4.8 0 False C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\03_motor\motor_physics.emx 2020-7-18 12:37:59 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 Base1 720 680 description '4.81FalseTrueBond Graph\MR\center_of_mass.emx2020-7-17 15:37:54Baseparameters real I [3,1] = [7.583333333333335e-7; 3.645833333333334e-8; 7.364583333333335e-7] {N.m.s}; real m = 0.0035 {kg};'; type Submodel ports power out p [6,1]; signal in Hin [4,4]; power in p1 [6,1]; signal out Hout [4,4]; end; icon bg bottom figures rectangle 688 640 752 720 color 0 fill 255; text 'COM' 720 664 color 0; terminals p 688 656 fixed; Hin 688 704 fixed; p1 752 656 fixed; Hout 752 704 fixed; end; implementation bg submodels AdHi0 544 400 description ' 4.0 1 False Bond Graph\MTF.emx 2007-9-25 12:3:3 True '; 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 616 256 description ' 4.0 1 False Bond Graph\MGY.emx 2007-10-31 11:43:6 True '; type MGY ports power in p1 [6,1]; end; icon bg top figures text 'MGY' 616 256 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 616 400 description ' 4.0 1 False Bond Graph\Se.emx 2007-9-25 12:3:26 True '; type Se ports power out p [6,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'Se' 616 400 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 480 256 description ' 4.0 1 False Bond Graph\I.emx 2007-9-25 12:2:12 True '; type I ports power in p [6,1]; signal out state [6,1]; restrictions causality preferred in p; end; icon bg top figures text 'I' 480 256 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 472 496; plug p1 752 304; plug Hout 768 496; plug p 472 304; 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 544 304 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' 544 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Ta0k 544 256 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 top figures text '1' 544 256 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; end; connections AdHi0\p2 => Ta0j\p; Gravity\p => AdHi0\p1; Hin -> Splitter1\input; p <= Ta0j\p; p1 => Ta0j\p; Splitter1\output -> AdHi0\H; Splitter1\output -> Hout; Ta0j\p => Ta0k\p; Ta0k\p => EJS\p1; Ta0k\p => InertialTensor\p; end; parameterrelations InertialTensor\I = I; InterialTensor\m = m; EJS\I = I; EJS\m = m; AdHik\COMdim = COMdim; AdHik1\COMdim = COMdim; Hij\dim = dim; Gravity\m=m;parameterrelations_end; figures text 'b = current link (body) a = previous link (body) i = Body fixed frame, fixed in joint with previous link j = Body fixed frame, fixed in joint with next link k = Body fixed frame, principal inertial frame 0 = inertial system ' 288 280 color 0; implementation_end; Base2 912 680 description '4.81FalseTrueBond Graph\MR\center_of_mass.emx2020-7-17 15:37:54Baseparameters real I [3,1] = [0;0;0] {N.m.s}; real m = 0.015 {kg};'; type Submodel ports power out p [6,1]; signal in Hin [4,4]; power in p1 [6,1]; signal out Hout [4,4]; end; icon bg bottom figures rectangle 880 640 944 720 color 0 fill 255; text 'COM' 912 664 color 0; terminals p 880 656 fixed; Hin 880 704 fixed; p1 944 656 fixed; Hout 944 704 fixed; end; implementation bg submodels AdHi0 544 400 description ' 4.0 1 False Bond Graph\MTF.emx 2007-9-25 12:3:3 True '; 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 616 256 description ' 4.0 1 False Bond Graph\MGY.emx 2007-10-31 11:43:6 True '; type MGY ports power in p1 [6,1]; end; icon bg top figures text 'MGY' 616 256 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 616 400 description ' 4.0 1 False Bond Graph\Se.emx 2007-9-25 12:3:26 True '; type Se ports power out p [6,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'Se' 616 400 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 480 256 description ' 4.0 1 False Bond Graph\I.emx 2007-9-25 12:2:12 True '; type I ports power in p [6,1]; signal out state [6,1]; restrictions causality preferred in p; end; icon bg top figures text 'I' 480 256 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 472 496; plug p1 752 304; plug Hout 768 496; plug p 472 304; 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 544 304 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' 544 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Ta0k 544 256 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 top figures text '1' 544 256 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; end; connections AdHi0\p2 => Ta0j\p; Gravity\p => AdHi0\p1; Hin -> Splitter1\input; p <= Ta0j\p; p1 => Ta0j\p; Splitter1\output -> AdHi0\H; Splitter1\output -> Hout; Ta0j\p => Ta0k\p; Ta0k\p => EJS\p1; Ta0k\p => InertialTensor\p; end; parameterrelations InertialTensor\I = I; InterialTensor\m = m; EJS\I = I; EJS\m = m; AdHik\COMdim = COMdim; AdHik1\COMdim = COMdim; Hij\dim = dim; Gravity\m=m;parameterrelations_end; figures text 'b = current link (body) a = previous link (body) i = Body fixed frame, fixed in joint with previous link j = Body fixed frame, fixed in joint with next link k = Body fixed frame, principal inertial frame 0 = inertial system ' 288 280 color 0; implementation_end; Base3 368 680 description ' 4.8 1 False True Bond Graph\MR\center_of_mass.emx 2020-7-17 15:37:54 Base parameters real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s}; real m = 0.00455 {kg}; '; type Submodel ports power out p [6,1]; signal in Hin [4,4]; power in p1 [6,1]; signal out Hout [4,4]; end; icon bg bottom figures rectangle 336 640 400 720 color 0 fill 255; text 'COM' 368 664 color 0; terminals p 336 656 fixed; Hin 336 704 fixed; p1 400 656 fixed; Hout 400 704 fixed; end; implementation bg submodels AdHi0 544 400 description ' 4.0 1 False Bond Graph\MTF.emx 2007-9-25 12:3:3 True '; 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 616 256 description ' 4.0 1 False Bond Graph\MGY.emx 2007-10-31 11:43:6 True '; type MGY ports power in p1 [6,1]; end; icon bg top figures text 'MGY' 616 256 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 616 400 description ' 4.0 1 False Bond Graph\Se.emx 2007-9-25 12:3:26 True '; type Se ports power out p [6,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'Se' 616 400 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 480 256 description ' 4.0 1 False Bond Graph\I.emx 2007-9-25 12:2:12 True '; type I ports power in p [6,1]; signal out state [6,1]; restrictions causality preferred in p; end; icon bg top figures text 'I' 480 256 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 472 496; plug p1 752 304; plug Hout 768 496; plug p 472 304; 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 544 304 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' 544 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Ta0k 544 256 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 top figures text '1' 544 256 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; end; connections AdHi0\p2 => Ta0j\p; Gravity\p => AdHi0\p1; Hin -> Splitter1\input; p <= Ta0j\p; p1 => Ta0j\p; Splitter1\output -> AdHi0\H; Splitter1\output -> Hout; Ta0j\p => Ta0k\p; Ta0k\p => EJS\p1; Ta0k\p => InertialTensor\p; end; parameterrelations InertialTensor\I = I; InterialTensor\m = m; EJS\I = I; EJS\m = m; AdHik\COMdim = COMdim; AdHik1\COMdim = COMdim; Hij\dim = dim; Gravity\m=m;parameterrelations_end; figures text 'b = current link (body) a = previous link (body) i = Body fixed frame, fixed in joint with previous link j = Body fixed frame, fixed in joint with next link k = Body fixed frame, principal inertial frame 0 = inertial system ' 288 280 color 0; implementation_end; COM1 424 584 description '4.81parameters real mass = 1 {kg};'; type Submodel ports translation in p [2,1]; signal in mass {kg} ; end; icon bg ellipse bottom figures ellipse 416 576 432 592 color 0 fill 15132390; line 424 576 424 592 color 0 fill 15132390; line 416 584 432 584 color 0 fill 15132390; end; implementation bg submodels Gain 368 408 description '4.01False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 '; type Gain ports signal in input; signal out output [2,1]; end; icon bg bottom figures rectangle 352.1 392 383.9 424 color 0 fill 15132390; text 'K' 368 408 color 16711680 16 bold; end; implementation eq equations output = [0;-g_n] * input; implementation_end; I 248 520 description '4.01False Bond Graph\2D\I-2.emx 2007-9-25 12:7:37 '; type 'I-2' ports power in p [2,1]; signal out state [2,1]; signal in mass {kg} ; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 248 520 color 0 18 bold; end; implementation eq equations state = int(p.e); p.f = inverse ([mass,0;0,mass]) * state; implementation_end; plug p 304 468; plug mass 208 408; OneJunction2 304 520 description '4.01False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 '; knot OneJunction ports translation knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 304 520 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Sg 368 520 description '4.01False Bond Graph\2D\MSe-2.emx 2007-9-25 12:7:58 '; type 'MSe-2' ports power out p [2,1]; signal in effort [2,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 368 520 color 0 18 bold; end; implementation eq variables real flow[2]; equations p.e = effort; flow = p.f; implementation_end; Splitter1 248 408 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 244.8 404.8 251.2 411.2 color -1 fill 0; ellipse 243.7 403.7 252.3 412.3 color -1; terminals input 248 408 fixed; end; implementation eq equations collect (output) = input; implementation_end; end; connections Gain\output -> Sg\effort; I\p <= OneJunction2\p; mass -> Splitter1\input; p => OneJunction2\p; Sg\p => OneJunction2\p; Splitter1\output -> Gain\input; Splitter1\output -> I\mass; end; implementation_end; COM2 824 584 description '4.81parameters real mass = 1 {kg};'; type Submodel ports power in p [2,1]; signal in mass {kg} ; end; icon bg ellipse figures ellipse 816 576 832 592 color 0 fill 15132390; line 824 576 824 592 color 0 fill 15132390; line 816 584 832 584 color 0 fill 15132390; end; implementation bg submodels Gain 368 408 description '4.01False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 '; type Gain ports signal in input; signal out output [2,1]; end; icon bg bottom figures rectangle 352.1 392 383.9 424 color 0 fill 15132390; text 'K' 368 408 color 16711680 16 bold; end; implementation eq equations output = [0;-g_n] * input; implementation_end; I 248 520 description '4.01False Bond Graph\2D\I-2.emx 2007-9-25 12:7:37 '; type 'I-2' ports power in p [2,1]; signal out state [2,1]; signal in mass {kg} ; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 248 520 color 0 18 bold; end; implementation eq equations state = int(p.e); p.f = inverse ([mass,0;0,mass]) * state; implementation_end; plug p 304 468; plug mass 208 408; OneJunction2 304 520 description '4.01False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 '; 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' 304 520 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Sg 368 520 description '4.01False Bond Graph\2D\MSe-2.emx 2007-9-25 12:7:58 '; type 'MSe-2' ports power out p [2,1]; signal in effort [2,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 368 520 color 0 18 bold; end; implementation eq variables real flow[2]; equations p.e = effort; flow = p.f; implementation_end; Splitter1 248 408 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 244.8 404.8 251.2 411.2 color -1 fill 0; ellipse 243.7 403.7 252.3 412.3 color -1; terminals input 248 408 fixed; end; implementation eq equations collect (output) = input; implementation_end; end; connections Gain\output -> Sg\effort; I\p <= OneJunction2\p; mass -> Splitter1\input; p => OneJunction2\p; Sg\p => OneJunction2\p; Splitter1\output -> Gain\input; Splitter1\output -> I\mass; end; implementation_end; COM3 984 584 description '4.81parameters real mass = 1 {kg};'; type Submodel ports power in p [2,1]; signal in mass {kg} ; end; icon bg ellipse figures ellipse 976 576 992 592 color 0 fill 15132390; line 984 576 984 592 color 0 fill 15132390; line 976 584 992 584 color 0 fill 15132390; end; implementation bg submodels Gain 368 408 description '4.01False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 '; type Gain ports signal in input; signal out output [2,1]; end; icon bg bottom figures rectangle 352.1 392 383.9 424 color 0 fill 15132390; text 'K' 368 408 color 16711680 16 bold; end; implementation eq equations output = [0;-g_n] * input; implementation_end; I 248 520 description '4.01False Bond Graph\2D\I-2.emx 2007-9-25 12:7:37 '; type 'I-2' ports power in p [2,1]; signal out state [2,1]; signal in mass {kg} ; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 248 520 color 0 18 bold; end; implementation eq equations state = int(p.e); p.f = inverse ([mass,0;0,mass]) * state; implementation_end; plug p 304 468; plug mass 208 408; OneJunction2 304 520 description '4.01False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 '; 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' 304 520 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Sg 368 520 description '4.01False Bond Graph\2D\MSe-2.emx 2007-9-25 12:7:58 '; type 'MSe-2' ports power out p [2,1]; signal in effort [2,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 368 520 color 0 18 bold; end; implementation eq variables real flow[2]; equations p.e = effort; flow = p.f; implementation_end; Splitter1 248 408 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 244.8 404.8 251.2 411.2 color -1 fill 0; ellipse 243.7 403.7 252.3 412.3 color -1; terminals input 248 408 fixed; end; implementation eq equations collect (output) = input; implementation_end; end; connections Gain\output -> Sg\effort; I\p <= OneJunction2\p; mass -> Splitter1\input; p => OneJunction2\p; Sg\p => OneJunction2\p; Splitter1\output -> Gain\input; Splitter1\output -> I\mass; end; implementation_end; Constant 920 584 description '4.01False Signal\Sources\Constant.emx 2007-10-19 14:48:44 '; type Constant ports signal out output; end; icon bg bottom figures rectangle 904.1 568 935.9 600 color 0 fill 15132390; line 908.9 579.6 930.9 579.6 color 16711680 width 2; line 906.2 590.7 931.9 590.7 color 0; line 908.5 574.7 908.5 593 color 0; end; implementation eq parameters real C = 0.015 {kg}; // output value equations output = C; implementation_end; I 432 176 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; signal in i; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 432 176 color 0 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; I1 824 176 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; signal in i; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 824 176 color 0 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; Integrate 1040 512 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input [2,1]; signal out output [2,1]; end; icon bg bottom figures rectangle 1024 496 1056 528 color 0 fill 15132390; text '∫' 1040 512.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real initial[2] = [0.115;0]; // initial value equations output = int (input, initial); implementation_end; Integrate1 712 192 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 696 176 728 208 color 0 fill 15132390; text '∫' 712 192.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real initial = 0; // initial value equations output = int (input, initial); implementation_end; inverse_kinematics 304 32 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} ; 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. real angle_sum {rad}; // test angle 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; angle2 = angle1 - pi * to_rad + c; implementation_end; inverse_kinematics1 392 864 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. real angle_sum {rad}; // test angle 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; Joint1 208.1 678 description ' 4.8 1 False True Bond Graph\MR\joint-v2.emx 2020-7-17 16:52:13 '; type 'Submodel-rotz' ports power out p [6,1]; power in p1; power in p2 [6,1]; signal in Hin [4,4]; signal out Hout [4,4]; signal out q; end; icon bg bottom figures rectangle 176.2 640 240 716 color 0 fill 14745599; text 'Joint' 208 672 color 0; terminals p 176 656 fixed; p1 208 640 fixed; p2 240 656 fixed; Hin 176 704 fixed; Hout 240 704 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; JointType 240 312 description '4.81FalseTrueparameters real joint = 1; real initial = 0;'; type Submodel ports mechanical in p1; signal out output [4,4]; power out p2 [6,1]; signal out q; end; implementation bg submodels Integrate 320 272 description ' 4.0 1 False Signal\Block Diagram\Integrate.emx 2007-9-26 12:3:23 True '; type Integrate ports signal in input; signal out output [4,4]; signal out q; end; icon bg figures rectangle 304 256 336 288 color 0 fill 15132390; text 'ò' 320 269.3 color 16711680 'SymbolProp BT' 21 symbol; end; implementation eq parameters real global joint; real global initial; variables real R[3,3]; real p[3]; real qa[6]; real temp [4,4]; initialequations qa = 0; equations -q = int(input,initial); qa[joint] = q; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',qa); output = homogeneous(R,qa[4:6]);implementation_end; plug p1 240 188; plug output 320 416; plug p2 240 412; plug q 320 184; OneJunction2 240 271.9 description ' 4.2 1 False Bond Graph\FlowSensor.emx 2011-11-29 15:50:53 '; knot FlowSensor ports mechanical knot in p1 [1]; mechanical knot out p2 [1]; signal knot out flow [1]; restrictions causality constraint not_equal p1 p2; end; icon bg ellipse figures ellipse 233.1 264.8 246.9 279.1 color 0 fill 16777215; text 'f' 240 271.2 color 0; end; implementation eq equations p2.f = p1.f; p1.e = p2.e; flow = p1.f; implementation_end; uTbai 240 312 description ' 4.0 1 False Bond Graph\TF.emx 2007-9-25 12:4:2 True '; type TF ports power in p1; power out p2 [6,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p1; causality fixed out p2; parameters real Cconstraint = 1.0e-4; real Rconstraint = 1000.0; end; icon bg left figures text 'TF' 240 312 color 0 18 bold; end; implementation eq parameters real global joint; variables real i; real state[6]; equations state = int(p2.f); for i = 1 to 6 do if i == joint then p1.f = p2.f[i]; p2.e[i] = p1.e; else p2.e[i] = (Rconstraint*-p2.f[i] + -state[i]/Cconstraint); end; end; implementation_end; end; connections Integrate\output -> output; Integrate\q -> q; OneJunction2\flow -> Integrate\input; OneJunction2\p2 => uTbai\p1; p1 => OneJunction2\p1; uTbai\p2 => p2; end; 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 p 112 424; plug p1 240 40; plug p2 496 424; plug Hin 112 576; plug Hout 504 576; plug q 112 312; 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 240 424 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' 240 424 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 Hin -> MatrixMul\input2; JointType\output -> Splitter2\input; JointType\p1 <= p1; JointType\p2 => Wbai\p; JointType\q -> q; MatrixMul\output -> Hout; p <= Wbai\p; p2 => AdHji\p2; Splitter2\output -> AdHji\H 424 312; Splitter2\output -> MatrixMul\input1; Wbai\p <= AdHji\p1; end; parameterrelations EndstopMin\Rendstop = Rendstop; EndstopMin\Cendstop = Cendstop; EndstopMin\InitialPos = InitialPos; EndstopMin\EndstopPos = MinEndstopPos; EndstopMax\Rendstop = Rendstop; EndstopMax\Cendstop = Cendstop; EndstopMax\InitialPos = InitialPos; EndstopMax\EndstopPos = MaxEndstopPos; Rjoint\Rjoint= Rjoint; Integrate\init = InitialPos; uTbai\Rconstraint = Rconstraint; uTbai\Cconstraint = Cconstraint; parameterrelations_end; figures text 'b = next link (body) a = previous link (body) i = Frame fixed in previous body, fixed in joint j = Frame fixed in next body, fixed in joint ' 680 488 color 0; implementation_end; Joint2 560.1 678 description ' 4.8 1 False True Bond Graph\MR\joint-v2.emx 2020-7-17 16:52:13 '; type 'Submodel-rotz' ports power out p [6,1]; power in p1; power in p2 [6,1]; signal in Hin [4,4]; signal out Hout [4,4]; signal out q; end; icon bg bottom figures rectangle 528.2 640 592 716 color 0 fill 14745599; text 'Joint' 560 672 color 0; terminals p 528 656 fixed; p1 560 640 fixed; p2 592 656 fixed; Hin 528 704 fixed; Hout 592 704 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; JointType 240 312 description '4.81FalseTrueparameters real joint = 1; real initial = 0;'; type Submodel ports mechanical in p1; signal out output [4,4]; power out p2 [6,1]; signal out q; end; implementation bg submodels Integrate 320 272 description ' 4.0 1 False Signal\Block Diagram\Integrate.emx 2007-9-26 12:3:23 True '; type Integrate ports signal in input; signal out output [4,4]; signal out q; end; icon bg figures rectangle 304 256 336 288 color 0 fill 15132390; text 'ò' 320 269.3 color 16711680 'SymbolProp BT' 21 symbol; end; implementation eq parameters real global joint; real global initial; variables real R[3,3]; real p[3]; real qa[6]; real temp [4,4]; initialequations qa = 0; equations -q = int(input,initial); qa[joint] = q; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',qa); output = homogeneous(R,qa[4:6]);implementation_end; plug p1 240 188; plug output 320 416; plug p2 240 412; plug q 320 184; OneJunction2 240 271.9 description ' 4.2 1 False Bond Graph\FlowSensor.emx 2011-11-29 15:50:53 '; knot FlowSensor ports mechanical knot in p1 [1]; mechanical knot out p2 [1]; signal knot out flow [1]; restrictions causality constraint not_equal p1 p2; end; icon bg ellipse figures ellipse 233.1 264.8 246.9 279.1 color 0 fill 16777215; text 'f' 240 271.2 color 0; end; implementation eq equations p2.f = p1.f; p1.e = p2.e; flow = p1.f; implementation_end; uTbai 240 328 description ' 4.0 1 False Bond Graph\TF.emx 2007-9-25 12:4:2 True '; type TF ports power in p1; power out p2 [6,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p1; causality fixed out p2; parameters real Cconstraint = 1.0e-4; real Rconstraint = 1000.0; end; icon bg left figures text 'TF' 240 328 color 0 18 bold; end; implementation eq parameters real global joint; variables real i; real state[6]; equations state = int(p2.f); for i = 1 to 6 do if i == joint then p1.f = p2.f[i]; p2.e[i] = p1.e; else p2.e[i] = (Rconstraint*-p2.f[i] + -state[i]/Cconstraint); end; end; implementation_end; end; connections Integrate\output -> output; Integrate\q -> q; OneJunction2\flow -> Integrate\input; OneJunction2\p2 => uTbai\p1; p1 => OneJunction2\p1; uTbai\p2 => p2; end; 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 p 112 424; plug p1 240 40; plug p2 496 424; plug Hin 112 576; plug Hout 504 576; plug q 112 312; 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 240 424 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' 240 424 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 Hin -> MatrixMul\input2; JointType\output -> Splitter2\input; JointType\p1 <= p1; JointType\p2 => Wbai\p; JointType\q -> q; MatrixMul\output -> Hout; p <= Wbai\p; p2 => AdHji\p2; Splitter2\output -> AdHji\H 424 312; Splitter2\output -> MatrixMul\input1; Wbai\p <= AdHji\p1; end; parameterrelations EndstopMin\Rendstop = Rendstop; EndstopMin\Cendstop = Cendstop; EndstopMin\InitialPos = InitialPos; EndstopMin\EndstopPos = MinEndstopPos; EndstopMax\Rendstop = Rendstop; EndstopMax\Cendstop = Cendstop; EndstopMax\InitialPos = InitialPos; EndstopMax\EndstopPos = MaxEndstopPos; Rjoint\Rjoint= Rjoint; Integrate\init = InitialPos; uTbai\Rconstraint = Rconstraint; uTbai\Cconstraint = Cconstraint; parameterrelations_end; figures text 'b = next link (body) a = previous link (body) i = Frame fixed in previous body, fixed in joint j = Frame fixed in next body, fixed in joint ' 680 488 color 0; implementation_end; Link 288 680 description ' 4.8 Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx 1 False 2020-7-16 17:44:32 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 256 640 320 720 color 0 fill 8454041; text 'name' 288 664 color 0 'Clear Sans' 16; terminals Hin 256 704 fixed; Hout 320 704 fixed; Pin 320 656 fixed; Pout 256 656 fixed; end; implementation eq parameters real offset[3]= [0; 0.0325; 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; Link1 480 680 description ' 4.8 Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx 1 False 2020-7-16 17:44:32 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 448 640 512 720 color 0 fill 8454041; text 'name' 480 664 color 0 'Clear Sans' 16; terminals Hin 448 704 fixed; Hout 512 704 fixed; Pin 512 656 fixed; Pout 448 656 fixed; end; implementation eq parameters real offset[3]= [0; 0.0325; 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; Link2 640 680 description ' 4.8 Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx 1 False 2020-7-16 17:44:32 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 608 640 672 720 color 0 fill 8454041; text 'name' 640 664 color 0 'Clear Sans' 16; terminals Hin 608 704 fixed; Hout 672 704 fixed; Pin 672 656 fixed; Pout 608 656 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 832 680 description ' 4.8 Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx 1 False 2020-7-16 17:44:32 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 800 640 864 720 color 0 fill 8454041; text 'name' 832 664 color 0 'Clear Sans' 16; terminals Hin 800 704 fixed; Hout 864 704 fixed; Pin 864 656 fixed; Pout 800 656 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; MXTF 352.3 288 description ' 4.8 1 False Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx 2020-7-14 17:06:13 True '; type 'TF-2' ports power in p1; power out p2 [2,1]; signal in p [2,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p2; causality fixed out p1; end; icon bg bottom figures text 'MXTF' 352.3 288 color 0 18 bold; end; implementation eq variables real r[2]; equations r = [-p[2];p[1]]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f;implementation_end; Negate1 224 800 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 208 784 240 816 color 0 fill 15132390; text '-1' 224 800 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; Negate2 592 800 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 576 784 608 816 color 0 fill 15132390; text '-1' 592 800 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; new_joint1 424 768 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]; signal out output; 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 776 768 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]; signal out output; 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 1040 704 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]; signal out output; 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; OneJunction 424 368 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' 424 368 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction1 424 520 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports translation knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 424 520 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction10 824 232 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' 824 232 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction11 984 512 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' 984 512 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction12 704 368 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' 704 368 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction16 624 200 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' 624 200 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction17 560 752 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' 560 752 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction18 248 208 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' 248 208 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction2 128 656 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' 128 656 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction3 432 232 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' 432 232 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction5 272.3 368 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' 272.3 368 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction6 272 520 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' 272 520 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction7 824 368 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' 824 368 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction8 824 520 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' 824 520 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction9 984 368 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' 984 368 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; PID 248 88 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PID.emx 2008-1-17 10:49:30 '; type PID ports signal in error; signal out output; end; icon bg bottom figures rectangle 232 72 264 104 color 0 fill 15132390; text 'PID' 248 87.5 color 16711680 18 bold; end; implementation eq parameters real kp = 0.05 {}; // Proportional gain real tauD = 1.0 {s}; // Derivative time constant: tauD > 0 real beta = 0.001 {}; // Tameness constant: 0 < beta << 1 real tauI = 0.05{s}; // Integral time constant: tauI > 0 variables real pdout, pdrate, pdstate; real pirate, pistate; equations pdrate = (kp * error - pdout) / (beta * tauD); pdstate = int (pdrate); pdout = pdstate + (kp * error / beta); pirate = pdout / tauI; pistate = int (pirate); output = pistate + pdout; implementation_end; PID1 624 88 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PID.emx 2008-1-17 10:49:30 '; type PID ports signal in error; signal out output; end; icon bg bottom figures rectangle 608 72 640 104 color 0 fill 15132390; text 'PID' 624 87.5 color 16711680 18 bold; end; implementation eq parameters real kp = 0.02 {}; // Proportional gain real tauD = 1.0 {s}; // Derivative time constant: tauD > 0 real beta = 0.001 {}; // Tameness constant: 0 < beta << 1 real tauI = 0.05 {s}; // Integral time constant: tauI > 0 variables real pdout, pdrate, pdstate; real pirate, pistate; equations pdrate = (kp * error - pdout) / (beta * tauD); pdstate = int (pdrate); pdout = pdstate + (kp * error / beta); pirate = pdout / tauI; pistate = int (pirate); output = pistate + pdout; implementation_end; PID2 280 800 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PID.emx 2008-1-17 10:49:30 '; type PID ports signal in error; signal out output; end; icon bg bottom figures rectangle 264 784 296 816 color 0 fill 15132390; text 'PID' 280 799.5 color 16711680 18 bold; end; implementation eq parameters real kp = 0.05 {}; // Proportional gain real tauD = 1.0 {s}; // Derivative time constant: tauD > 0 real beta = 0.001 {}; // Tameness constant: 0 < beta << 1 real tauI = 0.05{s}; // Integral time constant: tauI > 0 variables real pdout, pdrate, pdstate; real pirate, pistate; equations pdrate = (kp * error - pdout) / (beta * tauD); pdstate = int (pdrate); pdout = pdstate + (kp * error / beta); pirate = pdout / tauI; pistate = int (pirate); output = pistate + pdout; implementation_end; PID3 640 800 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PID.emx 2008-1-17 10:49:30 '; type PID ports signal in error; signal out output; end; icon bg bottom figures rectangle 624 784 656 816 color 0 fill 15132390; text 'PID' 640 799.5 color 16711680 18 bold; end; implementation eq parameters real kp = 0.02 {}; // Proportional gain real tauD = 1.0 {s}; // Derivative time constant: tauD > 0 real beta = 0.001 {}; // Tameness constant: 0 < beta << 1 real tauI = 0.05 {s}; // Integral time constant: tauI > 0 variables real pdout, pdrate, pdstate; real pirate, pistate; equations pdrate = (kp * error - pdout) / (beta * tauD); pdstate = int (pdrate); pdout = pdstate + (kp * error / beta); pirate = pdout / tauI; pistate = int (pirate); output = pistate + pdout; implementation_end; PlusMinus1 584 400 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 576 392 592 408 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus2 304 88 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 296 80 312 96 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus3 552 88 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 544 80 560 96 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus4 328 800 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 320 792 336 808 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus5 688 800 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 680 792 696 808 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; R 240 752 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' 240 752 color 0 18 bold; end; implementation eq parameters real r = 0.01; equations p.e = r * p.f; implementation_end; R1 592 752 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' 592 752 color 0 18 bold; end; implementation eq parameters real r = 0.01; equations p.e = r * p.f; implementation_end; R2 200 208 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' 200 208 color 0 18 bold; end; implementation eq parameters real r = 0.01; equations p.e = r * p.f; implementation_end; R3 584 200 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' 584 200 color 0 18 bold; end; implementation eq parameters real r = 0.01; equations p.e = r * p.f; implementation_end; rectanglepath 64 32 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}; real test1, test2, test3; 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; RTF 424 456 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' 424 456 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 584 368 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' 584 368 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; RTF2 272 432 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' 272 432 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 824 432 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' 824 432 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 984 424 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' 984 424 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; Se 984 656 description ' 4.2 1 False Bond Graph\Se.emx 2011-11-29 16:36:49 '; type Se ports power out p [6,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'Se' 984 656 color 0 18 bold; end; implementation eq parameters real effort[6] = 0; variables real flow[6]; equations p.e = effort; flow = p.f; implementation_end; Sf 192 520 description '4.01False Bond Graph\2D\Sf-2.emx 2007-9-25 12:7:5 '; type 'Sf-2' ports power out p [2,1]; restrictions causality fixed in p; end; icon bg bottom figures text 'Sf' 192 520 color 0 18 bold; end; implementation eq parameters real flow[2,1] = [0.0; 0.0]; variables real effort [2]; equations p.f = flow; effort = p.e; implementation_end; Sf1 152 232 description ' 4.2 1 False Bond Graph\Sf.emx 2011-11-29 16:38:03 '; type Sf ports power out p; restrictions causality fixed in p; end; icon bg bottom figures text 'Sf' 152 232 color 0 18 bold; end; implementation eq parameters real flow = 0; variables real effort; equations p.f = flow; effort = p.e; implementation_end; Sf2 72 656 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' 72 656 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; Sine 440 24 description '4.01False Signal\Sources\WaveGenerator-Sine.emx 2007-9-27 16:12:6 '; type 'WaveGenerator-Sine' ports signal out output; end; icon bg bottom figures group rectangle 424 8 456 40 color 0 fill 15132390; line 428.5 14.4 428.5 33.6 color 0; line 454.1 24 425.3 24 color 0; spline 428.9 23.9 432.1 15.8 435.3 23.9 438.6 32 441.7 23.9 444.8 15.8 448.1 23.9 451.6 32.2 454.8 24.2 color 16711680; end; end; implementation eq parameters real amplitude = 1.0; // amplitude of the wave real omega = 1.0 {rad/s}; // angular frequency of the wave variables boolean hidden change; real hidden half; equations "calculate at least 2 points per cycle to get a triangle" half = pi / omega; change = frequencyevent (half, half / 2); "calculate the sine wave" output = amplitude * sin ( omega * time); implementation_end; Splitter1 384 400 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 380.8 396.8 387.2 403.2 color -1 fill 0; ellipse 379.7 395.7 388.3 404.3 color -1; terminals input 384 400 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter2 800 400 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 796.8 396.8 803.2 403.2 color -1 fill 0; ellipse 795.7 395.7 804.3 404.3 color -1; terminals input 800 400 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter3 304 400 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 300.8 396.8 307.2 403.2 color -1 fill 0; ellipse 299.7 395.7 308.3 404.3 color -1; terminals input 304 400 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter4 632 400 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 628.8 396.8 635.2 403.2 color -1 fill 0; ellipse 627.7 395.7 636.3 404.3 color -1; terminals input 632 400 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter5 776 704 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 772.8 700.8 779.2 707.2 color -1 fill 0; ellipse 771.7 699.7 780.3 708.3 color -1; terminals input 776 704 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter6 424 704 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 420.8 700.8 427.2 707.2 color -1 fill 0; ellipse 419.7 699.7 428.3 708.3 color -1; terminals input 424 704 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter7 160 32 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [2,1]; signal knot in input [2,1]; end; icon bg ellipse figures ellipse 156.8 28.8 163.2 35.2 color -1 fill 0; ellipse 155.7 27.7 164.3 36.3 color -1; terminals input 160 32 fixed; end; implementation eq equations collect (output) = input; implementation_end; Submodel1 248 168 description ' 4.8 1 '; type Submodel ports signal in input; power out p2; end; implementation bg submodels Gain1 552 88 description '4.01False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 '; type Gain ports signal in input; signal out output; end; icon bg bottom figures rectangle 536.1 72 567.9 104 color 0 fill 15132390; text 'K' 552 88 color 16711680 16 bold; end; implementation eq parameters real K = 12.0; // gain equations output = K * input; implementation_end; GY 624 184 description ' 4.2 1 False Bond Graph\GY.emx 2011-11-29 15:53:45 '; type GY ports power in p1; power out p2; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'GY' 624 184 color 0 18 bold; end; implementation eq parameters real r = 0.127; equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MSe 624 88 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' 624 88 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; plug input 424 88; plug p2 624 220; OneJunction2 624 136 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' 624 136 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R 664 136 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' 664 136 color 0 18 bold; end; implementation eq parameters real r = 0.08; equations p.e = r * p.f; implementation_end; SignalLimiter2 488 88 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 472 72 504 104 color 0 fill 15132390; line 487.9 76.5 487.9 101 color 0 fill 15132390; line 475 88.2 500.7 88.2 color 0 fill 15132390; spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2; spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2; spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real maximum = 1; real minimum = -1; equations output = limit (input, minimum, maximum); implementation_end; end; connections Gain1\output -> MSe\effort; GY\p2 => p2; input -> SignalLimiter2\input; MSe\p => OneJunction2\p; OneJunction2\p => GY\p1; R\p <= OneJunction2\p; SignalLimiter2\output -> Gain1\input; end; implementation_end; Submodel2 144 800 description ' 4.8 1 '; type Submodel ports signal in input; power out p2; end; implementation bg submodels Gain1 552 88 description '4.01False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 '; type Gain ports signal in input; signal out output; end; icon bg bottom figures rectangle 536.1 72 567.9 104 color 0 fill 15132390; text 'K' 552 88 color 16711680 16 bold; end; implementation eq parameters real K = 12.0; // gain equations output = K * input; implementation_end; GY 624 184 description ' 4.2 1 False Bond Graph\GY.emx 2011-11-29 15:53:45 '; type GY ports power in p1; power out p2; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'GY' 624 184 color 0 18 bold; end; implementation eq parameters real r = 0.127; equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MSe 624 88 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' 624 88 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; plug input 424 88; plug p2 624 220; OneJunction2 624 136 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' 624 136 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R 664 136 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' 664 136 color 0 18 bold; end; implementation eq parameters real r = 0.08; equations p.e = r * p.f; implementation_end; SignalLimiter2 488 88 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 472 72 504 104 color 0 fill 15132390; line 487.9 76.5 487.9 101 color 0 fill 15132390; line 475 88.2 500.7 88.2 color 0 fill 15132390; spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2; spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2; spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real maximum = 1; real minimum = -1; equations output = limit (input, minimum, maximum); implementation_end; end; connections Gain1\output -> MSe\effort; GY\p2 => p2; input -> SignalLimiter2\input; MSe\p => OneJunction2\p; OneJunction2\p => GY\p1; R\p <= OneJunction2\p; SignalLimiter2\output -> Gain1\input; end; implementation_end; Submodel3 352 480 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in angle_velocity {rad/s} ; signal out angle {rad} ; signal in velocity [2,1] {m/s} ; signal out position [2,1] {m} ; signal out mass {kg} ; signal out angular_momentum {N.m.s} ; signal out joint1 [2,1]; signal out joint2 [2,1]; end; implementation eq /* Equation Submodel Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ). */ parameters real density = 1400 {kg/m3}; real dimension[3] = [0.005;0.065;0.01] {m}; real initial_position[2] = [0.0325;0] {m}; real initial_angle = 0 {rad}; variables real body_angle[3]; real body_position[3]; real body_size[3]; real moment[3]; initialequations mass = dimension[1] * dimension[2] * dimension[3] * density; moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2); moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2); moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2); angular_momentum = moment[1]; equations angle = int(angle_velocity,initial_angle); body_angle = [angle;0;0]; position = int(velocity,initial_position); body_position = [0; position[1];position[2]]; joint1=[-dimension[2]/2;0]; joint2=[dimension[2]/2;0]; implementation_end; Submodel4 744 480 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in angle_velocity {rad/s} ; signal out angle {rad} ; signal in velocity [2,1] {m/s} ; signal out position [2,1] {m} ; signal out mass {kg} ; signal out angular_momentum {N.m.s} ; signal out joint1 [2,1]; signal out joint2 [2,1]; end; icon bg figures rectangle 704 464 784 496 color 0 fill 15132390; text 'name' 744 480 color 0 16; end; implementation eq /* Equation Submodel Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ). */ parameters real density = 1400 {kg/m3}; real dimension[3] = [0.005;0.05;0.01] {m}; real initial_position[2] = [0.09;0.0] {m}; real initial_angle = 0.0 {rad}; variables real body_angle[3]; real body_position[3]; real body_size[3]; real moment[3]; initialequations mass = dimension[1] * dimension[2] * dimension[3] * density; moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2); moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2); moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2); angular_momentum = moment[1]; equations angle = int(angle_velocity,initial_angle); body_angle = [angle;0;0]; position = int(velocity,initial_position); body_position = [0; position[1];position[2]]; joint1=[-dimension[2]/2;0]; joint2=[dimension[2]/2;0];implementation_end; Submodel5 520 800 description ' 4.8 1 '; type Submodel ports signal in input; power out p2; end; implementation bg submodels Gain1 552 88 description '4.01False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 '; type Gain ports signal in input; signal out output; end; icon bg bottom figures rectangle 536.1 72 567.9 104 color 0 fill 15132390; text 'K' 552 88 color 16711680 16 bold; end; implementation eq parameters real K = 12.0; // gain equations output = K * input; implementation_end; GY 624 184 description ' 4.2 1 False Bond Graph\GY.emx 2011-11-29 15:53:45 '; type GY ports power in p1; power out p2; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'GY' 624 184 color 0 18 bold; end; implementation eq parameters real r = 0.127; equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MSe 624 88 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' 624 88 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; plug input 424 88; plug p2 624 220; OneJunction2 624 136 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' 624 136 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R 664 136 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' 664 136 color 0 18 bold; end; implementation eq parameters real r = 0.08; equations p.e = r * p.f; implementation_end; SignalLimiter2 488 88 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 472 72 504 104 color 0 fill 15132390; line 487.9 76.5 487.9 101 color 0 fill 15132390; line 475 88.2 500.7 88.2 color 0 fill 15132390; spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2; spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2; spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real maximum = 1; real minimum = -1; equations output = limit (input, minimum, maximum); implementation_end; end; connections Gain1\output -> MSe\effort; GY\p2 => p2; input -> SignalLimiter2\input; MSe\p => OneJunction2\p; OneJunction2\p => GY\p1; R\p <= OneJunction2\p; SignalLimiter2\output -> Gain1\input; end; implementation_end; Submodel8 624 160 description ' 4.8 1 '; type Submodel ports signal in input; power out p2; end; implementation bg submodels Gain1 552 88 description '4.01False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 '; type Gain ports signal in input; signal out output; end; icon bg bottom figures rectangle 536.1 72 567.9 104 color 0 fill 15132390; text 'K' 552 88 color 16711680 16 bold; end; implementation eq parameters real K = 12.0; // gain equations output = K * input; implementation_end; GY 624 192 description ' 4.2 1 False Bond Graph\GY.emx 2011-11-29 15:53:45 '; type GY ports power in p1; power out p2; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'GY' 624 192 color 0 18 bold; end; implementation eq parameters real r = 0.127; equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MSe 624 88 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' 624 88 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; plug input 424 88; plug p2 624 280; OneJunction2 624 144 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' 624 144 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R 672 144 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' 672 144 color 0 18 bold; end; implementation eq parameters real r = 0.08; equations p.e = r * p.f; implementation_end; SignalLimiter2 488 88 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 472 72 504 104 color 0 fill 15132390; line 487.9 76.5 487.9 101 color 0 fill 15132390; line 475 88.2 500.7 88.2 color 0 fill 15132390; spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2; spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2; spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real maximum = 1; real minimum = -1; equations output = limit (input, minimum, maximum); implementation_end; end; connections Gain1\output -> MSe\effort; GY\p2 => p2; input -> SignalLimiter2\input; MSe\p => OneJunction2\p; OneJunction2\p => GY\p1; R\p <= OneJunction2\p; SignalLimiter2\output -> Gain1\input; end; implementation_end; TF 504 288 description ' 4.8 1 False Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx 2020-7-14 16:54:28 True '; type 'TF-2' ports power in p1; power out p2 [2,1]; signal in p [2,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p2; causality fixed out p1; end; icon bg bottom figures text 'MXTF' 504 288 color 0 18 bold; end; implementation eq variables real r[2]; equations r = [-p[2];p[1]]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f;implementation_end; TF2 904 288 description ' 4.8 1 False Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx 2020-7-14 17:06:13 True '; type 'TF-2' ports power in p1; power out p2 [2,1]; signal in p [2,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p2; causality fixed out p1; end; icon bg bottom figures text 'MXTF' 904 288 color 0 18 bold; end; implementation eq variables real r[2]; equations r = [-p[2];p[1]]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f;implementation_end; TF3 808 288 description ' 4.8 1 False Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx 2020-7-14 16:54:28 True '; type 'TF-2' ports power in p1; power out p2 [2,1]; signal in p [2,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p2; causality fixed out p1; end; icon bg bottom figures text 'MXTF' 808 288 color 0 18 bold; end; implementation eq variables real r[2]; equations r = [-p[2];p[1]]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f;implementation_end; Zero 80 704 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 64.1 688 95.9 720 color 0 fill 15132390; text '0' 80 704 color 16711680 18 bold; end; implementation eq equations output = eye(4);implementation_end; ZeroJunction 504 368 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' 504 368 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction1 352.3 368 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' 352.3 368 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction2 904 368 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' 904 368 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction3 752.3 368 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' 752.3 368 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction4 624 232 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' 624 232 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction5 248 232 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' 248 232 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction7 208 752 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' 208 752 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; end; connections Base1\Hout -> Splitter5\input; Base1\p1 <= Link3\Pout; Base2\Hout -> new_joint3\input; Base3\Hin <- Link\Hout; Base3\Hout -> Splitter6\input; Base3\p1 <= Link1\Pout; Constant\output -> COM3\mass; I\p <= OneJunction3\p; I1\p <= OneJunction10\p; inverse_kinematics\angle1 -> PlusMinus2\plus; inverse_kinematics\angle2 -> PlusMinus3\plus; inverse_kinematics1\angle1 -> PlusMinus4\plus; inverse_kinematics1\angle2 -> PlusMinus5\plus 656 864; Joint1\Hout -> Link\Hin; Joint1\p => OneJunction2\p; Joint1\p2 <= Link\Pout; Joint1\q -> PlusMinus4\minus 280 752; Joint2\Hout -> Link2\Hin; Joint2\p2 <= Link2\Pout; Joint2\q -> PlusMinus5\minus 608 752; Link\Pin <= Base3\p; Link1\Hout -> Joint2\Hin; Link1\Pin <= Joint2\p; Link2\Hout -> Base1\Hin; Link2\Pin <= Base1\p; Link3\Hout -> Base2\Hin; Link3\Pin <= Base2\p; MXTF\p2 => ZeroJunction1\p; Negate1\output -> Submodel2\input; Negate2\output -> Submodel5\input; OneJunction\p => RTF\p1; OneJunction\p => ZeroJunction\p; OneJunction\p => ZeroJunction1\p; OneJunction1\flow -> Submodel3\velocity 344 520; OneJunction1\p => COM1\p; OneJunction10\flow -> Submodel4\angle_velocity 728 288 728 424; OneJunction10\p => TF2\p1; OneJunction10\p => TF3\p1; OneJunction11\flow -> Integrate\input; OneJunction11\p => COM3\p; OneJunction16\flow -> Integrate1\input; OneJunction16\p => ZeroJunction4\p; OneJunction17\p => Joint2\p1; OneJunction18\p => ZeroJunction5\p; OneJunction3\flow -> Submodel3\angle_velocity 328 264 328 440; OneJunction3\p => MXTF\p1; OneJunction3\p => TF\p1; OneJunction3\p => ZeroJunction4\p; OneJunction5\p => RTF2\p1; OneJunction7\p => RTF3\p1; OneJunction7\p => ZeroJunction2\p; OneJunction7\p => ZeroJunction3\p; OneJunction8\flow -> Submodel4\velocity 744 520; OneJunction8\p => COM2\p; OneJunction9\p => RTF4\p1; PID\output -> Submodel1\input; PID2\output -> Negate1\input; PID3\output -> Negate2\input; PlusMinus1\output -> RTF1\angle; PlusMinus2\output -> PID\error; PlusMinus3\output -> PID1\error; PlusMinus4\output -> PID2\error; PlusMinus5\output -> PID3\error; R\p <= ZeroJunction7\p; R1\p <= OneJunction17\p; R2\p <= OneJunction18\p; R3\p <= OneJunction16\p; rectanglepath\output -> Splitter7\input; RTF\p2 => OneJunction1\p; RTF1\p2 => OneJunction12\p; RTF2\p2 => OneJunction6\p; RTF3\p2 => OneJunction8\p; RTF4\p2 => OneJunction11\p; Se\p => Base2\p1; Sf\p => OneJunction6\p; Sf1\p => ZeroJunction5\p; Sf2\p => OneJunction2\p; Splitter1\output -> PlusMinus1\plus; Splitter1\output -> RTF\angle 400 416 400 432; Splitter1\output -> Splitter3\input; Splitter2\output -> RTF3\angle 800 408; Splitter2\output -> RTF4\angle 952 400; Splitter2\output -> Splitter4\input; Splitter3\output -> PlusMinus2\minus 304 160; Splitter3\output -> RTF2\angle 296 400; Splitter4\output -> PlusMinus1\minus; Splitter4\output -> PlusMinus3\minus 632 344 552 288; Splitter5\output -> Link3\Hin; Splitter5\output -> new_joint2\input; Splitter6\output -> Link1\Hin; Splitter6\output -> new_joint1\input; Splitter7\output -> inverse_kinematics\input; Splitter7\output -> inverse_kinematics1\input 32 680 32 864; Submodel1\p2 => OneJunction18\p; Submodel2\p2 => ZeroJunction7\p; Submodel3\angle -> Splitter1\input 368 448 368 416; Submodel3\angular_momentum -> I\i 320 440 320 264; Submodel3\joint1 -> MXTF\p 392 320; Submodel3\joint2 -> TF\p; Submodel3\mass -> COM1\mass 336 528 416 528 416 568; Submodel4\angle -> Splitter2\input; Submodel4\angular_momentum -> I1\i 720 424 720 288; Submodel4\joint1 -> TF3\p; Submodel4\joint2 -> TF2\p; Submodel4\mass -> COM2\mass 736 528 736 584; Submodel5\p2 => OneJunction17\p; Submodel8\input <- PID1\output; Submodel8\p2 => OneJunction16\p; TF\p2 => ZeroJunction\p; TF2\p2 => ZeroJunction2\p; TF3\p2 => ZeroJunction3\p; Zero\output -> Joint1\Hin; ZeroJunction\p => RTF1\p1; ZeroJunction1\p => OneJunction5\p; ZeroJunction2\p => OneJunction9\p; ZeroJunction3\p => OneJunction12\p; ZeroJunction4\p => OneJunction10\p; ZeroJunction5\p => OneJunction3\p; ZeroJunction7\p => Joint1\p1; end; implementation_end; ]]> Experiment 1 4.8 Base1\InertialTensor\state_initial 6 1 0 0 0 0 0 0 Base3\InertialTensor\state_initial 6 1 0 0 0 0 0 0 I1\state_initial 0 I\state_initial 0 Joint1\JointType\uTbai\state_initial 6 1 0 0 0 0 0 0 Joint2\JointType\uTbai\state_initial 6 1 0 0 0 0 0 0 PID1\pdstate_initial 0 PID1\pistate_initial 0 PID2\pdstate_initial 0 PID2\pistate_initial 0 PID3\pdstate_initial 0 PID3\pistate_initial 0 PID\pdstate_initial 0 PID\pistate_initial 0 Base2\InertialTensor\p.e_initial 6 1 0 0 0 0 0 0 COM1\I\p.e_initial 2 1 0 0 COM2\I\p.e_initial 2 1 0 0 COM3\I\p.e_initial 2 1 0 0 R1\p.e_initial 0 R\p.e_initial 0 Submodel2\R\p.f_initial 0 Submodel5\R\p.f_initial 0 Joint1\JointType\uTbai\state 6 1 0 0 Joint1\JointType\Integrate\q time Submodel3\body_position[1] Submodel3\body_position[2] Submodel3\body_position[3] Submodel3\body_angle[1] Submodel3\body_angle[2] Submodel3\body_angle[3] Submodel3\dimension[1] Submodel3\dimension[2] Submodel3\dimension[3] Submodel4\dimension[1] Submodel4\dimension[2] Submodel4\dimension[3] Submodel4\body_angle[1] Submodel4\body_angle[2] Submodel4\body_angle[3] Submodel4\body_position[1] Submodel4\body_position[2] Submodel4\body_position[3] PlusMinus2\output PlusMinus3\output Integrate\output[2] Integrate\output[1] 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] new_joint2\R[1,3] new_joint2\R[2,3] new_joint2\R[3,3] new_joint2\R[1,2] new_joint2\R[2,2] new_joint2\R[3,2] new_joint2\position[1] new_joint2\position[2] new_joint2\position[3] PID2\error PID3\error new_joint3\position[3] new_joint3\position[2] MSe1\effort MSe2\effort MSe2\flow MSe1\flow 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 0.10311339559032781 true 3 time -0.009999999999999998 0.04 true 1 Joint 2 Torque -0.25 0.25 true 1 Joint 1 Torque -0.25 0.25 true 1 joint1 flow -0.25 0.25 true 1 joint2 flow 3355111 1 6076255 0 true 1 1 1 true true time true MSe1\effort 6076255 1 6076255 0 true 1 1 1 true true time true MSe2\effort 12553035 1 12553035 0 false 1 1 1 true true time true MSe2\flow 15086320 1 15086320 0 false 1 1 1 true true time true MSe1\flow true 0.9024193548387097 0.0308411214953271 0 16777215 GraphPlot 2 false 16777215 true true 15780518 12624260 0 10 10 10 false 16777215 true 1 model(1) 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 0.10311339559032781 true 3 time -1.5 3.5 true 2 error Joint 1 0.0 235.918450873204 true 2 error joint 2 3355111 1 3355111 0 true 1 1 1 true true time true PlusMinus2\output 6076255 1 6076255 0 true 1 1 1 true true time true PlusMinus3\output true 0 16777215 D3DPlot 3 false 16777215 true 3D Animation 137 true false 4294967295 Gradients\BlueWhite.png true 1.0 1.0 1 1 1 true Reference Frame Bryant false false false false false false 1 1 1 false Default Lights and Cameras Bryant false false false false false false false Ambient 1 1 Direct3D false false false false false false 0 0.3 0.3 0.3 1 1 1 true 0.3 0.3 0.3 1 1 1 true true false false false Parallel -3 5 3 0.457495710997814 -0.762492851663023 -0.457495710997814 0.235379601434674 -0.392299335724456 0.889211827642101 Direct3D false false false false false false 3 0.5 0.5 0.5 1 1 1 true 1.0 0.0 0.0 0.5 0.5 0.5 1 1 1 true 0.5 0.5 0.5 1 1 1 true false true true false Spot Light 1 -3 -5 1 0.50709255283711 0.845154254728517 -0.169030850945703 0.0869656553478673 0.144942758913112 0.985610760609162 Direct3D false false false false false false 2 0.5 0.5 0.5 1 1 1 true 1.0 0.05 0.05 1.0471975511965976 1.0471975511965976 0.0 0.5 0.5 0.5 1 1 1 true 0.5 0.5 0.5 1 1 1 true false true true false Spot Light 2 2 -3 -1 -0.534522483824849 0.801783725737273 0.267261241912424 0.14824986333222 -0.22237479499833 0.963624111659432 Direct3D false false false false false false 2 1 1 1 1 1 1 true 1.0 0.05 0.05 1.5707963267948966 1.5707963267948966 0.0 1 1 1 1 1 1 true 0.5 0.5 0.5 1 1 1 true false true true false Camera Looking at Origin 2.3432919923881 2.28068543057283 1.56751702352047 -0.646203434499502 -0.628938588548314 -0.432270023337153 -0.309771185077498 -0.301494918649693 0.901744213690389 Direct3D false false false false false false 0.01 100.0 true 0.003926990816987242 45.0 -10.0 10.0 10.0 -10.0 true -9.99200722162641e-016 1.76247905159244e-015 -3.05678199886544e-015 true 1 true true true false Front(XY)-Camera 10 -1 1 Direct3D false false false false false false 0.01 100.0 true 9.999999999999998 45.0 -9.999999999999998 9.999999999999998 9.999999999999998 -9.999999999999998 true true 1 true false false false Side(YZ)-Camera 10 -1 1 Direct3D false false false false false false 0.01 100.0 true 9.999999999999998 45.0 -9.999999999999998 9.999999999999998 9.999999999999998 -9.999999999999998 true true 1 true false false false Top(XZ)-Camera 10 -1 1 Direct3D false false false false false false 0.01 100.0 true 9.999999999999998 45.0 -9.999999999999998 9.999999999999998 9.999999999999998 -9.999999999999998 true true 1 true false false 1 1 1 false Scenery Bryant false false false false false false 10 10 10 false Reference Frame Bryant false false false false false false Center 1.0 true 4 Submodel3\dimension[1] 0.005 Submodel3\dimension[2] 0.065 Submodel3\dimension[3] 0.01 true 1 1 1 1.0 1 1 1 true 0.498039215686275 0.498039215686275 0.498039215686275 14.298713684082 false false Block Submodel3\body_position[1] 0.0 Submodel3\body_position[2] -0.009158353632383561 Submodel3\body_position[3] 0.03118053280824738 Submodel3\body_angle[1] 1.8564889888314844 Submodel3\body_angle[2] 0.0 Submodel3\body_angle[3] 0.0 Euler false false false false false false Center 1.0 true 4 Submodel4\dimension[1] 0.005 Submodel4\dimension[2] 0.05 Submodel4\dimension[3] 0.01 true 1 1 1 1.0 1 1 1 true 0.5 0.5 0.5 15 false false Block Submodel4\body_position[1] 0.0 Submodel4\body_position[2] 0.0013903741642251554 Submodel4\body_position[3] 0.07774345829579168 Submodel4\body_angle[1] 0.66277054304191 Submodel4\body_angle[2] 0.0 Submodel4\body_angle[3] 0.0 Euler false false false false false false 10 10 10 false Reference Frame 0.5 Bryant false false false false false false Center 1.0 true 4 Submodel3\dimension[1] 0.005 Submodel3\dimension[2] 0.065 Submodel3\dimension[3] 0.01 true 1 1 1 1.0 1 1 1 true 0.498039215686275 0.498039215686275 0.498039215686275 14.298713684082 false false Block new_joint1\position[1] 0.0 new_joint1\position[2] -0.009202768540009312 new_joint1\position[3] 0.031169842014341604 new_joint1\R[1,3] 0.0 new_joint1\R[2,3] -0.9590720619797416 new_joint1\R[3,3] -0.2831621089233634 new_joint1\R[1,2] 0.0 new_joint1\R[2,2] -0.2831621089233634 new_joint1\R[3,2] 0.9590720619797416 Matrix false false false false false false Center 1.0 true 4 Submodel4\dimension[1] 0.005 Submodel4\dimension[2] 0.05 Submodel4\dimension[3] 0.01 true 1 1 1 1.0 1 1 1 true 0.5 0.5 0.5 15 false false Block new_joint2\position[1] 0.0 new_joint2\position[2] 0.0027085042716763867 new_joint2\position[3] 0.07572614202917434 new_joint2\R[1,3] 0.0 new_joint2\R[2,3] -0.5354583200196454 new_joint2\R[3,3] 0.8445616540678004 new_joint2\R[1,2] 0.0 new_joint2\R[2,2] 0.8445616540678004 new_joint2\R[3,2] 0.5354583200196454 Matrix false false false false false false GraphPlot 4 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 0.021097455593261694 0.115 true 3 output[1] -0.06 0.14 true 2 output[2] -0.06 0.14 true 2 position[3] 3355111 1 3355111 0 true 1 1 1 true true Integrate\output[1] true Integrate\output[2] 6076255 1 6076255 0 true 1 1 1 true true new_joint3\position[2] true new_joint3\position[3] true 0 16777215 GraphPlot 5 false 16777215 true true 15780518 12624260 0 10 10 10 false 16777215 true 1 Plot 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 0.10311339559032781 true 3 time -5.0 5.0 true 2 error new joint 1 -1885.20460252739 0.0 true 2 error new joint 2 3355111 1 3355111 0 true 1 1 1 true true time true PID2\error 6076255 1 6076255 0 true 1 1 1 true true time true PID3\error true 0 16777215 1 true Window 1 0 1 2 4 Base 2 false Window 2 0 3 Base 3 false Window 3 0 5 Base 0.149479 0.0675926 0.908333 0.847222 0.138021 0.169444 0.777604 0.862963 0.526042 0.287963 0.922396 0.725926 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 0.0 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 true 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 10 false true true false true 0 0.0 true MultipleRun true UseEndValue 0.001 BroydonFletcherGoldfarbShanno true true true true false 1.0