4.8 0 False C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\02_physics\scara_physics.emx 2020-7-14 13:32:16 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]; initialequations '; type Mainmodel end; implementation bg submodels Integrate 280 248 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 264 232 296 264 color 0 fill 15132390; text '∫' 280 248.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real initial = 0; // initial value equations output = int (input, initial); implementation_end; Integrate1 680 248 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 664 232 696 264 color 0 fill 15132390; text '∫' 680 248.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real initial = 0; // initial value equations output = int (input, initial); implementation_end; MSe 504 96 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' 504 96 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; MSe1 72 168 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' 72 168 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; OneJunction 304 304 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' 304 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction1 304 456 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' 304 456 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction10 704 168 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 704 168 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction11 864 448 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' 864 448 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction12 584 304 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' 584 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction3 312 168 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 312 168 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction5 152.3 304 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' 152.3 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction6 152 456 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' 152 456 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction7 704 304 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' 704 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction8 704 456 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' 704 456 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction9 864 304 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' 864 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; PlusMinus1 512 336 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 504 328 520 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; RTF 304 368 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 304 368 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; RTF1 512 304 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 512 304 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; RTF2 152 368 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 152 368 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; RTF3 704 368 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 704 368 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; RTF4 864 360 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 864 360 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; Splitter1 280 336 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 276.8 332.8 283.2 339.2 color -1 fill 0; ellipse 275.7 331.7 284.3 340.3 color -1; terminals input 280 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter2 680 336 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 676.8 332.8 683.2 339.2 color -1 fill 0; ellipse 675.7 331.7 684.3 340.3 color -1; terminals input 680 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; TF 384 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx 2020-7-14 13:20:33 '; type 'TF-2' ports power in p1; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'XTF' 384 224 color 0 18 bold; end; implementation eq parameters real x; real y; variables real r[2,1]; initialequations r = [-y; x]; equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; TF1 232.3 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx 2020-7-14 13:20:33 '; type 'TF-2' ports power in p1; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'XTF' 232.3 224 color 0 18 bold; end; implementation eq parameters real x; real y; variables real r[2,1]; initialequations r = [-y; x]; equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; TF2 784 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx 2020-7-14 13:20:33 '; type 'TF-2' ports power in p1; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'XTF' 784 224 color 0 18 bold; end; implementation eq parameters real x; real y; variables real r[2,1]; initialequations r = [-y; x]; equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; TF3 632.3 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx 2020-7-14 13:20:33 '; type 'TF-2' ports power in p1; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'XTF' 632.3 224 color 0 18 bold; end; implementation eq parameters real x; real y; variables real r[2,1]; initialequations r = [-y; x]; equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; ZeroJunction 384 304 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [2,1]; signal knot out effort [2,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 384 304 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction1 232.3 304 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [2,1]; signal knot out effort [2,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 232.3 304 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction2 784 304 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [2,1]; signal knot out effort [2,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 784 304 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction3 632.3 304 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [2,1]; signal knot out effort [2,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 632.3 304 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction4 504 168 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [1]; signal knot out effort [1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 504 168 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 Integrate\output -> Splitter1\input; Integrate1\output -> Splitter2\input; MSe1\p => OneJunction3\p; OneJunction\p => RTF\p1; OneJunction\p => ZeroJunction\p; OneJunction\p => ZeroJunction1\p; OneJunction10\flow -> Integrate1\input; OneJunction10\p => TF2\p1; OneJunction10\p => TF3\p1; OneJunction3\flow -> Integrate\input; OneJunction3\p => TF\p1; OneJunction3\p => TF1\p1; OneJunction3\p => ZeroJunction4\p; OneJunction5\p => RTF2\p1; OneJunction7\p => RTF3\p1; OneJunction7\p => ZeroJunction2\p; OneJunction7\p => ZeroJunction3\p; OneJunction9\p => RTF4\p1; PlusMinus1\output -> RTF1\angle; RTF\p2 => OneJunction1\p; RTF1\p2 => OneJunction12\p; RTF2\p2 => OneJunction6\p; RTF3\p2 => OneJunction8\p; RTF4\p2 => OneJunction11\p; Splitter1\output -> PlusMinus1\plus; Splitter1\output -> RTF\angle 280 344; Splitter1\output -> RTF2\angle 176 336; Splitter2\output -> PlusMinus1\minus; Splitter2\output -> RTF3\angle 680 344; Splitter2\output -> RTF4\angle 832 336; TF\p2 => ZeroJunction\p; TF1\p2 => ZeroJunction1\p; TF2\p2 => ZeroJunction2\p; TF3\p2 => ZeroJunction3\p; ZeroJunction\p => RTF1\p1; ZeroJunction1\p => OneJunction5\p; ZeroJunction2\p => OneJunction9\p; ZeroJunction3\p => OneJunction12\p; ZeroJunction4\p <= MSe\p; ZeroJunction4\p => OneJunction10\p; end; implementation_end; ]]> Experiment 1 4.8 time GraphPlot 1 false 16777215 true true 15780518 12624260 0 10 10 10 false 16777215 true 1 model true Arial 12 34 400 0 0 0 0 Arial 12 34 400 0 0 0 0 Arial 10 34 400 0 0 0 0 Arial 12 34 400 0 0 0 0 true true false 0.0 10.0 true 3 time 0.0 10.0 true 2 3355111 1 3355111 0 true 1 1 1 true true time true 0 16777215 1 true Window 1 0 1 Base 0.0 10.0 false false false false 0.1 1.0e-6 1.0e-7 false true Euler 0.01 false BackwardEuler 1.0e-5 1.0e-5 1.0e-5 1.0e-5 0.01 1.0 AdamsBashforth 0.01 false RungeKutta2 0.01 false RungeKutta4 0.01 false RungeKutta8 false 0.001 false 1.0 1.0e-6 1.0e-6 0.9 0.33 6.0 0.0 false 100000 false 1000 RungeKuttaFehlberg false 0.001 false 1.0 1.0e-6 1.0e-6 VodeAdams false 0.001 false 1.0 1.0e-6 1.0e-6 true true BDFMethod 1.0e-5 1.0e-5 1.0e-5 1.0e-5 false 0.001 false 1.0 MeBDFiMethod 1.0e-5 1.0e-5 1.0e-5 1.0e-5 false 0.001 false 1.0 8 10 false true true false true 0 0.0 true MultipleRun true UseEndValue 0.001 BroydonFletcherGoldfarbShanno true true true true false time