diff --git a/implementation/SCARA/05_stepper/stepper.emx b/implementation/SCARA/05_stepper/stepper.emx new file mode 100644 index 0000000..8f3076b --- /dev/null +++ b/implementation/SCARA/05_stepper/stepper.emx @@ -0,0 +1,6337 @@ + + + + + + 4.8 +0 + False + C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\05_stepper\stepper.emx + 2020-7-22 16:26:16 +True + + + parameters + real A = 0.05 {m}; + real B = 0.05 {m}; +variables + real J0_1_BF1[2]; + real J1_2_BF1[2]; + real J1_2_BF2[2]; + real EE1_BF2[2]; +initialequations + J0_1_BF1 = [A/2;0]; + J1_2_BF1 = [-A/2;0]; + J1_2_BF2 = [B/2;0]; + EE1_BF2 = [-B/2;0]; + +'; + type Mainmodel + end; + implementation bg + submodels + C 456 232 + 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' 456 232 color 0 18 bold; + end; + implementation eq +parameters + real c = 0.0001; +equations + state = int(p.f); + p.e = state / c; +implementation_end; + C1 640 264 + 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 bottom + figures + text 'C' 640 264 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; + C2 304 272 + 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 bottom + figures + text 'C' 304 272 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; + C3 304 224 + 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' 304 224 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; + C4 640 216 + 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' 640 216 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; + C5 32 232 + 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' 32 232 color 0 18 bold; + end; + implementation eq +parameters + real c = 0.0001; +equations + state = int(p.f); + p.e = state / c; +implementation_end; + COM 376 208 + 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 344 192 408 224 color 0 fill 139; + text 'COM' 376 208 color 0 'Clear Sans' 16; + terminals + Hin 392 192 fixed; + p 360 192 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; + COM1 720 200 + 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 688 184 752 216 color 0 fill 139; + text 'COM' 720 200 color 0 'Clear Sans' 16; + terminals + Hin 736 184 fixed; + p 704 184 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; + COM2 904 184 + 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 872 168 936 200 color 0 fill 139; + text 'COM' 904 184 color 0 'Clear Sans' 16; + terminals + Hin 920 168 fixed; + p 888 168 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 424 336; + 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 480 336 + 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' 480 336 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; + inverse_kinematics1 272 552 + description ' + + 4.8 + SCARA\inverse_kinematics_v1.emx +1 + False + 2020-7-10 12:26:18 +False + +'; + type 'Submodel-Equation' + ports + signal in input [2,1] {m} ; + signal out angle1 {rad} ; + signal out angle2 {rad} ; + signal out a {rad} ; + signal out b {rad} ; + signal out c {rad} ; + signal out phi {rad} ; + signal out abs_angle2; + end; + implementation eq +parameters + real A_length = 0.065 {m}; // length of first arm + real B_length = 0.05 {m}; // length of second arm + real to_rad = 1 {rad}; +variables + real x {m}, y {m}; + real C_length {m}; // length to x and y. +equations + x = input[1]; + y = input[2]; + phi = atan2(y, x); + C_length = sqrt(x^2 + y^2); + a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length)); + b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length)); + c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length)); + angle1 = b + phi; + abs_angle2 = angle1 - pi * to_rad + c; + angle2 = c - pi * to_rad; + + + + implementation_end; + Joint 192 120 + 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 168 88 216 152 color 0 fill 14745599; + text 'Joint' 192 120 color 0 'Clear Sans' 16; + terminals + Pin 216 104 fixed; + Hin 168 136 fixed; + Hout 216 136 fixed; + Pout 168 104 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; + Joint1 536 120 + 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 512 88 560 152 color 0 fill 14745599; + text 'Joint' 536 120 color 0 'Clear Sans' 16; + terminals + Pin 560 104 fixed; + Hin 512 136 fixed; + Hout 560 136 fixed; + Pout 512 104 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; + Link 288 120 + 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 256 96 320 144 color 0 fill 8454041; + text 'Link' 288 120 color 0 'Clear Sans' 16; + terminals + Hin 256 136 fixed; + Hout 320 136 fixed; + Pin 320 104 fixed; + Pout 256 104 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; + Link1 456 120 + 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 424 96 488 144 color 0 fill 8454041; + text 'Link' 456 120 color 0 'Clear Sans' 16; + terminals + Hin 424 136 fixed; + Hout 488 136 fixed; + Pin 488 104 fixed; + Pout 424 104 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','RotationMatrixFromEulXYZr',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 624 120 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-19 15:22:34 +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 592 96 656 144 color 0 fill 8454041; + text 'Link' 624 120 color 0 'Clear Sans' 16; + terminals + Hin 592 136 fixed; + Hout 656 136 fixed; + Pin 656 104 fixed; + Pout 592 104 fixed; + end; + implementation eq +parameters + real offset[3]= [0;0.025;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; +equations + Hab = homogeneous(eye(3),offset); + AdHab = Adjoint(eye(3),offset); + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Link3 800 120 + description ' + + 4.8 + Bond Graph\MR\link-v3.emx +1 + False + 2020-7-19 15:22:34 +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 768 96 832 144 color 0 fill 8454041; + text 'Link' 800 120 color 0 'Clear Sans' 16; + terminals + Hin 768 136 fixed; + Hout 832 136 fixed; + Pin 832 104 fixed; + Pout 768 104 fixed; + end; + implementation eq +parameters + real offset[3]= [0;0.025;0]; //coordinates of joint_1 +variables + real Hab[4,4]; + real AdHab[6,6]; +equations + Hab = homogeneous(eye(3),offset); + AdHab = Adjoint(eye(3),offset); + Hout = Hin * Hab; + Pout.e = transpose(AdHab) * Pin.e; + Pin.f = AdHab * Pout.f; + + implementation_end; + Negate1 272 472 + description '4.01False + Signal\Block Diagram\Negate.emx + 2007-9-26 12:14:11 +'; + type Negate + ports + signal in input; + signal out output; + end; + icon bg bottom + figures + rectangle 256 456 288 488 color 0 fill 15132390; + text '-1' 272 472 color 16711680 16 bold; + end; + implementation eq +equations + output = - input; + implementation_end; + Negate2 520 552 + description '4.01False + Signal\Block Diagram\Negate.emx + 2007-9-26 12:14:11 +'; + type Negate + ports + signal in input; + signal out output; + end; + icon bg bottom + figures + rectangle 504 536 536 568 color 0 fill 15132390; + text '-1' 520 552 color 16711680 16 bold; + end; + implementation eq +equations + output = - input; + implementation_end; + new_joint1 376 280 + 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; + new_joint2 720 256 + 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 + // start typing here + 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 + 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 = [input[3,2];input[1,3];input[2,1]]; + R = input[1:3,1:3];implementation_end; + OneJunction1 360 104 + 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' 360 104 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction11 520 352 + 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' 520 352 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction12 888 104 + 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' 888 104 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction14 112 352 + 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' 112 352 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction17 456 280 + 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' 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; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction3 704 104 + 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' 704 104 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction4 593 232 + 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' 593 232 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction5 257 240 + 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' 257 240 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction6 257 256 + 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' 257 256 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction7 593 248 + 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' 593 248 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction8 32 280 + 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' 32 280 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + PowerMux 192 214 + 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 168 216 216 216 color 0 width 2; + rectangle 168 208 216 220 color -1; + text '1' 186 211 color 8421504 8; + terminals + input 176 216 fixed; + output 192 216 fixed; + input_rot2 208 216 fixed; + input_pos3 192 216 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; + end; + icon bg bottom + figures + line 808 216 808 264 color 0 width 2; + rectangle 804 216 816 264 color -1; + text '1' 813 234 color 8421504 8; + terminals + input 808 224 fixed; + output 808 240 fixed; + input_rot2 808 256 fixed; + input_pos3 808 240 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 ' + 4.1 + 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; + end; + icon bg bottom + figures + line 808 216 808 264 color 0 width 2; + rectangle 804 216 816 264 color -1; + text '1' 813 234 color 8421504 8; + terminals + input 808 224 fixed; + output 808 240 fixed; + input_rot2 808 256 fixed; + input_pos3 808 240 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; + PowerMux1 536 206 + 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 512 208 560 208 color 0 width 2; + rectangle 512 200 560 212 color -1; + text '1' 530 203 color 8421504 8; + terminals + input 520 208 fixed; + output 536 208 fixed; + input_rot2 552 208 fixed; + input_pos3 536 208 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; + end; + icon bg bottom + figures + line 808 216 808 264 color 0 width 2; + rectangle 804 216 816 264 color -1; + text '1' 813 234 color 8421504 8; + terminals + input 808 224 fixed; + output 808 240 fixed; + input_rot2 808 256 fixed; + input_pos3 808 240 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 ' + 4.1 + 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; + end; + icon bg bottom + figures + line 808 216 808 264 color 0 width 2; + rectangle 804 216 816 264 color -1; + text '1' 813 234 color 8421504 8; + terminals + input 808 224 fixed; + output 808 240 fixed; + input_rot2 808 256 fixed; + input_pos3 808 240 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; + R1 456 328 + 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' 456 328 color 0 18 bold; + end; + implementation eq +parameters + real r = 25; +equations + p.e = r * p.f; +implementation_end; + R2 257 184 + 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' 257 184 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; + R3 257 312 + 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 bottom + figures + text 'R' 257 312 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; + R4 593 176 + 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' 593 176 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 593 304 + 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 bottom + figures + text 'R' 593 304 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; + R6 32 328 + 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' 32 328 color 0 18 bold; + end; + implementation eq +parameters + real r = 25; +equations + p.e = r * p.f; +implementation_end; + rectanglepath 104 552 + description ' + + 4.8 + setpoint\rectanglepath.emx +1 + False + 2020-7-10 12:30:38 +False + +'; + type 'Submodel-Equation' + ports + signal out output [2,1]; + end; + implementation eq +/* +This will generate coordinates for the box that has to be drawn +*/ +parameters + real w = 0.07{m} ; + real h = 0.05 {m}; + real t = 0.5 {s}; + real origin[2] = [0.01,0.03]{m}; +variables + real v {m/s}; + real t_w {s}; + real t_h {s}; + real period {s}; +initialequations + v = (2*w + 2*h)/t; + t_w = w / v; + t_h = h / v; +equations + period = floor(time / t) * t; + 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 + description ' + + 4.8 + setpoint\rectanglepath.emx +1 + False + 2020-7-10 12:30:38 +False + +'; + type 'Submodel-Equation' + ports + signal out output [2,1]; + end; + icon bg + figures + rectangle 216 640 328 672 color 0 fill 15132390; + text 'name' 272 656 color 0 'Clear Sans' 16; + end; + implementation eq +/* +This will generate coordinates for the box that has to be drawn +*/ +parameters + real w = 0.07{m} ; + real h = 0.05 {m}; + real t = 1 {s}; + real origin[2] = [0.01,0.03]{m}; +variables + real v {m/s}; + real t_w {s}; + real t_h {s}; + real period {s}; + boolean y; +initialequations + v = (2*w + 2*h)/t; + t_w = w / v; + t_h = h / v; +code +y = frequencyevent (t,0); +period = t - time + floor(time / t) * t; + +if period < t_w or time < 4 then + output = origin; +else + if period < t_w + t_h then + output = origin + [w;0]; + else + if period < 2 * t_w + t_h then + output = origin + [w;h]; + else + output = origin + [0;h]; + end; + end; +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 + 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 388.8 132.8 395.2 139.2 color -1 fill 0; + ellipse 387.7 131.7 396.3 140.3 color -1; + terminals + input 392 136 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Splitter2 736 136 + 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 732.8 132.8 739.2 139.2 color -1 fill 0; + ellipse 731.7 131.7 740.3 140.3 color -1; + terminals + input 736 136 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + stepper_control 112 472 + description ' + + 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 = 300; + real minimum = -300; +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; + stepper_control1 520 472 + description ' + + 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 = 300; + real minimum = -300; +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; + stepper_model 112 392 + description ' + + 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 224 104 + 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' 224 104 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 272 328 + 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' 272 328 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 416 160 + 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' 416 160 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 320 160 + 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' 320 160 color 0 18 bold; + end; + implementation eq +equations + p1.e = r * p2.f; + p2.e = r * p1.f; +implementation_end; + MGY_b 320 272 + 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' 320 272 color 0 18 bold; + end; + implementation eq +equations + p1.e = r * p2.f; + p2.e = r * p1.f; +implementation_end; + MSe_a 176 160 + 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' 176 160 color 0 18 bold; + end; + implementation eq +variables + real flow; +equations + p.e = effort; + flow = p.f; +implementation_end; + MSe_b 176 272 + 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' 176 272 color 0 18 bold; + end; + implementation eq +variables + real flow; +equations + p.e = effort; + flow = p.f; +implementation_end; + plug angle 72 216; + plug p 560 216; + OneJunction1 504 216 + 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' 504 216 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction2 248 160 + 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' 248 160 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction3 248 272 + 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' 248 272 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction4 416 216 + 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' 416 216 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 176 216 + 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 136 200 216 232 color 0 fill 15132390; + text 'name' 176 216 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 272 104 + 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' 272 104 color 0 18 bold; + end; + implementation eq +parameters + real global R_phase; +equations + p.e = R_phase * p.f; +implementation_end; + R1 224 328 + 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' 224 328 color 0 18 bold; + end; + implementation eq +parameters + real global R_phase; +equations + p.e = R_phase * p.f; +implementation_end; + R2 488 264 + 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' 488 264 color 0 18 bold; + end; + implementation eq +parameters + real r = 1.0e-3; +equations + p.e = r * p.f; +implementation_end; + RotorAngle 320 216 + 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 280 200 360 232 color 0 fill 15132390; + text 'name' 320 216 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 416 272 + 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' 416 272 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; + stepper_model1 520 392 + description ' + + 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; + 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 + 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' 520 280 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.f)) = 0; + equal (collect (p.e)); + effort = first (p.e); +implementation_end; + ZeroJunction3 112 288 + 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' 112 288 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 + C1\p <= OneJunction7\p; + C2\p <= OneJunction6\p; + COM\Hout -> new_joint1\input; + COM1\Hout -> new_joint2\input; + COM2\Hin <- Link3\Hout 920 136; + COM2\Hout -> new_joint3\input; + COM2\p => OneJunction12\p; + 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; + Link\Pin <= OneJunction1\p; + Link1\Hout -> Joint1\Hin; + Link1\Pin <= Joint1\Pout; + Link1\Pout => OneJunction1\p; + Link2\Hin <- Joint1\Hout; + Link2\Hout -> Splitter2\input; + Link2\Pin <= OneJunction3\p; + Link2\Pout => Joint1\Pin; + Link3\Pin <= OneJunction12\p; + Link3\Pout => OneJunction3\p; + Negate1\output -> stepper_control\setpoint; + Negate2\output -> stepper_control1\setpoint; + OneJunction1\p <= COM\p; + OneJunction11\p => ZeroJunction2\p; + OneJunction14\p => ZeroJunction3\p; + OneJunction17\p => C\p; + OneJunction3\p <= COM1\p; + OneJunction4\p => C4\p; + OneJunction4\p => R4\p; + OneJunction5\p => C3\p; + OneJunction5\p => R2\p; + OneJunction6\p => R3\p; + OneJunction7\p => R5\p; + OneJunction8\p => C5\p; + PowerMux\input_pos3 <= OneJunction6\p; + PowerMux\input_rot2 <= OneJunction5\p; + PowerMux1\input_pos3 <= OneJunction7\p; + PowerMux1\input_rot2 <= OneJunction4\p; + PowerMux1\output => Joint1\Pdiff; + 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; + Splitter2\output -> COM1\Hin; + Splitter2\output -> Link3\Hin; + stepper_control\output -> stepper_model\angle; + 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; + ZeroJunction3\p => PowerMux\input; + end; + implementation_end; +]]> + + + + + + + Experiment 1 + + + + 4.8 + + + + + + + + + stepper_model\phase_control\max_a + m/s2 + 0 + + + stepper_model1\phase_control\max_a + m/s2 + 0 + + + + + C1\state_initial + 3 + 1 + 0 0 0 + + + C2\state_initial + 3 + 1 + 0 0 0 + + + C3\state_initial + 2 + 1 + 0 0 + + + C4\state_initial + 2 + 1 + 0 0 + + + C5\state_initial + 0 + + + COM1\InertialTensor\state_initial + 6 + 1 + 0 0 0 0 0 0 + + + COM\InertialTensor\state_initial + 6 + 1 + 0 0 0 0 0 0 + + + C\state_initial + 0 + + + Joint1\Hmatrix\p_initial + 3 + 1 + 0 0 0 + + + Joint\Hmatrix\p_initial + 3 + 1 + 0 0 0 + + + stepper_control1\Position_control\state_initial + 0 + + + stepper_control1\Velocity_control\state_initial + 0 + + + stepper_control\Position_control\state_initial + 0 + + + stepper_control\Velocity_control\state_initial + 0 + + + stepper_model1\I1\state_initial + 0 + + + stepper_model1\I\state_initial + 0 + + + stepper_model1\RotorAngle\angle_initial + rad + 0 + + + stepper_model\I1\state_initial + 0 + + + stepper_model\I\state_initial + 0 + + + stepper_model\RotorAngle\angle_initial + rad + 0 + + + COM2\InertialTensor\p.e_initial + 6 + 1 + 0 0 0 0 0 0 + + + stepper_model1\I2\p.e_initial + 0 + + + stepper_model\I2\p.e_initial + 0 + + + + + + time + new_joint1\position[1] + new_joint1\position[2] + new_joint1\position[3] + new_joint1\R[1,3] + new_joint1\R[2,3] + new_joint1\R[3,3] + new_joint1\R[1,2] + new_joint1\R[2,2] + new_joint1\R[3,2] + 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true + MultipleRun + true + + UseEndValue + 0.001 + BroydonFletcherGoldfarbShanno + + + + + true + true + true + true + + + false + + + + + + + + + 1.0 + + + + + diff --git a/implementation/SCARA/05_stepper/stepper_103H5208_controller.emx b/implementation/SCARA/05_stepper/stepper_103H5208_controller.emx new file mode 100644 index 0000000..69af79e --- /dev/null +++ b/implementation/SCARA/05_stepper/stepper_103H5208_controller.emx @@ -0,0 +1,2038 @@ + + + + + + 4.8 +0 + False + C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\05_stepper\stepper_103H5208_controller.emx + 2020-7-22 15:25:39 + +'; + type Mainmodel + end; + implementation bg + submodels + 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; + I2 1024 272 + 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' 1024 272 color 0 18 bold; + end; + implementation eq +parameters + real i = 8e-5 {kg.m2}; +equations + state = int(p.e); + p.f = state / i; +implementation_end; + OneJunction 1024 336 + description ' + + 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' 1024 336 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + OneJunction1 936 392 + description ' + + 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' 936 392 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + R 896 392 + description ' + + 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' 896 392 color 0 18 bold; + end; + implementation eq +parameters + real r = 100; +equations + p.e = r * p.f; +implementation_end; + Square 432 336 + description ' + 4.0 +1 + False + Signal\Sources\WaveGenerator-Square.emx + 2009-3-5 16:05:33 +'; + type 'WaveGenerator-Square' + ports + signal out output; + end; + icon bg bottom + figures + rectangle 416.1 320 447.9 352 color 0 fill 15132390; + line 420.1 323.9 419.9 350.2 color 0 fill 0; + line 417.9 348.1 443.9 348.1 color 0 fill 0; + line 420.1 348.1 424 348.1 424 336 color 16711680 fill 0; + line 432 336 424 336 432 336 color 16711680 fill 0; + line 432 348.1 432 336 432 348.1 color 16711680 fill 0; + line 440 336 440 348.1 440 336 color 16711680 fill 0; + line 443.9 336.1 439.7 336.1 color 16711680 fill 0; + line 432 348.1 440 348.1 color 16711680 fill 0; + end; + implementation eq +parameters + real amplitude = 50; // amplitude of the wave + real omega = 2 {rad/s}; // angular frequency of the wave +variables + real hidden s, half; + boolean hidden change; +equations + "calculate at least 2 points per period + (just after the change in sign)" + half = pi / omega; + change = frequencyevent (half, 1e-14); + + "calculate the square wave" + s = sign (sin (omega * time)); + output = if( s == 0 ) then + amplitude + else + (amplitude / 2) * (s + 1) + end; +implementation_end; + stepper_control 584 336 + description ' + + 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; + stepper_model 768 336 + description ' + + 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; + 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 + C\p <= OneJunction1\p; + OneJunction\p => I2\p; + OneJunction1\p => R\p; + OneJunction1\p => ZeroJunction1\p; + Square\output -> stepper_control\setpoint; + stepper_control\output -> stepper_model\angle; + stepper_model\p => ZeroJunction1\p; + ZeroJunction1\p => OneJunction\p; + end; + implementation_end; +]]> + + + + + + + Experiment 1 + + + + 4.8 + + + + + + + + stepper_model\phase_control\max_a + m/s2 + 0 + + + + + C\state_initial + 0 + + + I2\state_initial + 0 + + + stepper_control\Position_control\state_initial + 0 + + + stepper_control\Velocity_control\state_initial + 0 + + + stepper_model\I1\state_initial + 0 + + + stepper_model\I2\state_initial + 0 + + + stepper_model\I\state_initial + 0 + + + stepper_model\RotorAngle\angle_initial + rad + 0 + + + + + + time + stepper_model\I2\p.e + stepper_model\I2\p.f + stepper_model\RotorAngle\angle + stepper_model\MSe_a\effort + stepper_model\MSe_b\effort + stepper_model\Submodel2\a + stepper_model\Submodel2\b + stepper_control\Integrate\input + stepper_control\Integrate\output + stepper_control\Integrate1\output + Square\output + stepper_control\PD\error + stepper_control\PD1\error + + + + 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 + false + false + + + 0.0 + 2.0 + true + 3 + + + + + + -0.025 + 0.025 + true + 2 + + + + -25.0 + 25.0 + true + 2 + + + + + + + + 3355111 + 1 + 3355111 + 0 + true + 1 + 1 + 1 + true + + true + time + + + true + stepper_model\I2\p.e + + + + 6076255 + 1 + 6076255 + 0 + true + 1 + 1 + 1 + true + + true + time + + + true + stepper_model\I2\p.f + + + + + true + 0 + 16777215 + + + + GraphPlot + + 2 + false + 16777215 + true + + + true + 15780518 + 12624260 + 0 + 10 + 10 + 10 + false + + 16777215 + true + 1 + model(2) + 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 + 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+ + + RungeKutta4 + 1.0e-4 + false + + + RungeKutta8 + false + 0.0 + false + 0.0 + 1.0e-6 + 1.0e-6 + 0.9 + 0.33 + 6.0 + 0.0 + false + 100000 + false + 1000 + + + RungeKuttaFehlberg + false + 0.0 + false + 0.0 + 1.0e-6 + 1.0e-6 + + + VodeAdams + false + 0.0 + false + 0.0 + 1.0e-6 + 1.0e-6 + false + true + + + BDFMethod + 1.0e-5 + 1.0e-5 + 1.0e-5 + 1.0e-5 + false + 0.0 + false + 0.0 + + + MeBDFiMethod + 1.0e-5 + 1.0e-5 + 1.0e-5 + 1.0e-5 + false + 0.0 + false + 0.0 + + 8 + + + + 20 + false + false + true + false + false + 1 + 0.0 + false + Optimization + true + Submodel3\RotorAngle\angle + Square\output + UseIntegralAbsolute + 0.001 + BroydonFletcherGoldfarbShanno + + + stepper_control\PD1\kp + 1.0 + 50.0 + Linear + Uniform + 15.0 + 3.75 + 1.0 + 10.0 + + + stepper_control\PD1\tauD + 1.0 + 50.0 + Linear + Uniform + 6.0 + 1.5 + 1.0 + 10.0 + + + + + true + true + true + true + + + false + + + + + + + + + 1.0 + + + + +