4.8 0 False C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\06_arm\arm_model-v2.emx 2020-7-23 16:01:17 '; type 'Mainmodel-v2' end; implementation bg submodels Body1 472 336 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in input [4,4]; end; implementation eq parameters real dimension[3] = [0.0048;0.009;0.065] {m}; 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; Body2 360 560 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in input [4,4]; end; implementation eq parameters real dimension[3] = [0.005;0.025;0.01] {m}; 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; Body3 104 312 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in input [4,4]; end; implementation eq parameters real dimension[3] = [0.0045;0.01;0.065] {m}; 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; Body4 480 192 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in input [4,4]; end; implementation eq parameters real dimension[3] = [0.005;0.05;0.01] {m}; 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; Body5 992 224 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in input [4,4]; end; implementation eq parameters real dimension[3] = [0.005;0.025;0.01] {m}; 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; Body6 1104 224 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in input [4,4]; end; implementation eq parameters real dimension[3] = [0.005;0.025;0.01] {m}; 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; COM_body1 624 352 description '4.81Bond Graph\MR\center_of_mass_v2.emx2020-7-21 12:24:38parameters real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s}; real m = 0.00455 {kg};'; type Submodel ports signal in Hin [4,4]; signal out Hout [4,4]; power out p [6,1]; end; icon bg bottom figures rectangle 608 320 640 384 color 0 fill 139; text 'COM' 624 352 color 0 'Clear Sans' 16; terminals Hin 608 336 fixed; p 608 368 fixed; end; implementation bg submodels AdHi0 544 400 description '4.01False2007-9-25 12:3:3True'; type MTF ports power in p1 [6,1]; power out p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg left figures text 'MTF' 544 400 color 0 18 bold; end; implementation eq variables real onlyRotH[4,4]; code //Only rotations with respect to the inertial system matter! onlyRotH = H; onlyRotH[1,4] = 0; onlyRotH[2,4] = 0; onlyRotH[3,4] = 0; p2.e = transpose(Adjoint(onlyRotH)) * p1.e; p1.f = Adjoint(onlyRotH) * p2.f; implementation_end; EJS 616 336 description '4.01False2007-10-31 11:43:6True'; type MGY ports power in p1 [6,1]; end; icon bg top figures text 'MGY' 616 336 color 0 18 bold; end; implementation eq //EJS / Gyroscopic effects parameters real global I[3]; real global m; variables real II[6,6]; //Inertial tensor real Q[6,6]; real QI[6,6]; real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations Q = transpose(adjoint(p1.f)); QI = Q*II; p1.e = QI*p1.f;implementation_end; Gravity 624 400 description '4.01False2007-9-25 12:3:26True'; type Se ports power out p [6,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'Se' 624 400 color 0 18 bold; end; implementation eq parameters real global m; variables real effort[6]; equations effort = [0;0;0;0;0;-g_n*m]; p.e = effort; implementation_end; InertialTensor 544 272 description '4.01False Bond Graph\3D\I-3.emx 2007-9-25 12:12:14 '; type 'I-3' ports power in p [6,1]; signal out state [6,1]; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 544 272 color 0 18 bold; end; implementation eq parameters real global I[3]; real global m; variables real II[6,6]; //Inertial tensor real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations state = int(p.e); //state = generalized momentum p.f = inverse(II)*state; implementation_end; plug Hin 433.4 496; plug Hout 691.2 496; plug p 439.4 336; Splitter1 544 496 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; ellipse 539.7 491.7 548.3 500.3 color -1; terminals input 544 496 fixed; end; implementation eq equations collect (output) = input; implementation_end; Ta0j 544 336 description ' 4.0 1 False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 True '; knot OneJunction ports power knot duplicatable none p [6,1]; signal knot out flow [6,1]; restrictions causality constraint one_out p; end; icon bg bottom figures text '1' 544 336 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; ZeroJunction1 504 336 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 504 336 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections AdHi0\p2 => Ta0j\p; Gravity\p => AdHi0\p1; Hin -> Splitter1\input; Splitter1\output -> AdHi0\H; Splitter1\output -> Hout; Ta0j\p => EJS\p1; Ta0j\p => InertialTensor\p; ZeroJunction1\p => p; ZeroJunction1\p => Ta0j\p; end; implementation_end; COM_body2 344 704 description '4.81Bond Graph\MR\center_of_mass_v2.emx2020-7-21 12:24:38parameters real density = 1400 {kg/m3}; real dimension[3] = [0.005;0.025;0.01] {m}; variables real I[3,1] {N.m.s}; real m {kg}; initialequations m = dimension[1] * dimension[2] * dimension[3] * density; I[1] = m/12 * ( dimension[2]^2 + dimension[3]^2); I[2] = m/12 * ( dimension[1]^2 + dimension[3]^2); I[3] = m/12 * ( dimension[1]^2 + dimension[2]^2);'; type Submodel ports signal in Hin [4,4]; signal out Hout [4,4]; power out p [6,1]; end; icon bg bottom figures rectangle 312 688 376 720 color 0 fill 139; text 'COM' 344 704 color 0 'Clear Sans' 16; terminals Hin 360 688 fixed; p 328 688 fixed; end; implementation bg submodels AdHi0 544 400 description '4.01False2007-9-25 12:3:3True'; type MTF ports power in p1 [6,1]; power out p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg left figures text 'MTF' 544 400 color 0 18 bold; end; implementation eq variables real onlyRotH[4,4]; code //Only rotations with respect to the inertial system matter! onlyRotH = H; onlyRotH[1,4] = 0; onlyRotH[2,4] = 0; onlyRotH[3,4] = 0; p2.e = transpose(Adjoint(onlyRotH)) * p1.e; p1.f = Adjoint(onlyRotH) * p2.f; implementation_end; EJS 624 336 description '4.01False2007-10-31 11:43:6True'; type MGY ports power in p1 [6,1]; end; icon bg top figures text 'MGY' 624 336 color 0 18 bold; end; implementation eq //EJS / Gyroscopic effects variables real global I[3]; real global m; real II[6,6]; //Inertial tensor real Q[6,6]; real QI[6,6]; real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations Q = transpose(adjoint(p1.f)); QI = Q*II; p1.e = QI*p1.f;implementation_end; Gravity 624 400 description '4.01False2007-9-25 12:3:26True'; type Se ports power out p [6,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'Se' 624 400 color 0 18 bold; end; implementation eq variables real global m; real effort[6]; equations effort = [0;0;0;0;0;-g_n*m]; p.e = effort; implementation_end; InertialTensor 544 256 description '4.01False Bond Graph\3D\I-3.emx 2007-9-25 12:12:14 '; type 'I-3' ports power in p [6,1]; signal out state [6,1]; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 544 256 color 0 18 bold; end; implementation eq variables real global I[3]; real global m; real II[6,6]; //Inertial tensor real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations state = int(p.e); //state = generalized momentum p.f = inverse(II)*state; implementation_end; plug Hin 433.4 496; plug Hout 691.2 496; plug p 439.4 336; Splitter1 544 496 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; ellipse 539.7 491.7 548.3 500.3 color -1; terminals input 544 496 fixed; end; implementation eq equations collect (output) = input; implementation_end; Ta0j 544 336 description ' 4.0 1 False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 True '; knot OneJunction ports power knot duplicatable none p [6,1]; signal knot out flow [6,1]; restrictions causality constraint one_out p; end; icon bg bottom figures text '1' 544 336 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; ZeroJunction1 504 336 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 504 336 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections AdHi0\p2 => Ta0j\p; Gravity\p => AdHi0\p1; Hin -> Splitter1\input; Splitter1\output -> AdHi0\H; Splitter1\output -> Hout; Ta0j\p => EJS\p1; Ta0j\p => InertialTensor\p; ZeroJunction1\p => p; ZeroJunction1\p => Ta0j\p; end; implementation_end; COM_body3 272 328 description '4.81Bond Graph\MR\center_of_mass_v2.emx2020-7-21 12:24:38parameters real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s}; real m = 0.00455 {kg};'; type Submodel ports signal in Hin [4,4]; signal out Hout [4,4]; power out p [6,1]; end; icon bg bottom figures rectangle 256 296 288 360 color 0 fill 139; text 'COM' 272 328 color 0 'Clear Sans' 16; terminals Hin 256 312 fixed; p 256 344 fixed; end; implementation bg submodels AdHi0 544 400 description '4.01False2007-9-25 12:3:3True'; type MTF ports power in p1 [6,1]; power out p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg left figures text 'MTF' 544 400 color 0 18 bold; end; implementation eq variables real onlyRotH[4,4]; code //Only rotations with respect to the inertial system matter! onlyRotH = H; onlyRotH[1,4] = 0; onlyRotH[2,4] = 0; onlyRotH[3,4] = 0; p2.e = transpose(Adjoint(onlyRotH)) * p1.e; p1.f = Adjoint(onlyRotH) * p2.f; implementation_end; EJS 616 336 description '4.01False2007-10-31 11:43:6True'; type MGY ports power in p1 [6,1]; end; icon bg top figures text 'MGY' 616 336 color 0 18 bold; end; implementation eq //EJS / Gyroscopic effects parameters real global I[3]; real global m; variables real II[6,6]; //Inertial tensor real Q[6,6]; real QI[6,6]; real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations Q = transpose(adjoint(p1.f)); QI = Q*II; p1.e = QI*p1.f;implementation_end; Gravity 624 400 description '4.01False2007-9-25 12:3:26True'; type Se ports power out p [6,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'Se' 624 400 color 0 18 bold; end; implementation eq parameters real global m; variables real effort[6]; equations effort = [0;0;0;0;0;-g_n*m]; p.e = effort; implementation_end; InertialTensor 544 272 description '4.01False Bond Graph\3D\I-3.emx 2007-9-25 12:12:14 '; type 'I-3' ports power in p [6,1]; signal out state [6,1]; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 544 272 color 0 18 bold; end; implementation eq parameters real global I[3]; real global m; variables real II[6,6]; //Inertial tensor real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations state = int(p.e); //state = generalized momentum p.f = inverse(II)*state; implementation_end; plug Hin 433.4 496; plug Hout 691.2 496; plug p 439.4 336; Splitter1 544 496 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; ellipse 539.7 491.7 548.3 500.3 color -1; terminals input 544 496 fixed; end; implementation eq equations collect (output) = input; implementation_end; Ta0j 544 336 description ' 4.0 1 False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 True '; knot OneJunction ports power knot duplicatable none p [6,1]; signal knot out flow [6,1]; restrictions causality constraint one_out p; end; icon bg bottom figures text '1' 544 336 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; ZeroJunction1 504 336 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 504 336 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections AdHi0\p2 => Ta0j\p; Gravity\p => AdHi0\p1; Hin -> Splitter1\input; Splitter1\output -> AdHi0\H; Splitter1\output -> Hout; Ta0j\p => EJS\p1; Ta0j\p => InertialTensor\p; ZeroJunction1\p => p; ZeroJunction1\p => Ta0j\p; end; implementation_end; COM_body4 712 48 description '4.81Bond Graph\MR\center_of_mass_v2.emx2020-7-21 12:24:38parameters real density = 1400 {kg/m3}; real dimension[3] = [0.005;0.075;0.01] {m}; variables real I[3,1] {N.m.s}; real m {kg}; initialequations m = dimension[1] * dimension[2] * dimension[3] * density; I[1] = m/12 * ( dimension[2]^2 + dimension[3]^2); I[2] = m/12 * ( dimension[1]^2 + dimension[3]^2); I[3] = m/12 * ( dimension[1]^2 + dimension[2]^2);'; type Submodel ports signal in Hin [4,4]; signal out Hout [4,4]; power out p [6,1]; end; icon bg bottom figures rectangle 680 32 744 64 color 0 fill 139; text 'COM' 712 48 color 0 'Clear Sans' 16; terminals Hin 728 64 fixed; p 696 64 fixed; end; implementation bg submodels AdHi0 544 400 description '4.01False2007-9-25 12:3:3True'; type MTF ports power in p1 [6,1]; power out p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg left figures text 'MTF' 544 400 color 0 18 bold; end; implementation eq variables real onlyRotH[4,4]; code //Only rotations with respect to the inertial system matter! onlyRotH = H; onlyRotH[1,4] = 0; onlyRotH[2,4] = 0; onlyRotH[3,4] = 0; p2.e = transpose(Adjoint(onlyRotH)) * p1.e; p1.f = Adjoint(onlyRotH) * p2.f; implementation_end; EJS 624 336 description '4.01False2007-10-31 11:43:6True'; type MGY ports power in p1 [6,1]; end; icon bg top figures text 'MGY' 624 336 color 0 18 bold; end; implementation eq //EJS / Gyroscopic effects variables real global I[3]; real global m; real II[6,6]; //Inertial tensor real Q[6,6]; real QI[6,6]; real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations Q = transpose(adjoint(p1.f)); QI = Q*II; p1.e = QI*p1.f;implementation_end; Gravity 624 400 description '4.01False2007-9-25 12:3:26True'; type Se ports power out p [6,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'Se' 624 400 color 0 18 bold; end; implementation eq variables real global m; real effort[6]; equations effort = [0;0;0;0;0;-g_n*m]; p.e = effort; implementation_end; InertialTensor 544 256 description '4.01False Bond Graph\3D\I-3.emx 2007-9-25 12:12:14 '; type 'I-3' ports power in p [6,1]; signal out state [6,1]; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 544 256 color 0 18 bold; end; implementation eq variables real global I[3]; real global m; real II[6,6]; //Inertial tensor real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations state = int(p.e); //state = generalized momentum p.f = inverse(II)*state; implementation_end; plug Hin 433.4 496; plug Hout 691.2 496; plug p 439.4 336; Splitter1 544 496 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; ellipse 539.7 491.7 548.3 500.3 color -1; terminals input 544 496 fixed; end; implementation eq equations collect (output) = input; implementation_end; Ta0j 544 336 description ' 4.0 1 False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 True '; knot OneJunction ports power knot duplicatable none p [6,1]; signal knot out flow [6,1]; restrictions causality constraint one_out p; end; icon bg bottom figures text '1' 544 336 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; ZeroJunction1 504 336 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 504 336 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections AdHi0\p2 => Ta0j\p; Gravity\p => AdHi0\p1; Hin -> Splitter1\input; Splitter1\output -> AdHi0\H; Splitter1\output -> Hout; Ta0j\p => EJS\p1; Ta0j\p => InertialTensor\p; ZeroJunction1\p => p; ZeroJunction1\p => Ta0j\p; end; implementation_end; COM_body5 1184 128 description '4.81Bond Graph\MR\center_of_mass_v2.emx2020-7-21 12:24:38parameters real I [3,1] = [0.018;0.159;0.159] {mN.m.s}; real m = 0.015 {kg};'; type Submodel ports signal in Hin [4,4]; signal out Hout [4,4]; power out p [6,1]; end; icon bg bottom figures rectangle 1168 96 1200 160 color 0 fill 139; text 'COM' 1184 128 color 0 'Clear Sans' 16; terminals Hin 1168 144 fixed; p 1168 112 fixed; end; implementation bg submodels AdHi0 544 400 description '4.01False2007-9-25 12:3:3True'; type MTF ports power in p1 [6,1]; power out p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg left figures text 'MTF' 544 400 color 0 18 bold; end; implementation eq variables real onlyRotH[4,4]; code //Only rotations with respect to the inertial system matter! onlyRotH = H; onlyRotH[1,4] = 0; onlyRotH[2,4] = 0; onlyRotH[3,4] = 0; p2.e = transpose(Adjoint(onlyRotH)) * p1.e; p1.f = Adjoint(onlyRotH) * p2.f; implementation_end; EJS 616 336 description '4.01False2007-10-31 11:43:6True'; type MGY ports power in p1 [6,1]; end; icon bg top figures text 'MGY' 616 336 color 0 18 bold; end; implementation eq //EJS / Gyroscopic effects parameters real global I[3]; real global m; variables real II[6,6]; //Inertial tensor real Q[6,6]; real QI[6,6]; real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations Q = transpose(adjoint(p1.f)); QI = Q*II; p1.e = QI*p1.f;implementation_end; Gravity 624 400 description '4.01False2007-9-25 12:3:26True'; type Se ports power out p [6,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'Se' 624 400 color 0 18 bold; end; implementation eq parameters real global m; variables real effort[6]; equations effort = [0;0;0;0;0;-g_n*m]; p.e = effort; implementation_end; InertialTensor 544 272 description '4.01False Bond Graph\3D\I-3.emx 2007-9-25 12:12:14 '; type 'I-3' ports power in p [6,1]; signal out state [6,1]; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 544 272 color 0 18 bold; end; implementation eq parameters real global I[3]; real global m; variables real II[6,6]; //Inertial tensor real Ia[6]; initialequations Ia[1:3] = I; Ia[4:6] = m; II = diag(Ia); equations state = int(p.e); //state = generalized momentum p.f = inverse(II)*state; implementation_end; plug Hin 433.4 496; plug Hout 691.2 496; plug p 439.4 336; Splitter1 544 496 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 540.8 492.8 547.2 499.2 color -1 fill 0; ellipse 539.7 491.7 548.3 500.3 color -1; terminals input 544 496 fixed; end; implementation eq equations collect (output) = input; implementation_end; Ta0j 544 336 description ' 4.0 1 False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 True '; knot OneJunction ports power knot duplicatable none p [6,1]; signal knot out flow [6,1]; restrictions causality constraint one_out p; end; icon bg bottom figures text '1' 544 336 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; ZeroJunction1 504 336 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 504 336 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections AdHi0\p2 => Ta0j\p; Gravity\p => AdHi0\p1; Hin -> Splitter1\input; Splitter1\output -> AdHi0\H; Splitter1\output -> Hout; Ta0j\p => EJS\p1; Ta0j\p => InertialTensor\p; ZeroJunction1\p => p; ZeroJunction1\p => Ta0j\p; end; implementation_end; Ground1 620 687.5 description ' 4.8 1 Bond Graph\MR\Ground.emx 2020-7-23 09:30:51 '; type Submodel ports power in p [6,1]; signal out output [4,4]; end; icon bg bottom figures line 584 680 600 696 color 0 fill 15132390; line 592 680 608 696 color 0 fill 15132390; line 576 680 592 696 color 0 fill 15132390; line 616 696 600 680 color 0 fill 15132390; line 624 696 608 680 color 0 fill 15132390; line 632 696 616 680 color 0 fill 15132390; line 648 696 632 680 color 0 fill 15132390; line 640 696 624 680 color 0 fill 15132390; line 656 696 640 680 color 0 fill 15132390; line 664 696 648 680 color 0 fill 15132390; line 576 680 664 680 color 0 fill 15132390 width 2; line 656 680 664 688 color 0 fill 15132390; line 576 688 584 696 color 0 fill 15132390; terminals p 600 680 fixed; output 632 680 fixed; end; implementation bg submodels plug p 240 88; plug output 240 120; OneJunction2 192 88 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' 192 88 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Sf2 136 88 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' 136 88 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; Zero 144 120 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 128.1 104 159.9 136 color 0 fill 15132390; text '0' 144 120 color 16711680 18 bold; end; implementation eq equations output = eye(4);implementation_end; end; connections p => OneJunction2\p; Sf2\p => OneJunction2\p; Zero\output -> output; end; implementation_end; inverse_kinematics 712 768 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. 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; JointA 560 512 description ' 4.8 1 Bond Graph\MR\joint-v3.emx 2020-7-21 12:08:53 '; type 'Submodel-v3' ports power in Pin [6,1]; power in Pdiff [6,1]; signal in Hin [4,4]; signal out Hout [4,4]; signal out Hdiff [4,4]; power out Pout [6,1]; end; icon bg bottom figures rectangle 528 488 592 536 color 0 fill 14745599; text 'Joint' 560 512 color 0 'Clear Sans' 16; terminals Pin 544 536 fixed; Hin 576 488 fixed; Hout 576 536 fixed; Pout 544 488 fixed; end; implementation bg submodels AdHji 424 424 description ' 4.0 1 False Bond Graph\MTF.emx 2007-9-25 12:3:3 True '; type MTF ports power out p1 [6,1]; power in p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'MTF' 424 424 color 0 18 bold; end; implementation eq equations p2.e = transpose(Adjoint(H)) * p1.e; p1.f = Adjoint(H) * p2.f;implementation_end; FlowSensor2 184 311.9 description ' 4.2 1 False Bond Graph\FlowSensor.emx 2011-11-29 15:50:53 '; knot FlowSensor ports power knot in p1 [6,1]; power knot out p2 [6,1]; signal knot out flow [6,1]; restrictions causality constraint not_equal p1 p2; end; icon bg ellipse figures ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; text 'f' 184 311.2 color 0; end; implementation eq equations p2.f = p1.f; p1.e = p2.e; flow = p1.f; implementation_end; Hmatrix 256 312 description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; type 'Submodel-Equation' ports signal in flow [6,1]; signal out H [4,4]; end; icon bg figures rectangle 224 296 288 328 color 0 fill 15132390; text 'name' 256 312 color 0 'Clear Sans' 16; end; implementation eq parameters real init[4] = [1;0;0;0]; variables real q[4]; //quaternions real W[3,4]; //Quaternion Rates Matrix real R[3,3]; //Rotation Matrix real p[3]; //Position Vector real dq[4]; real Wb[3,4]; equations dq = transpose(Wb) * flow[1:3] ./ 2; q = int(dq,init); p = int(flow[4:6]); W = [-q[2], q[1], -q[4], q[3]; -q[3], q[4], q[1], -q[2]; -q[4], -q[3], q[2], q[1]]; Wb = [ -q[2], q[1], q[4], -q[3]; -q[3], -q[4], q[1], q[2]; -q[4], q[3], -q[2], q[1]]; R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; H = homogeneous(R,p); implementation_end; MatrixMul 320 576 description ' 4.0 1 False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 True '; type Gain ports signal in input1 [4,4]; signal out output [4,4]; signal in input2 [4,4]; end; icon bg bottom figures rectangle 304.1 560 335.9 592 color 0 fill 15132390; text 'X' 320 576 color 16711680 16 bold; end; implementation eq equations output = input2*input1; implementation_end; plug Pin 492.1 424; plug Pdiff 184 225; plug Hin 130.8 576; plug Hout 478.4 576; plug Hdiff 320 222; plug Pout 134.7 424; Splitter2 320 312 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; ellipse 315.7 307.7 324.3 316.3 color -1; terminals input 320 312 fixed; end; implementation eq equations collect (output) = input; implementation_end; Wbai 184 424 description ' 4.0 1 False Bond Graph\ZeroJunction.emx 2007-9-27 9:51:43 True '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg bottom figures text '0' 184 424 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections FlowSensor2\flow -> Hmatrix\flow; FlowSensor2\p2 => Wbai\p; Hin -> MatrixMul\input2; Hmatrix\H -> Splitter2\input; MatrixMul\output -> Hout; Pdiff => FlowSensor2\p1; Pin => AdHji\p2; Splitter2\output -> AdHji\H 424 312; Splitter2\output -> Hdiff; Splitter2\output -> MatrixMul\input1; Wbai\p <= AdHji\p1; Wbai\p => Pout; end; implementation_end; JointB 560 192 description ' 4.8 1 Bond Graph\MR\joint-v3.emx 2020-7-21 12:08:53 '; type 'Submodel-v3' ports power in Pin [6,1]; power in Pdiff [6,1]; signal in Hin [4,4]; signal out Hout [4,4]; signal out Hdiff [4,4]; power out Pout [6,1]; end; icon bg bottom figures rectangle 528 168 592 216 color 0 fill 14745599; text 'Joint' 560 192 color 0 'Clear Sans' 16; terminals Pin 544 216 fixed; Hin 576 168 fixed; Hout 576 216 fixed; Pout 544 168 fixed; end; implementation bg submodels AdHji 424 424 description ' 4.0 1 False Bond Graph\MTF.emx 2007-9-25 12:3:3 True '; type MTF ports power out p1 [6,1]; power in p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'MTF' 424 424 color 0 18 bold; end; implementation eq equations p2.e = transpose(Adjoint(H)) * p1.e; p1.f = Adjoint(H) * p2.f;implementation_end; FlowSensor2 184 311.9 description ' 4.2 1 False Bond Graph\FlowSensor.emx 2011-11-29 15:50:53 '; knot FlowSensor ports power knot in p1 [6,1]; power knot out p2 [6,1]; signal knot out flow [6,1]; restrictions causality constraint not_equal p1 p2; end; icon bg ellipse figures ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; text 'f' 184 311.2 color 0; end; implementation eq equations p2.f = p1.f; p1.e = p2.e; flow = p1.f; implementation_end; Hmatrix 256 312 description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; type 'Submodel-Equation' ports signal in flow [6,1]; signal out H [4,4]; end; icon bg figures rectangle 224 296 288 328 color 0 fill 15132390; text 'name' 256 312 color 0 'Clear Sans' 16; end; implementation eq parameters real init[4] = [1;0;0;0]; variables real q[4]; //quaternions real W[3,4]; //Quaternion Rates Matrix real R[3,3]; //Rotation Matrix real p[3]; //Position Vector real dq[4]; real Wb[3,4]; equations dq = transpose(Wb) * flow[1:3] ./ 2; q = int(dq,init); p = int(flow[4:6]); W = [-q[2], q[1], -q[4], q[3]; -q[3], q[4], q[1], -q[2]; -q[4], -q[3], q[2], q[1]]; Wb = [ -q[2], q[1], q[4], -q[3]; -q[3], -q[4], q[1], q[2]; -q[4], q[3], -q[2], q[1]]; R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; H = homogeneous(R,p); implementation_end; MatrixMul 320 576 description ' 4.0 1 False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 True '; type Gain ports signal in input1 [4,4]; signal out output [4,4]; signal in input2 [4,4]; end; icon bg bottom figures rectangle 304.1 560 335.9 592 color 0 fill 15132390; text 'X' 320 576 color 16711680 16 bold; end; implementation eq equations output = input2*input1; implementation_end; plug Pin 492.1 424; plug Pdiff 184 225; plug Hin 130.8 576; plug Hout 478.4 576; plug Hdiff 320 222; plug Pout 134.7 424; Splitter2 320 312 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; ellipse 315.7 307.7 324.3 316.3 color -1; terminals input 320 312 fixed; end; implementation eq equations collect (output) = input; implementation_end; Wbai 184 424 description ' 4.0 1 False Bond Graph\ZeroJunction.emx 2007-9-27 9:51:43 True '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg bottom figures text '0' 184 424 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections FlowSensor2\flow -> Hmatrix\flow; FlowSensor2\p2 => Wbai\p; Hin -> MatrixMul\input2; Hmatrix\H -> Splitter2\input; MatrixMul\output -> Hout; Pdiff => FlowSensor2\p1; Pin => AdHji\p2; Splitter2\output -> AdHji\H 424 312; Splitter2\output -> Hdiff; Splitter2\output -> MatrixMul\input1; Wbai\p <= AdHji\p1; Wbai\p => Pout; end; implementation_end; JointC 512 632 description ' 4.8 1 Bond Graph\MR\joint-v3.emx 2020-7-21 12:08:53 '; type 'Submodel-v3' ports power in Pin [6,1]; power in Pdiff [6,1]; signal in Hin [4,4]; signal out Hout [4,4]; signal out Hdiff [4,4]; power out Pout [6,1]; end; icon bg bottom figures rectangle 488 600 536 664 color 0 fill 14745599; text 'Joint' 512 632 color 0 'Clear Sans' 16; terminals Pin 488 648 fixed; Hin 536 616 fixed; Hout 488 616 fixed; Pout 536 648 fixed; end; implementation bg submodels AdHji 424 424 description ' 4.0 1 False Bond Graph\MTF.emx 2007-9-25 12:3:3 True '; type MTF ports power out p1 [6,1]; power in p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'MTF' 424 424 color 0 18 bold; end; implementation eq equations p2.e = transpose(Adjoint(H)) * p1.e; p1.f = Adjoint(H) * p2.f;implementation_end; FlowSensor2 184 311.9 description ' 4.2 1 False Bond Graph\FlowSensor.emx 2011-11-29 15:50:53 '; knot FlowSensor ports power knot in p1 [6,1]; power knot out p2 [6,1]; signal knot out flow [6,1]; restrictions causality constraint not_equal p1 p2; end; icon bg ellipse figures ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; text 'f' 184 311.2 color 0; end; implementation eq equations p2.f = p1.f; p1.e = p2.e; flow = p1.f; implementation_end; Hmatrix 256 312 description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; type 'Submodel-Equation' ports signal in flow [6,1]; signal out H [4,4]; end; icon bg figures rectangle 224 296 288 328 color 0 fill 15132390; text 'name' 256 312 color 0 'Clear Sans' 16; end; implementation eq parameters real init[4] = [1;0;0;0]; variables real q[4]; //quaternions real W[3,4]; //Quaternion Rates Matrix real R[3,3]; //Rotation Matrix real p[3]; //Position Vector real dq[4]; real Wb[3,4]; equations dq = transpose(Wb) * flow[1:3] ./ 2; q = int(dq,init); p = int(flow[4:6]); W = [-q[2], q[1], -q[4], q[3]; -q[3], q[4], q[1], -q[2]; -q[4], -q[3], q[2], q[1]]; Wb = [ -q[2], q[1], q[4], -q[3]; -q[3], -q[4], q[1], q[2]; -q[4], q[3], -q[2], q[1]]; R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; H = homogeneous(R,p); implementation_end; MatrixMul 320 576 description ' 4.0 1 False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 True '; type Gain ports signal in input1 [4,4]; signal out output [4,4]; signal in input2 [4,4]; end; icon bg bottom figures rectangle 304.1 560 335.9 592 color 0 fill 15132390; text 'X' 320 576 color 16711680 16 bold; end; implementation eq equations output = input2*input1; implementation_end; plug Pin 492.1 424; plug Pdiff 184 225; plug Hin 130.8 576; plug Hout 478.4 576; plug Hdiff 320 222; plug Pout 134.7 424; Splitter2 320 312 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; ellipse 315.7 307.7 324.3 316.3 color -1; terminals input 320 312 fixed; end; implementation eq equations collect (output) = input; implementation_end; Wbai 184 424 description ' 4.0 1 False Bond Graph\ZeroJunction.emx 2007-9-27 9:51:43 True '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg bottom figures text '0' 184 424 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections FlowSensor2\flow -> Hmatrix\flow; FlowSensor2\p2 => Wbai\p; Hin -> MatrixMul\input2; Hmatrix\H -> Splitter2\input; MatrixMul\output -> Hout; Pdiff => FlowSensor2\p1; Pin => AdHji\p2; Splitter2\output -> AdHji\H 424 312; Splitter2\output -> Hdiff; Splitter2\output -> MatrixMul\input1; Wbai\p <= AdHji\p1; Wbai\p => Pout; end; implementation_end; JointD 200 488 description ' 4.8 1 Bond Graph\MR\joint-v3.emx 2020-7-21 12:08:53 '; type 'Submodel-v3' ports power in Pin [6,1]; power in Pdiff [6,1]; signal in Hin [4,4]; signal out Hout [4,4]; signal out Hdiff [4,4]; power out Pout [6,1]; end; icon bg bottom figures rectangle 168 464 232 512 color 0 fill 14745599; text 'Joint' 200 488 color 0 'Clear Sans' 16; terminals Pin 184 464 fixed; Hin 216 512 fixed; Hout 216 464 fixed; Pout 184 512 fixed; end; implementation bg submodels AdHji 424 424 description ' 4.0 1 False Bond Graph\MTF.emx 2007-9-25 12:3:3 True '; type MTF ports power out p1 [6,1]; power in p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'MTF' 424 424 color 0 18 bold; end; implementation eq equations p2.e = transpose(Adjoint(H)) * p1.e; p1.f = Adjoint(H) * p2.f;implementation_end; FlowSensor2 184 311.9 description ' 4.2 1 False Bond Graph\FlowSensor.emx 2011-11-29 15:50:53 '; knot FlowSensor ports power knot in p1 [6,1]; power knot out p2 [6,1]; signal knot out flow [6,1]; restrictions causality constraint not_equal p1 p2; end; icon bg ellipse figures ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; text 'f' 184 311.2 color 0; end; implementation eq equations p2.f = p1.f; p1.e = p2.e; flow = p1.f; implementation_end; Hmatrix 256 312 description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; type 'Submodel-Equation' ports signal in flow [6,1]; signal out H [4,4]; end; icon bg figures rectangle 224 296 288 328 color 0 fill 15132390; text 'name' 256 312 color 0 'Clear Sans' 16; end; implementation eq parameters real init[4] = [1;0;0;0]; variables real q[4]; //quaternions real W[3,4]; //Quaternion Rates Matrix real R[3,3]; //Rotation Matrix real p[3]; //Position Vector real dq[4]; real Wb[3,4]; equations dq = transpose(Wb) * flow[1:3] ./ 2; q = int(dq,init); p = int(flow[4:6]); W = [-q[2], q[1], -q[4], q[3]; -q[3], q[4], q[1], -q[2]; -q[4], -q[3], q[2], q[1]]; Wb = [ -q[2], q[1], q[4], -q[3]; -q[3], -q[4], q[1], q[2]; -q[4], q[3], -q[2], q[1]]; R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; H = homogeneous(R,p); implementation_end; MatrixMul 320 576 description ' 4.0 1 False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 True '; type Gain ports signal in input1 [4,4]; signal out output [4,4]; signal in input2 [4,4]; end; icon bg bottom figures rectangle 304.1 560 335.9 592 color 0 fill 15132390; text 'X' 320 576 color 16711680 16 bold; end; implementation eq equations output = input2*input1; implementation_end; plug Pin 492.1 424; plug Pdiff 184 225; plug Hin 130.8 576; plug Hout 478.4 576; plug Hdiff 320 222; plug Pout 134.7 424; Splitter2 320 312 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; ellipse 315.7 307.7 324.3 316.3 color -1; terminals input 320 312 fixed; end; implementation eq equations collect (output) = input; implementation_end; Wbai 184 424 description ' 4.0 1 False Bond Graph\ZeroJunction.emx 2007-9-27 9:51:43 True '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg bottom figures text '0' 184 424 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections FlowSensor2\flow -> Hmatrix\flow; FlowSensor2\p2 => Wbai\p; Hin -> MatrixMul\input2; Hmatrix\H -> Splitter2\input; MatrixMul\output -> Hout; Pdiff => FlowSensor2\p1; Pin => AdHji\p2; Splitter2\output -> AdHji\H 424 312; Splitter2\output -> Hdiff; Splitter2\output -> MatrixMul\input1; Wbai\p <= AdHji\p1; Wbai\p => Pout; end; implementation_end; JointE 200 168 description ' 4.8 1 Bond Graph\MR\joint-v3.emx 2020-7-21 12:08:53 '; type 'Submodel-v3' ports power in Pin [6,1]; power in Pdiff [6,1]; signal in Hin [4,4]; signal out Hout [4,4]; signal out Hdiff [4,4]; power out Pout [6,1]; end; icon bg bottom figures rectangle 168 144 232 192 color 0 fill 14745599; text 'Joint' 200 168 color 0 'Clear Sans' 16; terminals Pin 184 144 fixed; Hin 216 192 fixed; Hout 216 144 fixed; Pout 184 192 fixed; end; implementation bg submodels AdHji 424 424 description ' 4.0 1 False Bond Graph\MTF.emx 2007-9-25 12:3:3 True '; type MTF ports power out p1 [6,1]; power in p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'MTF' 424 424 color 0 18 bold; end; implementation eq equations p2.e = transpose(Adjoint(H)) * p1.e; p1.f = Adjoint(H) * p2.f;implementation_end; FlowSensor2 184 311.9 description ' 4.2 1 False Bond Graph\FlowSensor.emx 2011-11-29 15:50:53 '; knot FlowSensor ports power knot in p1 [6,1]; power knot out p2 [6,1]; signal knot out flow [6,1]; restrictions causality constraint not_equal p1 p2; end; icon bg ellipse figures ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; text 'f' 184 311.2 color 0; end; implementation eq equations p2.f = p1.f; p1.e = p2.e; flow = p1.f; implementation_end; Hmatrix 256 312 description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; type 'Submodel-Equation' ports signal in flow [6,1]; signal out H [4,4]; end; icon bg figures rectangle 224 296 288 328 color 0 fill 15132390; text 'name' 256 312 color 0 'Clear Sans' 16; end; implementation eq parameters real init[4] = [1;0;0;0]; variables real q[4]; //quaternions real W[3,4]; //Quaternion Rates Matrix real R[3,3]; //Rotation Matrix real p[3]; //Position Vector real dq[4]; real Wb[3,4]; equations dq = transpose(Wb) * flow[1:3] ./ 2; q = int(dq,init); p = int(flow[4:6]); W = [-q[2], q[1], -q[4], q[3]; -q[3], q[4], q[1], -q[2]; -q[4], -q[3], q[2], q[1]]; Wb = [ -q[2], q[1], q[4], -q[3]; -q[3], -q[4], q[1], q[2]; -q[4], q[3], -q[2], q[1]]; R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; H = homogeneous(R,p); implementation_end; MatrixMul 320 576 description ' 4.0 1 False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 True '; type Gain ports signal in input1 [4,4]; signal out output [4,4]; signal in input2 [4,4]; end; icon bg bottom figures rectangle 304.1 560 335.9 592 color 0 fill 15132390; text 'X' 320 576 color 16711680 16 bold; end; implementation eq equations output = input2*input1; implementation_end; plug Pin 492.1 424; plug Pdiff 184 225; plug Hin 130.8 576; plug Hout 478.4 576; plug Hdiff 320 222; plug Pout 134.7 424; Splitter2 320 312 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; ellipse 315.7 307.7 324.3 316.3 color -1; terminals input 320 312 fixed; end; implementation eq equations collect (output) = input; implementation_end; Wbai 184 424 description ' 4.0 1 False Bond Graph\ZeroJunction.emx 2007-9-27 9:51:43 True '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg bottom figures text '0' 184 424 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections FlowSensor2\flow -> Hmatrix\flow; FlowSensor2\p2 => Wbai\p; Hin -> MatrixMul\input2; Hmatrix\H -> Splitter2\input; MatrixMul\output -> Hout; Pdiff => FlowSensor2\p1; Pin => AdHji\p2; Splitter2\output -> AdHji\H 424 312; Splitter2\output -> Hdiff; Splitter2\output -> MatrixMul\input1; Wbai\p <= AdHji\p1; Wbai\p => Pout; end; implementation_end; JointF 864 128 description ' 4.8 1 Bond Graph\MR\joint-v3.emx 2020-7-21 12:08:53 '; type 'Submodel-v3' ports power in Pin [6,1]; power in Pdiff [6,1]; signal in Hin [4,4]; signal out Hout [4,4]; signal out Hdiff [4,4]; power out Pout [6,1]; end; icon bg bottom figures rectangle 840 96 888 160 color 0 fill 14745599; text 'Joint' 864 128 color 0 'Clear Sans' 16; terminals Pin 888 112 fixed; Hin 840 144 fixed; Hout 888 144 fixed; Pout 840 112 fixed; end; implementation bg submodels AdHji 424 424 description ' 4.0 1 False Bond Graph\MTF.emx 2007-9-25 12:3:3 True '; type MTF ports power out p1 [6,1]; power in p2 [6,1]; signal in H [4,4]; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'MTF' 424 424 color 0 18 bold; end; implementation eq equations p2.e = transpose(Adjoint(H)) * p1.e; p1.f = Adjoint(H) * p2.f;implementation_end; FlowSensor2 184 311.9 description ' 4.2 1 False Bond Graph\FlowSensor.emx 2011-11-29 15:50:53 '; knot FlowSensor ports power knot in p1 [6,1]; power knot out p2 [6,1]; signal knot out flow [6,1]; restrictions causality constraint not_equal p1 p2; end; icon bg ellipse figures ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215; text 'f' 184 311.2 color 0; end; implementation eq equations p2.f = p1.f; p1.e = p2.e; flow = p1.f; implementation_end; Hmatrix 256 312 description '4.0Template\Submodel-Equation.emx1False2007-11-1 22:32:1False'; type 'Submodel-Equation' ports signal in flow [6,1]; signal out H [4,4]; end; icon bg figures rectangle 224 296 288 328 color 0 fill 15132390; text 'name' 256 312 color 0 'Clear Sans' 16; end; implementation eq parameters real init[4] = [1;0;0;0]; variables real q[4]; //quaternions real W[3,4]; //Quaternion Rates Matrix real R[3,3]; //Rotation Matrix real p[3]; //Position Vector real dq[4]; real Wb[3,4]; equations dq = transpose(Wb) * flow[1:3] ./ 2; q = int(dq,init); p = int(flow[4:6]); W = [-q[2], q[1], -q[4], q[3]; -q[3], q[4], q[1], -q[2]; -q[4], -q[3], q[2], q[1]]; Wb = [ -q[2], q[1], q[4], -q[3]; -q[3], -q[4], q[1], q[2]; -q[4], q[3], -q[2], q[1]]; R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]); 2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]); 2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2]; H = homogeneous(R,p); implementation_end; MatrixMul 320 576 description ' 4.0 1 False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 True '; type Gain ports signal in input1 [4,4]; signal out output [4,4]; signal in input2 [4,4]; end; icon bg bottom figures rectangle 304.1 560 335.9 592 color 0 fill 15132390; text 'X' 320 576 color 16711680 16 bold; end; implementation eq equations output = input2*input1; implementation_end; plug Pin 492.1 424; plug Pdiff 184 225; plug Hin 130.8 576; plug Hout 478.4 576; plug Hdiff 320 222; plug Pout 134.7 424; Splitter2 320 312 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 316.8 308.8 323.2 315.2 color -1 fill 0; ellipse 315.7 307.7 324.3 316.3 color -1; terminals input 320 312 fixed; end; implementation eq equations collect (output) = input; implementation_end; Wbai 184 424 description ' 4.0 1 False Bond Graph\ZeroJunction.emx 2007-9-27 9:51:43 True '; knot ZeroJunction ports power knot duplicatable none p [6,1]; signal knot out effort [6,1]; restrictions causality constraint one_in p; end; icon bg bottom figures text '0' 184 424 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; end; connections FlowSensor2\flow -> Hmatrix\flow; FlowSensor2\p2 => Wbai\p; Hin -> MatrixMul\input2; Hmatrix\H -> Splitter2\input; MatrixMul\output -> Hout; Pdiff => FlowSensor2\p1; Pin => AdHji\p2; Splitter2\output -> AdHji\H 424 312; Splitter2\output -> Hdiff; Splitter2\output -> MatrixMul\input1; Wbai\p <= AdHji\p1; Wbai\p => Pout; end; implementation_end; Joint_dynA 712 512 description ' 4.8 1 '; type Submodel ports power out output [6,1]; signal in angle {rad} ; end; implementation bg submodels C 264 200 description ' 4.2 1 False Bond Graph\C.emx 2011-11-29 15:58:35 '; type C ports power in p; signal out state; restrictions causality preferred out p; end; icon bg bottom figures text 'C' 264 200 color 0 18 bold; end; implementation eq parameters real c = 0.001; equations state = int(p.f); p.e = state / c; implementation_end; C1 191.8 216.2 description '4.01False Bond Graph\3D\C-3.emx 2007-9-25 12:12:8 '; type 'C-3' ports power in p [3,1]; signal out state [3,1]; restrictions causality preferred out p; end; icon bg top figures text 'C' 191.8 216.2 color 0 18 bold; end; implementation eq parameters real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; C4 191.8 232.2 description '4.01False Bond Graph\2D\C-2.emx 2007-9-25 12:7:27 '; type 'C-2' ports power in p [2,1]; signal out state [2,1]; restrictions causality preferred out p; end; icon bg bottom figures text 'C' 191.8 232.2 color 0 18 bold; end; implementation eq parameters real c[2,2] = [0.1, 0.0; 0.0, 0.1] {mN.m/rad}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; plug output 468 216; plug angle 224 80; OneJunction5 239.8 232.2 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' 239.8 232.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction7 239.8 216.2 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [3,1]; signal knot out flow [3,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 239.8 216.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction8 312 200 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' 312 200 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; PowerMux 402 216 specifications active 'rot_x' specification 'rot_x' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-20 14:35:23 1 False True '; type 'PowerMux-Rotation' ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 400 192 400 240 color 0 width 2; rectangle 396 192 408 240 color -1; text '1' 405 210 color 8421504 8; terminals input 400 200 fixed; output 400 216 fixed; input_rot2 400 232 fixed; input_pos3 400 216 fixed; end; implementation eq equations output.e[1] = input.e; output.e[2:3] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[1] = input.f; output.f[2:3] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_y' description ' 4.1 Bond Graph\PowerMux.emx 2011-3-4 15:12:50 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[1] = input_rot2.e[1]; output.e[2] = input.e; output.e[3] = input_rot2.e[2]; output.e[4:6] = input_pos3.e; output.f[1] = input_rot2.f[1]; output.f[2] = input.f; output.f[3] = input_rot2.f[2]; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_z' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-21 12:05:13 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[3] = input.e; output.e[1:2] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[3] = input.f; output.f[1:2] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; end; R 312 152 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' 312 152 color 0 18 bold; end; implementation eq parameters real r = 100; equations p.e = r * p.f; implementation_end; R4 239.8 288.2 description '4.01False Bond Graph\2D\R-2.emx 2007-9-25 12:6:54 '; type 'R-2' ports power in p [2,1]; end; icon bg bottom figures text 'R' 239.8 288.2 color 0 18 bold; end; implementation eq parameters real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; equations p.e = r * p.f; implementation_end; R5 239.8 168.2 description '4.01False Bond Graph\3D\R-3.emx 2007-9-25 12:11:54 '; type 'R-3' ports power in p [3,1]; end; icon bg top figures text 'R' 239.8 168.2 color 0 18 bold; end; implementation eq parameters real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; equations p.e = r * p.f; implementation_end; stepper_model 360 80 description '4.81Motor\stepper_model.emx2020-7-23 10:54:47parameters real I_phase = 3.4 {mH}; real R_phase = 2.9 {ohm}; real u_max = 3.4 {V}; real RotorInertia = 5.6e-6 {kg.m2}; real StepperMass = 0.29 {kg}; real angle_step = 1.8 {deg}; real n_phase = 2 {none}; real fluxLinkage = 0.0022 {Wb}; real detentTorque = 0.01 {N.m}; variables real omega; real p; // rotor division initialequations p = 2 * pi / (2 * n_phase * angle_step); omega = 200;'; type Submodel ports signal in angle; rotation out p; end; implementation bg submodels I 560 104 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 560 104 color 0 18 bold; end; implementation eq parameters real global I_phase; equations state = int(p.e); p.f = state / I_phase; implementation_end; I1 608 328 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 608 328 color 0 18 bold; end; implementation eq parameters real global I_phase; equations state = int(p.e); p.f = state / I_phase; implementation_end; I2 752 160 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 752 160 color 0 18 bold; end; implementation eq parameters real global RotorInertia; equations state = int(p.e); p.f = state / (RotorInertia); implementation_end; MGY_a 656 160 description ' 4.2 1 False Bond Graph\MGY.emx 2011-11-29 16:03:53 '; type MGY ports power in p1; power out p2; signal in r; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'MGY' 656 160 color 0 18 bold; end; implementation eq equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MGY_b 656 272 description ' 4.2 1 False Bond Graph\MGY.emx 2011-11-29 16:03:53 '; type MGY ports power in p1; power out p2; signal in r; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'MGY' 656 272 color 0 18 bold; end; implementation eq equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MSe_a 512 160 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports electric out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 512 160 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; MSe_b 512 272 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports electric out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 512 272 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; plug angle 200 216; plug p 1472 216; OneJunction1 840 216 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports rotation knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 840 216 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction2 584 160 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports electric knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 584 160 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction3 584 272 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports electric knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 584 272 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction4 752 216 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports rotation knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 752 216 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; phase_control 512 216 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type Submodel ports signal in angle; signal out a; signal out b; end; icon bg figures rectangle 472 200 552 232 color 0 fill 15132390; text 'name' 512 216 color 0 'Clear Sans' 16; end; implementation eq parameters real global u_max {V}; variables real global p; boolean hidden eventa, eventb; equations a = u_max * (cos (p*angle)); eventa = event(a); b = u_max * -(sin (p*angle)); eventb = event(b); 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,1.570796); output_a = -p * fluxLinkage * sin(p * angle); output_b = p * fluxLinkage * sin(p * angle - pi / 2); output_d = detentTorque * sin(2 * p * angle); implementation_end; Se 752 272 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 752 272 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; end; connections angle -> phase_control\angle; I2\p <= OneJunction4\p; MGY_a\p2 => OneJunction4\p; MGY_b\p2 => OneJunction4\p; MSe_b\p => OneJunction3\p; OneJunction1\p => p; OneJunction2\p <= MSe_a\p; OneJunction2\p => I\p; OneJunction2\p => MGY_a\p1; OneJunction2\p => R\p; OneJunction3\p => I1\p; OneJunction3\p => MGY_b\p1; OneJunction3\p => R1\p; OneJunction4\flow -> RotorAngle\omega; OneJunction4\p => OneJunction1\p; OneJunction4\p => R2\p; phase_control\a -> MSe_a\effort; phase_control\b -> MSe_b\effort; RotorAngle\output_a -> MGY_a\r; RotorAngle\output_b -> MGY_b\r; RotorAngle\output_d -> Se\effort; Se\p => OneJunction4\p; end; implementation_end; ZeroJunction1 360 200 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' 360 200 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 angle -> stepper_model\angle; C\p <= OneJunction8\p; C1\p <= OneJunction7\p; OneJunction5\p => C4\p; OneJunction5\p => PowerMux\input_rot2; OneJunction5\p => R4\p; OneJunction7\p => PowerMux\input_pos3; OneJunction7\p => R5\p; OneJunction8\p => R\p; OneJunction8\p => ZeroJunction1\p; PowerMux\input <= ZeroJunction1\p; PowerMux\output => output; ZeroJunction1\p <= stepper_model\p; end; implementation_end; Joint_dynB 672 192 description ' 4.8 1 '; type Submodel ports power out output [6,1]; end; icon bg figures rectangle 632 176 712 208 color 0 fill 15132390; text 'name' 672 192 color 0 'Clear Sans' 16; end; implementation bg submodels C1 191.8 216.2 description '4.01False Bond Graph\3D\C-3.emx 2007-9-25 12:12:8 '; type 'C-3' ports power in p [3,1]; signal out state [3,1]; restrictions causality preferred out p; end; icon bg top figures text 'C' 191.8 216.2 color 0 18 bold; end; implementation eq parameters real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {uN/m}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; C4 191.8 232.2 description '4.01False Bond Graph\2D\C-2.emx 2007-9-25 12:7:27 '; type 'C-2' ports power in p [2,1]; signal out state [2,1]; restrictions causality preferred out p; end; icon bg bottom figures text 'C' 191.8 232.2 color 0 18 bold; end; implementation eq parameters real c[2,2] = [1, 0.0; 0.0, 1] {uN.m/rad}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; plug output 396 216; OneJunction5 239.8 232.2 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' 239.8 232.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction7 239.8 216.2 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [3,1]; signal knot out flow [3,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 239.8 216.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction8 288 200 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' 288 200 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; PowerMux 330 216 specifications active 'rot_x' specification 'rot_x' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-20 14:35:23 1 False True '; type 'PowerMux-Rotation' ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 328 192 328 240 color 0 width 2; rectangle 324 192 336 240 color -1; text '1' 333 210 color 8421504 8; terminals input 328 200 fixed; output 328 216 fixed; input_rot2 328 232 fixed; input_pos3 328 216 fixed; end; implementation eq equations output.e[1] = input.e; output.e[2:3] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[1] = input.f; output.f[2:3] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_y' description ' 4.1 Bond Graph\PowerMux.emx 2011-3-4 15:12:50 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[1] = input_rot2.e[1]; output.e[2] = input.e; output.e[3] = input_rot2.e[2]; output.e[4:6] = input_pos3.e; output.f[1] = input_rot2.f[1]; output.f[2] = input.f; output.f[3] = input_rot2.f[2]; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_z' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-21 12:05:13 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[3] = input.e; output.e[1:2] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[3] = input.f; output.f[1:2] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; end; R 288 152 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg top figures text 'R' 288 152 color 0 18 bold; end; implementation eq parameters real r = 0.0001; equations p.e = r * p.f; implementation_end; R4 239.8 288.2 description '4.01False Bond Graph\2D\R-2.emx 2007-9-25 12:6:54 '; type 'R-2' ports power in p [2,1]; end; icon bg bottom figures text 'R' 239.8 288.2 color 0 18 bold; end; implementation eq parameters real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; equations p.e = r * p.f; implementation_end; R5 239.8 168.2 description '4.01False Bond Graph\3D\R-3.emx 2007-9-25 12:11:54 '; type 'R-3' ports power in p [3,1]; end; icon bg top figures text 'R' 239.8 168.2 color 0 18 bold; end; implementation eq parameters real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; equations p.e = r * p.f; implementation_end; end; connections C1\p <= OneJunction7\p; OneJunction5\p => C4\p; OneJunction5\p => PowerMux\input_rot2; OneJunction5\p => R4\p; OneJunction7\p => PowerMux\input_pos3; OneJunction7\p => R5\p; OneJunction8\p => PowerMux\input; PowerMux\output => output; R\p <= OneJunction8\p; end; implementation_end; Joint_dynC 512 712 description ' 4.8 1 '; type Submodel ports power out output [6,1]; signal in angle {rad} ; end; icon bg figures rectangle 472 696 552 728 color 0 fill 15132390; text 'name' 512 712 color 0 'Clear Sans' 16; end; implementation bg submodels C 264 200 description ' 4.2 1 False Bond Graph\C.emx 2011-11-29 15:58:35 '; type C ports power in p; signal out state; restrictions causality preferred out p; end; icon bg bottom figures text 'C' 264 200 color 0 18 bold; end; implementation eq parameters real c = 0.001; equations state = int(p.f); p.e = state / c; implementation_end; C1 191.8 216.2 description '4.01False Bond Graph\3D\C-3.emx 2007-9-25 12:12:8 '; type 'C-3' ports power in p [3,1]; signal out state [3,1]; restrictions causality preferred out p; end; icon bg top figures text 'C' 191.8 216.2 color 0 18 bold; end; implementation eq parameters real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; C4 191.8 232.2 description '4.01False Bond Graph\2D\C-2.emx 2007-9-25 12:7:27 '; type 'C-2' ports power in p [2,1]; signal out state [2,1]; restrictions causality preferred out p; end; icon bg bottom figures text 'C' 191.8 232.2 color 0 18 bold; end; implementation eq parameters real c[2,2] = [0.1, 0.0; 0.0, 0.1] {mN.m/rad}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; plug output 468 216; plug angle 224 80; OneJunction5 239.8 232.2 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' 239.8 232.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction7 239.8 216.2 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [3,1]; signal knot out flow [3,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 239.8 216.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction8 312 200 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' 312 200 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; PowerMux 402 216 specifications active 'rot_x' specification 'rot_x' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-20 14:35:23 1 False True '; type 'PowerMux-Rotation' ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 400 192 400 240 color 0 width 2; rectangle 396 192 408 240 color -1; text '1' 405 210 color 8421504 8; terminals input 400 200 fixed; output 400 216 fixed; input_rot2 400 232 fixed; input_pos3 400 216 fixed; end; implementation eq equations output.e[1] = input.e; output.e[2:3] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[1] = input.f; output.f[2:3] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_y' description ' 4.1 Bond Graph\PowerMux.emx 2011-3-4 15:12:50 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[1] = input_rot2.e[1]; output.e[2] = input.e; output.e[3] = input_rot2.e[2]; output.e[4:6] = input_pos3.e; output.f[1] = input_rot2.f[1]; output.f[2] = input.f; output.f[3] = input_rot2.f[2]; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_z' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-21 12:05:13 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[3] = input.e; output.e[1:2] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[3] = input.f; output.f[1:2] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; end; R 312 152 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' 312 152 color 0 18 bold; end; implementation eq parameters real r = 100; equations p.e = r * p.f; implementation_end; R4 239.8 288.2 description '4.01False Bond Graph\2D\R-2.emx 2007-9-25 12:6:54 '; type 'R-2' ports power in p [2,1]; end; icon bg bottom figures text 'R' 239.8 288.2 color 0 18 bold; end; implementation eq parameters real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; equations p.e = r * p.f; implementation_end; R5 239.8 168.2 description '4.01False Bond Graph\3D\R-3.emx 2007-9-25 12:11:54 '; type 'R-3' ports power in p [3,1]; end; icon bg top figures text 'R' 239.8 168.2 color 0 18 bold; end; implementation eq parameters real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; equations p.e = r * p.f; implementation_end; stepper_model 360 80 description '4.81Motor\stepper_model.emx2020-7-23 10:54:47parameters real I_phase = 3.4 {mH}; real R_phase = 2.9 {ohm}; real u_max = 3.4 {V}; real RotorInertia = 5.6e-6 {kg.m2}; real StepperMass = 0.29 {kg}; real angle_step = 1.8 {deg}; real n_phase = 2 {none}; real fluxLinkage = 0.0022 {Wb}; real detentTorque = 0.01 {N.m}; variables real omega; real p; // rotor division initialequations p = 2 * pi / (2 * n_phase * angle_step); omega = 200;'; type Submodel ports signal in angle; rotation out p; end; implementation bg submodels I 560 104 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 560 104 color 0 18 bold; end; implementation eq parameters real global I_phase; equations state = int(p.e); p.f = state / I_phase; implementation_end; I1 608 328 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 608 328 color 0 18 bold; end; implementation eq parameters real global I_phase; equations state = int(p.e); p.f = state / I_phase; implementation_end; I2 752 160 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 752 160 color 0 18 bold; end; implementation eq parameters real global RotorInertia; equations state = int(p.e); p.f = state / (RotorInertia); implementation_end; MGY_a 656 160 description ' 4.2 1 False Bond Graph\MGY.emx 2011-11-29 16:03:53 '; type MGY ports power in p1; power out p2; signal in r; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'MGY' 656 160 color 0 18 bold; end; implementation eq equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MGY_b 656 272 description ' 4.2 1 False Bond Graph\MGY.emx 2011-11-29 16:03:53 '; type MGY ports power in p1; power out p2; signal in r; restrictions causality constraint equal p1 p2; end; icon bg bottom figures text 'MGY' 656 272 color 0 18 bold; end; implementation eq equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; MSe_a 512 160 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports electric out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 512 160 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; MSe_b 512 272 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports electric out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 512 272 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; plug angle 200 216; plug p 1472 216; OneJunction1 840 216 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports rotation knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 840 216 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction2 584 160 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports electric knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 584 160 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction3 584 272 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports electric knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 584 272 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction4 752 216 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports rotation knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 752 216 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; phase_control 512 216 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type Submodel ports signal in angle; signal out a; signal out b; end; icon bg figures rectangle 472 200 552 232 color 0 fill 15132390; text 'name' 512 216 color 0 'Clear Sans' 16; end; implementation eq parameters real global u_max {V}; variables real global p; boolean hidden eventa, eventb; equations a = u_max * (cos (p*angle)); eventa = event(a); b = u_max * -(sin (p*angle)); eventb = event(b); implementation_end; R 608 104 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg bottom figures text 'R' 608 104 color 0 18 bold; end; implementation eq parameters real global R_phase; equations p.e = R_phase * p.f; implementation_end; R1 560 328 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg bottom figures text 'R' 560 328 color 0 18 bold; end; implementation eq parameters real global R_phase; equations p.e = R_phase * p.f; implementation_end; R2 824 264 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg bottom figures text 'R' 824 264 color 0 18 bold; end; implementation eq parameters real r = 1.0e-3; equations p.e = r * p.f; implementation_end; RotorAngle 656 216 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type Submodel ports signal out output_b; signal out output_a; signal in omega {rad/s} ; signal out output_d; end; icon bg figures rectangle 616 200 696 232 color 0 fill 15132390; text 'name' 656 216 color 0 'Clear Sans' 16; end; implementation eq parameters real global fluxLinkage; real global detentTorque; variables real global p; real angle {rad}; equations angle = int(omega); output_a = -p * fluxLinkage * sin(p * angle); output_b = p * fluxLinkage * sin(p * angle - pi / 2); output_d = detentTorque * sin(2 * p * angle); implementation_end; Se 752 272 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 752 272 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; end; connections angle -> phase_control\angle; I2\p <= OneJunction4\p; MGY_a\p2 => OneJunction4\p; MGY_b\p2 => OneJunction4\p; MSe_b\p => OneJunction3\p; OneJunction1\p => p; OneJunction2\p <= MSe_a\p; OneJunction2\p => I\p; OneJunction2\p => MGY_a\p1; OneJunction2\p => R\p; OneJunction3\p => I1\p; OneJunction3\p => MGY_b\p1; OneJunction3\p => R1\p; OneJunction4\flow -> RotorAngle\omega; OneJunction4\p => OneJunction1\p; OneJunction4\p => R2\p; phase_control\a -> MSe_a\effort; phase_control\b -> MSe_b\effort; RotorAngle\output_a -> MGY_a\r; RotorAngle\output_b -> MGY_b\r; RotorAngle\output_d -> Se\effort; Se\p => OneJunction4\p; end; implementation_end; ZeroJunction1 360 200 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' 360 200 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 angle -> stepper_model\angle; C\p <= OneJunction8\p; C1\p <= OneJunction7\p; OneJunction5\p => C4\p; OneJunction5\p => PowerMux\input_rot2; OneJunction5\p => R4\p; OneJunction7\p => PowerMux\input_pos3; OneJunction7\p => R5\p; OneJunction8\p => R\p; OneJunction8\p => ZeroJunction1\p; PowerMux\output => output; stepper_model\p => ZeroJunction1\p; ZeroJunction1\p => PowerMux\input; end; implementation_end; Joint_dynD 88 488 description ' 4.8 1 '; type Submodel ports power out output [6,1]; end; implementation bg submodels C1 191.8 216.2 description '4.01False Bond Graph\3D\C-3.emx 2007-9-25 12:12:8 '; type 'C-3' ports power in p [3,1]; signal out state [3,1]; restrictions causality preferred out p; end; icon bg top figures text 'C' 191.8 216.2 color 0 18 bold; end; implementation eq parameters real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {uN/m}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; C4 191.8 232.2 description '4.01False Bond Graph\2D\C-2.emx 2007-9-25 12:7:27 '; type 'C-2' ports power in p [2,1]; signal out state [2,1]; restrictions causality preferred out p; end; icon bg bottom figures text 'C' 191.8 232.2 color 0 18 bold; end; implementation eq parameters real c[2,2] = [1, 0.0; 0.0, 1] {uN.m/rad}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; plug output 396 216; OneJunction5 239.8 232.2 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' 239.8 232.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction7 239.8 216.2 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [3,1]; signal knot out flow [3,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 239.8 216.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction8 288 200 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' 288 200 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; PowerMux 330 216 specifications active 'rot_x' specification 'rot_x' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-20 14:35:23 1 False True '; type 'PowerMux-Rotation' ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 328 192 328 240 color 0 width 2; rectangle 324 192 336 240 color -1; text '1' 333 210 color 8421504 8; terminals input 328 200 fixed; output 328 216 fixed; input_rot2 328 232 fixed; input_pos3 328 216 fixed; end; implementation eq equations output.e[1] = input.e; output.e[2:3] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[1] = input.f; output.f[2:3] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_y' description ' 4.1 Bond Graph\PowerMux.emx 2011-3-4 15:12:50 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[1] = input_rot2.e[1]; output.e[2] = input.e; output.e[3] = input_rot2.e[2]; output.e[4:6] = input_pos3.e; output.f[1] = input_rot2.f[1]; output.f[2] = input.f; output.f[3] = input_rot2.f[2]; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_z' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-21 12:05:13 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[3] = input.e; output.e[1:2] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[3] = input.f; output.f[1:2] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; end; R 288 152 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg top figures text 'R' 288 152 color 0 18 bold; end; implementation eq parameters real r = 0.0001; equations p.e = r * p.f; implementation_end; R4 239.8 288.2 description '4.01False Bond Graph\2D\R-2.emx 2007-9-25 12:6:54 '; type 'R-2' ports power in p [2,1]; end; icon bg bottom figures text 'R' 239.8 288.2 color 0 18 bold; end; implementation eq parameters real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; equations p.e = r * p.f; implementation_end; R5 239.8 168.2 description '4.01False Bond Graph\3D\R-3.emx 2007-9-25 12:11:54 '; type 'R-3' ports power in p [3,1]; end; icon bg top figures text 'R' 239.8 168.2 color 0 18 bold; end; implementation eq parameters real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; equations p.e = r * p.f; implementation_end; end; connections C1\p <= OneJunction7\p; OneJunction5\p => C4\p; OneJunction5\p => PowerMux\input_rot2; OneJunction5\p => R4\p; OneJunction7\p => PowerMux\input_pos3; OneJunction7\p => R5\p; OneJunction8\p => PowerMux\input; PowerMux\output => output; R\p <= OneJunction8\p; end; implementation_end; Joint_dynE 88 168 description ' 4.8 1 '; type Submodel ports power out output [6,1]; end; icon bg figures rectangle 48 152 128 184 color 0 fill 15132390; text 'name' 88 168 color 0 'Clear Sans' 16; end; implementation bg submodels C1 191.8 216.2 description '4.01False Bond Graph\3D\C-3.emx 2007-9-25 12:12:8 '; type 'C-3' ports power in p [3,1]; signal out state [3,1]; restrictions causality preferred out p; end; icon bg top figures text 'C' 191.8 216.2 color 0 18 bold; end; implementation eq parameters real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {uN/m}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; C4 191.8 232.2 description '4.01False Bond Graph\2D\C-2.emx 2007-9-25 12:7:27 '; type 'C-2' ports power in p [2,1]; signal out state [2,1]; restrictions causality preferred out p; end; icon bg bottom figures text 'C' 191.8 232.2 color 0 18 bold; end; implementation eq parameters real c[2,2] = [1, 0.0; 0.0, 1] {uN.m/rad}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; plug output 396 216; OneJunction5 239.8 232.2 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' 239.8 232.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction7 239.8 216.2 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [3,1]; signal knot out flow [3,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 239.8 216.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction8 288 200 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' 288 200 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; PowerMux 330 216 specifications active 'rot_x' specification 'rot_x' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-20 14:35:23 1 False True '; type 'PowerMux-Rotation' ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 328 192 328 240 color 0 width 2; rectangle 324 192 336 240 color -1; text '1' 333 210 color 8421504 8; terminals input 328 200 fixed; output 328 216 fixed; input_rot2 328 232 fixed; input_pos3 328 216 fixed; end; implementation eq equations output.e[1] = input.e; output.e[2:3] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[1] = input.f; output.f[2:3] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_y' description ' 4.1 Bond Graph\PowerMux.emx 2011-3-4 15:12:50 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[1] = input_rot2.e[1]; output.e[2] = input.e; output.e[3] = input_rot2.e[2]; output.e[4:6] = input_pos3.e; output.f[1] = input_rot2.f[1]; output.f[2] = input.f; output.f[3] = input_rot2.f[2]; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_z' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-21 12:05:13 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[3] = input.e; output.e[1:2] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[3] = input.f; output.f[1:2] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; end; R 288 152 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg top figures text 'R' 288 152 color 0 18 bold; end; implementation eq parameters real r = 0.0001; equations p.e = r * p.f; implementation_end; R4 239.8 288.2 description '4.01False Bond Graph\2D\R-2.emx 2007-9-25 12:6:54 '; type 'R-2' ports power in p [2,1]; end; icon bg bottom figures text 'R' 239.8 288.2 color 0 18 bold; end; implementation eq parameters real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; equations p.e = r * p.f; implementation_end; R5 239.8 168.2 description '4.01False Bond Graph\3D\R-3.emx 2007-9-25 12:11:54 '; type 'R-3' ports power in p [3,1]; end; icon bg top figures text 'R' 239.8 168.2 color 0 18 bold; end; implementation eq parameters real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; equations p.e = r * p.f; implementation_end; end; connections C1\p <= OneJunction7\p; OneJunction5\p => C4\p; OneJunction5\p => PowerMux\input_rot2; OneJunction5\p => R4\p; OneJunction7\p => PowerMux\input_pos3; OneJunction7\p => R5\p; OneJunction8\p => PowerMux\input; PowerMux\output => output; R\p <= OneJunction8\p; end; implementation_end; Joint_dynF 864 48 description ' 4.8 1 '; type Submodel ports power out output [6,1]; end; icon bg figures rectangle 824 32 904 64 color 0 fill 15132390; text 'name' 864 48 color 0 'Clear Sans' 16; end; implementation bg submodels C1 191.8 216.2 description '4.01False Bond Graph\3D\C-3.emx 2007-9-25 12:12:8 '; type 'C-3' ports power in p [3,1]; signal out state [3,1]; restrictions causality preferred out p; end; icon bg top figures text 'C' 191.8 216.2 color 0 18 bold; end; implementation eq parameters real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {uN/m}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; C4 191.8 232.2 description '4.01False Bond Graph\2D\C-2.emx 2007-9-25 12:7:27 '; type 'C-2' ports power in p [2,1]; signal out state [2,1]; restrictions causality preferred out p; end; icon bg bottom figures text 'C' 191.8 232.2 color 0 18 bold; end; implementation eq parameters real c[2,2] = [1, 0.0; 0.0, 1] {uN.m/rad}; equations state = int(p.f); p.e = inverse(c) *state; implementation_end; plug output 396 216; OneJunction5 239.8 232.2 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' 239.8 232.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction7 239.8 216.2 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [3,1]; signal knot out flow [3,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 239.8 216.2 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction8 288 200 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' 288 200 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; PowerMux 330 216 specifications active 'rot_z' specification 'rot_x' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-20 14:35:23 1 False True '; type 'PowerMux-Rotation' ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 328 192 328 240 color 0 width 2; rectangle 324 192 336 240 color -1; text '1' 333 210 color 8421504 8; terminals input 328 200 fixed; output 328 216 fixed; input_rot2 328 232 fixed; input_pos3 328 216 fixed; end; implementation eq equations output.e[1] = input.e; output.e[2:3] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[1] = input.f; output.f[2:3] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_y' description ' 4.1 Bond Graph\PowerMux.emx 2011-3-4 15:12:50 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 242 274 290 274 color 0 width 2; rectangle 242 266 290 278 color -1; text '1' 260 269 color 8421504 8; terminals input 250 274 fixed; output 266 274 fixed; input_rot2 282 274 fixed; input_pos3 266 274 fixed; end; implementation eq equations output.e[1] = input_rot2.e[1]; output.e[2] = input.e; output.e[3] = input_rot2.e[2]; output.e[4:6] = input_pos3.e; output.f[1] = input_rot2.f[1]; output.f[2] = input.f; output.f[3] = input_rot2.f[2]; output.f[4:6] = input_pos3.f;implementation_end; specification_end; specification 'rot_z' description ' 4.8 Bond Graph\MR\PowerMux-Rotation.emx 2020-7-21 12:05:13 1 False True '; type PowerMux ports power in input; power out output [6,1]; power in input_rot2 [2,1]; power in input_pos3 [3,1]; restrictions causality constraint not_equal input output; causality constraint not_equal input_rot2 output; causality constraint not_equal input_pos3 output; end; icon bg bottom figures line 328 192 328 240 color 0 width 2; rectangle 324 192 336 240 color -1; text '1' 333 210 color 8421504 8; terminals input 328 200 fixed; output 328 216 fixed; input_rot2 328 232 fixed; input_pos3 328 216 fixed; end; implementation eq equations output.e[3] = input.e; output.e[1:2] = input_rot2.e; output.e[4:6] = input_pos3.e; output.f[3] = input.f; output.f[1:2] = input_rot2.f; output.f[4:6] = input_pos3.f;implementation_end; specification_end; end; R 288 152 description ' 4.2 1 False Bond Graph\R.emx 2011-11-29 16:35:37 '; type R ports power in p; end; icon bg top figures text 'R' 288 152 color 0 18 bold; end; implementation eq parameters real r = 0.0001; equations p.e = r * p.f; implementation_end; R4 239.8 288.2 description '4.01False Bond Graph\2D\R-2.emx 2007-9-25 12:6:54 '; type 'R-2' ports power in p [2,1]; end; icon bg bottom figures text 'R' 239.8 288.2 color 0 18 bold; end; implementation eq parameters real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad}; equations p.e = r * p.f; implementation_end; R5 239.8 168.2 description '4.01False Bond Graph\3D\R-3.emx 2007-9-25 12:11:54 '; type 'R-3' ports power in p [3,1]; end; icon bg top figures text 'R' 239.8 168.2 color 0 18 bold; end; implementation eq parameters real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0] {kN.s/m}; equations p.e = r * p.f; implementation_end; end; connections C1\p <= OneJunction7\p; OneJunction5\p => C4\p; OneJunction5\p => PowerMux\input_rot2; OneJunction5\p => R4\p; OneJunction7\p => PowerMux\input_pos3; OneJunction7\p => R5\p; OneJunction8\p => PowerMux\input; PowerMux\output => output; R\p <= OneJunction8\p; end; implementation_end; Link1 632 128 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 600 104 664 152 color 0 fill 8454041; text 'Link' 632 128 color 0 'Clear Sans' 16; terminals Hin 600 144 fixed; Hout 664 144 fixed; Pin 664 112 fixed; Pout 600 112 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link10 944 128 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 912 104 976 152 color 0 fill 8454041; text 'Link' 944 128 color 0 'Clear Sans' 16; terminals Hin 912 144 fixed; Hout 976 144 fixed; Pin 976 112 fixed; Pout 912 112 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link11 784 128 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 752 104 816 152 color 0 fill 8454041; text 'Link' 784 128 color 0 'Clear Sans' 16; terminals Hin 752 144 fixed; Hout 816 144 fixed; Pin 816 112 fixed; Pout 752 112 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link2 384 128 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 352 104 416 152 color 0 fill 8454041; text 'Link' 384 128 color 0 'Clear Sans' 16; terminals Hin 352 144 fixed; Hout 416 144 fixed; Pin 416 112 fixed; Pout 352 112 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link3 560 424 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 536 392 584 456 color 0 fill 8454041; text 'Link' 560 424 color 0 'Clear Sans' 16; terminals Hin 576 392 fixed; Hout 576 456 fixed; Pin 544 456 fixed; Pout 544 392 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link4 200 256 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 176 224 224 288 color 0 fill 8454041; text 'Link' 200 256 color 0 'Clear Sans' 16; terminals Hin 216 288 fixed; Hout 216 224 fixed; Pin 184 224 fixed; Pout 184 288 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link5 408 632 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 376 608 440 656 color 0 fill 8454041; text 'Link' 408 632 color 0 'Clear Sans' 16; terminals Hin 440 616 fixed; Hout 376 616 fixed; Pin 376 648 fixed; Pout 440 648 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link6 560 280 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 536 248 584 312 color 0 fill 8454041; text 'Link' 560 280 color 0 'Clear Sans' 16; terminals Hin 576 248 fixed; Hout 576 312 fixed; Pin 544 312 fixed; Pout 544 248 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link7 272 632 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 240 608 304 656 color 0 fill 8454041; text 'Link' 272 632 color 0 'Clear Sans' 16; terminals Hin 304 616 fixed; Hout 240 616 fixed; Pin 240 648 fixed; Pout 304 648 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link8 1048 128 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 1016 104 1080 152 color 0 fill 8454041; text 'Link' 1048 128 color 0 'Clear Sans' 16; terminals Hin 1016 144 fixed; Hout 1080 144 fixed; Pin 1080 112 fixed; Pout 1016 112 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Link9 200 400 description ' 4.8 Bond Graph\MR\link-v3.emx 1 False 2020-7-21 11:14:41 False '; type 'Submodel-Equation' ports signal in Hin [4,4]; signal out Hout [4,4]; power in Pin [6,1]; power out Pout [6,1]; restrictions causality constraint not_equal Pin Pout; end; icon bg bottom figures rectangle 176 368 224 432 color 0 fill 8454041; text 'Link' 200 400 color 0 'Clear Sans' 16; terminals Hin 216 432 fixed; Hout 216 368 fixed; Pin 184 368 fixed; Pout 184 432 fixed; end; implementation eq parameters real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1 variables real Hab[4,4]; real AdHab[6,6]; real R[3,3]; real omega[3]; initialequations omega = offset[1:3]; R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega); Hab = homogeneous(R,offset[4:6]); AdHab = Adjoint(Hab); equations Hout = Hin * Hab; Pout.e = transpose(AdHab) * Pin.e; Pin.f = AdHab * Pout.f; implementation_end; Negate2 608 768 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 592 752 624 784 color 0 fill 15132390; text '-1' 608 768 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; OneJunction1 328 648 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' 328 648 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction2 544 368 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' 544 368 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction3 544 112 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' 544 112 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction4 184 344 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' 184 344 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction5 600 648 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' 600 648 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction6 696 112 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' 696 112 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; rectanglepath 856 768 description ' 4.8 setpoint\rectanglepath.emx 1 False 2020-7-10 12:30:38 False '; type 'Submodel-Equation' ports signal out output [2,1]; end; icon bg figures rectangle 800 752 912 784 color 0 fill 15132390; text 'name' 856 768 color 0 'Clear Sans' 16; end; implementation eq /* This will generate coordinates for the box that has to be drawn */ parameters real w = 0.07 {m} ; real h = 0.05 {m}; real t = 1 {s}; real origin[2] = [0.01;0.03] {m}; variables real v {m/s}; real t_w {s}; real t_h {s}; real period {s}; boolean y; initialequations v = (2*w + 2*h)/t; t_w = w / v; t_h = h / v; code y = frequencyevent (t,0); period = t - (time - floor(time / t) * t); if period < t_w or time < t then output = origin; else if period < t_w + t_h then output = origin + [w;0]; else if period < 2 * t_w + t_h then output = origin + [w;h]; else output = origin + [0;h]; end; end; end; //output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1]; //output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2]; implementation_end; Splitter1 360 616 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 356.8 612.8 363.2 619.2 color -1 fill 0; ellipse 355.7 611.7 364.3 620.3 color -1; terminals input 360 616 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter10 1104 144 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 1100.8 140.8 1107.2 147.2 color -1 fill 0; ellipse 1099.7 139.7 1108.3 148.3 color -1; terminals input 1104 144 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter11 480 144 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 476.8 140.8 483.2 147.2 color -1 fill 0; ellipse 475.7 139.7 484.3 148.3 color -1; terminals input 480 144 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter2 576 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [4,4]; signal knot in input [4,4]; end; icon bg ellipse figures ellipse 572.8 332.8 579.2 339.2 color -1 fill 0; ellipse 571.7 331.7 580.3 340.3 color -1; terminals input 576 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter3 216 312 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 212.8 308.8 219.2 315.2 color -1 fill 0; ellipse 211.7 307.7 220.3 316.3 color -1; terminals input 216 312 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter4 576 144 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 572.8 140.8 579.2 147.2 color -1 fill 0; ellipse 571.7 139.7 580.3 148.3 color -1; terminals input 576 144 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter6 728 144 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 724.8 140.8 731.2 147.2 color -1 fill 0; ellipse 723.7 139.7 732.3 148.3 color -1; terminals input 728 144 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter8 576 472 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 572.8 468.8 579.2 475.2 color -1 fill 0; ellipse 571.7 467.7 580.3 476.3 color -1; terminals input 576 472 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter9 992 144 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 988.8 140.8 995.2 147.2 color -1 fill 0; ellipse 987.7 139.7 996.3 148.3 color -1; terminals input 992 144 fixed; end; implementation eq equations collect (output) = input; implementation_end; stepper_control 712 592 specifications active 'P_only' specification 'default' description '4.81Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx2020-7-23 13:09:57parameters real max_acceleration = 250 {rad/s2}; real max_velocity = 25 {rad/s}; real initial_velocity = 0 {rad/s}; real initial_angle = -1.570796 {rad};'; type Submodel ports signal in setpoint {rad} ; signal out output {rad} ; end; icon bg bottom figures rectangle 648 576 760 608 color 0 fill 15132390; text 'name' 704 592 color 0 'Clear Sans' 16; end; implementation bg submodels Acceleration_int 648 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 632 320 664 352 color 0 fill 15132390; text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_velocity; // initial value equations output = int (input, initial_velocity); implementation_end; Acceleration_limit 568 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 552 320 584 352 color 0 fill 15132390; line 567.9 324.5 567.9 349 color 0 fill 15132390; line 555 336.2 580.7 336.2 color 0 fill 15132390; spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2; spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2; spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_acceleration {rad/s2}; equations output = limit (input, -max_acceleration, max_acceleration); implementation_end; plug setpoint 136 336; plug output 791 336; PlusMinus1 240 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 232 328 248 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus2 432 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 424 328 440 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; Position_control 296 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PD.emx 2008-1-17 10:49:7 '; type PD ports signal in error; signal out output; end; icon bg bottom figures rectangle 280 320 312 352 color 0 fill 15132390; text 'PD' 296.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 4 {}; // Proportional gain real tauD = 100 {s}; // Derivative time constant: tauD > 0 real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 variables real state, rate; equations rate = (kp * error - output) / (beta * tauD); state = int (rate); output = state + kp * error / beta; implementation_end; Splitter3 688 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 684.8 332.8 691.2 339.2 color -1 fill 0; ellipse 683.7 331.7 692.3 340.3 color -1; terminals input 688 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter4 752 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 748.8 332.8 755.2 339.2 color -1 fill 0; ellipse 747.7 331.7 756.3 340.3 color -1; terminals input 752 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Velocity_control 480 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PD.emx 2008-1-17 10:49:7 '; type PD ports signal in error; signal out output; end; icon bg bottom figures rectangle 464 320 496 352 color 0 fill 15132390; text 'PD' 480.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 12 {}; // Proportional gain real tauD = 10 {s}; // Derivative time constant: tauD > 0 real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 variables real state, rate; equations rate = (kp * error - output) / (beta * tauD); state = int (rate); output = state + kp * error / beta; implementation_end; Velocity_int 720 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 704 320 736 352 color 0 fill 15132390; text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_angle; // initial value equations output = int (input, initial_angle); implementation_end; Velocity_limit 376 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 360 320 392 352 color 0 fill 15132390; line 375.9 324.5 375.9 349 color 0 fill 15132390; line 363 336.2 388.7 336.2 color 0 fill 15132390; spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2; spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2; spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_velocity {rad/s}; equations output = limit (input, -max_velocity, max_velocity); implementation_end; end; connections Acceleration_int\output -> Splitter3\input; Acceleration_limit\output -> Acceleration_int\input; PlusMinus1\output -> Position_control\error; PlusMinus2\output -> Velocity_control\error; Position_control\output -> Velocity_limit\input; setpoint -> PlusMinus1\plus; Splitter3\output -> PlusMinus2\minus 688 288 432 288; Splitter3\output -> Velocity_int\input; Splitter4\output -> output; Splitter4\output -> PlusMinus1\minus 752 400 240 400; Velocity_control\output -> Acceleration_limit\input; Velocity_int\output -> Splitter4\input; Velocity_limit\output -> PlusMinus2\plus; end; implementation_end; specification_end; specification 'P_only' description '4.81Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx2020-7-23 13:09:57parameters real max_acceleration = 350 {rad/s2}; real max_velocity = 25 {rad/s}; real initial_velocity = 0 {rad/s}; real initial_angle = 1.570796 {rad};'; type Submodel ports signal in setpoint {rad} ; signal out output {rad} ; end; icon bg bottom figures rectangle 656 576 768 608 color 0 fill 15132390; text 'name' 712 592 color 0 'Clear Sans' 16; end; implementation bg submodels Acceleration_int 648 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 632 320 664 352 color 0 fill 15132390; text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_velocity; // initial value equations output = int (input, initial_velocity); implementation_end; Acceleration_limit 568 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 552 320 584 352 color 0 fill 15132390; line 567.9 324.5 567.9 349 color 0 fill 15132390; line 555 336.2 580.7 336.2 color 0 fill 15132390; spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2; spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2; spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_acceleration {rad/s2}; equations output = limit (input, -max_acceleration, max_acceleration); implementation_end; plug setpoint 136 336; plug output 791 336; PlusMinus1 240 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 232 328 248 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus2 432 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 424 328 440 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; Position_control 296 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\P.emx 2008-1-17 10:48:8 '; type P ports signal in error; signal out output; end; icon bg bottom figures rectangle 280 320 312 352 color 0 fill 15132390; text 'P' 296.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 26.0 {}; // Proportional gain equations output = kp * error; implementation_end; Splitter3 688 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 684.8 332.8 691.2 339.2 color -1 fill 0; ellipse 683.7 331.7 692.3 340.3 color -1; terminals input 688 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter4 752 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 748.8 332.8 755.2 339.2 color -1 fill 0; ellipse 747.7 331.7 756.3 340.3 color -1; terminals input 752 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Velocity_control 480 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\P.emx 2008-1-17 10:48:8 '; type P ports signal in error; signal out output; end; icon bg bottom figures rectangle 464 320 496 352 color 0 fill 15132390; text 'P' 480.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 66.0 {}; // Proportional gain equations output = kp * error; implementation_end; Velocity_int 720 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 704 320 736 352 color 0 fill 15132390; text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_angle; // initial value equations output = int (input, initial_angle); implementation_end; Velocity_limit 376 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 360 320 392 352 color 0 fill 15132390; line 375.9 324.5 375.9 349 color 0 fill 15132390; line 363 336.2 388.7 336.2 color 0 fill 15132390; spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2; spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2; spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_velocity {rad/s}; equations output = limit (input, -max_velocity, max_velocity); implementation_end; end; connections Acceleration_int\output -> Splitter3\input; Acceleration_limit\output -> Acceleration_int\input; PlusMinus1\output -> Position_control\error; PlusMinus2\output -> Velocity_control\error; Position_control\output -> Velocity_limit\input; setpoint -> PlusMinus1\plus; Splitter3\output -> PlusMinus2\minus 688 288 432 288; Splitter3\output -> Velocity_int\input; Splitter4\output -> output; Splitter4\output -> PlusMinus1\minus 752 400 240 400; Velocity_control\output -> Acceleration_limit\input; Velocity_int\output -> Splitter4\input; Velocity_limit\output -> PlusMinus2\plus; end; implementation_end; specification_end; end; stepper_control1 512 768 specifications active 'P_only' specification 'default' description '4.81Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx2020-7-23 13:09:57parameters real max_acceleration = 250 {rad/s2}; real max_velocity = 25 {rad/s}; real initial_velocity = 0 {rad/s}; real initial_angle = -1.570796 {rad};'; type Submodel ports signal in setpoint {rad} ; signal out output {rad} ; end; icon bg bottom figures rectangle 648 576 760 608 color 0 fill 15132390; text 'name' 704 592 color 0 'Clear Sans' 16; end; implementation bg submodels Acceleration_int 648 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 632 320 664 352 color 0 fill 15132390; text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_velocity; // initial value equations output = int (input, initial_velocity); implementation_end; Acceleration_limit 568 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 552 320 584 352 color 0 fill 15132390; line 567.9 324.5 567.9 349 color 0 fill 15132390; line 555 336.2 580.7 336.2 color 0 fill 15132390; spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2; spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2; spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_acceleration {rad/s2}; equations output = limit (input, -max_acceleration, max_acceleration); implementation_end; plug setpoint 136 336; plug output 791 336; PlusMinus1 240 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 232 328 248 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus2 432 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 424 328 440 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; Position_control 296 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PD.emx 2008-1-17 10:49:7 '; type PD ports signal in error; signal out output; end; icon bg bottom figures rectangle 280 320 312 352 color 0 fill 15132390; text 'PD' 296.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 4 {}; // Proportional gain real tauD = 100 {s}; // Derivative time constant: tauD > 0 real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 variables real state, rate; equations rate = (kp * error - output) / (beta * tauD); state = int (rate); output = state + kp * error / beta; implementation_end; Splitter3 688 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 684.8 332.8 691.2 339.2 color -1 fill 0; ellipse 683.7 331.7 692.3 340.3 color -1; terminals input 688 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter4 752 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 748.8 332.8 755.2 339.2 color -1 fill 0; ellipse 747.7 331.7 756.3 340.3 color -1; terminals input 752 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Velocity_control 480 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\PD.emx 2008-1-17 10:49:7 '; type PD ports signal in error; signal out output; end; icon bg bottom figures rectangle 464 320 496 352 color 0 fill 15132390; text 'PD' 480.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 12 {}; // Proportional gain real tauD = 10 {s}; // Derivative time constant: tauD > 0 real beta = 0.4 {}; // Tameness constant: 0 < beta << 1 variables real state, rate; equations rate = (kp * error - output) / (beta * tauD); state = int (rate); output = state + kp * error / beta; implementation_end; Velocity_int 720 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 704 320 736 352 color 0 fill 15132390; text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_angle; // initial value equations output = int (input, initial_angle); implementation_end; Velocity_limit 376 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 360 320 392 352 color 0 fill 15132390; line 375.9 324.5 375.9 349 color 0 fill 15132390; line 363 336.2 388.7 336.2 color 0 fill 15132390; spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2; spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2; spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_velocity {rad/s}; equations output = limit (input, -max_velocity, max_velocity); implementation_end; end; connections Acceleration_int\output -> Splitter3\input; Acceleration_limit\output -> Acceleration_int\input; PlusMinus1\output -> Position_control\error; PlusMinus2\output -> Velocity_control\error; Position_control\output -> Velocity_limit\input; setpoint -> PlusMinus1\plus; Splitter3\output -> PlusMinus2\minus 688 288 432 288; Splitter3\output -> Velocity_int\input; Splitter4\output -> output; Splitter4\output -> PlusMinus1\minus 752 400 240 400; Velocity_control\output -> Acceleration_limit\input; Velocity_int\output -> Splitter4\input; Velocity_limit\output -> PlusMinus2\plus; end; implementation_end; specification_end; specification 'P_only' description '4.81Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx2020-7-23 13:09:57parameters real max_acceleration = 350 {rad/s2}; real max_velocity = 25 {rad/s}; real initial_velocity = 0 {rad/s}; real initial_angle = 0 {rad};'; type Submodel ports signal in setpoint {rad} ; signal out output {rad} ; end; icon bg figures rectangle 456 752 568 784 color 0 fill 15132390; text 'name' 512 768 color 0 'Clear Sans' 16; end; implementation bg submodels Acceleration_int 648 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 632 320 664 352 color 0 fill 15132390; text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_velocity; // initial value equations output = int (input, initial_velocity); implementation_end; Acceleration_limit 568 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 552 320 584 352 color 0 fill 15132390; line 567.9 324.5 567.9 349 color 0 fill 15132390; line 555 336.2 580.7 336.2 color 0 fill 15132390; spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2; spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2; spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_acceleration {rad/s2}; equations output = limit (input, -max_acceleration, max_acceleration); implementation_end; plug setpoint 136 336; plug output 791 336; PlusMinus1 240 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 232 328 248 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; PlusMinus2 432 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 424 328 440 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; Position_control 296 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\P.emx 2008-1-17 10:48:8 '; type P ports signal in error; signal out output; end; icon bg bottom figures rectangle 280 320 312 352 color 0 fill 15132390; text 'P' 296.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 31.0 {}; // Proportional gain equations output = kp * error; implementation_end; Splitter3 688 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 684.8 332.8 691.2 339.2 color -1 fill 0; ellipse 683.7 331.7 692.3 340.3 color -1; terminals input 688 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter4 752 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 748.8 332.8 755.2 339.2 color -1 fill 0; ellipse 747.7 331.7 756.3 340.3 color -1; terminals input 752 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Velocity_control 480 336 description ' 4.0 1 False Signal\Control\PID Control\Continuous\P.emx 2008-1-17 10:48:8 '; type P ports signal in error; signal out output; end; icon bg bottom figures rectangle 464 320 496 352 color 0 fill 15132390; text 'P' 480.5 336.1 color 16711680 18 bold; end; implementation eq parameters real kp = 69.0 {}; // Proportional gain equations output = kp * error; implementation_end; Velocity_int 720 336 description ' 4.3 1 False Signal\Block Diagram\Integrate.emx 2013-3-8 14:47:42 '; type Integrate ports signal in input; signal out output; end; icon bg bottom figures rectangle 704 320 736 352 color 0 fill 15132390; text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic; end; implementation eq parameters real global initial_angle; // initial value equations output = int (input, initial_angle); implementation_end; Velocity_limit 376 336 description '4.01False Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx 2007-9-26 12:47:40 '; type 'SignalLimiter-Limit' ports signal in input; signal out output; end; icon bg bottom figures group rectangle 360 320 392 352 color 0 fill 15132390; line 375.9 324.5 375.9 349 color 0 fill 15132390; line 363 336.2 388.7 336.2 color 0 fill 15132390; spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2; spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2; spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2; end; end; implementation eq parameters real global max_velocity {rad/s}; equations output = limit (input, -max_velocity, max_velocity); implementation_end; end; connections Acceleration_int\output -> Splitter3\input; Acceleration_limit\output -> Acceleration_int\input; PlusMinus1\output -> Position_control\error; PlusMinus2\output -> Velocity_control\error; Position_control\output -> Velocity_limit\input; setpoint -> PlusMinus1\plus; Splitter3\output -> PlusMinus2\minus 688 288 432 288; Splitter3\output -> Velocity_int\input; Splitter4\output -> output; Splitter4\output -> PlusMinus1\minus 752 400 240 400; Velocity_control\output -> Acceleration_limit\input; Velocity_int\output -> Splitter4\input; Velocity_limit\output -> PlusMinus2\plus; end; implementation_end; specification_end; end; Zero 816 592 description '4.01False Signal\Sources\Zero.emx 2007-9-27 15:54:36 '; type Zero ports signal out output; end; icon bg bottom figures rectangle 800.1 576 831.9 608 color 0 fill 15132390; text '0' 816 592 color 16711680 18 bold; end; implementation eq equations output = 0;implementation_end; end; connections Body1\input <- Splitter2\output; Body3\input <- Splitter3\output; COM_body3\p => OneJunction4\p; COM_body4\p => OneJunction6\p; COM_body5\p => Link8\Pin; Ground1\output -> JointC\Hin 632 616; Ground1\p <= OneJunction5\p; inverse_kinematics\angle1 -> stepper_control\setpoint; inverse_kinematics\angle2 -> Negate2\input; inverse_kinematics\input <- rectanglepath\output; Joint_dynB\output => JointB\Pdiff; Joint_dynC\output => JointC\Pdiff; Joint_dynD\output => JointD\Pdiff; Joint_dynE\output => JointE\Pdiff; Joint_dynF\output => JointF\Pdiff; JointA\Pdiff <= Joint_dynA\output; JointA\Pout => Link3\Pin; JointB\Hin <- Splitter4\output; JointB\Hout -> Link6\Hin; JointB\Pin <= Link6\Pout; JointB\Pout => OneJunction3\p; JointC\Hout -> Link5\Hin; JointC\Pin <= Link5\Pout; JointD\Hin <- Link7\Hout 216 616; JointD\Hout -> Link9\Hin; JointD\Pin <= Link9\Pout; JointD\Pout => Link7\Pin 184 648; JointE\Pout => Link4\Pin; JointF\Hout -> Link10\Hin; JointF\Pout => Link11\Pin; Link1\Hout -> Splitter6\input; Link10\Hout -> Splitter9\input; Link10\Pout => JointF\Pin; Link11\Hout -> JointF\Hin; Link11\Pout => OneJunction6\p; Link2\Hin <- JointE\Hout; Link2\Hout -> Splitter11\input; Link2\Pin <= OneJunction3\p; Link2\Pout => JointE\Pin 184 112; Link3\Hout -> Splitter8\input; Link4\Hout -> JointE\Hin; Link5\Hout -> Splitter1\input; Link5\Pin <= OneJunction1\p; Link6\Hout -> Splitter2\input; Link6\Pin <= OneJunction2\p; Link8\Hout -> Splitter10\input; Link8\Pout => Link10\Pin; Link9\Hout -> Splitter3\input; Link9\Pin <= OneJunction4\p; Negate2\output -> stepper_control1\setpoint; OneJunction1\p <= COM_body2\p; OneJunction1\p <= Link7\Pout; OneJunction2\p <= COM_body1\p; OneJunction2\p <= Link3\Pout; OneJunction3\p <= Link1\Pout; OneJunction4\p <= Link4\Pout; OneJunction5\p <= JointC\Pout; OneJunction5\p => JointA\Pin; OneJunction6\p => Link1\Pin; Splitter1\output -> Body2\input; Splitter1\output -> COM_body2\Hin; Splitter1\output -> Link7\Hin; Splitter10\output -> Body6\input; Splitter10\output -> COM_body5\Hin; Splitter11\output -> Body4\input; Splitter11\output -> Splitter4\input; Splitter2\output -> COM_body1\Hin; Splitter2\output -> Link3\Hin; Splitter3\output -> COM_body3\Hin; Splitter3\output -> Link4\Hin; Splitter4\output -> Link1\Hin; Splitter6\output -> COM_body4\Hin; Splitter6\output -> Link11\Hin; Splitter8\output -> JointA\Hin; Splitter9\output -> Body5\input; Splitter9\output -> Link8\Hin; stepper_control\output -> Joint_dynA\angle; stepper_control1\output -> Joint_dynC\angle; end; implementation_end; ]]> Experiment 1 4.8 COM_body1\InertialTensor\state_initial 6 1 0 0 0 0 0 0 COM_body2\InertialTensor\state_initial 6 1 0 0 0 0 0 0 COM_body3\InertialTensor\state_initial 6 1 0 0 0 0 0 0 COM_body4\InertialTensor\state_initial 6 1 0 0 0 0 0 0 COM_body5\InertialTensor\state_initial 6 1 0 0 0 0 0 0 JointA\Hmatrix\p_initial 3 1 0 0 0 JointB\Hmatrix\p_initial 3 1 0 0 0 JointC\Hmatrix\p_initial 3 1 0 0 0 JointD\Hmatrix\p_initial 3 1 0 0 0 JointE\Hmatrix\p_initial 3 1 0 0 0 JointF\Hmatrix\p_initial 3 1 0 0 0 Joint_dynA\C1\state_initial 3 1 0 0 0 Joint_dynA\C4\state_initial 2 1 0 0 Joint_dynA\C\state_initial 0 Joint_dynA\stepper_model\I1\state_initial 0 Joint_dynA\stepper_model\I2\state_initial 0 Joint_dynA\stepper_model\I\state_initial 0 Joint_dynB\C1\state_initial 3 1 0 0 0 Joint_dynB\C4\state_initial 2 1 0 0 Joint_dynC\C1\state_initial 3 1 0 0 0 Joint_dynC\C4\state_initial 2 1 0 0 Joint_dynC\C\state_initial 0 Joint_dynC\stepper_model\I1\state_initial 0 Joint_dynC\stepper_model\I2\state_initial 0 Joint_dynC\stepper_model\I\state_initial 0 Joint_dynC\stepper_model\RotorAngle\angle_initial rad 0 Joint_dynD\C1\state_initial 3 1 0 0 0 Joint_dynD\C4\state_initial 2 1 0 0 Joint_dynE\C1\state_initial 3 1 0 0 0 Joint_dynE\C4\state_initial 2 1 0 0 Joint_dynF\C1\state_initial 3 1 0 0 0 Joint_dynF\C4\state_initial 2 1 0 0 time Body1\position[1] Body1\position[2] Body1\position[3] Body1\R[1,3] Body1\R[2,3] Body1\R[3,3] Body1\R[1,2] Body1\R[2,2] Body1\R[3,2] Body1\dimension[1] Body1\dimension[2] Body1\dimension[3] Body2\dimension[1] Body2\dimension[2] Body2\dimension[3] Body2\position[1] Body2\position[2] Body2\position[3] Body2\R[1,3] Body2\R[2,3] Body2\R[3,3] Body2\R[1,2] Body2\R[2,2] Body2\R[3,2] Body3\dimension[1] Body3\dimension[2] Body3\dimension[3] Body3\position[1] Body3\position[2] Body3\position[3] Body3\R[1,3] Body3\R[2,3] Body3\R[3,3] Body3\R[1,2] Body3\R[2,2] Body3\R[3,2] Body4\dimension[1] Body4\dimension[2] Body4\dimension[3] Body4\R[1,3] Body4\R[2,3] Body4\R[3,3] Body4\R[1,2] Body4\R[2,2] Body4\R[3,2] Body4\position[1] Body4\position[2] Body4\position[3] Body5\dimension[1] Body5\dimension[2] Body5\dimension[3] Body5\position[1] Body5\position[2] Body5\position[3] Body5\R[1,3] Body5\R[2,3] Body5\R[3,3] Body5\R[1,2] Body5\R[2,2] Body5\R[3,2] Joint_dynA\stepper_model\RotorAngle\angle Joint_dynC\stepper_model\RotorAngle\angle Body6\position[3] Body6\position[2] rectanglepath\output[2] rectanglepath\output[1] stepper_control\Acceleration_int\input stepper_control\Velocity_int\output stepper_control\Velocity_int\input stepper_control1\Acceleration_int\input stepper_control1\Velocity_int\output stepper_control1\Velocity_int\input Body6\R[1,3] Body6\R[2,3] Body6\R[3,3] Body6\R[1,2] Body6\R[2,2] Body6\R[3,2] Body6\position[1] stepper_control\setpoint Joint_dynA\stepper_model\angle stepper_control1\setpoint Joint_dynC\angle GraphPlot 1 false 16777215 true true 15780518 12624260 0 10 10 10 false 16777215 true 1 Stepper Motor A 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 6.0 true 3 time 0.6000000000000002 2.6000000000000005 true 2 Control Setpoint -2.6 -0.6 true 2 Control Output -2.6 -0.6 true 2 Axle Angle 3355111 1 3355111 0 true 1 1 1 true true time true stepper_control\setpoint 6076255 1 6076255 0 true 1 1 1 true true time true Joint_dynA\stepper_model\angle 12553035 1 12553035 0 true 1 1 1 true true time true Joint_dynA\stepper_model\RotorAngle\angle true 0.12119013062409288 0.8741610738255033 0 16777215 D3DPlot 2 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 0.211790609540361 -0.107655952853072 0.123737714793038 -0.840897145443893 0.426188883453037 -0.333549136418257 -0.297518598807634 0.150790284066671 0.942732715882203 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 -0.000627364166602552 3.08669776184333e-006 0.0394802856014185 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 Cylinder Bryant false false false false false false Center 1.0 true 4 Body1\dimension[1] 0.0048 Body1\dimension[2] 0.009 Body1\dimension[3] 0.065 true 0 0.501960784313725 0.501960784313725 1.0 1 1 1 true 0.5 0.5 0.5 15 false false Block Body1\position[1] 0.0 Body1\position[2] -0.017071802542194314 Body1\position[3] 0.0265923779880002 Body1\R[1,3] 0.0 Body1\R[2,3] -0.5021736062379976 Body1\R[3,3] 0.8647668293811487 Body1\R[1,2] 0.0 Body1\R[2,2] 0.8647668293811487 Body1\R[3,2] 0.5021736062379976 Matrix false false false false false false Center 1.0 true 4 Body2\dimension[1] 0.005 Body2\dimension[2] 0.025 Body2\dimension[3] 0.01 true 1 0.501960784313725 0 1.0 1 1 1 true 0.5 0.5 0.5 15 false false Block Body2\position[1] 0.0 Body2\position[2] -0.010639024121723569 Body2\position[3] 0.006594217889494994 Body2\R[1,3] 0.0 Body2\R[2,3] 0.5249456675421719 Body2\R[3,3] 0.8511357389563098 Body2\R[1,2] 0.0 Body2\R[2,2] 0.8511357389563098 Body2\R[3,2] -0.5249456675421719 Matrix false false false false false false Center 1.0 true 4 Body3\dimension[1] 0.0045 Body3\dimension[2] 0.01 Body3\dimension[3] 0.065 true 0.501960784313725 0.501960784313725 1 1.0 1 1 1 true 0.5 0.5 0.5 15 false false Block Body3\position[1] 0.0 Body3\position[2] -0.03682020445746276 Body3\position[3] 0.041384334395577975 Body3\R[1,3] 0.0 Body3\R[2,3] -0.48276125099189626 Body3\R[3,3] 0.875752005159417 Body3\R[1,2] 0.0 Body3\R[2,2] 0.875752005159417 Body3\R[3,2] 0.48276125099189626 Matrix false false false false false false Center 1.0 true 4 Body4\dimension[1] 0.005 Body4\dimension[2] 0.05 Body4\dimension[3] 0.01 true 0.501960784313725 0 0 1.0 1 1 1 true 0.5 0.5 0.5 15 false false Block Body4\position[1] 0.0 Body4\position[2] -0.033109209191929785 Body4\position[3] 0.0542093131266403 Body4\R[1,3] 0.0 Body4\R[2,3] 0.6245890404745712 Body4\R[3,3] 0.7809536033075554 Body4\R[1,2] 0.0 Body4\R[2,2] 0.7809536033075554 Body4\R[3,2] -0.6245890404745712 Matrix false false false false false false Center 1.0 true 4 Body5\dimension[1] 0.005 Body5\dimension[2] 0.025 Body5\dimension[3] 0.01 true 0.501960784313725 0 0 1.0 1 1 1 true 0.5 0.5 0.5 15 false false Block Body5\position[1] 0.0 Body5\position[2] -0.004186627780447375 Body5\position[3] 0.0310775428306494 Body5\R[1,3] 0.0 Body5\R[2,3] 0.6245890426846639 Body5\R[3,3] 0.7809536015399732 Body5\R[1,2] 0.0 Body5\R[2,2] 0.7809536015399732 Body5\R[3,2] -0.6245890426846639 Matrix false false false false false false 1 1 1 false Reference Frame Body6\position[1] 0.0 Body6\position[2] 0.0054542326865783565 Body6\position[3] 0.02336700049128123 Body6\R[1,3] 0.0 Body6\R[2,3] 0.6245890426846639 Body6\R[3,3] 0.7809536015399732 Body6\R[1,2] 0.0 Body6\R[2,2] 0.7809536015399732 Body6\R[3,2] -0.6245890426846639 Matrix false false false false false false 16 0.0073 0.0073 0.135 true true true true false true 1 1 1 true 1 1 1 1.0 1 1 1 true 0.5 0.5 0.5 15 false false Cylinder 1.5707963267949 Bryant false false false false false false GraphPlot 3 false 16777215 true true 15780518 12624260 0 10 10 10 false 16777215 true 1 Stepper Motor D 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 6.0 true 3 time -1.0 1.0 true 2 Control Setpoint -1.0 1.0 true 2 Control Output -1.0 1.0 true 2 Axle Angle 3355111 1 3355111 0 true 1 1 1 true true time true stepper_control1\setpoint 6076255 1 6076255 0 true 1 1 1 true true time true Joint_dynC\angle 12553035 1 12553035 0 true 1 1 1 true true time true Joint_dynC\stepper_model\RotorAngle\angle true 0.11683599419448476 0.8741610738255033 0 16777215 GraphPlot 4 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 -0.041708787744804604 0.08638068231201962 true 3 position[2] -0.06 0.14 true 2 Body1 -0.06 0.14 true 2 Body2 -0.06 0.14 true 2 body3 -0.06 0.14 true 2 Body4 -0.06 0.14 true 2 Body5 -0.06 0.14 true 2 Body6 -0.06 0.14 true 2 path 3355111 1 3355111 0 true 1 1 1 true true Body1\position[2] true Body1\position[3] 6076255 1 6076255 0 true 1 1 1 true true Body2\position[2] true Body2\position[3] 12553035 1 12553035 0 true 1 1 1 true true Body3\position[2] true Body3\position[3] 15086320 1 15086320 0 true 1 1 1 true true Body4\position[2] true Body4\position[3] 15790150 1 15790150 0 true 1 1 1 true true Body5\position[2] true Body5\position[3] 1696255 1 1696255 0 true 1 1 1 true true Body6\position[2] true Body6\position[3] 4089775 1 4089775 0 true 1 1 1 true true rectanglepath\output[1] true rectanglepath\output[2] true 0 16777215 GraphPlot 5 false 16777215 true true 15780518 12624260 0 10 10 10 false 16777215 true 1 Stepper Control A 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 6.0 true 3 time -500.0 500.0 true 1 Acceleration 0.0 0.730288609349958 true 1 Angle 0.0 0.730288609349958 true 1 Velocity 6076255 1 6076255 0 true 1 1 1 true true time true stepper_control\Acceleration_int\input 12553035 1 12553035 0 true 1 1 1 true true time true stepper_control\Velocity_int\output 15086320 1 15086320 0 true 1 1 1 true true time true stepper_control\Velocity_int\input true 0.07602339181286549 0.877104377104377 0 16777215 GraphPlot 6 false 16777215 true true 15780518 12624260 0 10 10 10 false 16777215 true 1 Stepper Control D 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 6.0 true 3 time -500.0 500.0 true 1 Acceleration 0.0 39.669708688195 true 1 Angle 0.0 39.669708688195 true 1 Velocity 3355111 1 3355111 0 true 1 1 1 true true time true stepper_control1\Acceleration_int\input 6076255 1 6076255 0 true 1 1 1 true true time true stepper_control1\Velocity_int\output 12553035 1 12553035 0 true 1 1 1 true true time true stepper_control1\Velocity_int\input true 0.07602339181286549 0.877104377104377 0 16777215 1 true Window 1 0 1 3 5 6 Base 2 true Window 2 0 2 Base 3 true Window 3 0 4 Base 0 0.0259259 1 1 0.075 0.0861111 0.917708 0.938889 0 0.0259259 1 1 0.0 6.0 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-6 1.0e-6 1.0e-6 1.0e-6 false 0.0 false 0.0 8 10 false true true false true 0 0.0 false Optimization true Joint_dynC\stepper_model\angle stepper_control1\setpoint UseIntegralAbsolute 0.001 DavidsonFletcherPowell stepper_control1\Position_control\kp 13.0 39.0 Linear Uniform 26.0 1.0 1.0 26.0 stepper_control1\Velocity_control\kp 33.0 99.0 Linear Uniform 66.0 1.0 1.0 66.0 true true true true false