4.8
0
False
Motor\stepper.emx
2020-7-22 10:04:43
';
type Mainmodel
end;
implementation bg
submodels
stepper 464 224
description '
4.8
1
False
True
Motor\stepper2.emx
2020-7-22 10:04:39
';
type Submodel
ports
signal in angle;
rotation out p;
end;
icon bg bottom
figures
rectangle 432 208 496 240 color 0 fill 15132390;
text 'name' 464 224 color 0 'Clear Sans' 16;
end;
implementation bg
submodels
I 560 104
description '
4.2
1
False
Bond Graph\I.emx
2011-11-29 15:55:55
';
type I
ports
power in p;
signal out state;
restrictions
causality preferred in p;
end;
icon bg bottom
figures
text 'I' 560 104 color 0 18 bold;
end;
implementation eq
parameters
real global I_phase;
equations
state = int(p.e);
p.f = state / I_phase;
implementation_end;
I1 608 328
description '
4.2
1
False
Bond Graph\I.emx
2011-11-29 15:55:55
';
type I
ports
power in p;
signal out state;
restrictions
causality preferred in p;
end;
icon bg bottom
figures
text 'I' 608 328 color 0 18 bold;
end;
implementation eq
parameters
real global I_phase;
equations
state = int(p.e);
p.f = state / I_phase;
implementation_end;
I2 752 160
description '
4.2
1
False
Bond Graph\I.emx
2011-11-29 15:55:55
';
type I
ports
power in p;
signal out state;
restrictions
causality preferred in p;
end;
icon bg bottom
figures
text 'I' 752 160 color 0 18 bold;
end;
implementation eq
parameters
real i = 8e-5 {kg.m2};
real global RotorInertia;
equations
state = int(p.e);
p.f = state / (i+RotorInertia);
implementation_end;
MGY_a 656 160
description '
4.2
1
False
Bond Graph\MGY.emx
2011-11-29 16:03:53
';
type MGY
ports
power in p1;
power out p2;
signal in r;
restrictions
causality constraint equal p1 p2;
end;
icon bg bottom
figures
text 'MGY' 656 160 color 0 18 bold;
end;
implementation eq
equations
p1.e = r * p2.f;
p2.e = r * p1.f;
implementation_end;
MGY_b 656 272
description '
4.2
1
False
Bond Graph\MGY.emx
2011-11-29 16:03:53
';
type MGY
ports
power in p1;
power out p2;
signal in r;
restrictions
causality constraint equal p1 p2;
end;
icon bg bottom
figures
text 'MGY' 656 272 color 0 18 bold;
end;
implementation eq
equations
p1.e = r * p2.f;
p2.e = r * p1.f;
implementation_end;
MSe_a 512 160
description '
4.2
1
False
Bond Graph\MSe.emx
2011-11-29 16:12:33
';
type MSe
ports
electric out p;
signal in effort;
restrictions
causality fixed out p;
end;
icon bg bottom
figures
text 'MSe' 512 160 color 0 18 bold;
end;
implementation eq
variables
real flow;
equations
p.e = effort;
flow = p.f;
implementation_end;
MSe_b 512 272
description '
4.2
1
False
Bond Graph\MSe.emx
2011-11-29 16:12:33
';
type MSe
ports
electric out p;
signal in effort;
restrictions
causality fixed out p;
end;
icon bg bottom
figures
text 'MSe' 512 272 color 0 18 bold;
end;
implementation eq
variables
real flow;
equations
p.e = effort;
flow = p.f;
implementation_end;
plug angle 406.3 216;
plug p 896.6 216;
OneJunction 840 216
description '
4.2
1
False
Bond Graph\OneJunction.emx
2011-11-29 16:17:51
';
knot OneJunction
ports
rotation knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 840 216 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
OneJunction1 584 160
description '
4.2
1
False
Bond Graph\OneJunction.emx
2011-11-29 16:17:51
';
knot OneJunction
ports
electric knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 584 160 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
OneJunction2 584 272
description '
4.2
1
False
Bond Graph\OneJunction.emx
2011-11-29 16:17:51
';
knot OneJunction
ports
electric knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 584 272 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
OneJunction3 752 216
description '
4.2
1
False
Bond Graph\OneJunction.emx
2011-11-29 16:17:51
';
knot OneJunction
ports
rotation knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 752 216 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
R 608 104
description '
4.2
1
False
Bond Graph\R.emx
2011-11-29 16:35:37
';
type R
ports
power in p;
end;
icon bg bottom
figures
text 'R' 608 104 color 0 18 bold;
end;
implementation eq
parameters
real global R_phase;
equations
p.e = R_phase * p.f;
implementation_end;
R1 560 328
description '
4.2
1
False
Bond Graph\R.emx
2011-11-29 16:35:37
';
type R
ports
power in p;
end;
icon bg bottom
figures
text 'R' 560 328 color 0 18 bold;
end;
implementation eq
parameters
real global R_phase;
equations
p.e = R_phase * p.f;
implementation_end;
R2 824 264
description '
4.2
1
False
Bond Graph\R.emx
2011-11-29 16:35:37
';
type R
ports
power in p;
end;
icon bg bottom
figures
text 'R' 824 264 color 0 18 bold;
end;
implementation eq
parameters
real r = 1.0e-3;
equations
p.e = r * p.f;
implementation_end;
RotorAngle 656 216
description '4.0
Template\Submodel-Equation.emx
1
False
2007-11-1 22:32:1
False
';
type Submodel
ports
signal out output_b;
signal out output_a;
signal in omega {rad/s} ;
signal out output_d;
end;
icon bg
figures
rectangle 616 200 696 232 color 0 fill 15132390;
text 'name' 656 216 color 0 'Clear Sans' 16;
end;
implementation eq
parameters
real global fluxLinkage;
real global detentTorque;
variables
real global p;
real angle {rad};
equations
angle = int(omega);
output_a = -p * fluxLinkage * sin(p * angle);
output_b = p * fluxLinkage * sin(p * angle - pi / 2);
output_d = detentTorque * sin(2 * p * angle);
implementation_end;
Se 752 272
description '
4.2
1
False
Bond Graph\MSe.emx
2011-11-29 16:12:33
';
type MSe
ports
power out p;
signal in effort;
restrictions
causality fixed out p;
end;
icon bg bottom
figures
text 'MSe' 752 272 color 0 18 bold;
end;
implementation eq
variables
real flow;
equations
p.e = effort;
flow = p.f;
implementation_end;
Splitter1 720 216
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 716.8 212.8 723.2 219.2 color -1 fill 0;
ellipse 715.7 211.7 724.3 220.3 color -1;
terminals
input 720 216 fixed;
end;
implementation eq
equations
collect (output) = input;
implementation_end;
Submodel2 512 216
description '4.0
Template\Submodel-Equation.emx
1
False
2007-11-1 22:32:1
False
';
type 'Submodel-Equation'
ports
signal in angle;
signal out a;
signal out b;
end;
implementation eq
parameters
real global u_max {V};
real global angle_step;
real max_a {m/s2};
variables
real current_angle;
real c,s;
real global p;
boolean hidden eventa, eventb;
equations
if time < 10 then
a = u_max * -sign (cos (p*angle));
eventa = event(a);
b = u_max * sign (sin (p*angle));
eventb = event(b);
current_angle = angle;
else
a = u_max * -sign (cos (p*current_angle));
eventa = event(a);
b = u_max * sign (sin (p*current_angle));
eventb = event(b);
end;
implementation_end;
end;
connections
angle -> Submodel2\angle;
I2\p <= OneJunction3\p;
MGY_a\p2 => OneJunction3\p;
MGY_b\p2 => OneJunction3\p;
MSe_a\p => OneJunction1\p;
MSe_b\p => OneJunction2\p;
OneJunction\p => p;
OneJunction1\p => I\p;
OneJunction1\p => MGY_a\p1;
OneJunction1\p => R\p;
OneJunction2\p => I1\p;
OneJunction2\p => MGY_b\p1;
OneJunction2\p => R1\p;
OneJunction3\flow -> Splitter1\input;
OneJunction3\p => OneJunction\p;
OneJunction3\p => R2\p;
RotorAngle\output_a -> MGY_a\r;
RotorAngle\output_b -> MGY_b\r;
RotorAngle\output_d -> Se\effort;
Se\p => OneJunction3\p;
Splitter1\output -> RotorAngle\omega;
Submodel2\a -> MSe_a\effort;
Submodel2\b -> MSe_b\effort;
end;
implementation_end;
end;
connections
end;
implementation_end;
]]>
Experiment 1
4.8
angle_step
0
detentTorque
0
fluxLinkage
0
I_phase
0
R_phase
0
RotorInertia
0
Submodel2\max_a
m/s2
0
u_max
V
0
Stepper\I1\state_initial
0
Stepper\I2\state_initial
0
Stepper\I\state_initial
0
Stepper\RotorAngle\angle_initial
0
time
GraphPlot
1
false
16777215
true
true
15780518
12624260
0
10
10
10
false
16777215
true
1
Stepper
true
Arial
12
34
400
0
0
0
0
Arial
12
34
400
0
0
0
0
Arial
10
34
400
0
0
0
0
Arial
12
34
400
0
0
0
0
true
true
false
0.0
10.0
true
3
0.0
10.0
true
2
3355111
1
3355111
0
true
1
1
1
true
true
time
true
0
16777215
1
true
Window 1
0
1
Base
0.130729 0.114815 0.9375 0.896296
0.0
10.0
false
false
false
false
0.1
1.0e-6
1.0e-7
false
true
Euler
0.01
false
BackwardEuler
1.0e-5
1.0e-5
1.0e-5
1.0e-5
0.01
1.0
AdamsBashforth
0.01
false
RungeKutta2
0.01
false
RungeKutta4
0.01
false
RungeKutta8
false
0.001
false
1.0
1.0e-6
1.0e-6
0.9
0.33
6.0
0.0
false
100000
false
1000
RungeKuttaFehlberg
false
0.001
false
1.0
1.0e-6
1.0e-6
VodeAdams
false
0.001
false
1.0
1.0e-6
1.0e-6
true
true
BDFMethod
1.0e-5
1.0e-5
1.0e-5
1.0e-5
false
0.001
false
1.0
MeBDFiMethod
1.0e-5
1.0e-5
1.0e-5
1.0e-5
false
0.001
false
1.0
8
10
false
true
true
false
true
0
0.0
true
MultipleRun
true
UseEndValue
0.001
BroydonFletcherGoldfarbShanno
true
true
true
true
false