 0 18 bold; end; implementation eq parameters real i = 8e-5 {kg.m2}; real global RotorInertia; equations state = int(p.e); p.f = state / (RotorInertia); implementation_end; MGY_a 656 160 description ' 4.2 1 False Bond Graph\MGY.emx 2011-11-29 16:03:53 '; type MGY ports power in p1; power out p2; signal in r; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'MGY' 656 160 color 0 18 bold; end; implementation eq equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MGY_b 656 272 description ' 4.2 1 False Bond Graph\MGY.emx 2011-11-29 16:03:53 '; type MGY ports power in p1; power out p2; signal in r; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'MGY' 656 272 color 0 18 bold; end; implementation eq equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MSe_a 512 160 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports electric out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 512 160 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; MSe_b 512 272 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports electric out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 512 272 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; plug angle 200 216; plug p 1472 216; OneJunction1 840 216 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports rotation knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 840 216 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction2 584 160 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports electric knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 584 160 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction3 584 272 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports electric knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 584 272 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction4 752 216 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports rotation knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 752 216 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; phase_control 512 216 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type Submodel ports signal in angle; signal out a; signal out b; end; icon bg figures rectangle 472 200 552 232 color 0 fill 15132390; text 'name' 512 216 color 0 'Clear Sans' 16; end; implementation eq parameters real global u_max {V}; real global angle_step; real max_a {m/s2}; variables real current_angle; real c,s; real global p; boolean hidden eventa, eventb; equations a = u_max * (cos (p*angle)); eventa = event(a); b = u_max * -(sin (p*angle)); eventb = event(b); current_angle = angle; implementation_end; R 608 104 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg bottom figures text 'R' 608 104 color 0 18 bold; end; implementation eq parameters real global R_phase; equations p.e = R_phase * p.f; implementation_end; R1 560 328 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg bottom figures text 'R' 560 328 color 0 18 bold; end; implementation eq parameters real global R_phase; equations p.e = R_phase * p.f; implementation_end; R2 824 264 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg bottom figures text 'R' 824 264 color 0 18 bold; end; implementation eq parameters real r = 1.0e-3; equations p.e = r * p.f; implementation_end; RotorAngle 656 216 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type Submodel ports signal out output_b; signal out output_a; signal in omega {rad/s} ; signal out output_d; end; icon bg figures rectangle 616 200 696 232 color 0 fill 15132390; text 'name' 656 216 color 0 'Clear Sans' 16; end; implementation eq parameters real global fluxLinkage; real global detentTorque; variables real global p; real angle {rad}; equations angle = int(omega); output_a = -p * fluxLinkage * sin(p * angle); output_b = p * fluxLinkage * sin(p * angle - pi / 2); output_d = detentTorque * sin(2 * p * angle); implementation_end; Se 752 272 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 752 272 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; end; connections angle -> phase_control\angle; I2\p <= OneJunction4\p; MGY_a\p2 => OneJunction4\p; MGY_b\p2 => OneJunction4\p; MSe_b\p => OneJunction3\p; OneJunction1\p => p; OneJunction2\p <= MSe_a\p; OneJunction2\p => I\p; OneJunction2\p => MGY_a\p1; OneJunction2\p => R\p; OneJunction3\p => I1\p; OneJunction3\p => MGY_b\p1; OneJunction3\p => R1\p; OneJunction4\flow -> RotorAngle\omega; OneJunction4\p => OneJunction1\p; OneJunction4\p => R2\p; phase_control\a -> MSe_a\effort; phase_control\b -> MSe_b\effort; RotorAngle\output_a -> MGY_a\r; RotorAngle\output_b -> MGY_b\r; RotorAngle\output_d -> Se\effort; Se\p => OneJunction4\p; end; implementation_end; ]]> + + +