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mahd/implementation/SCARA/06_arm/arm_model-v2.emx

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  1. <?xml version="1.0" encoding="UTF-8"?>

  2. <Document>

  3.  <Model version="4.8" build="4.8.2.10124">

  4.   <Sidops><![CDATA[model 128 184

  5.  description '<Information>

  6.  <Description>

  7.     <Version>4.8</Version>

  8. <IsMainModel>0</IsMainModel>

  9.   <KeepParameterValues>False</KeepParameterValues>

  10.     <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\06_arm\arm_model-v2.emx</LibraryPath>

  11.   <TimeStamp>2020-7-24 16:11:50</TimeStamp>

  12. <AllowLibraryUpdate>True</AllowLibraryUpdate>

  13.  </Description>

  14. </Information>';

  15.  type 'Mainmodel-v2'

  16.  end;

  17.  implementation bg

  18.   submodels

  19.    Body1 472 336

  20.     description '<Description><Version>4.0</Version>

  21.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  22. <IsMainModel>1</IsMainModel>

  23.  <KeepParameterValues>False</KeepParameterValues>

  24.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  25.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  26. </Description>';

  27.     type 'Submodel-Equation'

  28.      ports

  29.       signal in input [4,4];

  30.     end;

  31.     implementation eq

  32. parameters

  33. 	real dimension[3] = [0.0048;0.009;0.065] {m};

  34. variables

  35. 	real position[3];

  36. 	real rotation[3];

  37. 	real R[3,3];

  38. equations

  39. 	position = input[1:3,4];

  40. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  41. 	//[input[3,2];input[1,3];input[2,1]];

  42. 	R = input[1:3,1:3];implementation_end;

  43.    Body2 360 560

  44.     description '<Description><Version>4.0</Version>

  45.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  46. <IsMainModel>1</IsMainModel>

  47.  <KeepParameterValues>False</KeepParameterValues>

  48.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  49.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  50. </Description>';

  51.     type 'Submodel-Equation'

  52.      ports

  53.       signal in input [4,4];

  54.     end;

  55.     implementation eq

  56. parameters

  57. 	real dimension[3] = [0.005;0.025;0.01] {m};

  58. variables

  59. 	real position[3];

  60. 	real rotation[3];

  61. 	real R[3,3];

  62. equations

  63. 	position = input[1:3,4];

  64. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  65. 	//[input[3,2];input[1,3];input[2,1]];

  66. 	R = input[1:3,1:3];implementation_end;

  67.    Body3 104 312

  68.     description '<Description><Version>4.0</Version>

  69.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  70. <IsMainModel>1</IsMainModel>

  71.  <KeepParameterValues>False</KeepParameterValues>

  72.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  73.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  74. </Description>';

  75.     type 'Submodel-Equation'

  76.      ports

  77.       signal in input [4,4];

  78.     end;

  79.     implementation eq

  80. parameters

  81. 	real dimension[3] = [0.0045;0.01;0.065] {m};

  82. variables

  83. 	real position[3];

  84. 	real rotation[3];

  85. 	real R[3,3];

  86. equations

  87. 	position = input[1:3,4];

  88. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  89. 	//[input[3,2];input[1,3];input[2,1]];

  90. 	R = input[1:3,1:3];implementation_end;

  91.    Body4 480 64

  92.     description '<Description><Version>4.0</Version>

  93.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  94. <IsMainModel>1</IsMainModel>

  95.  <KeepParameterValues>False</KeepParameterValues>

  96.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  97.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  98. </Description>';

  99.     type 'Submodel-Equation'

  100.      ports

  101.       signal in input [4,4];

  102.     end;

  103.     implementation eq

  104. parameters

  105. 	real dimension[3] = [0.005;0.05;0.01] {m};

  106. variables

  107. 	real position[3];

  108. 	real rotation[3];

  109. 	real R[3,3];

  110. equations

  111. 	position = input[1:3,4];

  112. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  113. 	//[input[3,2];input[1,3];input[2,1]];

  114. 	R = input[1:3,1:3];implementation_end;

  115.    Body5 992 48

  116.     description '<Description><Version>4.0</Version>

  117.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  118. <IsMainModel>1</IsMainModel>

  119.  <KeepParameterValues>False</KeepParameterValues>

  120.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  121.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  122. </Description>';

  123.     type 'Submodel-Equation'

  124.      ports

  125.       signal in input [4,4];

  126.     end;

  127.     implementation eq

  128. parameters

  129. 	real dimension[3] = [0.005;0.025;0.01] {m};

  130. variables

  131. 	real position[3];

  132. 	real rotation[3];

  133. 	real R[3,3];

  134. equations

  135. 	position = input[1:3,4];

  136. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  137. 	//[input[3,2];input[1,3];input[2,1]];

  138. 	R = input[1:3,1:3];implementation_end;

  139.    Body6 1416 184

  140.     description '<Description><Version>4.0</Version>

  141.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  142. <IsMainModel>1</IsMainModel>

  143.  <KeepParameterValues>False</KeepParameterValues>

  144.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  145.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  146. </Description>';

  147.     type 'Submodel-Equation'

  148.      ports

  149.       signal in input [4,4];

  150.     end;

  151.     implementation eq

  152. parameters

  153. 	real dimension[3] = [0.005;0.025;0.01] {m};

  154. variables

  155. 	real position[3];

  156. 	real rotation[3];

  157. 	real R[3,3];

  158. equations

  159. 	position = input[1:3,4];

  160. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  161. 	//[input[3,2];input[1,3];input[2,1]];

  162. 	R = input[1:3,1:3];implementation_end;

  163.    COM_body1 624 352

  164.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  165. 	real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s};

  166. 	real m = 0.00455 {kg};</GlobalRelations></Attributes></Information>';

  167.     type Submodel

  168.      ports

  169.       signal in Hin [4,4];

  170.       signal out Hout [4,4];

  171.       power out p [6,1];

  172.     end;

  173.     icon bg bottom

  174.      figures

  175.       rectangle 608 320 640 384 color 0 fill 139;

  176.       text 'COM' 624 352 color 0 'Clear Sans' 16;

  177.      terminals

  178.       Hin 608 336 fixed;

  179.       p 608 368 fixed;

  180.     end;

  181.     implementation bg

  182.      submodels

  183.       AdHi0 544 400

  184.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  185.        type MTF

  186.         ports

  187.          power in p1 [6,1];

  188.          power out p2 [6,1];

  189.          signal in H [4,4];

  190.         restrictions

  191.          causality constraint not_equal p1 p2;

  192.        end;

  193.        icon bg left

  194.         figures

  195.          text 'MTF' 544 400 color 0 18 bold;

  196.        end;

  197.        implementation eq

  198. variables

  199.  	real onlyRotH[4,4];

  200. code

  201. 	//Only rotations with respect to the inertial system matter!

  202. 	onlyRotH = H;

  203. 	onlyRotH[1,4] = 0;

  204. 	onlyRotH[2,4] = 0;

  205. 	onlyRotH[3,4] = 0;

  206. 						

  207. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  208. 	p1.f = Adjoint(onlyRotH) * p2.f;

  209. implementation_end;

  210.       EJS 616 336

  211.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  212.        type MGY

  213.         ports

  214.          power in p1 [6,1];

  215.        end;

  216.        icon bg top

  217.         figures

  218.          text 'MGY' 616 336 color 0 18 bold;

  219.        end;

  220.        implementation eq

  221. //EJS / Gyroscopic effects

  222. parameters

  223. 	real global I[3];

  224. 	real global m;

  225. variables

  226. 	real II[6,6]; //Inertial tensor

  227. 	real Q[6,6];

  228. 	real QI[6,6];

  229. 	real Ia[6];

  230. initialequations

  231. 	Ia[1:3] = I;

  232. 	Ia[4:6] = m;

  233. 	II = diag(Ia);

  234. equations

  235. 	Q = transpose(adjoint(p1.f));

  236. 	QI = Q*II;

  237. 	p1.e = QI*p1.f;implementation_end;

  238.       Gravity 624 400

  239.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  240.        type Se

  241.         ports

  242.          power out p [6,1];

  243.         restrictions

  244.          causality fixed out p;

  245.        end;

  246.        icon bg bottom

  247.         figures

  248.          text 'Se' 624 400 color 0 18 bold;

  249.        end;

  250.        implementation eq

  251. parameters

  252. 	real global m;

  253. variables

  254. 	real effort[6];

  255. equations

  256. 	effort = [0;0;0;0;0;-g_n*m];

  257. 	p.e = effort;

  258. implementation_end;

  259.       InertialTensor 544 272

  260.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  261.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  262.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  263. </Description>';

  264.        type 'I-3'

  265.         ports

  266.          power in p [6,1];

  267.          signal out state [6,1];

  268.         restrictions

  269.          causality preferred in p;

  270.        end;

  271.        icon bg bottom

  272.         figures

  273.          text 'I' 544 272 color 0 18 bold;

  274.        end;

  275.        implementation eq

  276. parameters

  277. 	real global I[3];

  278. 	real global m;

  279. variables

  280. 	real II[6,6]; //Inertial tensor

  281. 	real Ia[6];

  282. initialequations

  283. 	Ia[1:3] = I;

  284. 	Ia[4:6] = m;

  285. 	II = diag(Ia);

  286. equations

  287.     state = int(p.e); //state = generalized momentum

  288.     p.f = inverse(II)*state;

  289. implementation_end;

  290.       plug Hin 433.4 496;

  291.       plug Hout 691.2 496;

  292.       plug p 439.4 336;

  293.       Splitter1 544 496

  294.        description '<Description><Version>4.0</Version>

  295.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  296.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  297. <IsMainModel>1</IsMainModel>

  298.  <KeepParameterValues>False</KeepParameterValues>

  299. </Description>';

  300.        knot Splitter

  301.         ports

  302.          signal knot duplicatable out output [4,4];

  303.          signal knot in input [4,4];

  304.        end;

  305.        icon bg ellipse

  306.         figures

  307.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  308.          ellipse 539.7 491.7 548.3 500.3 color -1;

  309.         terminals

  310.          input 544 496 fixed;

  311.        end;

  312.        implementation eq

  313. equations

  314.     collect (output) = input;

  315. implementation_end;

  316.       Ta0j 544 336

  317.        description '<Description>

  318.  <Version>4.0</Version>

  319.  <IsMainModel>1</IsMainModel>

  320.  <KeepParameterValues>False</KeepParameterValues>

  321.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  322.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  323.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  324.    <Description></Description>

  325. </Description>';

  326.        knot OneJunction

  327.         ports

  328.          power knot duplicatable none p [6,1];

  329.          signal knot out flow [6,1];

  330.         restrictions

  331.          causality constraint one_out p;

  332.        end;

  333.        icon bg bottom

  334.         figures

  335.          text '1' 544 336 color 0 18 bold;

  336.        end;

  337.        implementation eq

  338. equations

  339. 	sum (direct (p.e)) = 0;

  340. 	equal (collect (p.f));

  341. 	flow = first (p.f);

  342. implementation_end;

  343.       ZeroJunction1 504 336

  344.        description '<Information>

  345.  <Description>

  346.     <Version>4.2</Version>

  347. <IsMainModel>1</IsMainModel>

  348.   <KeepParameterValues>False</KeepParameterValues>

  349.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  350.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  351. </Description>

  352. </Information>';

  353.        knot ZeroJunction

  354.         ports

  355.          power knot duplicatable none p [6,1];

  356.          signal knot out effort [6,1];

  357.         restrictions

  358.          causality constraint one_in p;

  359.        end;

  360.        icon bg

  361.         figures

  362.          text '0' 504 336 color 0 18 bold;

  363.        end;

  364.        implementation eq

  365. equations

  366. 	sum (direct (p.f)) = 0;

  367. 	equal (collect (p.e));

  368. 	effort = first (p.e);

  369. implementation_end;

  370.      end;

  371.      connections

  372.       AdHi0\p2 => Ta0j\p;

  373.       Gravity\p => AdHi0\p1;

  374.       Hin -> Splitter1\input;

  375.       Splitter1\output -> AdHi0\H;

  376.       Splitter1\output -> Hout;

  377.       Ta0j\p => EJS\p1;

  378.       Ta0j\p => InertialTensor\p;

  379.       ZeroJunction1\p => p;

  380.       ZeroJunction1\p => Ta0j\p;

  381.      end;

  382.     implementation_end;

  383.    COM_body2 344 704

  384.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  385. 	real density = 1400 {kg/m3};

  386. 	real dimension[3] = [0.005;0.025;0.01] {m};

  387. variables

  388. 	real I[3,1] {N.m.s};

  389. 	real m {kg}; 

  390. initialequations

  391. 	m = dimension[1] *  dimension[2] * dimension[3] * density;

  392. 	I[1] = m/12 * ( dimension[2]^2 + dimension[3]^2);

  393. 	I[2] = m/12 * ( dimension[1]^2 + dimension[3]^2);

  394. 	I[3] = m/12 * ( dimension[1]^2 + dimension[2]^2);</GlobalRelations></Attributes></Information>';

  395.     type Submodel

  396.      ports

  397.       signal in Hin [4,4];

  398.       signal out Hout [4,4];

  399.       power out p [6,1];

  400.     end;

  401.     icon bg bottom

  402.      figures

  403.       rectangle 312 688 376 720 color 0 fill 139;

  404.       text 'COM' 344 704 color 0 'Clear Sans' 16;

  405.      terminals

  406.       Hin 360 688 fixed;

  407.       p 328 688 fixed;

  408.     end;

  409.     implementation bg

  410.      submodels

  411.       AdHi0 544 400

  412.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  413.        type MTF

  414.         ports

  415.          power in p1 [6,1];

  416.          power out p2 [6,1];

  417.          signal in H [4,4];

  418.         restrictions

  419.          causality constraint not_equal p1 p2;

  420.        end;

  421.        icon bg left

  422.         figures

  423.          text 'MTF' 544 400 color 0 18 bold;

  424.        end;

  425.        implementation eq

  426. variables

  427.  	real onlyRotH[4,4];

  428. code

  429. 	//Only rotations with respect to the inertial system matter!

  430. 	onlyRotH = H;

  431. 	onlyRotH[1,4] = 0;

  432. 	onlyRotH[2,4] = 0;

  433. 	onlyRotH[3,4] = 0;

  434. 						

  435. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  436. 	p1.f = Adjoint(onlyRotH) * p2.f;

  437. implementation_end;

  438.       EJS 624 336

  439.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  440.        type MGY

  441.         ports

  442.          power in p1 [6,1];

  443.        end;

  444.        icon bg top

  445.         figures

  446.          text 'MGY' 624 336 color 0 18 bold;

  447.        end;

  448.        implementation eq

  449. //EJS / Gyroscopic effects

  450. variables

  451. 	real global I[3];

  452. 	real global m;

  453. 	real II[6,6]; //Inertial tensor

  454. 	real Q[6,6];

  455. 	real QI[6,6];

  456. 	real Ia[6];

  457. initialequations

  458. 	Ia[1:3] = I;

  459. 	Ia[4:6] = m;

  460. 	II = diag(Ia);

  461. equations

  462. 	Q = transpose(adjoint(p1.f));

  463. 	QI = Q*II;

  464. 	p1.e = QI*p1.f;implementation_end;

  465.       Gravity 624 400

  466.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  467.        type Se

  468.         ports

  469.          power out p [6,1];

  470.         restrictions

  471.          causality fixed out p;

  472.        end;

  473.        icon bg bottom

  474.         figures

  475.          text 'Se' 624 400 color 0 18 bold;

  476.        end;

  477.        implementation eq

  478. variables

  479. 	real global m;

  480. 	real effort[6];

  481. equations

  482. 	effort = [0;0;0;0;0;-g_n*m];

  483. 	p.e = effort;

  484. implementation_end;

  485.       InertialTensor 544 256

  486.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  487.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  488.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  489. </Description>';

  490.        type 'I-3'

  491.         ports

  492.          power in p [6,1];

  493.          signal out state [6,1];

  494.         restrictions

  495.          causality preferred in p;

  496.        end;

  497.        icon bg bottom

  498.         figures

  499.          text 'I' 544 256 color 0 18 bold;

  500.        end;

  501.        implementation eq

  502. variables

  503. 	real global I[3];

  504. 	real global m;

  505. 	real II[6,6]; //Inertial tensor

  506. 	real Ia[6];

  507. initialequations

  508. 	Ia[1:3] = I;

  509. 	Ia[4:6] = m;

  510. 	II = diag(Ia);

  511. equations

  512.     state = int(p.e); //state = generalized momentum

  513.     p.f = inverse(II)*state;

  514. implementation_end;

  515.       plug Hin 433.4 496;

  516.       plug Hout 691.2 496;

  517.       plug p 439.4 336;

  518.       Splitter1 544 496

  519.        description '<Description><Version>4.0</Version>

  520.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  521.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  522. <IsMainModel>1</IsMainModel>

  523.  <KeepParameterValues>False</KeepParameterValues>

  524. </Description>';

  525.        knot Splitter

  526.         ports

  527.          signal knot duplicatable out output [4,4];

  528.          signal knot in input [4,4];

  529.        end;

  530.        icon bg ellipse

  531.         figures

  532.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  533.          ellipse 539.7 491.7 548.3 500.3 color -1;

  534.         terminals

  535.          input 544 496 fixed;

  536.        end;

  537.        implementation eq

  538. equations

  539.     collect (output) = input;

  540. implementation_end;

  541.       Ta0j 544 336

  542.        description '<Description>

  543.  <Version>4.0</Version>

  544.  <IsMainModel>1</IsMainModel>

  545.  <KeepParameterValues>False</KeepParameterValues>

  546.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  547.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  548.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  549.    <Description></Description>

  550. </Description>';

  551.        knot OneJunction

  552.         ports

  553.          power knot duplicatable none p [6,1];

  554.          signal knot out flow [6,1];

  555.         restrictions

  556.          causality constraint one_out p;

  557.        end;

  558.        icon bg bottom

  559.         figures

  560.          text '1' 544 336 color 0 18 bold;

  561.        end;

  562.        implementation eq

  563. equations

  564. 	sum (direct (p.e)) = 0;

  565. 	equal (collect (p.f));

  566. 	flow = first (p.f);

  567. implementation_end;

  568.       ZeroJunction1 504 336

  569.        description '<Information>

  570.  <Description>

  571.     <Version>4.2</Version>

  572. <IsMainModel>1</IsMainModel>

  573.   <KeepParameterValues>False</KeepParameterValues>

  574.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  575.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  576. </Description>

  577. </Information>';

  578.        knot ZeroJunction

  579.         ports

  580.          power knot duplicatable none p [6,1];

  581.          signal knot out effort [6,1];

  582.         restrictions

  583.          causality constraint one_in p;

  584.        end;

  585.        icon bg

  586.         figures

  587.          text '0' 504 336 color 0 18 bold;

  588.        end;

  589.        implementation eq

  590. equations

  591. 	sum (direct (p.f)) = 0;

  592. 	equal (collect (p.e));

  593. 	effort = first (p.e);

  594. implementation_end;

  595.      end;

  596.      connections

  597.       AdHi0\p2 => Ta0j\p;

  598.       Gravity\p => AdHi0\p1;

  599.       Hin -> Splitter1\input;

  600.       Splitter1\output -> AdHi0\H;

  601.       Splitter1\output -> Hout;

  602.       Ta0j\p => EJS\p1;

  603.       Ta0j\p => InertialTensor\p;

  604.       ZeroJunction1\p => p;

  605.       ZeroJunction1\p => Ta0j\p;

  606.      end;

  607.     implementation_end;

  608.    COM_body3 272 328

  609.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  610. 	real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s};

  611. 	real m = 0.00455 {kg};</GlobalRelations></Attributes></Information>';

  612.     type Submodel

  613.      ports

  614.       signal in Hin [4,4];

  615.       signal out Hout [4,4];

  616.       power out p [6,1];

  617.     end;

  618.     icon bg bottom

  619.      figures

  620.       rectangle 256 296 288 360 color 0 fill 139;

  621.       text 'COM' 272 328 color 0 'Clear Sans' 16;

  622.      terminals

  623.       Hin 256 312 fixed;

  624.       p 256 344 fixed;

  625.     end;

  626.     implementation bg

  627.      submodels

  628.       AdHi0 544 400

  629.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  630.        type MTF

  631.         ports

  632.          power in p1 [6,1];

  633.          power out p2 [6,1];

  634.          signal in H [4,4];

  635.         restrictions

  636.          causality constraint not_equal p1 p2;

  637.        end;

  638.        icon bg left

  639.         figures

  640.          text 'MTF' 544 400 color 0 18 bold;

  641.        end;

  642.        implementation eq

  643. variables

  644.  	real onlyRotH[4,4];

  645. code

  646. 	//Only rotations with respect to the inertial system matter!

  647. 	onlyRotH = H;

  648. 	onlyRotH[1,4] = 0;

  649. 	onlyRotH[2,4] = 0;

  650. 	onlyRotH[3,4] = 0;

  651. 						

  652. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  653. 	p1.f = Adjoint(onlyRotH) * p2.f;

  654. implementation_end;

  655.       EJS 616 336

  656.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  657.        type MGY

  658.         ports

  659.          power in p1 [6,1];

  660.        end;

  661.        icon bg top

  662.         figures

  663.          text 'MGY' 616 336 color 0 18 bold;

  664.        end;

  665.        implementation eq

  666. //EJS / Gyroscopic effects

  667. parameters

  668. 	real global I[3];

  669. 	real global m;

  670. variables

  671. 	real II[6,6]; //Inertial tensor

  672. 	real Q[6,6];

  673. 	real QI[6,6];

  674. 	real Ia[6];

  675. initialequations

  676. 	Ia[1:3] = I;

  677. 	Ia[4:6] = m;

  678. 	II = diag(Ia);

  679. equations

  680. 	Q = transpose(adjoint(p1.f));

  681. 	QI = Q*II;

  682. 	p1.e = QI*p1.f;implementation_end;

  683.       Gravity 624 400

  684.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  685.        type Se

  686.         ports

  687.          power out p [6,1];

  688.         restrictions

  689.          causality fixed out p;

  690.        end;

  691.        icon bg bottom

  692.         figures

  693.          text 'Se' 624 400 color 0 18 bold;

  694.        end;

  695.        implementation eq

  696. parameters

  697. 	real global m;

  698. variables

  699. 	real effort[6];

  700. equations

  701. 	effort = [0;0;0;0;0;-g_n*m];

  702. 	p.e = effort;

  703. implementation_end;

  704.       InertialTensor 544 272

  705.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  706.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  707.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  708. </Description>';

  709.        type 'I-3'

  710.         ports

  711.          power in p [6,1];

  712.          signal out state [6,1];

  713.         restrictions

  714.          causality preferred in p;

  715.        end;

  716.        icon bg bottom

  717.         figures

  718.          text 'I' 544 272 color 0 18 bold;

  719.        end;

  720.        implementation eq

  721. parameters

  722. 	real global I[3];

  723. 	real global m;

  724. variables

  725. 	real II[6,6]; //Inertial tensor

  726. 	real Ia[6];

  727. initialequations

  728. 	Ia[1:3] = I;

  729. 	Ia[4:6] = m;

  730. 	II = diag(Ia);

  731. equations

  732.     state = int(p.e); //state = generalized momentum

  733.     p.f = inverse(II)*state;

  734. implementation_end;

  735.       plug Hin 433.4 496;

  736.       plug Hout 691.2 496;

  737.       plug p 439.4 336;

  738.       Splitter1 544 496

  739.        description '<Description><Version>4.0</Version>

  740.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  741.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  742. <IsMainModel>1</IsMainModel>

  743.  <KeepParameterValues>False</KeepParameterValues>

  744. </Description>';

  745.        knot Splitter

  746.         ports

  747.          signal knot duplicatable out output [4,4];

  748.          signal knot in input [4,4];

  749.        end;

  750.        icon bg ellipse

  751.         figures

  752.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  753.          ellipse 539.7 491.7 548.3 500.3 color -1;

  754.         terminals

  755.          input 544 496 fixed;

  756.        end;

  757.        implementation eq

  758. equations

  759.     collect (output) = input;

  760. implementation_end;

  761.       Ta0j 544 336

  762.        description '<Description>

  763.  <Version>4.0</Version>

  764.  <IsMainModel>1</IsMainModel>

  765.  <KeepParameterValues>False</KeepParameterValues>

  766.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  767.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  768.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  769.    <Description></Description>

  770. </Description>';

  771.        knot OneJunction

  772.         ports

  773.          power knot duplicatable none p [6,1];

  774.          signal knot out flow [6,1];

  775.         restrictions

  776.          causality constraint one_out p;

  777.        end;

  778.        icon bg bottom

  779.         figures

  780.          text '1' 544 336 color 0 18 bold;

  781.        end;

  782.        implementation eq

  783. equations

  784. 	sum (direct (p.e)) = 0;

  785. 	equal (collect (p.f));

  786. 	flow = first (p.f);

  787. implementation_end;

  788.       ZeroJunction1 504 336

  789.        description '<Information>

  790.  <Description>

  791.     <Version>4.2</Version>

  792. <IsMainModel>1</IsMainModel>

  793.   <KeepParameterValues>False</KeepParameterValues>

  794.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  795.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  796. </Description>

  797. </Information>';

  798.        knot ZeroJunction

  799.         ports

  800.          power knot duplicatable none p [6,1];

  801.          signal knot out effort [6,1];

  802.         restrictions

  803.          causality constraint one_in p;

  804.        end;

  805.        icon bg

  806.         figures

  807.          text '0' 504 336 color 0 18 bold;

  808.        end;

  809.        implementation eq

  810. equations

  811. 	sum (direct (p.f)) = 0;

  812. 	equal (collect (p.e));

  813. 	effort = first (p.e);

  814. implementation_end;

  815.      end;

  816.      connections

  817.       AdHi0\p2 => Ta0j\p;

  818.       Gravity\p => AdHi0\p1;

  819.       Hin -> Splitter1\input;

  820.       Splitter1\output -> AdHi0\H;

  821.       Splitter1\output -> Hout;

  822.       Ta0j\p => EJS\p1;

  823.       Ta0j\p => InertialTensor\p;

  824.       ZeroJunction1\p => p;

  825.       ZeroJunction1\p => Ta0j\p;

  826.      end;

  827.     implementation_end;

  828.    COM_body4 712 48

  829.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  830. 	real density = 1400 {kg/m3};

  831. 	real dimension[3] = [0.005;0.075;0.01] {m};

  832. 	real servoweight = 5 {g};

  833. variables

  834. 	real I[3,1] {N.m.s};

  835. 	real m {kg};

  836. 	real mass;

  837. initialequations

  838. 	mass = dimension[1] *  dimension[2] * dimension[3] * density;

  839. 	I[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2);

  840. 	I[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2);

  841. 	I[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2);

  842. 	m = mass + servoweight;</GlobalRelations></Attributes></Information>';

  843.     type Submodel

  844.      ports

  845.       signal in Hin [4,4];

  846.       signal out Hout [4,4];

  847.       power out p [6,1];

  848.     end;

  849.     icon bg bottom

  850.      figures

  851.       rectangle 680 32 744 64 color 0 fill 139;

  852.       text 'COM' 712 48 color 0 'Clear Sans' 16;

  853.      terminals

  854.       Hin 728 64 fixed;

  855.       p 696 64 fixed;

  856.     end;

  857.     implementation bg

  858.      submodels

  859.       AdHi0 544 400

  860.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  861.        type MTF

  862.         ports

  863.          power in p1 [6,1];

  864.          power out p2 [6,1];

  865.          signal in H [4,4];

  866.         restrictions

  867.          causality constraint not_equal p1 p2;

  868.        end;

  869.        icon bg left

  870.         figures

  871.          text 'MTF' 544 400 color 0 18 bold;

  872.        end;

  873.        implementation eq

  874. variables

  875.  	real onlyRotH[4,4];

  876. code

  877. 	//Only rotations with respect to the inertial system matter!

  878. 	onlyRotH = H;

  879. 	onlyRotH[1,4] = 0;

  880. 	onlyRotH[2,4] = 0;

  881. 	onlyRotH[3,4] = 0;

  882. 						

  883. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  884. 	p1.f = Adjoint(onlyRotH) * p2.f;

  885. implementation_end;

  886.       EJS 624 336

  887.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  888.        type MGY

  889.         ports

  890.          power in p1 [6,1];

  891.        end;

  892.        icon bg top

  893.         figures

  894.          text 'MGY' 624 336 color 0 18 bold;

  895.        end;

  896.        implementation eq

  897. //EJS / Gyroscopic effects

  898. variables

  899. 	real global I[3];

  900. 	real global m;

  901. 	real II[6,6]; //Inertial tensor

  902. 	real Q[6,6];

  903. 	real QI[6,6];

  904. 	real Ia[6];

  905. initialequations

  906. 	Ia[1:3] = I;

  907. 	Ia[4:6] = m;

  908. 	II = diag(Ia);

  909. equations

  910. 	Q = transpose(adjoint(p1.f));

  911. 	QI = Q*II;

  912. 	p1.e = QI*p1.f;implementation_end;

  913.       Gravity 624 400

  914.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  915.        type Se

  916.         ports

  917.          power out p [6,1];

  918.         restrictions

  919.          causality fixed out p;

  920.        end;

  921.        icon bg bottom

  922.         figures

  923.          text 'Se' 624 400 color 0 18 bold;

  924.        end;

  925.        implementation eq

  926. variables

  927. 	real global m;

  928. 	real effort[6];

  929. equations

  930. 	effort = [0;0;0;0;0;-g_n*m];

  931. 	p.e = effort;

  932. implementation_end;

  933.       InertialTensor 544 256

  934.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  935.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  936.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  937. </Description>';

  938.        type 'I-3'

  939.         ports

  940.          power in p [6,1];

  941.          signal out state [6,1];

  942.         restrictions

  943.          causality preferred in p;

  944.        end;

  945.        icon bg bottom

  946.         figures

  947.          text 'I' 544 256 color 0 18 bold;

  948.        end;

  949.        implementation eq

  950. variables

  951. 	real global I[3];

  952. 	real global m;

  953. 	real II[6,6]; //Inertial tensor

  954. 	real Ia[6];

  955. initialequations

  956. 	Ia[1:3] = I;

  957. 	Ia[4:6] = m;

  958. 	II = diag(Ia);

  959. equations

  960.     state = int(p.e); //state = generalized momentum

  961.     p.f = inverse(II)*state;

  962. implementation_end;

  963.       plug Hin 433.4 496;

  964.       plug Hout 691.2 496;

  965.       plug p 439.4 336;

  966.       Splitter1 544 496

  967.        description '<Description><Version>4.0</Version>

  968.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  969.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  970. <IsMainModel>1</IsMainModel>

  971.  <KeepParameterValues>False</KeepParameterValues>

  972. </Description>';

  973.        knot Splitter

  974.         ports

  975.          signal knot duplicatable out output [4,4];

  976.          signal knot in input [4,4];

  977.        end;

  978.        icon bg ellipse

  979.         figures

  980.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  981.          ellipse 539.7 491.7 548.3 500.3 color -1;

  982.         terminals

  983.          input 544 496 fixed;

  984.        end;

  985.        implementation eq

  986. equations

  987.     collect (output) = input;

  988. implementation_end;

  989.       Ta0j 544 336

  990.        description '<Description>

  991.  <Version>4.0</Version>

  992.  <IsMainModel>1</IsMainModel>

  993.  <KeepParameterValues>False</KeepParameterValues>

  994.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  995.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  996.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  997.    <Description></Description>

  998. </Description>';

  999.        knot OneJunction

  1000.         ports

  1001.          power knot duplicatable none p [6,1];

  1002.          signal knot out flow [6,1];

  1003.         restrictions

  1004.          causality constraint one_out p;

  1005.        end;

  1006.        icon bg bottom

  1007.         figures

  1008.          text '1' 544 336 color 0 18 bold;

  1009.        end;

  1010.        implementation eq

  1011. equations

  1012. 	sum (direct (p.e)) = 0;

  1013. 	equal (collect (p.f));

  1014. 	flow = first (p.f);

  1015. implementation_end;

  1016.       ZeroJunction1 504 336

  1017.        description '<Information>

  1018.  <Description>

  1019.     <Version>4.2</Version>

  1020. <IsMainModel>1</IsMainModel>

  1021.   <KeepParameterValues>False</KeepParameterValues>

  1022.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1023.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1024. </Description>

  1025. </Information>';

  1026.        knot ZeroJunction

  1027.         ports

  1028.          power knot duplicatable none p [6,1];

  1029.          signal knot out effort [6,1];

  1030.         restrictions

  1031.          causality constraint one_in p;

  1032.        end;

  1033.        icon bg

  1034.         figures

  1035.          text '0' 504 336 color 0 18 bold;

  1036.        end;

  1037.        implementation eq

  1038. equations

  1039. 	sum (direct (p.f)) = 0;

  1040. 	equal (collect (p.e));

  1041. 	effort = first (p.e);

  1042. implementation_end;

  1043.      end;

  1044.      connections

  1045.       AdHi0\p2 => Ta0j\p;

  1046.       Gravity\p => AdHi0\p1;

  1047.       Hin -> Splitter1\input;

  1048.       Splitter1\output -> AdHi0\H;

  1049.       Splitter1\output -> Hout;

  1050.       Ta0j\p => EJS\p1;

  1051.       Ta0j\p => InertialTensor\p;

  1052.       ZeroJunction1\p => p;

  1053.       ZeroJunction1\p => Ta0j\p;

  1054.      end;

  1055.     implementation_end;

  1056.    COM_body5 1472 128

  1057.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  1058. 	real I [3,1] = [0.018;0.159;0.159] {mN.m.s};

  1059. 	real m = 0.015 {kg};</GlobalRelations></Attributes></Information>';

  1060.     type Submodel

  1061.      ports

  1062.       signal in Hin [4,4];

  1063.       signal out Hout [4,4];

  1064.       power out p [6,1];

  1065.     end;

  1066.     icon bg bottom

  1067.      figures

  1068.       rectangle 1456 96 1488 160 color 0 fill 139;

  1069.       text 'COM' 1472 128 color 0 'Clear Sans' 16;

  1070.      terminals

  1071.       Hin 1456 144 fixed;

  1072.       p 1456 112 fixed;

  1073.     end;

  1074.     implementation bg

  1075.      submodels

  1076.       AdHi0 544 400

  1077.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  1078.        type MTF

  1079.         ports

  1080.          power in p1 [6,1];

  1081.          power out p2 [6,1];

  1082.          signal in H [4,4];

  1083.         restrictions

  1084.          causality constraint not_equal p1 p2;

  1085.        end;

  1086.        icon bg left

  1087.         figures

  1088.          text 'MTF' 544 400 color 0 18 bold;

  1089.        end;

  1090.        implementation eq

  1091. variables

  1092.  	real onlyRotH[4,4];

  1093. code

  1094. 	//Only rotations with respect to the inertial system matter!

  1095. 	onlyRotH = H;

  1096. 	onlyRotH[1,4] = 0;

  1097. 	onlyRotH[2,4] = 0;

  1098. 	onlyRotH[3,4] = 0;

  1099. 						

  1100. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  1101. 	p1.f = Adjoint(onlyRotH) * p2.f;

  1102. implementation_end;

  1103.       EJS 616 336

  1104.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  1105.        type MGY

  1106.         ports

  1107.          power in p1 [6,1];

  1108.        end;

  1109.        icon bg top

  1110.         figures

  1111.          text 'MGY' 616 336 color 0 18 bold;

  1112.        end;

  1113.        implementation eq

  1114. //EJS / Gyroscopic effects

  1115. parameters

  1116. 	real global I[3];

  1117. 	real global m;

  1118. variables

  1119. 	real II[6,6]; //Inertial tensor

  1120. 	real Q[6,6];

  1121. 	real QI[6,6];

  1122. 	real Ia[6];

  1123. initialequations

  1124. 	Ia[1:3] = I;

  1125. 	Ia[4:6] = m;

  1126. 	II = diag(Ia);

  1127. equations

  1128. 	Q = transpose(adjoint(p1.f));

  1129. 	QI = Q*II;

  1130. 	p1.e = QI*p1.f;implementation_end;

  1131.       Gravity 624 400

  1132.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  1133.        type Se

  1134.         ports

  1135.          power out p [6,1];

  1136.         restrictions

  1137.          causality fixed out p;

  1138.        end;

  1139.        icon bg bottom

  1140.         figures

  1141.          text 'Se' 624 400 color 0 18 bold;

  1142.        end;

  1143.        implementation eq

  1144. parameters

  1145. 	real global m;

  1146. variables

  1147. 	real effort[6];

  1148. equations

  1149. 	effort = [0;0;0;0;0;-g_n*m];

  1150. 	p.e = effort;

  1151. implementation_end;

  1152.       InertialTensor 544 272

  1153.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1154.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  1155.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  1156. </Description>';

  1157.        type 'I-3'

  1158.         ports

  1159.          power in p [6,1];

  1160.          signal out state [6,1];

  1161.         restrictions

  1162.          causality preferred in p;

  1163.        end;

  1164.        icon bg bottom

  1165.         figures

  1166.          text 'I' 544 272 color 0 18 bold;

  1167.        end;

  1168.        implementation eq

  1169. parameters

  1170. 	real global I[3];

  1171. 	real global m;

  1172. variables

  1173. 	real II[6,6]; //Inertial tensor

  1174. 	real Ia[6];

  1175. initialequations

  1176. 	Ia[1:3] = I;

  1177. 	Ia[4:6] = m;

  1178. 	II = diag(Ia);

  1179. equations

  1180.     state = int(p.e); //state = generalized momentum

  1181.     p.f = inverse(II)*state;

  1182. implementation_end;

  1183.       plug Hin 433.4 496;

  1184.       plug Hout 691.2 496;

  1185.       plug p 439.4 336;

  1186.       Splitter1 544 496

  1187.        description '<Description><Version>4.0</Version>

  1188.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1189.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1190. <IsMainModel>1</IsMainModel>

  1191.  <KeepParameterValues>False</KeepParameterValues>

  1192. </Description>';

  1193.        knot Splitter

  1194.         ports

  1195.          signal knot duplicatable out output [4,4];

  1196.          signal knot in input [4,4];

  1197.        end;

  1198.        icon bg ellipse

  1199.         figures

  1200.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  1201.          ellipse 539.7 491.7 548.3 500.3 color -1;

  1202.         terminals

  1203.          input 544 496 fixed;

  1204.        end;

  1205.        implementation eq

  1206. equations

  1207.     collect (output) = input;

  1208. implementation_end;

  1209.       Ta0j 544 336

  1210.        description '<Description>

  1211.  <Version>4.0</Version>

  1212.  <IsMainModel>1</IsMainModel>

  1213.  <KeepParameterValues>False</KeepParameterValues>

  1214.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1215.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  1216.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1217.    <Description></Description>

  1218. </Description>';

  1219.        knot OneJunction

  1220.         ports

  1221.          power knot duplicatable none p [6,1];

  1222.          signal knot out flow [6,1];

  1223.         restrictions

  1224.          causality constraint one_out p;

  1225.        end;

  1226.        icon bg bottom

  1227.         figures

  1228.          text '1' 544 336 color 0 18 bold;

  1229.        end;

  1230.        implementation eq

  1231. equations

  1232. 	sum (direct (p.e)) = 0;

  1233. 	equal (collect (p.f));

  1234. 	flow = first (p.f);

  1235. implementation_end;

  1236.       ZeroJunction1 504 336

  1237.        description '<Information>

  1238.  <Description>

  1239.     <Version>4.2</Version>

  1240. <IsMainModel>1</IsMainModel>

  1241.   <KeepParameterValues>False</KeepParameterValues>

  1242.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1243.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1244. </Description>

  1245. </Information>';

  1246.        knot ZeroJunction

  1247.         ports

  1248.          power knot duplicatable none p [6,1];

  1249.          signal knot out effort [6,1];

  1250.         restrictions

  1251.          causality constraint one_in p;

  1252.        end;

  1253.        icon bg

  1254.         figures

  1255.          text '0' 504 336 color 0 18 bold;

  1256.        end;

  1257.        implementation eq

  1258. equations

  1259. 	sum (direct (p.f)) = 0;

  1260. 	equal (collect (p.e));

  1261. 	effort = first (p.e);

  1262. implementation_end;

  1263.      end;

  1264.      connections

  1265.       AdHi0\p2 => Ta0j\p;

  1266.       Gravity\p => AdHi0\p1;

  1267.       Hin -> Splitter1\input;

  1268.       Splitter1\output -> AdHi0\H;

  1269.       Splitter1\output -> Hout;

  1270.       Ta0j\p => EJS\p1;

  1271.       Ta0j\p => InertialTensor\p;

  1272.       ZeroJunction1\p => p;

  1273.       ZeroJunction1\p => Ta0j\p;

  1274.      end;

  1275.     implementation_end;

  1276.    Ground1 620 687.5

  1277.     description '<Information>

  1278.  <Description>

  1279.     <Version>4.8</Version>

  1280. <IsMainModel>1</IsMainModel>

  1281.     <LibraryPath>Bond Graph\MR\Ground.emx</LibraryPath>

  1282.   <TimeStamp>2020-7-23 09:30:51</TimeStamp>

  1283. </Description>

  1284. </Information>';

  1285.     type Submodel

  1286.      ports

  1287.       power in p [6,1];

  1288.       signal out output [4,4];

  1289.     end;

  1290.     icon bg bottom

  1291.      figures

  1292.       line 584 680 600 696 color 0 fill 15132390;

  1293.       line 592 680 608 696 color 0 fill 15132390;

  1294.       line 576 680 592 696 color 0 fill 15132390;

  1295.       line 616 696 600 680 color 0 fill 15132390;

  1296.       line 624 696 608 680 color 0 fill 15132390;

  1297.       line 632 696 616 680 color 0 fill 15132390;

  1298.       line 648 696 632 680 color 0 fill 15132390;

  1299.       line 640 696 624 680 color 0 fill 15132390;

  1300.       line 656 696 640 680 color 0 fill 15132390;

  1301.       line 664 696 648 680 color 0 fill 15132390;

  1302.       line 576 680 664 680 color 0 fill 15132390 width 2;

  1303.       line 656 680 664 688 color 0 fill 15132390;

  1304.       line 576 688 584 696 color 0 fill 15132390;

  1305.      terminals

  1306.       p 600 680 fixed;

  1307.       output 632 680 fixed;

  1308.     end;

  1309.     implementation bg

  1310.      submodels

  1311.       plug p 240 88;

  1312.       plug output 240 120;

  1313.       OneJunction2 192 88

  1314.        description '<Information>

  1315.  <Description>

  1316.     <Version>4.2</Version>

  1317. <IsMainModel>1</IsMainModel>

  1318.   <KeepParameterValues>False</KeepParameterValues>

  1319.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1320.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1321. </Description>

  1322. </Information>';

  1323.        knot OneJunction

  1324.         ports

  1325.          power knot duplicatable none p [6,1];

  1326.          signal knot out flow [6,1];

  1327.         restrictions

  1328.          causality constraint one_out p;

  1329.        end;

  1330.        icon bg

  1331.         figures

  1332.          text '1' 192 88 color 0 18 bold;

  1333.        end;

  1334.        implementation eq

  1335. equations

  1336. 	sum (direct (p.e)) = 0;

  1337. 	equal (collect (p.f));

  1338. 	flow = first (p.f);

  1339. implementation_end;

  1340.       Sf2 136 88

  1341.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1342.    <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>

  1343.   <TimeStamp>2007-9-25 12:7:5</TimeStamp>

  1344. </Description>';

  1345.        type 'Sf-2'

  1346.         ports

  1347.          power out p [6,1];

  1348.         restrictions

  1349.          causality fixed in p;

  1350.        end;

  1351.        icon bg bottom

  1352.         figures

  1353.          text 'Sf' 136 88 color 0 18 bold;

  1354.        end;

  1355.        implementation eq

  1356. parameters

  1357. 	real flow[6,1] = 	0;

  1358. variables

  1359. 	real effort [6];

  1360. equations

  1361. 	p.f = flow;

  1362. 	effort = p.e;

  1363. implementation_end;

  1364.       Zero 144 120

  1365.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1366.   <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>

  1367.   <TimeStamp>2007-9-27 15:54:36</TimeStamp>

  1368. </Description>

  1369. ';

  1370.        type Zero

  1371.         ports

  1372.          signal out output [4,4];

  1373.        end;

  1374.        icon bg bottom

  1375.         figures

  1376.          rectangle 128.1 104 159.9 136 color 0 fill 15132390;

  1377.          text '0' 144 120 color 16711680 18 bold;

  1378.        end;

  1379.        implementation eq

  1380. equations

  1381. 	output = eye(4);implementation_end;

  1382.      end;

  1383.      connections

  1384.       p => OneJunction2\p;

  1385.       Sf2\p => OneJunction2\p;

  1386.       Zero\output -> output;

  1387.      end;

  1388.     implementation_end;

  1389.    inverse_kinematics 712 768

  1390.     description '<Information>

  1391.  <Description>

  1392.     <Version>4.8</Version>

  1393.   <LibraryPath>SCARA\inverse_kinematics_v1.emx</LibraryPath>

  1394. <IsMainModel>1</IsMainModel>

  1395.   <KeepParameterValues>False</KeepParameterValues>

  1396.     <TimeStamp>2020-7-10 12:26:18</TimeStamp>

  1397. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1398.  </Description>

  1399. </Information>';

  1400.     type 'Submodel-Equation'

  1401.      ports

  1402.       signal in input [2,1] {m} ;

  1403.       signal out angle1 {rad} ;

  1404.       signal out angle2 {rad} ;

  1405.       signal out a {rad} ;

  1406.       signal out b {rad} ;

  1407.       signal out c {rad} ;

  1408.       signal out phi {rad} ;

  1409.     end;

  1410.     implementation eq

  1411. parameters

  1412. 	real A_length = 0.065 {m}; // length of first arm

  1413. 	real B_length = 0.05 {m}; // length of second arm

  1414. 	real to_rad = 1 {rad};

  1415. variables

  1416. 	real x {m}, y {m};

  1417. 	real C_length {m}; // length to x and y.

  1418. equations

  1419. 	x = input[1];

  1420. 	y = input[2];

  1421. 	phi = atan2(y, x);

  1422. 	C_length = sqrt(x^2 + y^2);	

  1423. 	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));

  1424. 	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));

  1425. 	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));

  1426. 	angle1 = b + phi;

  1427. 	angle2 =  angle1 - pi * to_rad + c;

  1428. 	

  1429. 	

  1430. 

  1431.  implementation_end;

  1432.    JointA 560 512

  1433.     description '<Information>

  1434.  <Description>

  1435.     <Version>4.8</Version>

  1436. <IsMainModel>1</IsMainModel>

  1437.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1438.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1439. </Description>

  1440. </Information>';

  1441.     type 'Submodel-v3'

  1442.      ports

  1443.       power in Pin [6,1];

  1444.       power in Pdiff [6,1];

  1445.       signal in Hin [4,4];

  1446.       signal out Hout [4,4];

  1447.       signal out Hdiff [4,4];

  1448.       power out Pout [6,1];

  1449.     end;

  1450.     icon bg bottom

  1451.      figures

  1452.       rectangle 528 488 592 536 color 0 fill 14745599;

  1453.       text 'Joint' 560 512 color 0 'Clear Sans' 16;

  1454.      terminals

  1455.       Pin 544 536 fixed;

  1456.       Hin 576 488 fixed;

  1457.       Hout 576 536 fixed;

  1458.       Pout 544 488 fixed;

  1459.     end;

  1460.     implementation bg

  1461.      submodels

  1462.       AdHji 424 424

  1463.        description '<Description>

  1464.  <Version>4.0</Version>

  1465.  <IsMainModel>1</IsMainModel>

  1466.  <KeepParameterValues>False</KeepParameterValues>

  1467.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1468.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1469.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1470. </Description>';

  1471.        type MTF

  1472.         ports

  1473.          power out p1 [6,1];

  1474.          power in p2 [6,1];

  1475.          signal in H [4,4];

  1476.         restrictions

  1477.          causality constraint not_equal p1 p2;

  1478.        end;

  1479.        icon bg bottom

  1480.         figures

  1481.          text 'MTF' 424 424 color 0 18 bold;

  1482.        end;

  1483.        implementation eq

  1484. equations					

  1485. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1486. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1487.       FlowSensor2 184 311.9

  1488.        description '<Information>

  1489.  <Description>

  1490.     <Version>4.2</Version>

  1491. <IsMainModel>1</IsMainModel>

  1492.   <KeepParameterValues>False</KeepParameterValues>

  1493.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1494.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1495. </Description>

  1496. </Information>';

  1497.        knot FlowSensor

  1498.         ports

  1499.          power knot in p1 [6,1];

  1500.          power knot out p2 [6,1];

  1501.          signal knot out flow [6,1];

  1502.         restrictions

  1503.          causality constraint not_equal p1 p2;

  1504.        end;

  1505.        icon bg ellipse

  1506.         figures

  1507.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1508.          text 'f' 184 311.2 color 0;

  1509.        end;

  1510.        implementation eq

  1511. equations

  1512. 	p2.f = p1.f;

  1513. 	p1.e = p2.e;

  1514. 	flow = p1.f;

  1515. implementation_end;

  1516.       Hmatrix 256 312

  1517.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  1518.        type 'Submodel-Equation'

  1519.         ports

  1520.          signal in flow [6,1];

  1521.          signal out H [4,4];

  1522.        end;

  1523.        icon bg

  1524.         figures

  1525.          rectangle 224 296 288 328 color 0 fill 15132390;

  1526.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1527.        end;

  1528.        implementation eq

  1529. parameters

  1530. 	real init[4] = [1;0;0;0];

  1531. variables

  1532. 	real q[4];		//quaternions

  1533. 	real W[3,4];	//Quaternion Rates Matrix

  1534. 	real R[3,3];	//Rotation Matrix

  1535. 	real p[3];		//Position Vector

  1536. 	real dq[4];

  1537. 	real Wb[3,4];

  1538. equations

  1539. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1540. 	q = int(dq,init);

  1541. 	p = int(flow[4:6]);

  1542. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1543. 		 -q[3],	q[4],	q[1],	-q[2];

  1544. 		 -q[4],	-q[3],	q[2],	q[1]];

  1545. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1546. 	   		-q[3], -q[4],  q[1],  q[2];

  1547. 	   		-q[4],  q[3], -q[2],  q[1]];

  1548.  	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]);

  1549. 		  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]);

  1550. 		  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];

  1551. 	H = homogeneous(R,p);

  1552. 	implementation_end;

  1553.       MatrixMul 320 576

  1554.        description '<Description>

  1555.  <Version>4.0</Version>

  1556.  <IsMainModel>1</IsMainModel>

  1557.  <KeepParameterValues>False</KeepParameterValues>

  1558.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1559.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1560.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1561. </Description>';

  1562.        type Gain

  1563.         ports

  1564.          signal in input1 [4,4];

  1565.          signal out output [4,4];

  1566.          signal in input2 [4,4];

  1567.        end;

  1568.        icon bg bottom

  1569.         figures

  1570.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1571.          text 'X' 320 576 color 16711680 16 bold;

  1572.        end;

  1573.        implementation eq

  1574. equations

  1575. 	output = input2*input1;    implementation_end;

  1576.       plug Pin 492.1 424;

  1577.       plug Pdiff 184 225;

  1578.       plug Hin 130.8 576;

  1579.       plug Hout 478.4 576;

  1580.       plug Hdiff 320 222;

  1581.       plug Pout 134.7 424;

  1582.       Splitter2 320 312

  1583.        description '<Description><Version>4.0</Version>

  1584.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1585.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1586. <IsMainModel>1</IsMainModel>

  1587.  <KeepParameterValues>False</KeepParameterValues>

  1588. </Description>';

  1589.        knot Splitter

  1590.         ports

  1591.          signal knot duplicatable out output [4,4];

  1592.          signal knot in input [4,4];

  1593.        end;

  1594.        icon bg ellipse

  1595.         figures

  1596.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1597.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1598.         terminals

  1599.          input 320 312 fixed;

  1600.        end;

  1601.        implementation eq

  1602. equations

  1603.     collect (output) = input;

  1604. implementation_end;

  1605.       Wbai 184 424

  1606.        description '<Description>

  1607.  <Version>4.0</Version>

  1608.  <IsMainModel>1</IsMainModel>

  1609.  <KeepParameterValues>False</KeepParameterValues>

  1610.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1611.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1612.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1613. </Description>';

  1614.        knot ZeroJunction

  1615.         ports

  1616.          power knot duplicatable none p [6,1];

  1617.          signal knot out effort [6,1];

  1618.         restrictions

  1619.          causality constraint one_in p;

  1620.        end;

  1621.        icon bg bottom

  1622.         figures

  1623.          text '0' 184 424 color 0 18 bold;

  1624.        end;

  1625.        implementation eq

  1626. equations

  1627. 	sum (direct (p.f)) = 0;

  1628. 	equal (collect (p.e));

  1629. 	effort = first (p.e);

  1630. implementation_end;

  1631.      end;

  1632.      connections

  1633.       FlowSensor2\flow -> Hmatrix\flow;

  1634.       FlowSensor2\p2 => Wbai\p;

  1635.       Hin -> MatrixMul\input2;

  1636.       Hmatrix\H -> Splitter2\input;

  1637.       MatrixMul\output -> Hout;

  1638.       Pdiff => FlowSensor2\p1;

  1639.       Pin => AdHji\p2;

  1640.       Splitter2\output -> AdHji\H 424 312;

  1641.       Splitter2\output -> Hdiff;

  1642.       Splitter2\output -> MatrixMul\input1;

  1643.       Wbai\p <= AdHji\p1;

  1644.       Wbai\p => Pout;

  1645.      end;

  1646.     implementation_end;

  1647.    JointB 560 192

  1648.     description '<Information>

  1649.  <Description>

  1650.     <Version>4.8</Version>

  1651. <IsMainModel>1</IsMainModel>

  1652.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1653.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1654. </Description>

  1655. </Information>';

  1656.     type 'Submodel-v3'

  1657.      ports

  1658.       power in Pin [6,1];

  1659.       power in Pdiff [6,1];

  1660.       signal in Hin [4,4];

  1661.       signal out Hout [4,4];

  1662.       signal out Hdiff [4,4];

  1663.       power out Pout [6,1];

  1664.     end;

  1665.     icon bg bottom

  1666.      figures

  1667.       rectangle 528 168 592 216 color 0 fill 14745599;

  1668.       text 'Joint' 560 192 color 0 'Clear Sans' 16;

  1669.      terminals

  1670.       Pin 544 216 fixed;

  1671.       Hin 576 168 fixed;

  1672.       Hout 576 216 fixed;

  1673.       Pout 544 168 fixed;

  1674.     end;

  1675.     implementation bg

  1676.      submodels

  1677.       AdHji 424 424

  1678.        description '<Description>

  1679.  <Version>4.0</Version>

  1680.  <IsMainModel>1</IsMainModel>

  1681.  <KeepParameterValues>False</KeepParameterValues>

  1682.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1683.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1684.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1685. </Description>';

  1686.        type MTF

  1687.         ports

  1688.          power out p1 [6,1];

  1689.          power in p2 [6,1];

  1690.          signal in H [4,4];

  1691.         restrictions

  1692.          causality constraint not_equal p1 p2;

  1693.        end;

  1694.        icon bg bottom

  1695.         figures

  1696.          text 'MTF' 424 424 color 0 18 bold;

  1697.        end;

  1698.        implementation eq

  1699. equations					

  1700. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1701. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1702.       FlowSensor2 184 311.9

  1703.        description '<Information>

  1704.  <Description>

  1705.     <Version>4.2</Version>

  1706. <IsMainModel>1</IsMainModel>

  1707.   <KeepParameterValues>False</KeepParameterValues>

  1708.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1709.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1710. </Description>

  1711. </Information>';

  1712.        knot FlowSensor

  1713.         ports

  1714.          power knot in p1 [6,1];

  1715.          power knot out p2 [6,1];

  1716.          signal knot out flow [6,1];

  1717.         restrictions

  1718.          causality constraint not_equal p1 p2;

  1719.        end;

  1720.        icon bg ellipse

  1721.         figures

  1722.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1723.          text 'f' 184 311.2 color 0;

  1724.        end;

  1725.        implementation eq

  1726. equations

  1727. 	p2.f = p1.f;

  1728. 	p1.e = p2.e;

  1729. 	flow = p1.f;

  1730. implementation_end;

  1731.       Hmatrix 256 312

  1732.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  1733.        type 'Submodel-Equation'

  1734.         ports

  1735.          signal in flow [6,1];

  1736.          signal out H [4,4];

  1737.        end;

  1738.        icon bg

  1739.         figures

  1740.          rectangle 224 296 288 328 color 0 fill 15132390;

  1741.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1742.        end;

  1743.        implementation eq

  1744. parameters

  1745. 	real init[4] = [1;0;0;0];

  1746. variables

  1747. 	real q[4];		//quaternions

  1748. 	real W[3,4];	//Quaternion Rates Matrix

  1749. 	real R[3,3];	//Rotation Matrix

  1750. 	real p[3];		//Position Vector

  1751. 	real dq[4];

  1752. 	real Wb[3,4];

  1753. equations

  1754. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1755. 	q = int(dq,init);

  1756. 	p = int(flow[4:6]);

  1757. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1758. 		 -q[3],	q[4],	q[1],	-q[2];

  1759. 		 -q[4],	-q[3],	q[2],	q[1]];

  1760. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1761. 	   		-q[3], -q[4],  q[1],  q[2];

  1762. 	   		-q[4],  q[3], -q[2],  q[1]];

  1763.  	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]);

  1764. 		  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]);

  1765. 		  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];

  1766. 	H = homogeneous(R,p);

  1767. 	implementation_end;

  1768.       MatrixMul 320 576

  1769.        description '<Description>

  1770.  <Version>4.0</Version>

  1771.  <IsMainModel>1</IsMainModel>

  1772.  <KeepParameterValues>False</KeepParameterValues>

  1773.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1774.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1775.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1776. </Description>';

  1777.        type Gain

  1778.         ports

  1779.          signal in input1 [4,4];

  1780.          signal out output [4,4];

  1781.          signal in input2 [4,4];

  1782.        end;

  1783.        icon bg bottom

  1784.         figures

  1785.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1786.          text 'X' 320 576 color 16711680 16 bold;

  1787.        end;

  1788.        implementation eq

  1789. equations

  1790. 	output = input2*input1;    implementation_end;

  1791.       plug Pin 492.1 424;

  1792.       plug Pdiff 184 225;

  1793.       plug Hin 130.8 576;

  1794.       plug Hout 478.4 576;

  1795.       plug Hdiff 320 222;

  1796.       plug Pout 134.7 424;

  1797.       Splitter2 320 312

  1798.        description '<Description><Version>4.0</Version>

  1799.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1800.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1801. <IsMainModel>1</IsMainModel>

  1802.  <KeepParameterValues>False</KeepParameterValues>

  1803. </Description>';

  1804.        knot Splitter

  1805.         ports

  1806.          signal knot duplicatable out output [4,4];

  1807.          signal knot in input [4,4];

  1808.        end;

  1809.        icon bg ellipse

  1810.         figures

  1811.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1812.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1813.         terminals

  1814.          input 320 312 fixed;

  1815.        end;

  1816.        implementation eq

  1817. equations

  1818.     collect (output) = input;

  1819. implementation_end;

  1820.       Wbai 184 424

  1821.        description '<Description>

  1822.  <Version>4.0</Version>

  1823.  <IsMainModel>1</IsMainModel>

  1824.  <KeepParameterValues>False</KeepParameterValues>

  1825.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1826.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1827.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1828. </Description>';

  1829.        knot ZeroJunction

  1830.         ports

  1831.          power knot duplicatable none p [6,1];

  1832.          signal knot out effort [6,1];

  1833.         restrictions

  1834.          causality constraint one_in p;

  1835.        end;

  1836.        icon bg bottom

  1837.         figures

  1838.          text '0' 184 424 color 0 18 bold;

  1839.        end;

  1840.        implementation eq

  1841. equations

  1842. 	sum (direct (p.f)) = 0;

  1843. 	equal (collect (p.e));

  1844. 	effort = first (p.e);

  1845. implementation_end;

  1846.      end;

  1847.      connections

  1848.       FlowSensor2\flow -> Hmatrix\flow;

  1849.       FlowSensor2\p2 => Wbai\p;

  1850.       Hin -> MatrixMul\input2;

  1851.       Hmatrix\H -> Splitter2\input;

  1852.       MatrixMul\output -> Hout;

  1853.       Pdiff => FlowSensor2\p1;

  1854.       Pin => AdHji\p2;

  1855.       Splitter2\output -> AdHji\H 424 312;

  1856.       Splitter2\output -> Hdiff;

  1857.       Splitter2\output -> MatrixMul\input1;

  1858.       Wbai\p <= AdHji\p1;

  1859.       Wbai\p => Pout;

  1860.      end;

  1861.     implementation_end;

  1862.    JointC 512 632

  1863.     description '<Information>

  1864.  <Description>

  1865.     <Version>4.8</Version>

  1866. <IsMainModel>1</IsMainModel>

  1867.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1868.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1869. </Description>

  1870. </Information>';

  1871.     type 'Submodel-v3'

  1872.      ports

  1873.       power in Pin [6,1];

  1874.       power in Pdiff [6,1];

  1875.       signal in Hin [4,4];

  1876.       signal out Hout [4,4];

  1877.       signal out Hdiff [4,4];

  1878.       power out Pout [6,1];

  1879.     end;

  1880.     icon bg bottom

  1881.      figures

  1882.       rectangle 488 600 536 664 color 0 fill 14745599;

  1883.       text 'Joint' 512 632 color 0 'Clear Sans' 16;

  1884.      terminals

  1885.       Pin 488 648 fixed;

  1886.       Hin 536 616 fixed;

  1887.       Hout 488 616 fixed;

  1888.       Pout 536 648 fixed;

  1889.     end;

  1890.     implementation bg

  1891.      submodels

  1892.       AdHji 424 424

  1893.        description '<Description>

  1894.  <Version>4.0</Version>

  1895.  <IsMainModel>1</IsMainModel>

  1896.  <KeepParameterValues>False</KeepParameterValues>

  1897.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1898.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1899.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1900. </Description>';

  1901.        type MTF

  1902.         ports

  1903.          power out p1 [6,1];

  1904.          power in p2 [6,1];

  1905.          signal in H [4,4];

  1906.         restrictions

  1907.          causality constraint not_equal p1 p2;

  1908.        end;

  1909.        icon bg bottom

  1910.         figures

  1911.          text 'MTF' 424 424 color 0 18 bold;

  1912.        end;

  1913.        implementation eq

  1914. equations					

  1915. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1916. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1917.       FlowSensor2 184 311.9

  1918.        description '<Information>

  1919.  <Description>

  1920.     <Version>4.2</Version>

  1921. <IsMainModel>1</IsMainModel>

  1922.   <KeepParameterValues>False</KeepParameterValues>

  1923.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1924.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1925. </Description>

  1926. </Information>';

  1927.        knot FlowSensor

  1928.         ports

  1929.          power knot in p1 [6,1];

  1930.          power knot out p2 [6,1];

  1931.          signal knot out flow [6,1];

  1932.         restrictions

  1933.          causality constraint not_equal p1 p2;

  1934.        end;

  1935.        icon bg ellipse

  1936.         figures

  1937.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1938.          text 'f' 184 311.2 color 0;

  1939.        end;

  1940.        implementation eq

  1941. equations

  1942. 	p2.f = p1.f;

  1943. 	p1.e = p2.e;

  1944. 	flow = p1.f;

  1945. implementation_end;

  1946.       Hmatrix 256 312

  1947.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  1948.        type 'Submodel-Equation'

  1949.         ports

  1950.          signal in flow [6,1];

  1951.          signal out H [4,4];

  1952.        end;

  1953.        icon bg

  1954.         figures

  1955.          rectangle 224 296 288 328 color 0 fill 15132390;

  1956.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1957.        end;

  1958.        implementation eq

  1959. parameters

  1960. 	real init[4] = [1;0;0;0];

  1961. variables

  1962. 	real q[4];		//quaternions

  1963. 	real W[3,4];	//Quaternion Rates Matrix

  1964. 	real R[3,3];	//Rotation Matrix

  1965. 	real p[3];		//Position Vector

  1966. 	real dq[4];

  1967. 	real Wb[3,4];

  1968. equations

  1969. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1970. 	q = int(dq,init);

  1971. 	p = int(flow[4:6]);

  1972. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1973. 		 -q[3],	q[4],	q[1],	-q[2];

  1974. 		 -q[4],	-q[3],	q[2],	q[1]];

  1975. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1976. 	   		-q[3], -q[4],  q[1],  q[2];

  1977. 	   		-q[4],  q[3], -q[2],  q[1]];

  1978.  	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]);

  1979. 		  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]);

  1980. 		  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];

  1981. 	H = homogeneous(R,p);

  1982. 	implementation_end;

  1983.       MatrixMul 320 576

  1984.        description '<Description>

  1985.  <Version>4.0</Version>

  1986.  <IsMainModel>1</IsMainModel>

  1987.  <KeepParameterValues>False</KeepParameterValues>

  1988.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1989.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1990.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1991. </Description>';

  1992.        type Gain

  1993.         ports

  1994.          signal in input1 [4,4];

  1995.          signal out output [4,4];

  1996.          signal in input2 [4,4];

  1997.        end;

  1998.        icon bg bottom

  1999.         figures

  2000.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2001.          text 'X' 320 576 color 16711680 16 bold;

  2002.        end;

  2003.        implementation eq

  2004. equations

  2005. 	output = input2*input1;    implementation_end;

  2006.       plug Pin 492.1 424;

  2007.       plug Pdiff 184 225;

  2008.       plug Hin 130.8 576;

  2009.       plug Hout 478.4 576;

  2010.       plug Hdiff 320 222;

  2011.       plug Pout 134.7 424;

  2012.       Splitter2 320 312

  2013.        description '<Description><Version>4.0</Version>

  2014.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2015.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2016. <IsMainModel>1</IsMainModel>

  2017.  <KeepParameterValues>False</KeepParameterValues>

  2018. </Description>';

  2019.        knot Splitter

  2020.         ports

  2021.          signal knot duplicatable out output [4,4];

  2022.          signal knot in input [4,4];

  2023.        end;

  2024.        icon bg ellipse

  2025.         figures

  2026.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2027.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2028.         terminals

  2029.          input 320 312 fixed;

  2030.        end;

  2031.        implementation eq

  2032. equations

  2033.     collect (output) = input;

  2034. implementation_end;

  2035.       Wbai 184 424

  2036.        description '<Description>

  2037.  <Version>4.0</Version>

  2038.  <IsMainModel>1</IsMainModel>

  2039.  <KeepParameterValues>False</KeepParameterValues>

  2040.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2041.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2042.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2043. </Description>';

  2044.        knot ZeroJunction

  2045.         ports

  2046.          power knot duplicatable none p [6,1];

  2047.          signal knot out effort [6,1];

  2048.         restrictions

  2049.          causality constraint one_in p;

  2050.        end;

  2051.        icon bg bottom

  2052.         figures

  2053.          text '0' 184 424 color 0 18 bold;

  2054.        end;

  2055.        implementation eq

  2056. equations

  2057. 	sum (direct (p.f)) = 0;

  2058. 	equal (collect (p.e));

  2059. 	effort = first (p.e);

  2060. implementation_end;

  2061.      end;

  2062.      connections

  2063.       FlowSensor2\flow -> Hmatrix\flow;

  2064.       FlowSensor2\p2 => Wbai\p;

  2065.       Hin -> MatrixMul\input2;

  2066.       Hmatrix\H -> Splitter2\input;

  2067.       MatrixMul\output -> Hout;

  2068.       Pdiff => FlowSensor2\p1;

  2069.       Pin => AdHji\p2;

  2070.       Splitter2\output -> AdHji\H 424 312;

  2071.       Splitter2\output -> Hdiff;

  2072.       Splitter2\output -> MatrixMul\input1;

  2073.       Wbai\p <= AdHji\p1;

  2074.       Wbai\p => Pout;

  2075.      end;

  2076.     implementation_end;

  2077.    JointD 200 488

  2078.     description '<Information>

  2079.  <Description>

  2080.     <Version>4.8</Version>

  2081. <IsMainModel>1</IsMainModel>

  2082.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2083.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2084. </Description>

  2085. </Information>';

  2086.     type 'Submodel-v3'

  2087.      ports

  2088.       power in Pin [6,1];

  2089.       power in Pdiff [6,1];

  2090.       signal in Hin [4,4];

  2091.       signal out Hout [4,4];

  2092.       signal out Hdiff [4,4];

  2093.       power out Pout [6,1];

  2094.     end;

  2095.     icon bg bottom

  2096.      figures

  2097.       rectangle 168 464 232 512 color 0 fill 14745599;

  2098.       text 'Joint' 200 488 color 0 'Clear Sans' 16;

  2099.      terminals

  2100.       Pin 184 464 fixed;

  2101.       Hin 216 512 fixed;

  2102.       Hout 216 464 fixed;

  2103.       Pout 184 512 fixed;

  2104.     end;

  2105.     implementation bg

  2106.      submodels

  2107.       AdHji 424 424

  2108.        description '<Description>

  2109.  <Version>4.0</Version>

  2110.  <IsMainModel>1</IsMainModel>

  2111.  <KeepParameterValues>False</KeepParameterValues>

  2112.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2113.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2114.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2115. </Description>';

  2116.        type MTF

  2117.         ports

  2118.          power out p1 [6,1];

  2119.          power in p2 [6,1];

  2120.          signal in H [4,4];

  2121.         restrictions

  2122.          causality constraint not_equal p1 p2;

  2123.        end;

  2124.        icon bg bottom

  2125.         figures

  2126.          text 'MTF' 424 424 color 0 18 bold;

  2127.        end;

  2128.        implementation eq

  2129. equations					

  2130. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2131. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2132.       FlowSensor2 184 311.9

  2133.        description '<Information>

  2134.  <Description>

  2135.     <Version>4.2</Version>

  2136. <IsMainModel>1</IsMainModel>

  2137.   <KeepParameterValues>False</KeepParameterValues>

  2138.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2139.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2140. </Description>

  2141. </Information>';

  2142.        knot FlowSensor

  2143.         ports

  2144.          power knot in p1 [6,1];

  2145.          power knot out p2 [6,1];

  2146.          signal knot out flow [6,1];

  2147.         restrictions

  2148.          causality constraint not_equal p1 p2;

  2149.        end;

  2150.        icon bg ellipse

  2151.         figures

  2152.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2153.          text 'f' 184 311.2 color 0;

  2154.        end;

  2155.        implementation eq

  2156. equations

  2157. 	p2.f = p1.f;

  2158. 	p1.e = p2.e;

  2159. 	flow = p1.f;

  2160. implementation_end;

  2161.       Hmatrix 256 312

  2162.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  2163.        type 'Submodel-Equation'

  2164.         ports

  2165.          signal in flow [6,1];

  2166.          signal out H [4,4];

  2167.        end;

  2168.        icon bg

  2169.         figures

  2170.          rectangle 224 296 288 328 color 0 fill 15132390;

  2171.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2172.        end;

  2173.        implementation eq

  2174. parameters

  2175. 	real init[4] = [1;0;0;0];

  2176. variables

  2177. 	real q[4];		//quaternions

  2178. 	real W[3,4];	//Quaternion Rates Matrix

  2179. 	real R[3,3];	//Rotation Matrix

  2180. 	real p[3];		//Position Vector

  2181. 	real dq[4];

  2182. 	real Wb[3,4];

  2183. equations

  2184. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2185. 	q = int(dq,init);

  2186. 	p = int(flow[4:6]);

  2187. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2188. 		 -q[3],	q[4],	q[1],	-q[2];

  2189. 		 -q[4],	-q[3],	q[2],	q[1]];

  2190. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2191. 	   		-q[3], -q[4],  q[1],  q[2];

  2192. 	   		-q[4],  q[3], -q[2],  q[1]];

  2193.  	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]);

  2194. 		  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]);

  2195. 		  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];

  2196. 	H = homogeneous(R,p);

  2197. 	implementation_end;

  2198.       MatrixMul 320 576

  2199.        description '<Description>

  2200.  <Version>4.0</Version>

  2201.  <IsMainModel>1</IsMainModel>

  2202.  <KeepParameterValues>False</KeepParameterValues>

  2203.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2204.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2205.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2206. </Description>';

  2207.        type Gain

  2208.         ports

  2209.          signal in input1 [4,4];

  2210.          signal out output [4,4];

  2211.          signal in input2 [4,4];

  2212.        end;

  2213.        icon bg bottom

  2214.         figures

  2215.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2216.          text 'X' 320 576 color 16711680 16 bold;

  2217.        end;

  2218.        implementation eq

  2219. equations

  2220. 	output = input2*input1;    implementation_end;

  2221.       plug Pin 492.1 424;

  2222.       plug Pdiff 184 225;

  2223.       plug Hin 130.8 576;

  2224.       plug Hout 478.4 576;

  2225.       plug Hdiff 320 222;

  2226.       plug Pout 134.7 424;

  2227.       Splitter2 320 312

  2228.        description '<Description><Version>4.0</Version>

  2229.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2230.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2231. <IsMainModel>1</IsMainModel>

  2232.  <KeepParameterValues>False</KeepParameterValues>

  2233. </Description>';

  2234.        knot Splitter

  2235.         ports

  2236.          signal knot duplicatable out output [4,4];

  2237.          signal knot in input [4,4];

  2238.        end;

  2239.        icon bg ellipse

  2240.         figures

  2241.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2242.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2243.         terminals

  2244.          input 320 312 fixed;

  2245.        end;

  2246.        implementation eq

  2247. equations

  2248.     collect (output) = input;

  2249. implementation_end;

  2250.       Wbai 184 424

  2251.        description '<Description>

  2252.  <Version>4.0</Version>

  2253.  <IsMainModel>1</IsMainModel>

  2254.  <KeepParameterValues>False</KeepParameterValues>

  2255.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2256.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2257.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2258. </Description>';

  2259.        knot ZeroJunction

  2260.         ports

  2261.          power knot duplicatable none p [6,1];

  2262.          signal knot out effort [6,1];

  2263.         restrictions

  2264.          causality constraint one_in p;

  2265.        end;

  2266.        icon bg bottom

  2267.         figures

  2268.          text '0' 184 424 color 0 18 bold;

  2269.        end;

  2270.        implementation eq

  2271. equations

  2272. 	sum (direct (p.f)) = 0;

  2273. 	equal (collect (p.e));

  2274. 	effort = first (p.e);

  2275. implementation_end;

  2276.      end;

  2277.      connections

  2278.       FlowSensor2\flow -> Hmatrix\flow;

  2279.       FlowSensor2\p2 => Wbai\p;

  2280.       Hin -> MatrixMul\input2;

  2281.       Hmatrix\H -> Splitter2\input;

  2282.       MatrixMul\output -> Hout;

  2283.       Pdiff => FlowSensor2\p1;

  2284.       Pin => AdHji\p2;

  2285.       Splitter2\output -> AdHji\H 424 312;

  2286.       Splitter2\output -> Hdiff;

  2287.       Splitter2\output -> MatrixMul\input1;

  2288.       Wbai\p <= AdHji\p1;

  2289.       Wbai\p => Pout;

  2290.      end;

  2291.     implementation_end;

  2292.    JointE 200 168

  2293.     description '<Information>

  2294.  <Description>

  2295.     <Version>4.8</Version>

  2296. <IsMainModel>1</IsMainModel>

  2297.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2298.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2299. </Description>

  2300. </Information>';

  2301.     type 'Submodel-v3'

  2302.      ports

  2303.       power in Pin [6,1];

  2304.       power in Pdiff [6,1];

  2305.       signal in Hin [4,4];

  2306.       signal out Hout [4,4];

  2307.       signal out Hdiff [4,4];

  2308.       power out Pout [6,1];

  2309.     end;

  2310.     icon bg bottom

  2311.      figures

  2312.       rectangle 168 144 232 192 color 0 fill 14745599;

  2313.       text 'Joint' 200 168 color 0 'Clear Sans' 16;

  2314.      terminals

  2315.       Pin 184 144 fixed;

  2316.       Hin 216 192 fixed;

  2317.       Hout 216 144 fixed;

  2318.       Pout 184 192 fixed;

  2319.     end;

  2320.     implementation bg

  2321.      submodels

  2322.       AdHji 424 424

  2323.        description '<Description>

  2324.  <Version>4.0</Version>

  2325.  <IsMainModel>1</IsMainModel>

  2326.  <KeepParameterValues>False</KeepParameterValues>

  2327.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2328.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2329.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2330. </Description>';

  2331.        type MTF

  2332.         ports

  2333.          power out p1 [6,1];

  2334.          power in p2 [6,1];

  2335.          signal in H [4,4];

  2336.         restrictions

  2337.          causality constraint not_equal p1 p2;

  2338.        end;

  2339.        icon bg bottom

  2340.         figures

  2341.          text 'MTF' 424 424 color 0 18 bold;

  2342.        end;

  2343.        implementation eq

  2344. equations					

  2345. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2346. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2347.       FlowSensor2 184 311.9

  2348.        description '<Information>

  2349.  <Description>

  2350.     <Version>4.2</Version>

  2351. <IsMainModel>1</IsMainModel>

  2352.   <KeepParameterValues>False</KeepParameterValues>

  2353.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2354.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2355. </Description>

  2356. </Information>';

  2357.        knot FlowSensor

  2358.         ports

  2359.          power knot in p1 [6,1];

  2360.          power knot out p2 [6,1];

  2361.          signal knot out flow [6,1];

  2362.         restrictions

  2363.          causality constraint not_equal p1 p2;

  2364.        end;

  2365.        icon bg ellipse

  2366.         figures

  2367.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2368.          text 'f' 184 311.2 color 0;

  2369.        end;

  2370.        implementation eq

  2371. equations

  2372. 	p2.f = p1.f;

  2373. 	p1.e = p2.e;

  2374. 	flow = p1.f;

  2375. implementation_end;

  2376.       Hmatrix 256 312

  2377.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  2378.        type 'Submodel-Equation'

  2379.         ports

  2380.          signal in flow [6,1];

  2381.          signal out H [4,4];

  2382.        end;

  2383.        icon bg

  2384.         figures

  2385.          rectangle 224 296 288 328 color 0 fill 15132390;

  2386.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2387.        end;

  2388.        implementation eq

  2389. parameters

  2390. 	real init[4] = [1;0;0;0];

  2391. variables

  2392. 	real q[4];		//quaternions

  2393. 	real W[3,4];	//Quaternion Rates Matrix

  2394. 	real R[3,3];	//Rotation Matrix

  2395. 	real p[3];		//Position Vector

  2396. 	real dq[4];

  2397. 	real Wb[3,4];

  2398. equations

  2399. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2400. 	q = int(dq,init);

  2401. 	p = int(flow[4:6]);

  2402. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2403. 		 -q[3],	q[4],	q[1],	-q[2];

  2404. 		 -q[4],	-q[3],	q[2],	q[1]];

  2405. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2406. 	   		-q[3], -q[4],  q[1],  q[2];

  2407. 	   		-q[4],  q[3], -q[2],  q[1]];

  2408.  	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]);

  2409. 		  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]);

  2410. 		  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];

  2411. 	H = homogeneous(R,p);

  2412. 	implementation_end;

  2413.       MatrixMul 320 576

  2414.        description '<Description>

  2415.  <Version>4.0</Version>

  2416.  <IsMainModel>1</IsMainModel>

  2417.  <KeepParameterValues>False</KeepParameterValues>

  2418.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2419.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2420.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2421. </Description>';

  2422.        type Gain

  2423.         ports

  2424.          signal in input1 [4,4];

  2425.          signal out output [4,4];

  2426.          signal in input2 [4,4];

  2427.        end;

  2428.        icon bg bottom

  2429.         figures

  2430.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2431.          text 'X' 320 576 color 16711680 16 bold;

  2432.        end;

  2433.        implementation eq

  2434. equations

  2435. 	output = input2*input1;    implementation_end;

  2436.       plug Pin 492.1 424;

  2437.       plug Pdiff 184 225;

  2438.       plug Hin 130.8 576;

  2439.       plug Hout 478.4 576;

  2440.       plug Hdiff 320 222;

  2441.       plug Pout 134.7 424;

  2442.       Splitter2 320 312

  2443.        description '<Description><Version>4.0</Version>

  2444.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2445.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2446. <IsMainModel>1</IsMainModel>

  2447.  <KeepParameterValues>False</KeepParameterValues>

  2448. </Description>';

  2449.        knot Splitter

  2450.         ports

  2451.          signal knot duplicatable out output [4,4];

  2452.          signal knot in input [4,4];

  2453.        end;

  2454.        icon bg ellipse

  2455.         figures

  2456.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2457.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2458.         terminals

  2459.          input 320 312 fixed;

  2460.        end;

  2461.        implementation eq

  2462. equations

  2463.     collect (output) = input;

  2464. implementation_end;

  2465.       Wbai 184 424

  2466.        description '<Description>

  2467.  <Version>4.0</Version>

  2468.  <IsMainModel>1</IsMainModel>

  2469.  <KeepParameterValues>False</KeepParameterValues>

  2470.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2471.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2472.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2473. </Description>';

  2474.        knot ZeroJunction

  2475.         ports

  2476.          power knot duplicatable none p [6,1];

  2477.          signal knot out effort [6,1];

  2478.         restrictions

  2479.          causality constraint one_in p;

  2480.        end;

  2481.        icon bg bottom

  2482.         figures

  2483.          text '0' 184 424 color 0 18 bold;

  2484.        end;

  2485.        implementation eq

  2486. equations

  2487. 	sum (direct (p.f)) = 0;

  2488. 	equal (collect (p.e));

  2489. 	effort = first (p.e);

  2490. implementation_end;

  2491.      end;

  2492.      connections

  2493.       FlowSensor2\flow -> Hmatrix\flow;

  2494.       FlowSensor2\p2 => Wbai\p;

  2495.       Hin -> MatrixMul\input2;

  2496.       Hmatrix\H -> Splitter2\input;

  2497.       MatrixMul\output -> Hout;

  2498.       Pdiff => FlowSensor2\p1;

  2499.       Pin => AdHji\p2;

  2500.       Splitter2\output -> AdHji\H 424 312;

  2501.       Splitter2\output -> Hdiff;

  2502.       Splitter2\output -> MatrixMul\input1;

  2503.       Wbai\p <= AdHji\p1;

  2504.       Wbai\p => Pout;

  2505.      end;

  2506.     implementation_end;

  2507.    JointF 864 128

  2508.     description '<Information>

  2509.  <Description>

  2510.     <Version>4.8</Version>

  2511. <IsMainModel>1</IsMainModel>

  2512.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2513.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2514. </Description>

  2515. </Information>';

  2516.     type 'Submodel-v3'

  2517.      ports

  2518.       power in Pin [6,1];

  2519.       power in Pdiff [6,1];

  2520.       signal in Hin [4,4];

  2521.       signal out Hout [4,4];

  2522.       signal out Hdiff [4,4];

  2523.       power out Pout [6,1];

  2524.     end;

  2525.     icon bg bottom

  2526.      figures

  2527.       rectangle 840 96 888 160 color 0 fill 14745599;

  2528.       text 'Joint' 864 128 color 0 'Clear Sans' 16;

  2529.      terminals

  2530.       Pin 888 112 fixed;

  2531.       Hin 840 144 fixed;

  2532.       Hout 888 144 fixed;

  2533.       Pout 840 112 fixed;

  2534.     end;

  2535.     implementation bg

  2536.      submodels

  2537.       AdHji 424 424

  2538.        description '<Description>

  2539.  <Version>4.0</Version>

  2540.  <IsMainModel>1</IsMainModel>

  2541.  <KeepParameterValues>False</KeepParameterValues>

  2542.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2543.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2544.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2545. </Description>';

  2546.        type MTF

  2547.         ports

  2548.          power out p1 [6,1];

  2549.          power in p2 [6,1];

  2550.          signal in H [4,4];

  2551.         restrictions

  2552.          causality constraint not_equal p1 p2;

  2553.        end;

  2554.        icon bg bottom

  2555.         figures

  2556.          text 'MTF' 424 424 color 0 18 bold;

  2557.        end;

  2558.        implementation eq

  2559. equations					

  2560. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2561. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2562.       FlowSensor2 184 311.9

  2563.        description '<Information>

  2564.  <Description>

  2565.     <Version>4.2</Version>

  2566. <IsMainModel>1</IsMainModel>

  2567.   <KeepParameterValues>False</KeepParameterValues>

  2568.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2569.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2570. </Description>

  2571. </Information>';

  2572.        knot FlowSensor

  2573.         ports

  2574.          power knot in p1 [6,1];

  2575.          power knot out p2 [6,1];

  2576.          signal knot out flow [6,1];

  2577.         restrictions

  2578.          causality constraint not_equal p1 p2;

  2579.        end;

  2580.        icon bg ellipse

  2581.         figures

  2582.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2583.          text 'f' 184 311.2 color 0;

  2584.        end;

  2585.        implementation eq

  2586. equations

  2587. 	p2.f = p1.f;

  2588. 	p1.e = p2.e;

  2589. 	flow = p1.f;

  2590. implementation_end;

  2591.       Hmatrix 256 312

  2592.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  2593.        type 'Submodel-Equation'

  2594.         ports

  2595.          signal in flow [6,1];

  2596.          signal out H [4,4];

  2597.        end;

  2598.        icon bg

  2599.         figures

  2600.          rectangle 224 296 288 328 color 0 fill 15132390;

  2601.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2602.        end;

  2603.        implementation eq

  2604. parameters

  2605. 	real init[4] = [1;0;0;0];

  2606. variables

  2607. 	real q[4];		//quaternions

  2608. 	real W[3,4];	//Quaternion Rates Matrix

  2609. 	real R[3,3];	//Rotation Matrix

  2610. 	real p[3];		//Position Vector

  2611. 	real dq[4];

  2612. 	real Wb[3,4];

  2613. equations

  2614. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2615. 	q = int(dq,init);

  2616. 	p = int(flow[4:6]);

  2617. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2618. 		 -q[3],	q[4],	q[1],	-q[2];

  2619. 		 -q[4],	-q[3],	q[2],	q[1]];

  2620. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2621. 	   		-q[3], -q[4],  q[1],  q[2];

  2622. 	   		-q[4],  q[3], -q[2],  q[1]];

  2623.  	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]);

  2624. 		  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]);

  2625. 		  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];

  2626. 	H = homogeneous(R,p);

  2627. 	implementation_end;

  2628.       MatrixMul 320 576

  2629.        description '<Description>

  2630.  <Version>4.0</Version>

  2631.  <IsMainModel>1</IsMainModel>

  2632.  <KeepParameterValues>False</KeepParameterValues>

  2633.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2634.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2635.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2636. </Description>';

  2637.        type Gain

  2638.         ports

  2639.          signal in input1 [4,4];

  2640.          signal out output [4,4];

  2641.          signal in input2 [4,4];

  2642.        end;

  2643.        icon bg bottom

  2644.         figures

  2645.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2646.          text 'X' 320 576 color 16711680 16 bold;

  2647.        end;

  2648.        implementation eq

  2649. equations

  2650. 	output = input2*input1;    implementation_end;

  2651.       plug Pin 492.1 424;

  2652.       plug Pdiff 184 225;

  2653.       plug Hin 130.8 576;

  2654.       plug Hout 478.4 576;

  2655.       plug Hdiff 320 222;

  2656.       plug Pout 134.7 424;

  2657.       Splitter2 320 312

  2658.        description '<Description><Version>4.0</Version>

  2659.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2660.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2661. <IsMainModel>1</IsMainModel>

  2662.  <KeepParameterValues>False</KeepParameterValues>

  2663. </Description>';

  2664.        knot Splitter

  2665.         ports

  2666.          signal knot duplicatable out output [4,4];

  2667.          signal knot in input [4,4];

  2668.        end;

  2669.        icon bg ellipse

  2670.         figures

  2671.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2672.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2673.         terminals

  2674.          input 320 312 fixed;

  2675.        end;

  2676.        implementation eq

  2677. equations

  2678.     collect (output) = input;

  2679. implementation_end;

  2680.       Wbai 184 424

  2681.        description '<Description>

  2682.  <Version>4.0</Version>

  2683.  <IsMainModel>1</IsMainModel>

  2684.  <KeepParameterValues>False</KeepParameterValues>

  2685.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2686.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2687.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2688. </Description>';

  2689.        knot ZeroJunction

  2690.         ports

  2691.          power knot duplicatable none p [6,1];

  2692.          signal knot out effort [6,1];

  2693.         restrictions

  2694.          causality constraint one_in p;

  2695.        end;

  2696.        icon bg bottom

  2697.         figures

  2698.          text '0' 184 424 color 0 18 bold;

  2699.        end;

  2700.        implementation eq

  2701. equations

  2702. 	sum (direct (p.f)) = 0;

  2703. 	equal (collect (p.e));

  2704. 	effort = first (p.e);

  2705. implementation_end;

  2706.      end;

  2707.      connections

  2708.       FlowSensor2\flow -> Hmatrix\flow;

  2709.       FlowSensor2\p2 => Wbai\p;

  2710.       Hin -> MatrixMul\input2;

  2711.       Hmatrix\H -> Splitter2\input;

  2712.       MatrixMul\output -> Hout;

  2713.       Pdiff => FlowSensor2\p1;

  2714.       Pin => AdHji\p2;

  2715.       Splitter2\output -> AdHji\H 424 312;

  2716.       Splitter2\output -> Hdiff;

  2717.       Splitter2\output -> MatrixMul\input1;

  2718.       Wbai\p <= AdHji\p1;

  2719.       Wbai\p => Pout;

  2720.      end;

  2721.     implementation_end;

  2722.    Joint_dynA 712 512

  2723.     description '<Description>

  2724. 	<Version>4.8</Version>

  2725. 	<IsMainModel>1</IsMainModel>

  2726. 	</Description>';

  2727.     type Submodel

  2728.      ports

  2729.       power out output [6,1];

  2730.       signal in angle {rad} ;

  2731.     end;

  2732.     implementation bg

  2733.      submodels

  2734.       C 264 200

  2735.        description '<Information>

  2736.  <Description>

  2737.     <Version>4.2</Version>

  2738. <IsMainModel>1</IsMainModel>

  2739.   <KeepParameterValues>False</KeepParameterValues>

  2740.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  2741.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  2742. </Description>

  2743. </Information>';

  2744.        type C

  2745.         ports

  2746.          power in p;

  2747.          signal out state;

  2748.         restrictions

  2749.          causality preferred out p;

  2750.        end;

  2751.        icon bg bottom

  2752.         figures

  2753.          text 'C' 264 200 color 0 18 bold;

  2754.        end;

  2755.        implementation eq

  2756. parameters

  2757. 	real c = 0.001;

  2758. equations

  2759. 	state = int(p.f);

  2760. 	p.e = state / c;

  2761. implementation_end;

  2762.       C1 191.8 216.2

  2763.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2764.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  2765.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  2766. </Description>';

  2767.        type 'C-3'

  2768.         ports

  2769.          power in p [3,1];

  2770.          signal out state [3,1];

  2771.         restrictions

  2772.          causality preferred out p;

  2773.        end;

  2774.        icon bg top

  2775.         figures

  2776.          text 'C' 191.8 216.2 color 0 18 bold;

  2777.        end;

  2778.        implementation eq

  2779. parameters

  2780. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  2781. equations

  2782.     state = int(p.f);

  2783.     p.e = inverse(c) *state;

  2784. implementation_end;

  2785.       C4 191.8 232.2

  2786.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2787.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  2788.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  2789. </Description>';

  2790.        type 'C-2'

  2791.         ports

  2792.          power in p [2,1];

  2793.          signal out state [2,1];

  2794.         restrictions

  2795.          causality preferred out p;

  2796.        end;

  2797.        icon bg bottom

  2798.         figures

  2799.          text 'C' 191.8 232.2 color 0 18 bold;

  2800.        end;

  2801.        implementation eq

  2802. parameters

  2803. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  2804. equations

  2805.     state = int(p.f);

  2806.     p.e = inverse(c) *state;

  2807. implementation_end;

  2808.       plug output 468 216;

  2809.       plug angle 224 80;

  2810.       OneJunction5 239.8 232.2

  2811.        description '<Information>

  2812.  <Description>

  2813.     <Version>4.2</Version>

  2814. <IsMainModel>1</IsMainModel>

  2815.   <KeepParameterValues>False</KeepParameterValues>

  2816.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2817.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2818. </Description>

  2819. </Information>';

  2820.        knot OneJunction

  2821.         ports

  2822.          power knot duplicatable none p [2,1];

  2823.          signal knot out flow [2,1];

  2824.         restrictions

  2825.          causality constraint one_out p;

  2826.        end;

  2827.        icon bg

  2828.         figures

  2829.          text '1' 239.8 232.2 color 0 18 bold;

  2830.        end;

  2831.        implementation eq

  2832. equations

  2833. 	sum (direct (p.e)) = 0;

  2834. 	equal (collect (p.f));

  2835. 	flow = first (p.f);

  2836. implementation_end;

  2837.       OneJunction7 239.8 216.2

  2838.        description '<Information>

  2839.  <Description>

  2840.     <Version>4.2</Version>

  2841. <IsMainModel>1</IsMainModel>

  2842.   <KeepParameterValues>False</KeepParameterValues>

  2843.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2844.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2845. </Description>

  2846. </Information>';

  2847.        knot OneJunction

  2848.         ports

  2849.          power knot duplicatable none p [3,1];

  2850.          signal knot out flow [3,1];

  2851.         restrictions

  2852.          causality constraint one_out p;

  2853.        end;

  2854.        icon bg

  2855.         figures

  2856.          text '1' 239.8 216.2 color 0 18 bold;

  2857.        end;

  2858.        implementation eq

  2859. equations

  2860. 	sum (direct (p.e)) = 0;

  2861. 	equal (collect (p.f));

  2862. 	flow = first (p.f);

  2863. implementation_end;

  2864.       OneJunction8 312 200

  2865.        description '<Information>

  2866.  <Description>

  2867.     <Version>4.2</Version>

  2868. <IsMainModel>1</IsMainModel>

  2869.   <KeepParameterValues>False</KeepParameterValues>

  2870.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2871.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2872. </Description>

  2873. </Information>';

  2874.        knot OneJunction

  2875.         ports

  2876.          rotation knot duplicatable none p [1];

  2877.          signal knot out flow [1];

  2878.         restrictions

  2879.          causality constraint one_out p;

  2880.        end;

  2881.        icon bg

  2882.         figures

  2883.          text '1' 312 200 color 0 18 bold;

  2884.        end;

  2885.        implementation eq

  2886. equations

  2887. 	sum (direct (p.e)) = 0;

  2888. 	equal (collect (p.f));

  2889. 	flow = first (p.f);

  2890. implementation_end;

  2891.       PowerMux 402 216

  2892. 						specifications active 'rot_x'

  2893. 							specification 'rot_x'

  2894.  description '<Information>

  2895.  <Description>

  2896.     <Version>4.8</Version>

  2897.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2898.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  2899. <IsMainModel>1</IsMainModel>

  2900.   <KeepParameterValues>False</KeepParameterValues>

  2901.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2902.  </Description>

  2903. </Information>';

  2904.  type 'PowerMux-Rotation'

  2905.   ports

  2906.    power in input;

  2907.    power out output [6,1];

  2908.    power in input_rot2 [2,1];

  2909.    power in input_pos3 [3,1];

  2910.   restrictions

  2911.    causality constraint not_equal input output;

  2912.    causality constraint not_equal input_rot2 output;

  2913.    causality constraint not_equal input_pos3 output;

  2914.  end;

  2915.  icon bg bottom

  2916.   figures

  2917.    line 400 192 400 240 color 0 width 2;

  2918.    rectangle 396 192 408 240 color -1;

  2919.    text '1' 405 210 color 8421504 8;

  2920.   terminals

  2921.    input 400 200 fixed;

  2922.    output 400 216 fixed;

  2923.    input_rot2 400 232 fixed;

  2924.    input_pos3 400 216 fixed;

  2925.  end;

  2926.  implementation eq

  2927. equations

  2928. 	output.e[1] = input.e;

  2929. 	output.e[2:3] = input_rot2.e;

  2930. 	output.e[4:6] = input_pos3.e;

  2931. 	output.f[1] = input.f;

  2932. 	output.f[2:3] = input_rot2.f;

  2933. 	output.f[4:6] = input_pos3.f;implementation_end;

  2934. specification_end;

  2935. 							specification 'rot_y'

  2936. description '<Description>

  2937.    <Version>4.1</Version>

  2938.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  2939.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  2940. <IsMainModel>1</IsMainModel>

  2941.  <KeepParameterValues>False</KeepParameterValues>

  2942.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2943. </Description>';

  2944.  type PowerMux

  2945.   ports

  2946.    power in input;

  2947.    power out output [6,1];

  2948.    power in input_rot2 [2,1];

  2949.    power in input_pos3 [3,1];

  2950.   restrictions

  2951.    causality constraint not_equal input output;

  2952.    causality constraint not_equal input_rot2 output;

  2953.    causality constraint not_equal input_pos3 output;

  2954.  end;

  2955.  icon bg bottom

  2956.   figures

  2957.    line 242 274 290 274 color 0 width 2;

  2958.    rectangle 242 266 290 278 color -1;

  2959.    text '1' 260 269 color 8421504 8;

  2960.   terminals

  2961.    input 250 274 fixed;

  2962.    output 266 274 fixed;

  2963.    input_rot2 282 274 fixed;

  2964.    input_pos3 266 274 fixed;

  2965.  end;

  2966.  implementation eq

  2967. equations

  2968. 	output.e[1] = input_rot2.e[1];

  2969. 	output.e[2] = input.e;

  2970. 	output.e[3] = input_rot2.e[2];

  2971. 	output.e[4:6] = input_pos3.e;

  2972. 	output.f[1] = input_rot2.f[1];

  2973. 	output.f[2] = input.f;

  2974. 	output.f[3] = input_rot2.f[2];

  2975. 	output.f[4:6] = input_pos3.f;implementation_end;

  2976. specification_end;

  2977. 							specification 'rot_z'

  2978. description '<Information>

  2979.  <Description>

  2980.     <Version>4.8</Version>

  2981.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2982.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  2983. <IsMainModel>1</IsMainModel>

  2984.   <KeepParameterValues>False</KeepParameterValues>

  2985.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2986.  </Description>

  2987. </Information>';

  2988.  type PowerMux

  2989.   ports

  2990.    power in input;

  2991.    power out output [6,1];

  2992.    power in input_rot2 [2,1];

  2993.    power in input_pos3 [3,1];

  2994.   restrictions

  2995.    causality constraint not_equal input output;

  2996.    causality constraint not_equal input_rot2 output;

  2997.    causality constraint not_equal input_pos3 output;

  2998.  end;

  2999.  icon bg bottom

  3000.   figures

  3001.    line 242 274 290 274 color 0 width 2;

  3002.    rectangle 242 266 290 278 color -1;

  3003.    text '1' 260 269 color 8421504 8;

  3004.   terminals

  3005.    input 250 274 fixed;

  3006.    output 266 274 fixed;

  3007.    input_rot2 282 274 fixed;

  3008.    input_pos3 266 274 fixed;

  3009.  end;

  3010.  implementation eq

  3011. equations

  3012. 	output.e[3] = input.e;

  3013. 	output.e[1:2] = input_rot2.e;

  3014. 	output.e[4:6] = input_pos3.e;

  3015. 	output.f[3] = input.f;

  3016. 	output.f[1:2] = input_rot2.f;

  3017. 	output.f[4:6] = input_pos3.f;implementation_end;

  3018. specification_end;

  3019. 						end;

  3020.       R 312 152

  3021.        description '<Information>

  3022.  <Description>

  3023.     <Version>4.2</Version>

  3024. <IsMainModel>1</IsMainModel>

  3025.   <KeepParameterValues>False</KeepParameterValues>

  3026.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3027.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3028. </Description>

  3029. </Information>';

  3030.        type R

  3031.         ports

  3032.          power in p;

  3033.        end;

  3034.        icon bg bottom

  3035.         figures

  3036.          text 'R' 312 152 color 0 18 bold;

  3037.        end;

  3038.        implementation eq

  3039. parameters

  3040. 	real r = 100;

  3041. equations

  3042. 	p.e = r * p.f;

  3043. implementation_end;

  3044.       R4 239.8 288.2

  3045.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3046.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3047.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3048. </Description>';

  3049.        type 'R-2'

  3050.         ports

  3051.          power in p [2,1];

  3052.        end;

  3053.        icon bg bottom

  3054.         figures

  3055.          text 'R' 239.8 288.2 color 0 18 bold;

  3056.        end;

  3057.        implementation eq

  3058. parameters

  3059. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3060. equations					

  3061. 	p.e = r * p.f;

  3062. implementation_end;

  3063.       R5 239.8 168.2

  3064.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3065.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3066.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3067. </Description>';

  3068.        type 'R-3'

  3069.         ports

  3070.          power in p [3,1];

  3071.        end;

  3072.        icon bg top

  3073.         figures

  3074.          text 'R' 239.8 168.2 color 0 18 bold;

  3075.        end;

  3076.        implementation eq

  3077. parameters

  3078. 	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};

  3079. equations					

  3080. 	p.e = r * p.f;

  3081. implementation_end;

  3082.       stepper_model 360 80

  3083.        description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Motor\stepper_model.emx</LibraryPath><TimeStamp>2020-7-23 10:54:47</TimeStamp></Description><Attributes><GlobalRelations>parameters 

  3084. 	real I_phase = 3.4 {mH};

  3085. 	real R_phase = 2.9 {ohm};

  3086. 	real u_max = 3.4 {V};

  3087. 	real RotorInertia = 5.6e-6 {kg.m2};

  3088. 	real StepperMass = 0.29 {kg};

  3089. 	real angle_step = 1.8 {deg};

  3090. 	real n_phase = 2 {none};

  3091. 	real fluxLinkage = 0.0022 {Wb};

  3092. 	real detentTorque = 0.01 {N.m};

  3093. variables

  3094. 	real omega;

  3095. 	real p; // rotor division

  3096. initialequations

  3097. 	p = 2 * pi / (2 * n_phase * angle_step);

  3098. 	omega = 200;</GlobalRelations></Attributes></Information>';

  3099.        type Submodel

  3100.         ports

  3101.          signal in angle;

  3102.          rotation out p;

  3103.        end;

  3104.        implementation bg

  3105.         submodels

  3106.          I 560 104

  3107.           description '<Information>

  3108.  <Description>

  3109.     <Version>4.2</Version>

  3110. <IsMainModel>1</IsMainModel>

  3111.   <KeepParameterValues>False</KeepParameterValues>

  3112.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3113.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3114. </Description>

  3115. </Information>';

  3116.           type I

  3117.            ports

  3118.             power in p;

  3119.             signal out state;

  3120.            restrictions

  3121.             causality preferred in p;

  3122.           end;

  3123.           icon bg bottom

  3124.            figures

  3125.             text 'I' 560 104 color 0 18 bold;

  3126.           end;

  3127.           implementation eq

  3128. parameters

  3129. 	real global I_phase;

  3130. equations

  3131.     state = int(p.e);

  3132.     p.f = state / I_phase;

  3133. implementation_end;

  3134.          I1 608 328

  3135.           description '<Information>

  3136.  <Description>

  3137.     <Version>4.2</Version>

  3138. <IsMainModel>1</IsMainModel>

  3139.   <KeepParameterValues>False</KeepParameterValues>

  3140.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3141.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3142. </Description>

  3143. </Information>';

  3144.           type I

  3145.            ports

  3146.             power in p;

  3147.             signal out state;

  3148.            restrictions

  3149.             causality preferred in p;

  3150.           end;

  3151.           icon bg bottom

  3152.            figures

  3153.             text 'I' 608 328 color 0 18 bold;

  3154.           end;

  3155.           implementation eq

  3156. parameters

  3157. 	real global I_phase;

  3158. equations

  3159.     state = int(p.e);

  3160.     p.f = state / I_phase;

  3161. implementation_end;

  3162.          I2 752 160

  3163.           description '<Information>

  3164.  <Description>

  3165.     <Version>4.2</Version>

  3166. <IsMainModel>1</IsMainModel>

  3167.   <KeepParameterValues>False</KeepParameterValues>

  3168.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3169.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3170. </Description>

  3171. </Information>';

  3172.           type I

  3173.            ports

  3174.             power in p;

  3175.             signal out state;

  3176.            restrictions

  3177.             causality preferred in p;

  3178.           end;

  3179.           icon bg bottom

  3180.            figures

  3181.             text 'I' 752 160 color 0 18 bold;

  3182.           end;

  3183.           implementation eq

  3184. parameters

  3185. 	real global RotorInertia;

  3186. equations

  3187.     state = int(p.e);

  3188.     p.f = state / (RotorInertia);

  3189. implementation_end;

  3190.          MGY_a 656 160

  3191.           description '<Information>

  3192.  <Description>

  3193.     <Version>4.2</Version>

  3194. <IsMainModel>1</IsMainModel>

  3195.   <KeepParameterValues>False</KeepParameterValues>

  3196.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3197.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3198. </Description>

  3199. </Information>';

  3200.           type MGY

  3201.            ports

  3202.             power in p1;

  3203.             power out p2;

  3204.             signal in r;

  3205.            restrictions

  3206.             causality constraint equal p1 p2;

  3207.           end;

  3208.           icon bg bottom

  3209.            figures

  3210.             text 'MGY' 656 160 color 0 18 bold;

  3211.           end;

  3212.           implementation eq

  3213. equations

  3214. 	p1.e = r * p2.f;

  3215. 	p2.e = r * p1.f;

  3216. implementation_end;

  3217.          MGY_b 656 272

  3218.           description '<Information>

  3219.  <Description>

  3220.     <Version>4.2</Version>

  3221. <IsMainModel>1</IsMainModel>

  3222.   <KeepParameterValues>False</KeepParameterValues>

  3223.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3224.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3225. </Description>

  3226. </Information>';

  3227.           type MGY

  3228.            ports

  3229.             power in p1;

  3230.             power out p2;

  3231.             signal in r;

  3232.            restrictions

  3233.             causality constraint equal p1 p2;

  3234.           end;

  3235.           icon bg bottom

  3236.            figures

  3237.             text 'MGY' 656 272 color 0 18 bold;

  3238.           end;

  3239.           implementation eq

  3240. equations

  3241. 	p1.e = r * p2.f;

  3242. 	p2.e = r * p1.f;

  3243. implementation_end;

  3244.          MSe_a 512 160

  3245.           description '<Information>

  3246.  <Description>

  3247.     <Version>4.2</Version>

  3248. <IsMainModel>1</IsMainModel>

  3249.   <KeepParameterValues>False</KeepParameterValues>

  3250.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3251.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3252. </Description>

  3253. </Information>';

  3254.           type MSe

  3255.            ports

  3256.             electric out p;

  3257.             signal in effort;

  3258.            restrictions

  3259.             causality fixed out p;

  3260.           end;

  3261.           icon bg bottom

  3262.            figures

  3263.             text 'MSe' 512 160 color 0 18 bold;

  3264.           end;

  3265.           implementation eq

  3266. variables

  3267. 	real flow;

  3268. equations

  3269. 	p.e = effort;

  3270. 	flow = p.f;

  3271. implementation_end;

  3272.          MSe_b 512 272

  3273.           description '<Information>

  3274.  <Description>

  3275.     <Version>4.2</Version>

  3276. <IsMainModel>1</IsMainModel>

  3277.   <KeepParameterValues>False</KeepParameterValues>

  3278.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3279.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3280. </Description>

  3281. </Information>';

  3282.           type MSe

  3283.            ports

  3284.             electric out p;

  3285.             signal in effort;

  3286.            restrictions

  3287.             causality fixed out p;

  3288.           end;

  3289.           icon bg bottom

  3290.            figures

  3291.             text 'MSe' 512 272 color 0 18 bold;

  3292.           end;

  3293.           implementation eq

  3294. variables

  3295. 	real flow;

  3296. equations

  3297. 	p.e = effort;

  3298. 	flow = p.f;

  3299. implementation_end;

  3300.          plug angle 200 216;

  3301.          plug p 1472 216;

  3302.          OneJunction1 840 216

  3303.           description '<Information>

  3304.  <Description>

  3305.     <Version>4.2</Version>

  3306. <IsMainModel>1</IsMainModel>

  3307.   <KeepParameterValues>False</KeepParameterValues>

  3308.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3309.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3310. </Description>

  3311. </Information>';

  3312.           knot OneJunction

  3313.            ports

  3314.             rotation knot duplicatable none p [1];

  3315.             signal knot out flow [1];

  3316.            restrictions

  3317.             causality constraint one_out p;

  3318.           end;

  3319.           icon bg

  3320.            figures

  3321.             text '1' 840 216 color 0 18 bold;

  3322.           end;

  3323.           implementation eq

  3324. equations

  3325. 	sum (direct (p.e)) = 0;

  3326. 	equal (collect (p.f));

  3327. 	flow = first (p.f);

  3328. implementation_end;

  3329.          OneJunction2 584 160

  3330.           description '<Information>

  3331.  <Description>

  3332.     <Version>4.2</Version>

  3333. <IsMainModel>1</IsMainModel>

  3334.   <KeepParameterValues>False</KeepParameterValues>

  3335.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3336.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3337. </Description>

  3338. </Information>';

  3339.           knot OneJunction

  3340.            ports

  3341.             electric knot duplicatable none p [1];

  3342.             signal knot out flow [1];

  3343.            restrictions

  3344.             causality constraint one_out p;

  3345.           end;

  3346.           icon bg

  3347.            figures

  3348.             text '1' 584 160 color 0 18 bold;

  3349.           end;

  3350.           implementation eq

  3351. equations

  3352. 	sum (direct (p.e)) = 0;

  3353. 	equal (collect (p.f));

  3354. 	flow = first (p.f);

  3355. implementation_end;

  3356.          OneJunction3 584 272

  3357.           description '<Information>

  3358.  <Description>

  3359.     <Version>4.2</Version>

  3360. <IsMainModel>1</IsMainModel>

  3361.   <KeepParameterValues>False</KeepParameterValues>

  3362.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3363.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3364. </Description>

  3365. </Information>';

  3366.           knot OneJunction

  3367.            ports

  3368.             electric knot duplicatable none p [1];

  3369.             signal knot out flow [1];

  3370.            restrictions

  3371.             causality constraint one_out p;

  3372.           end;

  3373.           icon bg

  3374.            figures

  3375.             text '1' 584 272 color 0 18 bold;

  3376.           end;

  3377.           implementation eq

  3378. equations

  3379. 	sum (direct (p.e)) = 0;

  3380. 	equal (collect (p.f));

  3381. 	flow = first (p.f);

  3382. implementation_end;

  3383.          OneJunction4 752 216

  3384.           description '<Information>

  3385.  <Description>

  3386.     <Version>4.2</Version>

  3387. <IsMainModel>1</IsMainModel>

  3388.   <KeepParameterValues>False</KeepParameterValues>

  3389.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3390.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3391. </Description>

  3392. </Information>';

  3393.           knot OneJunction

  3394.            ports

  3395.             rotation knot duplicatable none p [1];

  3396.             signal knot out flow [1];

  3397.            restrictions

  3398.             causality constraint one_out p;

  3399.           end;

  3400.           icon bg

  3401.            figures

  3402.             text '1' 752 216 color 0 18 bold;

  3403.           end;

  3404.           implementation eq

  3405. equations

  3406. 	sum (direct (p.e)) = 0;

  3407. 	equal (collect (p.f));

  3408. 	flow = first (p.f);

  3409. implementation_end;

  3410.          phase_control 512 216

  3411.           description '<Description><Version>4.0</Version>

  3412.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  3413. <IsMainModel>1</IsMainModel>

  3414.  <KeepParameterValues>False</KeepParameterValues>

  3415.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  3416.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3417. </Description>';

  3418.           type Submodel

  3419.            ports

  3420.             signal in angle;

  3421.             signal out a;

  3422.             signal out b;

  3423.           end;

  3424.           icon bg

  3425.            figures

  3426.             rectangle 472 200 552 232 color 0 fill 15132390;

  3427.             text 'name' 512 216 color 0 'Clear Sans' 16;

  3428.           end;

  3429.           implementation eq

  3430. parameters

  3431. 	real global u_max {V};

  3432. variables

  3433. 	real global p;

  3434. 	boolean hidden eventa, eventb;

  3435. equations

  3436. 	a = u_max * (cos (p*angle));

  3437. 	eventa = event(a);

  3438. 	b = u_max * -(sin (p*angle));

  3439. 	eventb = event(b);

  3440. 

  3441. 	

  3442. 	

  3443.  implementation_end;

  3444.          R 608 104

  3445.           description '<Information>

  3446.  <Description>

  3447.     <Version>4.2</Version>

  3448. <IsMainModel>1</IsMainModel>

  3449.   <KeepParameterValues>False</KeepParameterValues>

  3450.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3451.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3452. </Description>

  3453. </Information>';

  3454.           type R

  3455.            ports

  3456.             power in p;

  3457.           end;

  3458.           icon bg bottom

  3459.            figures

  3460.             text 'R' 608 104 color 0 18 bold;

  3461.           end;

  3462.           implementation eq

  3463. parameters

  3464. 	real global R_phase;

  3465. equations

  3466. 	p.e = R_phase * p.f;

  3467. implementation_end;

  3468.          R1 560 328

  3469.           description '<Information>

  3470.  <Description>

  3471.     <Version>4.2</Version>

  3472. <IsMainModel>1</IsMainModel>

  3473.   <KeepParameterValues>False</KeepParameterValues>

  3474.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3475.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3476. </Description>

  3477. </Information>';

  3478.           type R

  3479.            ports

  3480.             power in p;

  3481.           end;

  3482.           icon bg bottom

  3483.            figures

  3484.             text 'R' 560 328 color 0 18 bold;

  3485.           end;

  3486.           implementation eq

  3487. parameters

  3488. 	real global R_phase;

  3489. equations

  3490. 	p.e = R_phase * p.f;

  3491. implementation_end;

  3492.          R2 824 264

  3493.           description '<Information>

  3494.  <Description>

  3495.     <Version>4.2</Version>

  3496. <IsMainModel>1</IsMainModel>

  3497.   <KeepParameterValues>False</KeepParameterValues>

  3498.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3499.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3500. </Description>

  3501. </Information>';

  3502.           type R

  3503.            ports

  3504.             power in p;

  3505.           end;

  3506.           icon bg bottom

  3507.            figures

  3508.             text 'R' 824 264 color 0 18 bold;

  3509.           end;

  3510.           implementation eq

  3511. parameters

  3512. 	real r = 1.0e-3;

  3513. equations

  3514. 	p.e = r * p.f;

  3515. implementation_end;

  3516.          RotorAngle 656 216

  3517.           description '<Description><Version>4.0</Version>

  3518.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  3519. <IsMainModel>1</IsMainModel>

  3520.  <KeepParameterValues>False</KeepParameterValues>

  3521.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  3522.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3523. </Description>';

  3524.           type Submodel

  3525.            ports

  3526.             signal out output_b;

  3527.             signal out output_a;

  3528.             signal in omega {rad/s} ;

  3529.             signal out output_d;

  3530.           end;

  3531.           icon bg

  3532.            figures

  3533.             rectangle 616 200 696 232 color 0 fill 15132390;

  3534.             text 'name' 656 216 color 0 'Clear Sans' 16;

  3535.           end;

  3536.           implementation eq

  3537. parameters

  3538. 	real global fluxLinkage;

  3539. 	real global detentTorque;

  3540. variables

  3541. 	real global p;

  3542. 	real angle {rad};

  3543. equations

  3544. 	angle = int(omega,1.570796);

  3545. 	output_a = -p * fluxLinkage * sin(p * angle);

  3546. 	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);

  3547. 	output_d =  detentTorque * sin(2 * p * angle);

  3548.  implementation_end;

  3549.          Se 752 272

  3550.           description '<Information>

  3551.  <Description>

  3552.     <Version>4.2</Version>

  3553. <IsMainModel>1</IsMainModel>

  3554.   <KeepParameterValues>False</KeepParameterValues>

  3555.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3556.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3557. </Description>

  3558. </Information>';

  3559.           type MSe

  3560.            ports

  3561.             power out p;

  3562.             signal in effort;

  3563.            restrictions

  3564.             causality fixed out p;

  3565.           end;

  3566.           icon bg bottom

  3567.            figures

  3568.             text 'MSe' 752 272 color 0 18 bold;

  3569.           end;

  3570.           implementation eq

  3571. 

  3572. variables

  3573. 	real flow;

  3574. equations

  3575. 	p.e = effort;

  3576. 	flow = p.f;

  3577. implementation_end;

  3578.         end;

  3579.         connections

  3580.          angle -> phase_control\angle;

  3581.          I2\p <= OneJunction4\p;

  3582.          MGY_a\p2 => OneJunction4\p;

  3583.          MGY_b\p2 => OneJunction4\p;

  3584.          MSe_b\p => OneJunction3\p;

  3585.          OneJunction1\p => p;

  3586.          OneJunction2\p <= MSe_a\p;

  3587.          OneJunction2\p => I\p;

  3588.          OneJunction2\p => MGY_a\p1;

  3589.          OneJunction2\p => R\p;

  3590.          OneJunction3\p => I1\p;

  3591.          OneJunction3\p => MGY_b\p1;

  3592.          OneJunction3\p => R1\p;

  3593.          OneJunction4\flow -> RotorAngle\omega;

  3594.          OneJunction4\p => OneJunction1\p;

  3595.          OneJunction4\p => R2\p;

  3596.          phase_control\a -> MSe_a\effort;

  3597.          phase_control\b -> MSe_b\effort;

  3598.          RotorAngle\output_a -> MGY_a\r;

  3599.          RotorAngle\output_b -> MGY_b\r;

  3600.          RotorAngle\output_d -> Se\effort;

  3601.          Se\p => OneJunction4\p;

  3602.         end;

  3603.        implementation_end;

  3604.       ZeroJunction1 360 200

  3605.        description '<Information>

  3606.  <Description>

  3607.     <Version>4.2</Version>

  3608. <IsMainModel>1</IsMainModel>

  3609.   <KeepParameterValues>False</KeepParameterValues>

  3610.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  3611.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  3612. </Description>

  3613. </Information>';

  3614.        knot ZeroJunction

  3615.         ports

  3616.          rotation knot duplicatable none p [1];

  3617.          signal knot out effort [1];

  3618.         restrictions

  3619.          causality constraint one_in p;

  3620.        end;

  3621.        icon bg

  3622.         figures

  3623.          text '0' 360 200 color 0 18 bold;

  3624.        end;

  3625.        implementation eq

  3626. equations

  3627. 	sum (direct (p.f)) = 0;

  3628. 	equal (collect (p.e));

  3629. 	effort = first (p.e);

  3630. implementation_end;

  3631.      end;

  3632.      connections

  3633.       angle -> stepper_model\angle;

  3634.       C\p <= OneJunction8\p;

  3635.       C1\p <= OneJunction7\p;

  3636.       OneJunction5\p => C4\p;

  3637.       OneJunction5\p => PowerMux\input_rot2;

  3638.       OneJunction5\p => R4\p;

  3639.       OneJunction7\p => PowerMux\input_pos3;

  3640.       OneJunction7\p => R5\p;

  3641.       OneJunction8\p => R\p;

  3642.       OneJunction8\p => ZeroJunction1\p;

  3643.       PowerMux\input <= ZeroJunction1\p;

  3644.       PowerMux\output => output;

  3645.       ZeroJunction1\p <= stepper_model\p;

  3646.      end;

  3647.     implementation_end;

  3648.    Joint_dynB 456 192

  3649.     description '<Description>

  3650. 	<Version>4.8</Version>

  3651. 	<IsMainModel>1</IsMainModel>

  3652. 	</Description>';

  3653.     type Submodel

  3654.      ports

  3655.       power out output [6,1];

  3656.     end;

  3657.     icon bg

  3658.      figures

  3659.       rectangle 416 176 496 208 color 0 fill 15132390;

  3660.       text 'name' 456 192 color 0 'Clear Sans' 16;

  3661.     end;

  3662.     implementation bg

  3663.      submodels

  3664.       C1 191.8 216.2

  3665.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3666.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  3667.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  3668. </Description>';

  3669.        type 'C-3'

  3670.         ports

  3671.          power in p [3,1];

  3672.          signal out state [3,1];

  3673.         restrictions

  3674.          causality preferred out p;

  3675.        end;

  3676.        icon bg top

  3677.         figures

  3678.          text 'C' 191.8 216.2 color 0 18 bold;

  3679.        end;

  3680.        implementation eq

  3681. parameters

  3682. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  3683. equations

  3684.     state = int(p.f);

  3685.     p.e = inverse(c) *state;

  3686. implementation_end;

  3687.       C4 191.8 232.2

  3688.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3689.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  3690.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  3691. </Description>';

  3692.        type 'C-2'

  3693.         ports

  3694.          power in p [2,1];

  3695.          signal out state [2,1];

  3696.         restrictions

  3697.          causality preferred out p;

  3698.        end;

  3699.        icon bg bottom

  3700.         figures

  3701.          text 'C' 191.8 232.2 color 0 18 bold;

  3702.        end;

  3703.        implementation eq

  3704. parameters

  3705. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  3706. equations

  3707.     state = int(p.f);

  3708.     p.e = inverse(c) *state;

  3709. implementation_end;

  3710.       plug output 396 216;

  3711.       OneJunction5 239.8 232.2

  3712.        description '<Information>

  3713.  <Description>

  3714.     <Version>4.2</Version>

  3715. <IsMainModel>1</IsMainModel>

  3716.   <KeepParameterValues>False</KeepParameterValues>

  3717.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3718.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3719. </Description>

  3720. </Information>';

  3721.        knot OneJunction

  3722.         ports

  3723.          power knot duplicatable none p [2,1];

  3724.          signal knot out flow [2,1];

  3725.         restrictions

  3726.          causality constraint one_out p;

  3727.        end;

  3728.        icon bg

  3729.         figures

  3730.          text '1' 239.8 232.2 color 0 18 bold;

  3731.        end;

  3732.        implementation eq

  3733. equations

  3734. 	sum (direct (p.e)) = 0;

  3735. 	equal (collect (p.f));

  3736. 	flow = first (p.f);

  3737. implementation_end;

  3738.       OneJunction7 239.8 216.2

  3739.        description '<Information>

  3740.  <Description>

  3741.     <Version>4.2</Version>

  3742. <IsMainModel>1</IsMainModel>

  3743.   <KeepParameterValues>False</KeepParameterValues>

  3744.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3745.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3746. </Description>

  3747. </Information>';

  3748.        knot OneJunction

  3749.         ports

  3750.          power knot duplicatable none p [3,1];

  3751.          signal knot out flow [3,1];

  3752.         restrictions

  3753.          causality constraint one_out p;

  3754.        end;

  3755.        icon bg

  3756.         figures

  3757.          text '1' 239.8 216.2 color 0 18 bold;

  3758.        end;

  3759.        implementation eq

  3760. equations

  3761. 	sum (direct (p.e)) = 0;

  3762. 	equal (collect (p.f));

  3763. 	flow = first (p.f);

  3764. implementation_end;

  3765.       OneJunction8 288 200

  3766.        description '<Information>

  3767.  <Description>

  3768.     <Version>4.2</Version>

  3769. <IsMainModel>1</IsMainModel>

  3770.   <KeepParameterValues>False</KeepParameterValues>

  3771.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3772.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3773. </Description>

  3774. </Information>';

  3775.        knot OneJunction

  3776.         ports

  3777.          power knot duplicatable none p [1];

  3778.          signal knot out flow [1];

  3779.         restrictions

  3780.          causality constraint one_out p;

  3781.        end;

  3782.        icon bg

  3783.         figures

  3784.          text '1' 288 200 color 0 18 bold;

  3785.        end;

  3786.        implementation eq

  3787. equations

  3788. 	sum (direct (p.e)) = 0;

  3789. 	equal (collect (p.f));

  3790. 	flow = first (p.f);

  3791. implementation_end;

  3792.       PowerMux 330 216

  3793. 						specifications active 'rot_x'

  3794. 							specification 'rot_x'

  3795.  description '<Information>

  3796.  <Description>

  3797.     <Version>4.8</Version>

  3798.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3799.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  3800. <IsMainModel>1</IsMainModel>

  3801.   <KeepParameterValues>False</KeepParameterValues>

  3802.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3803.  </Description>

  3804. </Information>';

  3805.  type 'PowerMux-Rotation'

  3806.   ports

  3807.    power in input;

  3808.    power out output [6,1];

  3809.    power in input_rot2 [2,1];

  3810.    power in input_pos3 [3,1];

  3811.   restrictions

  3812.    causality constraint not_equal input output;

  3813.    causality constraint not_equal input_rot2 output;

  3814.    causality constraint not_equal input_pos3 output;

  3815.  end;

  3816.  icon bg bottom

  3817.   figures

  3818.    line 328 192 328 240 color 0 width 2;

  3819.    rectangle 324 192 336 240 color -1;

  3820.    text '1' 333 210 color 8421504 8;

  3821.   terminals

  3822.    input 328 200 fixed;

  3823.    output 328 216 fixed;

  3824.    input_rot2 328 232 fixed;

  3825.    input_pos3 328 216 fixed;

  3826.  end;

  3827.  implementation eq

  3828. equations

  3829. 	output.e[1] = input.e;

  3830. 	output.e[2:3] = input_rot2.e;

  3831. 	output.e[4:6] = input_pos3.e;

  3832. 	output.f[1] = input.f;

  3833. 	output.f[2:3] = input_rot2.f;

  3834. 	output.f[4:6] = input_pos3.f;implementation_end;

  3835. specification_end;

  3836. 							specification 'rot_y'

  3837. description '<Description>

  3838.    <Version>4.1</Version>

  3839.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  3840.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  3841. <IsMainModel>1</IsMainModel>

  3842.  <KeepParameterValues>False</KeepParameterValues>

  3843.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3844. </Description>';

  3845.  type PowerMux

  3846.   ports

  3847.    power in input;

  3848.    power out output [6,1];

  3849.    power in input_rot2 [2,1];

  3850.    power in input_pos3 [3,1];

  3851.   restrictions

  3852.    causality constraint not_equal input output;

  3853.    causality constraint not_equal input_rot2 output;

  3854.    causality constraint not_equal input_pos3 output;

  3855.  end;

  3856.  icon bg bottom

  3857.   figures

  3858.    line 242 274 290 274 color 0 width 2;

  3859.    rectangle 242 266 290 278 color -1;

  3860.    text '1' 260 269 color 8421504 8;

  3861.   terminals

  3862.    input 250 274 fixed;

  3863.    output 266 274 fixed;

  3864.    input_rot2 282 274 fixed;

  3865.    input_pos3 266 274 fixed;

  3866.  end;

  3867.  implementation eq

  3868. equations

  3869. 	output.e[1] = input_rot2.e[1];

  3870. 	output.e[2] = input.e;

  3871. 	output.e[3] = input_rot2.e[2];

  3872. 	output.e[4:6] = input_pos3.e;

  3873. 	output.f[1] = input_rot2.f[1];

  3874. 	output.f[2] = input.f;

  3875. 	output.f[3] = input_rot2.f[2];

  3876. 	output.f[4:6] = input_pos3.f;implementation_end;

  3877. specification_end;

  3878. 							specification 'rot_z'

  3879. description '<Information>

  3880.  <Description>

  3881.     <Version>4.8</Version>

  3882.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3883.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  3884. <IsMainModel>1</IsMainModel>

  3885.   <KeepParameterValues>False</KeepParameterValues>

  3886.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3887.  </Description>

  3888. </Information>';

  3889.  type PowerMux

  3890.   ports

  3891.    power in input;

  3892.    power out output [6,1];

  3893.    power in input_rot2 [2,1];

  3894.    power in input_pos3 [3,1];

  3895.   restrictions

  3896.    causality constraint not_equal input output;

  3897.    causality constraint not_equal input_rot2 output;

  3898.    causality constraint not_equal input_pos3 output;

  3899.  end;

  3900.  icon bg bottom

  3901.   figures

  3902.    line 242 274 290 274 color 0 width 2;

  3903.    rectangle 242 266 290 278 color -1;

  3904.    text '1' 260 269 color 8421504 8;

  3905.   terminals

  3906.    input 250 274 fixed;

  3907.    output 266 274 fixed;

  3908.    input_rot2 282 274 fixed;

  3909.    input_pos3 266 274 fixed;

  3910.  end;

  3911.  implementation eq

  3912. equations

  3913. 	output.e[3] = input.e;

  3914. 	output.e[1:2] = input_rot2.e;

  3915. 	output.e[4:6] = input_pos3.e;

  3916. 	output.f[3] = input.f;

  3917. 	output.f[1:2] = input_rot2.f;

  3918. 	output.f[4:6] = input_pos3.f;implementation_end;

  3919. specification_end;

  3920. 						end;

  3921.       R 288 152

  3922.        description '<Information>

  3923.  <Description>

  3924.     <Version>4.2</Version>

  3925. <IsMainModel>1</IsMainModel>

  3926.   <KeepParameterValues>False</KeepParameterValues>

  3927.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3928.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3929. </Description>

  3930. </Information>';

  3931.        type R

  3932.         ports

  3933.          power in p;

  3934.        end;

  3935.        icon bg top

  3936.         figures

  3937.          text 'R' 288 152 color 0 18 bold;

  3938.        end;

  3939.        implementation eq

  3940. parameters

  3941. 	real r = 0.0001;

  3942. equations

  3943. 	p.e = r * p.f;

  3944. implementation_end;

  3945.       R4 239.8 288.2

  3946.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3947.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3948.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3949. </Description>';

  3950.        type 'R-2'

  3951.         ports

  3952.          power in p [2,1];

  3953.        end;

  3954.        icon bg bottom

  3955.         figures

  3956.          text 'R' 239.8 288.2 color 0 18 bold;

  3957.        end;

  3958.        implementation eq

  3959. parameters

  3960. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3961. equations					

  3962. 	p.e = r * p.f;

  3963. implementation_end;

  3964.       R5 239.8 168.2

  3965.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3966.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3967.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3968. </Description>';

  3969.        type 'R-3'

  3970.         ports

  3971.          power in p [3,1];

  3972.        end;

  3973.        icon bg top

  3974.         figures

  3975.          text 'R' 239.8 168.2 color 0 18 bold;

  3976.        end;

  3977.        implementation eq

  3978. parameters

  3979. 	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};

  3980. equations					

  3981. 	p.e = r * p.f;

  3982. implementation_end;

  3983.      end;

  3984.      connections

  3985.       C1\p <= OneJunction7\p;

  3986.       OneJunction5\p => C4\p;

  3987.       OneJunction5\p => PowerMux\input_rot2;

  3988.       OneJunction5\p => R4\p;

  3989.       OneJunction7\p => PowerMux\input_pos3;

  3990.       OneJunction7\p => R5\p;

  3991.       OneJunction8\p => PowerMux\input;

  3992.       PowerMux\output => output;

  3993.       R\p <= OneJunction8\p;

  3994.      end;

  3995.     implementation_end;

  3996.    Joint_dynC 512 712

  3997.     description '<Description>

  3998. 	<Version>4.8</Version>

  3999. 	<IsMainModel>1</IsMainModel>

  4000. 	</Description>';

  4001.     type Submodel

  4002.      ports

  4003.       power out output [6,1];

  4004.       signal in angle {rad} ;

  4005.     end;

  4006.     icon bg

  4007.      figures

  4008.       rectangle 472 696 552 728 color 0 fill 15132390;

  4009.       text 'name' 512 712 color 0 'Clear Sans' 16;

  4010.     end;

  4011.     implementation bg

  4012.      submodels

  4013.       C 264 200

  4014.        description '<Information>

  4015.  <Description>

  4016.     <Version>4.2</Version>

  4017. <IsMainModel>1</IsMainModel>

  4018.   <KeepParameterValues>False</KeepParameterValues>

  4019.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  4020.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  4021. </Description>

  4022. </Information>';

  4023.        type C

  4024.         ports

  4025.          power in p;

  4026.          signal out state;

  4027.         restrictions

  4028.          causality preferred out p;

  4029.        end;

  4030.        icon bg bottom

  4031.         figures

  4032.          text 'C' 264 200 color 0 18 bold;

  4033.        end;

  4034.        implementation eq

  4035. parameters

  4036. 	real c = 0.001;

  4037. equations

  4038. 	state = int(p.f);

  4039. 	p.e = state / c;

  4040. implementation_end;

  4041.       C1 191.8 216.2

  4042.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4043.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4044.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4045. </Description>';

  4046.        type 'C-3'

  4047.         ports

  4048.          power in p [3,1];

  4049.          signal out state [3,1];

  4050.         restrictions

  4051.          causality preferred out p;

  4052.        end;

  4053.        icon bg top

  4054.         figures

  4055.          text 'C' 191.8 216.2 color 0 18 bold;

  4056.        end;

  4057.        implementation eq

  4058. parameters

  4059. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  4060. equations

  4061.     state = int(p.f);

  4062.     p.e = inverse(c) *state;

  4063. implementation_end;

  4064.       C4 191.8 232.2

  4065.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4066.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4067.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4068. </Description>';

  4069.        type 'C-2'

  4070.         ports

  4071.          power in p [2,1];

  4072.          signal out state [2,1];

  4073.         restrictions

  4074.          causality preferred out p;

  4075.        end;

  4076.        icon bg bottom

  4077.         figures

  4078.          text 'C' 191.8 232.2 color 0 18 bold;

  4079.        end;

  4080.        implementation eq

  4081. parameters

  4082. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  4083. equations

  4084.     state = int(p.f);

  4085.     p.e = inverse(c) *state;

  4086. implementation_end;

  4087.       plug output 468 216;

  4088.       plug angle 224 80;

  4089.       OneJunction5 239.8 232.2

  4090.        description '<Information>

  4091.  <Description>

  4092.     <Version>4.2</Version>

  4093. <IsMainModel>1</IsMainModel>

  4094.   <KeepParameterValues>False</KeepParameterValues>

  4095.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4096.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4097. </Description>

  4098. </Information>';

  4099.        knot OneJunction

  4100.         ports

  4101.          power knot duplicatable none p [2,1];

  4102.          signal knot out flow [2,1];

  4103.         restrictions

  4104.          causality constraint one_out p;

  4105.        end;

  4106.        icon bg

  4107.         figures

  4108.          text '1' 239.8 232.2 color 0 18 bold;

  4109.        end;

  4110.        implementation eq

  4111. equations

  4112. 	sum (direct (p.e)) = 0;

  4113. 	equal (collect (p.f));

  4114. 	flow = first (p.f);

  4115. implementation_end;

  4116.       OneJunction7 239.8 216.2

  4117.        description '<Information>

  4118.  <Description>

  4119.     <Version>4.2</Version>

  4120. <IsMainModel>1</IsMainModel>

  4121.   <KeepParameterValues>False</KeepParameterValues>

  4122.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4123.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4124. </Description>

  4125. </Information>';

  4126.        knot OneJunction

  4127.         ports

  4128.          power knot duplicatable none p [3,1];

  4129.          signal knot out flow [3,1];

  4130.         restrictions

  4131.          causality constraint one_out p;

  4132.        end;

  4133.        icon bg

  4134.         figures

  4135.          text '1' 239.8 216.2 color 0 18 bold;

  4136.        end;

  4137.        implementation eq

  4138. equations

  4139. 	sum (direct (p.e)) = 0;

  4140. 	equal (collect (p.f));

  4141. 	flow = first (p.f);

  4142. implementation_end;

  4143.       OneJunction8 312 200

  4144.        description '<Information>

  4145.  <Description>

  4146.     <Version>4.2</Version>

  4147. <IsMainModel>1</IsMainModel>

  4148.   <KeepParameterValues>False</KeepParameterValues>

  4149.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4150.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4151. </Description>

  4152. </Information>';

  4153.        knot OneJunction

  4154.         ports

  4155.          rotation knot duplicatable none p [1];

  4156.          signal knot out flow [1];

  4157.         restrictions

  4158.          causality constraint one_out p;

  4159.        end;

  4160.        icon bg

  4161.         figures

  4162.          text '1' 312 200 color 0 18 bold;

  4163.        end;

  4164.        implementation eq

  4165. equations

  4166. 	sum (direct (p.e)) = 0;

  4167. 	equal (collect (p.f));

  4168. 	flow = first (p.f);

  4169. implementation_end;

  4170.       PowerMux 402 216

  4171. 						specifications active 'rot_x'

  4172. 							specification 'rot_x'

  4173.  description '<Information>

  4174.  <Description>

  4175.     <Version>4.8</Version>

  4176.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4177.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  4178. <IsMainModel>1</IsMainModel>

  4179.   <KeepParameterValues>False</KeepParameterValues>

  4180.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4181.  </Description>

  4182. </Information>';

  4183.  type 'PowerMux-Rotation'

  4184.   ports

  4185.    power in input;

  4186.    power out output [6,1];

  4187.    power in input_rot2 [2,1];

  4188.    power in input_pos3 [3,1];

  4189.   restrictions

  4190.    causality constraint not_equal input output;

  4191.    causality constraint not_equal input_rot2 output;

  4192.    causality constraint not_equal input_pos3 output;

  4193.  end;

  4194.  icon bg bottom

  4195.   figures

  4196.    line 400 192 400 240 color 0 width 2;

  4197.    rectangle 396 192 408 240 color -1;

  4198.    text '1' 405 210 color 8421504 8;

  4199.   terminals

  4200.    input 400 200 fixed;

  4201.    output 400 216 fixed;

  4202.    input_rot2 400 232 fixed;

  4203.    input_pos3 400 216 fixed;

  4204.  end;

  4205.  implementation eq

  4206. equations

  4207. 	output.e[1] = input.e;

  4208. 	output.e[2:3] = input_rot2.e;

  4209. 	output.e[4:6] = input_pos3.e;

  4210. 	output.f[1] = input.f;

  4211. 	output.f[2:3] = input_rot2.f;

  4212. 	output.f[4:6] = input_pos3.f;implementation_end;

  4213. specification_end;

  4214. 							specification 'rot_y'

  4215. description '<Description>

  4216.    <Version>4.1</Version>

  4217.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  4218.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  4219. <IsMainModel>1</IsMainModel>

  4220.  <KeepParameterValues>False</KeepParameterValues>

  4221.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4222. </Description>';

  4223.  type PowerMux

  4224.   ports

  4225.    power in input;

  4226.    power out output [6,1];

  4227.    power in input_rot2 [2,1];

  4228.    power in input_pos3 [3,1];

  4229.   restrictions

  4230.    causality constraint not_equal input output;

  4231.    causality constraint not_equal input_rot2 output;

  4232.    causality constraint not_equal input_pos3 output;

  4233.  end;

  4234.  icon bg bottom

  4235.   figures

  4236.    line 242 274 290 274 color 0 width 2;

  4237.    rectangle 242 266 290 278 color -1;

  4238.    text '1' 260 269 color 8421504 8;

  4239.   terminals

  4240.    input 250 274 fixed;

  4241.    output 266 274 fixed;

  4242.    input_rot2 282 274 fixed;

  4243.    input_pos3 266 274 fixed;

  4244.  end;

  4245.  implementation eq

  4246. equations

  4247. 	output.e[1] = input_rot2.e[1];

  4248. 	output.e[2] = input.e;

  4249. 	output.e[3] = input_rot2.e[2];

  4250. 	output.e[4:6] = input_pos3.e;

  4251. 	output.f[1] = input_rot2.f[1];

  4252. 	output.f[2] = input.f;

  4253. 	output.f[3] = input_rot2.f[2];

  4254. 	output.f[4:6] = input_pos3.f;implementation_end;

  4255. specification_end;

  4256. 							specification 'rot_z'

  4257. description '<Information>

  4258.  <Description>

  4259.     <Version>4.8</Version>

  4260.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4261.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  4262. <IsMainModel>1</IsMainModel>

  4263.   <KeepParameterValues>False</KeepParameterValues>

  4264.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4265.  </Description>

  4266. </Information>';

  4267.  type PowerMux

  4268.   ports

  4269.    power in input;

  4270.    power out output [6,1];

  4271.    power in input_rot2 [2,1];

  4272.    power in input_pos3 [3,1];

  4273.   restrictions

  4274.    causality constraint not_equal input output;

  4275.    causality constraint not_equal input_rot2 output;

  4276.    causality constraint not_equal input_pos3 output;

  4277.  end;

  4278.  icon bg bottom

  4279.   figures

  4280.    line 242 274 290 274 color 0 width 2;

  4281.    rectangle 242 266 290 278 color -1;

  4282.    text '1' 260 269 color 8421504 8;

  4283.   terminals

  4284.    input 250 274 fixed;

  4285.    output 266 274 fixed;

  4286.    input_rot2 282 274 fixed;

  4287.    input_pos3 266 274 fixed;

  4288.  end;

  4289.  implementation eq

  4290. equations

  4291. 	output.e[3] = input.e;

  4292. 	output.e[1:2] = input_rot2.e;

  4293. 	output.e[4:6] = input_pos3.e;

  4294. 	output.f[3] = input.f;

  4295. 	output.f[1:2] = input_rot2.f;

  4296. 	output.f[4:6] = input_pos3.f;implementation_end;

  4297. specification_end;

  4298. 						end;

  4299.       R 312 152

  4300.        description '<Information>

  4301.  <Description>

  4302.     <Version>4.2</Version>

  4303. <IsMainModel>1</IsMainModel>

  4304.   <KeepParameterValues>False</KeepParameterValues>

  4305.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4306.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4307. </Description>

  4308. </Information>';

  4309.        type R

  4310.         ports

  4311.          power in p;

  4312.        end;

  4313.        icon bg bottom

  4314.         figures

  4315.          text 'R' 312 152 color 0 18 bold;

  4316.        end;

  4317.        implementation eq

  4318. parameters

  4319. 	real r = 100;

  4320. equations

  4321. 	p.e = r * p.f;

  4322. implementation_end;

  4323.       R4 239.8 288.2

  4324.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4325.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  4326.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  4327. </Description>';

  4328.        type 'R-2'

  4329.         ports

  4330.          power in p [2,1];

  4331.        end;

  4332.        icon bg bottom

  4333.         figures

  4334.          text 'R' 239.8 288.2 color 0 18 bold;

  4335.        end;

  4336.        implementation eq

  4337. parameters

  4338. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  4339. equations					

  4340. 	p.e = r * p.f;

  4341. implementation_end;

  4342.       R5 239.8 168.2

  4343.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4344.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  4345.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  4346. </Description>';

  4347.        type 'R-3'

  4348.         ports

  4349.          power in p [3,1];

  4350.        end;

  4351.        icon bg top

  4352.         figures

  4353.          text 'R' 239.8 168.2 color 0 18 bold;

  4354.        end;

  4355.        implementation eq

  4356. parameters

  4357. 	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};

  4358. equations					

  4359. 	p.e = r * p.f;

  4360. implementation_end;

  4361.       stepper_model 360 80

  4362.        description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Motor\stepper_model.emx</LibraryPath><TimeStamp>2020-7-23 10:54:47</TimeStamp></Description><Attributes><GlobalRelations>parameters 

  4363. 	real I_phase = 3.4 {mH};

  4364. 	real R_phase = 2.9 {ohm};

  4365. 	real u_max = 3.4 {V};

  4366. 	real RotorInertia = 5.6e-6 {kg.m2};

  4367. 	real StepperMass = 0.29 {kg};

  4368. 	real angle_step = 1.8 {deg};

  4369. 	real n_phase = 2 {none};

  4370. 	real fluxLinkage = 0.0022 {Wb};

  4371. 	real detentTorque = 0.01 {N.m};

  4372. variables

  4373. 	real omega;

  4374. 	real p; // rotor division

  4375. initialequations

  4376. 	p = 2 * pi / (2 * n_phase * angle_step);

  4377. 	omega = 200;</GlobalRelations></Attributes></Information>';

  4378.        type Submodel

  4379.         ports

  4380.          signal in angle;

  4381.          rotation out p;

  4382.        end;

  4383.        implementation bg

  4384.         submodels

  4385.          I 560 104

  4386.           description '<Information>

  4387.  <Description>

  4388.     <Version>4.2</Version>

  4389. <IsMainModel>1</IsMainModel>

  4390.   <KeepParameterValues>False</KeepParameterValues>

  4391.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4392.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4393. </Description>

  4394. </Information>';

  4395.           type I

  4396.            ports

  4397.             power in p;

  4398.             signal out state;

  4399.            restrictions

  4400.             causality preferred in p;

  4401.           end;

  4402.           icon bg bottom

  4403.            figures

  4404.             text 'I' 560 104 color 0 18 bold;

  4405.           end;

  4406.           implementation eq

  4407. parameters

  4408. 	real global I_phase;

  4409. equations

  4410.     state = int(p.e);

  4411.     p.f = state / I_phase;

  4412. implementation_end;

  4413.          I1 608 328

  4414.           description '<Information>

  4415.  <Description>

  4416.     <Version>4.2</Version>

  4417. <IsMainModel>1</IsMainModel>

  4418.   <KeepParameterValues>False</KeepParameterValues>

  4419.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4420.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4421. </Description>

  4422. </Information>';

  4423.           type I

  4424.            ports

  4425.             power in p;

  4426.             signal out state;

  4427.            restrictions

  4428.             causality preferred in p;

  4429.           end;

  4430.           icon bg bottom

  4431.            figures

  4432.             text 'I' 608 328 color 0 18 bold;

  4433.           end;

  4434.           implementation eq

  4435. parameters

  4436. 	real global I_phase;

  4437. equations

  4438.     state = int(p.e);

  4439.     p.f = state / I_phase;

  4440. implementation_end;

  4441.          I2 752 160

  4442.           description '<Information>

  4443.  <Description>

  4444.     <Version>4.2</Version>

  4445. <IsMainModel>1</IsMainModel>

  4446.   <KeepParameterValues>False</KeepParameterValues>

  4447.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4448.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4449. </Description>

  4450. </Information>';

  4451.           type I

  4452.            ports

  4453.             power in p;

  4454.             signal out state;

  4455.            restrictions

  4456.             causality preferred in p;

  4457.           end;

  4458.           icon bg bottom

  4459.            figures

  4460.             text 'I' 752 160 color 0 18 bold;

  4461.           end;

  4462.           implementation eq

  4463. parameters

  4464. 	real global RotorInertia;

  4465. equations

  4466.     state = int(p.e);

  4467.     p.f = state / (RotorInertia);

  4468. implementation_end;

  4469.          MGY_a 656 160

  4470.           description '<Information>

  4471.  <Description>

  4472.     <Version>4.2</Version>

  4473. <IsMainModel>1</IsMainModel>

  4474.   <KeepParameterValues>False</KeepParameterValues>

  4475.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  4476.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  4477. </Description>

  4478. </Information>';

  4479.           type MGY

  4480.            ports

  4481.             power in p1;

  4482.             power out p2;

  4483.             signal in r;

  4484.            restrictions

  4485.             causality constraint equal p1 p2;

  4486.           end;

  4487.           icon bg bottom

  4488.            figures

  4489.             text 'MGY' 656 160 color 0 18 bold;

  4490.           end;

  4491.           implementation eq

  4492. equations

  4493. 	p1.e = r * p2.f;

  4494. 	p2.e = r * p1.f;

  4495. implementation_end;

  4496.          MGY_b 656 272

  4497.           description '<Information>

  4498.  <Description>

  4499.     <Version>4.2</Version>

  4500. <IsMainModel>1</IsMainModel>

  4501.   <KeepParameterValues>False</KeepParameterValues>

  4502.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  4503.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  4504. </Description>

  4505. </Information>';

  4506.           type MGY

  4507.            ports

  4508.             power in p1;

  4509.             power out p2;

  4510.             signal in r;

  4511.            restrictions

  4512.             causality constraint equal p1 p2;

  4513.           end;

  4514.           icon bg bottom

  4515.            figures

  4516.             text 'MGY' 656 272 color 0 18 bold;

  4517.           end;

  4518.           implementation eq

  4519. equations

  4520. 	p1.e = r * p2.f;

  4521. 	p2.e = r * p1.f;

  4522. implementation_end;

  4523.          MSe_a 512 160

  4524.           description '<Information>

  4525.  <Description>

  4526.     <Version>4.2</Version>

  4527. <IsMainModel>1</IsMainModel>

  4528.   <KeepParameterValues>False</KeepParameterValues>

  4529.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4530.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4531. </Description>

  4532. </Information>';

  4533.           type MSe

  4534.            ports

  4535.             electric out p;

  4536.             signal in effort;

  4537.            restrictions

  4538.             causality fixed out p;

  4539.           end;

  4540.           icon bg bottom

  4541.            figures

  4542.             text 'MSe' 512 160 color 0 18 bold;

  4543.           end;

  4544.           implementation eq

  4545. variables

  4546. 	real flow;

  4547. equations

  4548. 	p.e = effort;

  4549. 	flow = p.f;

  4550. implementation_end;

  4551.          MSe_b 512 272

  4552.           description '<Information>

  4553.  <Description>

  4554.     <Version>4.2</Version>

  4555. <IsMainModel>1</IsMainModel>

  4556.   <KeepParameterValues>False</KeepParameterValues>

  4557.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4558.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4559. </Description>

  4560. </Information>';

  4561.           type MSe

  4562.            ports

  4563.             electric out p;

  4564.             signal in effort;

  4565.            restrictions

  4566.             causality fixed out p;

  4567.           end;

  4568.           icon bg bottom

  4569.            figures

  4570.             text 'MSe' 512 272 color 0 18 bold;

  4571.           end;

  4572.           implementation eq

  4573. variables

  4574. 	real flow;

  4575. equations

  4576. 	p.e = effort;

  4577. 	flow = p.f;

  4578. implementation_end;

  4579.          plug angle 200 216;

  4580.          plug p 1472 216;

  4581.          OneJunction1 840 216

  4582.           description '<Information>

  4583.  <Description>

  4584.     <Version>4.2</Version>

  4585. <IsMainModel>1</IsMainModel>

  4586.   <KeepParameterValues>False</KeepParameterValues>

  4587.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4588.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4589. </Description>

  4590. </Information>';

  4591.           knot OneJunction

  4592.            ports

  4593.             rotation knot duplicatable none p [1];

  4594.             signal knot out flow [1];

  4595.            restrictions

  4596.             causality constraint one_out p;

  4597.           end;

  4598.           icon bg

  4599.            figures

  4600.             text '1' 840 216 color 0 18 bold;

  4601.           end;

  4602.           implementation eq

  4603. equations

  4604. 	sum (direct (p.e)) = 0;

  4605. 	equal (collect (p.f));

  4606. 	flow = first (p.f);

  4607. implementation_end;

  4608.          OneJunction2 584 160

  4609.           description '<Information>

  4610.  <Description>

  4611.     <Version>4.2</Version>

  4612. <IsMainModel>1</IsMainModel>

  4613.   <KeepParameterValues>False</KeepParameterValues>

  4614.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4615.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4616. </Description>

  4617. </Information>';

  4618.           knot OneJunction

  4619.            ports

  4620.             electric knot duplicatable none p [1];

  4621.             signal knot out flow [1];

  4622.            restrictions

  4623.             causality constraint one_out p;

  4624.           end;

  4625.           icon bg

  4626.            figures

  4627.             text '1' 584 160 color 0 18 bold;

  4628.           end;

  4629.           implementation eq

  4630. equations

  4631. 	sum (direct (p.e)) = 0;

  4632. 	equal (collect (p.f));

  4633. 	flow = first (p.f);

  4634. implementation_end;

  4635.          OneJunction3 584 272

  4636.           description '<Information>

  4637.  <Description>

  4638.     <Version>4.2</Version>

  4639. <IsMainModel>1</IsMainModel>

  4640.   <KeepParameterValues>False</KeepParameterValues>

  4641.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4642.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4643. </Description>

  4644. </Information>';

  4645.           knot OneJunction

  4646.            ports

  4647.             electric knot duplicatable none p [1];

  4648.             signal knot out flow [1];

  4649.            restrictions

  4650.             causality constraint one_out p;

  4651.           end;

  4652.           icon bg

  4653.            figures

  4654.             text '1' 584 272 color 0 18 bold;

  4655.           end;

  4656.           implementation eq

  4657. equations

  4658. 	sum (direct (p.e)) = 0;

  4659. 	equal (collect (p.f));

  4660. 	flow = first (p.f);

  4661. implementation_end;

  4662.          OneJunction4 752 216

  4663.           description '<Information>

  4664.  <Description>

  4665.     <Version>4.2</Version>

  4666. <IsMainModel>1</IsMainModel>

  4667.   <KeepParameterValues>False</KeepParameterValues>

  4668.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4669.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4670. </Description>

  4671. </Information>';

  4672.           knot OneJunction

  4673.            ports

  4674.             rotation knot duplicatable none p [1];

  4675.             signal knot out flow [1];

  4676.            restrictions

  4677.             causality constraint one_out p;

  4678.           end;

  4679.           icon bg

  4680.            figures

  4681.             text '1' 752 216 color 0 18 bold;

  4682.           end;

  4683.           implementation eq

  4684. equations

  4685. 	sum (direct (p.e)) = 0;

  4686. 	equal (collect (p.f));

  4687. 	flow = first (p.f);

  4688. implementation_end;

  4689.          phase_control 512 216

  4690.           description '<Description><Version>4.0</Version>

  4691.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  4692. <IsMainModel>1</IsMainModel>

  4693.  <KeepParameterValues>False</KeepParameterValues>

  4694.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  4695.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4696. </Description>';

  4697.           type Submodel

  4698.            ports

  4699.             signal in angle;

  4700.             signal out a;

  4701.             signal out b;

  4702.           end;

  4703.           icon bg

  4704.            figures

  4705.             rectangle 472 200 552 232 color 0 fill 15132390;

  4706.             text 'name' 512 216 color 0 'Clear Sans' 16;

  4707.           end;

  4708.           implementation eq

  4709. parameters

  4710. 	real global u_max {V};

  4711. variables

  4712. 	real global p;

  4713. 	boolean hidden eventa, eventb;

  4714. equations

  4715. 	a = u_max * (cos (p*angle));

  4716. 	eventa = event(a);

  4717. 	b = u_max * -(sin (p*angle));

  4718. 	eventb = event(b);

  4719. 

  4720. 	

  4721. 	

  4722.  implementation_end;

  4723.          R 608 104

  4724.           description '<Information>

  4725.  <Description>

  4726.     <Version>4.2</Version>

  4727. <IsMainModel>1</IsMainModel>

  4728.   <KeepParameterValues>False</KeepParameterValues>

  4729.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4730.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4731. </Description>

  4732. </Information>';

  4733.           type R

  4734.            ports

  4735.             power in p;

  4736.           end;

  4737.           icon bg bottom

  4738.            figures

  4739.             text 'R' 608 104 color 0 18 bold;

  4740.           end;

  4741.           implementation eq

  4742. parameters

  4743. 	real global R_phase;

  4744. equations

  4745. 	p.e = R_phase * p.f;

  4746. implementation_end;

  4747.          R1 560 328

  4748.           description '<Information>

  4749.  <Description>

  4750.     <Version>4.2</Version>

  4751. <IsMainModel>1</IsMainModel>

  4752.   <KeepParameterValues>False</KeepParameterValues>

  4753.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4754.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4755. </Description>

  4756. </Information>';

  4757.           type R

  4758.            ports

  4759.             power in p;

  4760.           end;

  4761.           icon bg bottom

  4762.            figures

  4763.             text 'R' 560 328 color 0 18 bold;

  4764.           end;

  4765.           implementation eq

  4766. parameters

  4767. 	real global R_phase;

  4768. equations

  4769. 	p.e = R_phase * p.f;

  4770. implementation_end;

  4771.          R2 824 264

  4772.           description '<Information>

  4773.  <Description>

  4774.     <Version>4.2</Version>

  4775. <IsMainModel>1</IsMainModel>

  4776.   <KeepParameterValues>False</KeepParameterValues>

  4777.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4778.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4779. </Description>

  4780. </Information>';

  4781.           type R

  4782.            ports

  4783.             power in p;

  4784.           end;

  4785.           icon bg bottom

  4786.            figures

  4787.             text 'R' 824 264 color 0 18 bold;

  4788.           end;

  4789.           implementation eq

  4790. parameters

  4791. 	real r = 1.0e-3;

  4792. equations

  4793. 	p.e = r * p.f;

  4794. implementation_end;

  4795.          RotorAngle 656 216

  4796.           description '<Description><Version>4.0</Version>

  4797.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  4798. <IsMainModel>1</IsMainModel>

  4799.  <KeepParameterValues>False</KeepParameterValues>

  4800.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  4801.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4802. </Description>';

  4803.           type Submodel

  4804.            ports

  4805.             signal out output_b;

  4806.             signal out output_a;

  4807.             signal in omega {rad/s} ;

  4808.             signal out output_d;

  4809.           end;

  4810.           icon bg

  4811.            figures

  4812.             rectangle 616 200 696 232 color 0 fill 15132390;

  4813.             text 'name' 656 216 color 0 'Clear Sans' 16;

  4814.           end;

  4815.           implementation eq

  4816. parameters

  4817. 	real global fluxLinkage;

  4818. 	real global detentTorque;

  4819. variables

  4820. 	real global p;

  4821. 	real angle {rad};

  4822. equations

  4823. 	angle = int(omega);

  4824. 	output_a = -p * fluxLinkage * sin(p * angle);

  4825. 	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);

  4826. 	output_d =  detentTorque * sin(2 * p * angle);

  4827.  implementation_end;

  4828.          Se 752 272

  4829.           description '<Information>

  4830.  <Description>

  4831.     <Version>4.2</Version>

  4832. <IsMainModel>1</IsMainModel>

  4833.   <KeepParameterValues>False</KeepParameterValues>

  4834.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4835.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4836. </Description>

  4837. </Information>';

  4838.           type MSe

  4839.            ports

  4840.             power out p;

  4841.             signal in effort;

  4842.            restrictions

  4843.             causality fixed out p;

  4844.           end;

  4845.           icon bg bottom

  4846.            figures

  4847.             text 'MSe' 752 272 color 0 18 bold;

  4848.           end;

  4849.           implementation eq

  4850. 

  4851. variables

  4852. 	real flow;

  4853. equations

  4854. 	p.e = effort;

  4855. 	flow = p.f;

  4856. implementation_end;

  4857.         end;

  4858.         connections

  4859.          angle -> phase_control\angle;

  4860.          I2\p <= OneJunction4\p;

  4861.          MGY_a\p2 => OneJunction4\p;

  4862.          MGY_b\p2 => OneJunction4\p;

  4863.          MSe_b\p => OneJunction3\p;

  4864.          OneJunction1\p => p;

  4865.          OneJunction2\p <= MSe_a\p;

  4866.          OneJunction2\p => I\p;

  4867.          OneJunction2\p => MGY_a\p1;

  4868.          OneJunction2\p => R\p;

  4869.          OneJunction3\p => I1\p;

  4870.          OneJunction3\p => MGY_b\p1;

  4871.          OneJunction3\p => R1\p;

  4872.          OneJunction4\flow -> RotorAngle\omega;

  4873.          OneJunction4\p => OneJunction1\p;

  4874.          OneJunction4\p => R2\p;

  4875.          phase_control\a -> MSe_a\effort;

  4876.          phase_control\b -> MSe_b\effort;

  4877.          RotorAngle\output_a -> MGY_a\r;

  4878.          RotorAngle\output_b -> MGY_b\r;

  4879.          RotorAngle\output_d -> Se\effort;

  4880.          Se\p => OneJunction4\p;

  4881.         end;

  4882.        implementation_end;

  4883.       ZeroJunction1 360 200

  4884.        description '<Information>

  4885.  <Description>

  4886.     <Version>4.2</Version>

  4887. <IsMainModel>1</IsMainModel>

  4888.   <KeepParameterValues>False</KeepParameterValues>

  4889.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  4890.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  4891. </Description>

  4892. </Information>';

  4893.        knot ZeroJunction

  4894.         ports

  4895.          rotation knot duplicatable none p [1];

  4896.          signal knot out effort [1];

  4897.         restrictions

  4898.          causality constraint one_in p;

  4899.        end;

  4900.        icon bg

  4901.         figures

  4902.          text '0' 360 200 color 0 18 bold;

  4903.        end;

  4904.        implementation eq

  4905. equations

  4906. 	sum (direct (p.f)) = 0;

  4907. 	equal (collect (p.e));

  4908. 	effort = first (p.e);

  4909. implementation_end;

  4910.      end;

  4911.      connections

  4912.       angle -> stepper_model\angle;

  4913.       C\p <= OneJunction8\p;

  4914.       C1\p <= OneJunction7\p;

  4915.       OneJunction5\p => C4\p;

  4916.       OneJunction5\p => PowerMux\input_rot2;

  4917.       OneJunction5\p => R4\p;

  4918.       OneJunction7\p => PowerMux\input_pos3;

  4919.       OneJunction7\p => R5\p;

  4920.       OneJunction8\p => R\p;

  4921.       OneJunction8\p => ZeroJunction1\p;

  4922.       PowerMux\output => output;

  4923.       stepper_model\p => ZeroJunction1\p;

  4924.       ZeroJunction1\p => PowerMux\input;

  4925.      end;

  4926.     implementation_end;

  4927.    Joint_dynD 88 488

  4928.     description '<Description>

  4929. 	<Version>4.8</Version>

  4930. 	<IsMainModel>1</IsMainModel>

  4931. 	</Description>';

  4932.     type Submodel

  4933.      ports

  4934.       power out output [6,1];

  4935.     end;

  4936.     icon bg

  4937.      figures

  4938.       rectangle 48 472 128 504 color 0 fill 15132390;

  4939.       text 'name' 88 488 color 0 'Clear Sans' 16;

  4940.     end;

  4941.     implementation bg

  4942.      submodels

  4943.       C1 191.8 216.2

  4944.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4945.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4946.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4947. </Description>';

  4948.        type 'C-3'

  4949.         ports

  4950.          power in p [3,1];

  4951.          signal out state [3,1];

  4952.         restrictions

  4953.          causality preferred out p;

  4954.        end;

  4955.        icon bg top

  4956.         figures

  4957.          text 'C' 191.8 216.2 color 0 18 bold;

  4958.        end;

  4959.        implementation eq

  4960. parameters

  4961. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  4962. equations

  4963.     state = int(p.f);

  4964.     p.e = inverse(c) *state;

  4965. implementation_end;

  4966.       C4 191.8 232.2

  4967.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4968.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4969.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4970. </Description>';

  4971.        type 'C-2'

  4972.         ports

  4973.          power in p [2,1];

  4974.          signal out state [2,1];

  4975.         restrictions

  4976.          causality preferred out p;

  4977.        end;

  4978.        icon bg bottom

  4979.         figures

  4980.          text 'C' 191.8 232.2 color 0 18 bold;

  4981.        end;

  4982.        implementation eq

  4983. parameters

  4984. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  4985. equations

  4986.     state = int(p.f);

  4987.     p.e = inverse(c) *state;

  4988. implementation_end;

  4989.       plug output 396 216;

  4990.       OneJunction5 239.8 232.2

  4991.        description '<Information>

  4992.  <Description>

  4993.     <Version>4.2</Version>

  4994. <IsMainModel>1</IsMainModel>

  4995.   <KeepParameterValues>False</KeepParameterValues>

  4996.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4997.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4998. </Description>

  4999. </Information>';

  5000.        knot OneJunction

  5001.         ports

  5002.          power knot duplicatable none p [2,1];

  5003.          signal knot out flow [2,1];

  5004.         restrictions

  5005.          causality constraint one_out p;

  5006.        end;

  5007.        icon bg

  5008.         figures

  5009.          text '1' 239.8 232.2 color 0 18 bold;

  5010.        end;

  5011.        implementation eq

  5012. equations

  5013. 	sum (direct (p.e)) = 0;

  5014. 	equal (collect (p.f));

  5015. 	flow = first (p.f);

  5016. implementation_end;

  5017.       OneJunction7 239.8 216.2

  5018.        description '<Information>

  5019.  <Description>

  5020.     <Version>4.2</Version>

  5021. <IsMainModel>1</IsMainModel>

  5022.   <KeepParameterValues>False</KeepParameterValues>

  5023.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5024.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5025. </Description>

  5026. </Information>';

  5027.        knot OneJunction

  5028.         ports

  5029.          power knot duplicatable none p [3,1];

  5030.          signal knot out flow [3,1];

  5031.         restrictions

  5032.          causality constraint one_out p;

  5033.        end;

  5034.        icon bg

  5035.         figures

  5036.          text '1' 239.8 216.2 color 0 18 bold;

  5037.        end;

  5038.        implementation eq

  5039. equations

  5040. 	sum (direct (p.e)) = 0;

  5041. 	equal (collect (p.f));

  5042. 	flow = first (p.f);

  5043. implementation_end;

  5044.       OneJunction8 288 200

  5045.        description '<Information>

  5046.  <Description>

  5047.     <Version>4.2</Version>

  5048. <IsMainModel>1</IsMainModel>

  5049.   <KeepParameterValues>False</KeepParameterValues>

  5050.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5051.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5052. </Description>

  5053. </Information>';

  5054.        knot OneJunction

  5055.         ports

  5056.          power knot duplicatable none p [1];

  5057.          signal knot out flow [1];

  5058.         restrictions

  5059.          causality constraint one_out p;

  5060.        end;

  5061.        icon bg

  5062.         figures

  5063.          text '1' 288 200 color 0 18 bold;

  5064.        end;

  5065.        implementation eq

  5066. equations

  5067. 	sum (direct (p.e)) = 0;

  5068. 	equal (collect (p.f));

  5069. 	flow = first (p.f);

  5070. implementation_end;

  5071.       PowerMux 330 216

  5072. 						specifications active 'rot_x'

  5073. 							specification 'rot_x'

  5074.  description '<Information>

  5075.  <Description>

  5076.     <Version>4.8</Version>

  5077.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5078.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5079. <IsMainModel>1</IsMainModel>

  5080.   <KeepParameterValues>False</KeepParameterValues>

  5081.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5082.  </Description>

  5083. </Information>';

  5084.  type 'PowerMux-Rotation'

  5085.   ports

  5086.    power in input;

  5087.    power out output [6,1];

  5088.    power in input_rot2 [2,1];

  5089.    power in input_pos3 [3,1];

  5090.   restrictions

  5091.    causality constraint not_equal input output;

  5092.    causality constraint not_equal input_rot2 output;

  5093.    causality constraint not_equal input_pos3 output;

  5094.  end;

  5095.  icon bg bottom

  5096.   figures

  5097.    line 328 192 328 240 color 0 width 2;

  5098.    rectangle 324 192 336 240 color -1;

  5099.    text '1' 333 210 color 8421504 8;

  5100.   terminals

  5101.    input 328 200 fixed;

  5102.    output 328 216 fixed;

  5103.    input_rot2 328 232 fixed;

  5104.    input_pos3 328 216 fixed;

  5105.  end;

  5106.  implementation eq

  5107. equations

  5108. 	output.e[1] = input.e;

  5109. 	output.e[2:3] = input_rot2.e;

  5110. 	output.e[4:6] = input_pos3.e;

  5111. 	output.f[1] = input.f;

  5112. 	output.f[2:3] = input_rot2.f;

  5113. 	output.f[4:6] = input_pos3.f;implementation_end;

  5114. specification_end;

  5115. 							specification 'rot_y'

  5116. description '<Description>

  5117.    <Version>4.1</Version>

  5118.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5119.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5120. <IsMainModel>1</IsMainModel>

  5121.  <KeepParameterValues>False</KeepParameterValues>

  5122.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5123. </Description>';

  5124.  type PowerMux

  5125.   ports

  5126.    power in input;

  5127.    power out output [6,1];

  5128.    power in input_rot2 [2,1];

  5129.    power in input_pos3 [3,1];

  5130.   restrictions

  5131.    causality constraint not_equal input output;

  5132.    causality constraint not_equal input_rot2 output;

  5133.    causality constraint not_equal input_pos3 output;

  5134.  end;

  5135.  icon bg bottom

  5136.   figures

  5137.    line 242 274 290 274 color 0 width 2;

  5138.    rectangle 242 266 290 278 color -1;

  5139.    text '1' 260 269 color 8421504 8;

  5140.   terminals

  5141.    input 250 274 fixed;

  5142.    output 266 274 fixed;

  5143.    input_rot2 282 274 fixed;

  5144.    input_pos3 266 274 fixed;

  5145.  end;

  5146.  implementation eq

  5147. equations

  5148. 	output.e[1] = input_rot2.e[1];

  5149. 	output.e[2] = input.e;

  5150. 	output.e[3] = input_rot2.e[2];

  5151. 	output.e[4:6] = input_pos3.e;

  5152. 	output.f[1] = input_rot2.f[1];

  5153. 	output.f[2] = input.f;

  5154. 	output.f[3] = input_rot2.f[2];

  5155. 	output.f[4:6] = input_pos3.f;implementation_end;

  5156. specification_end;

  5157. 							specification 'rot_z'

  5158. description '<Information>

  5159.  <Description>

  5160.     <Version>4.8</Version>

  5161.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5162.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5163. <IsMainModel>1</IsMainModel>

  5164.   <KeepParameterValues>False</KeepParameterValues>

  5165.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5166.  </Description>

  5167. </Information>';

  5168.  type PowerMux

  5169.   ports

  5170.    power in input;

  5171.    power out output [6,1];

  5172.    power in input_rot2 [2,1];

  5173.    power in input_pos3 [3,1];

  5174.   restrictions

  5175.    causality constraint not_equal input output;

  5176.    causality constraint not_equal input_rot2 output;

  5177.    causality constraint not_equal input_pos3 output;

  5178.  end;

  5179.  icon bg bottom

  5180.   figures

  5181.    line 242 274 290 274 color 0 width 2;

  5182.    rectangle 242 266 290 278 color -1;

  5183.    text '1' 260 269 color 8421504 8;

  5184.   terminals

  5185.    input 250 274 fixed;

  5186.    output 266 274 fixed;

  5187.    input_rot2 282 274 fixed;

  5188.    input_pos3 266 274 fixed;

  5189.  end;

  5190.  implementation eq

  5191. equations

  5192. 	output.e[3] = input.e;

  5193. 	output.e[1:2] = input_rot2.e;

  5194. 	output.e[4:6] = input_pos3.e;

  5195. 	output.f[3] = input.f;

  5196. 	output.f[1:2] = input_rot2.f;

  5197. 	output.f[4:6] = input_pos3.f;implementation_end;

  5198. specification_end;

  5199. 						end;

  5200.       R 288 152

  5201.        description '<Information>

  5202.  <Description>

  5203.     <Version>4.2</Version>

  5204. <IsMainModel>1</IsMainModel>

  5205.   <KeepParameterValues>False</KeepParameterValues>

  5206.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5207.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5208. </Description>

  5209. </Information>';

  5210.        type R

  5211.         ports

  5212.          power in p;

  5213.        end;

  5214.        icon bg top

  5215.         figures

  5216.          text 'R' 288 152 color 0 18 bold;

  5217.        end;

  5218.        implementation eq

  5219. parameters

  5220. 	real r = 0.0001;

  5221. equations

  5222. 	p.e = r * p.f;

  5223. implementation_end;

  5224.       R4 239.8 288.2

  5225.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5226.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5227.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5228. </Description>';

  5229.        type 'R-2'

  5230.         ports

  5231.          power in p [2,1];

  5232.        end;

  5233.        icon bg bottom

  5234.         figures

  5235.          text 'R' 239.8 288.2 color 0 18 bold;

  5236.        end;

  5237.        implementation eq

  5238. parameters

  5239. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5240. equations					

  5241. 	p.e = r * p.f;

  5242. implementation_end;

  5243.       R5 239.8 168.2

  5244.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5245.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5246.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5247. </Description>';

  5248.        type 'R-3'

  5249.         ports

  5250.          power in p [3,1];

  5251.        end;

  5252.        icon bg top

  5253.         figures

  5254.          text 'R' 239.8 168.2 color 0 18 bold;

  5255.        end;

  5256.        implementation eq

  5257. parameters

  5258. 	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};

  5259. equations					

  5260. 	p.e = r * p.f;

  5261. implementation_end;

  5262.      end;

  5263.      connections

  5264.       C1\p <= OneJunction7\p;

  5265.       OneJunction5\p => C4\p;

  5266.       OneJunction5\p => PowerMux\input_rot2;

  5267.       OneJunction5\p => R4\p;

  5268.       OneJunction7\p => PowerMux\input_pos3;

  5269.       OneJunction7\p => R5\p;

  5270.       OneJunction8\p => PowerMux\input;

  5271.       PowerMux\output => output;

  5272.       R\p <= OneJunction8\p;

  5273.      end;

  5274.     implementation_end;

  5275.    Joint_dynE 88 168

  5276.     description '<Description>

  5277. 	<Version>4.8</Version>

  5278. 	<IsMainModel>1</IsMainModel>

  5279. 	</Description>';

  5280.     type Submodel

  5281.      ports

  5282.       power out output [6,1];

  5283.     end;

  5284.     icon bg

  5285.      figures

  5286.       rectangle 48 152 128 184 color 0 fill 15132390;

  5287.       text 'name' 88 168 color 0 'Clear Sans' 16;

  5288.     end;

  5289.     implementation bg

  5290.      submodels

  5291.       C1 191.8 216.2

  5292.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5293.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  5294.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  5295. </Description>';

  5296.        type 'C-3'

  5297.         ports

  5298.          power in p [3,1];

  5299.          signal out state [3,1];

  5300.         restrictions

  5301.          causality preferred out p;

  5302.        end;

  5303.        icon bg top

  5304.         figures

  5305.          text 'C' 191.8 216.2 color 0 18 bold;

  5306.        end;

  5307.        implementation eq

  5308. parameters

  5309. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  5310. equations

  5311.     state = int(p.f);

  5312.     p.e = inverse(c) *state;

  5313. implementation_end;

  5314.       C4 191.8 232.2

  5315.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5316.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  5317.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  5318. </Description>';

  5319.        type 'C-2'

  5320.         ports

  5321.          power in p [2,1];

  5322.          signal out state [2,1];

  5323.         restrictions

  5324.          causality preferred out p;

  5325.        end;

  5326.        icon bg bottom

  5327.         figures

  5328.          text 'C' 191.8 232.2 color 0 18 bold;

  5329.        end;

  5330.        implementation eq

  5331. parameters

  5332. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  5333. equations

  5334.     state = int(p.f);

  5335.     p.e = inverse(c) *state;

  5336. implementation_end;

  5337.       plug output 396 216;

  5338.       OneJunction5 239.8 232.2

  5339.        description '<Information>

  5340.  <Description>

  5341.     <Version>4.2</Version>

  5342. <IsMainModel>1</IsMainModel>

  5343.   <KeepParameterValues>False</KeepParameterValues>

  5344.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5345.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5346. </Description>

  5347. </Information>';

  5348.        knot OneJunction

  5349.         ports

  5350.          power knot duplicatable none p [2,1];

  5351.          signal knot out flow [2,1];

  5352.         restrictions

  5353.          causality constraint one_out p;

  5354.        end;

  5355.        icon bg

  5356.         figures

  5357.          text '1' 239.8 232.2 color 0 18 bold;

  5358.        end;

  5359.        implementation eq

  5360. equations

  5361. 	sum (direct (p.e)) = 0;

  5362. 	equal (collect (p.f));

  5363. 	flow = first (p.f);

  5364. implementation_end;

  5365.       OneJunction7 239.8 216.2

  5366.        description '<Information>

  5367.  <Description>

  5368.     <Version>4.2</Version>

  5369. <IsMainModel>1</IsMainModel>

  5370.   <KeepParameterValues>False</KeepParameterValues>

  5371.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5372.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5373. </Description>

  5374. </Information>';

  5375.        knot OneJunction

  5376.         ports

  5377.          power knot duplicatable none p [3,1];

  5378.          signal knot out flow [3,1];

  5379.         restrictions

  5380.          causality constraint one_out p;

  5381.        end;

  5382.        icon bg

  5383.         figures

  5384.          text '1' 239.8 216.2 color 0 18 bold;

  5385.        end;

  5386.        implementation eq

  5387. equations

  5388. 	sum (direct (p.e)) = 0;

  5389. 	equal (collect (p.f));

  5390. 	flow = first (p.f);

  5391. implementation_end;

  5392.       OneJunction8 288 200

  5393.        description '<Information>

  5394.  <Description>

  5395.     <Version>4.2</Version>

  5396. <IsMainModel>1</IsMainModel>

  5397.   <KeepParameterValues>False</KeepParameterValues>

  5398.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5399.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5400. </Description>

  5401. </Information>';

  5402.        knot OneJunction

  5403.         ports

  5404.          power knot duplicatable none p [1];

  5405.          signal knot out flow [1];

  5406.         restrictions

  5407.          causality constraint one_out p;

  5408.        end;

  5409.        icon bg

  5410.         figures

  5411.          text '1' 288 200 color 0 18 bold;

  5412.        end;

  5413.        implementation eq

  5414. equations

  5415. 	sum (direct (p.e)) = 0;

  5416. 	equal (collect (p.f));

  5417. 	flow = first (p.f);

  5418. implementation_end;

  5419.       PowerMux 330 216

  5420. 						specifications active 'rot_x'

  5421. 							specification 'rot_x'

  5422.  description '<Information>

  5423.  <Description>

  5424.     <Version>4.8</Version>

  5425.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5426.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5427. <IsMainModel>1</IsMainModel>

  5428.   <KeepParameterValues>False</KeepParameterValues>

  5429.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5430.  </Description>

  5431. </Information>';

  5432.  type 'PowerMux-Rotation'

  5433.   ports

  5434.    power in input;

  5435.    power out output [6,1];

  5436.    power in input_rot2 [2,1];

  5437.    power in input_pos3 [3,1];

  5438.   restrictions

  5439.    causality constraint not_equal input output;

  5440.    causality constraint not_equal input_rot2 output;

  5441.    causality constraint not_equal input_pos3 output;

  5442.  end;

  5443.  icon bg bottom

  5444.   figures

  5445.    line 328 192 328 240 color 0 width 2;

  5446.    rectangle 324 192 336 240 color -1;

  5447.    text '1' 333 210 color 8421504 8;

  5448.   terminals

  5449.    input 328 200 fixed;

  5450.    output 328 216 fixed;

  5451.    input_rot2 328 232 fixed;

  5452.    input_pos3 328 216 fixed;

  5453.  end;

  5454.  implementation eq

  5455. equations

  5456. 	output.e[1] = input.e;

  5457. 	output.e[2:3] = input_rot2.e;

  5458. 	output.e[4:6] = input_pos3.e;

  5459. 	output.f[1] = input.f;

  5460. 	output.f[2:3] = input_rot2.f;

  5461. 	output.f[4:6] = input_pos3.f;implementation_end;

  5462. specification_end;

  5463. 							specification 'rot_y'

  5464. description '<Description>

  5465.    <Version>4.1</Version>

  5466.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5467.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5468. <IsMainModel>1</IsMainModel>

  5469.  <KeepParameterValues>False</KeepParameterValues>

  5470.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5471. </Description>';

  5472.  type PowerMux

  5473.   ports

  5474.    power in input;

  5475.    power out output [6,1];

  5476.    power in input_rot2 [2,1];

  5477.    power in input_pos3 [3,1];

  5478.   restrictions

  5479.    causality constraint not_equal input output;

  5480.    causality constraint not_equal input_rot2 output;

  5481.    causality constraint not_equal input_pos3 output;

  5482.  end;

  5483.  icon bg bottom

  5484.   figures

  5485.    line 242 274 290 274 color 0 width 2;

  5486.    rectangle 242 266 290 278 color -1;

  5487.    text '1' 260 269 color 8421504 8;

  5488.   terminals

  5489.    input 250 274 fixed;

  5490.    output 266 274 fixed;

  5491.    input_rot2 282 274 fixed;

  5492.    input_pos3 266 274 fixed;

  5493.  end;

  5494.  implementation eq

  5495. equations

  5496. 	output.e[1] = input_rot2.e[1];

  5497. 	output.e[2] = input.e;

  5498. 	output.e[3] = input_rot2.e[2];

  5499. 	output.e[4:6] = input_pos3.e;

  5500. 	output.f[1] = input_rot2.f[1];

  5501. 	output.f[2] = input.f;

  5502. 	output.f[3] = input_rot2.f[2];

  5503. 	output.f[4:6] = input_pos3.f;implementation_end;

  5504. specification_end;

  5505. 							specification 'rot_z'

  5506. description '<Information>

  5507.  <Description>

  5508.     <Version>4.8</Version>

  5509.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5510.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5511. <IsMainModel>1</IsMainModel>

  5512.   <KeepParameterValues>False</KeepParameterValues>

  5513.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5514.  </Description>

  5515. </Information>';

  5516.  type PowerMux

  5517.   ports

  5518.    power in input;

  5519.    power out output [6,1];

  5520.    power in input_rot2 [2,1];

  5521.    power in input_pos3 [3,1];

  5522.   restrictions

  5523.    causality constraint not_equal input output;

  5524.    causality constraint not_equal input_rot2 output;

  5525.    causality constraint not_equal input_pos3 output;

  5526.  end;

  5527.  icon bg bottom

  5528.   figures

  5529.    line 242 274 290 274 color 0 width 2;

  5530.    rectangle 242 266 290 278 color -1;

  5531.    text '1' 260 269 color 8421504 8;

  5532.   terminals

  5533.    input 250 274 fixed;

  5534.    output 266 274 fixed;

  5535.    input_rot2 282 274 fixed;

  5536.    input_pos3 266 274 fixed;

  5537.  end;

  5538.  implementation eq

  5539. equations

  5540. 	output.e[3] = input.e;

  5541. 	output.e[1:2] = input_rot2.e;

  5542. 	output.e[4:6] = input_pos3.e;

  5543. 	output.f[3] = input.f;

  5544. 	output.f[1:2] = input_rot2.f;

  5545. 	output.f[4:6] = input_pos3.f;implementation_end;

  5546. specification_end;

  5547. 						end;

  5548.       R 288 152

  5549.        description '<Information>

  5550.  <Description>

  5551.     <Version>4.2</Version>

  5552. <IsMainModel>1</IsMainModel>

  5553.   <KeepParameterValues>False</KeepParameterValues>

  5554.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5555.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5556. </Description>

  5557. </Information>';

  5558.        type R

  5559.         ports

  5560.          power in p;

  5561.        end;

  5562.        icon bg top

  5563.         figures

  5564.          text 'R' 288 152 color 0 18 bold;

  5565.        end;

  5566.        implementation eq

  5567. parameters

  5568. 	real r = 0.0001;

  5569. equations

  5570. 	p.e = r * p.f;

  5571. implementation_end;

  5572.       R4 239.8 288.2

  5573.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5574.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5575.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5576. </Description>';

  5577.        type 'R-2'

  5578.         ports

  5579.          power in p [2,1];

  5580.        end;

  5581.        icon bg bottom

  5582.         figures

  5583.          text 'R' 239.8 288.2 color 0 18 bold;

  5584.        end;

  5585.        implementation eq

  5586. parameters

  5587. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5588. equations					

  5589. 	p.e = r * p.f;

  5590. implementation_end;

  5591.       R5 239.8 168.2

  5592.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5593.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5594.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5595. </Description>';

  5596.        type 'R-3'

  5597.         ports

  5598.          power in p [3,1];

  5599.        end;

  5600.        icon bg top

  5601.         figures

  5602.          text 'R' 239.8 168.2 color 0 18 bold;

  5603.        end;

  5604.        implementation eq

  5605. parameters

  5606. 	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};

  5607. equations					

  5608. 	p.e = r * p.f;

  5609. implementation_end;

  5610.      end;

  5611.      connections

  5612.       C1\p <= OneJunction7\p;

  5613.       OneJunction5\p => C4\p;

  5614.       OneJunction5\p => PowerMux\input_rot2;

  5615.       OneJunction5\p => R4\p;

  5616.       OneJunction7\p => PowerMux\input_pos3;

  5617.       OneJunction7\p => R5\p;

  5618.       OneJunction8\p => PowerMux\input;

  5619.       PowerMux\output => output;

  5620.       R\p <= OneJunction8\p;

  5621.      end;

  5622.     implementation_end;

  5623.    Joint_dynF 864 48

  5624.     description '<Description>

  5625. 	<Version>4.8</Version>

  5626. 	<IsMainModel>1</IsMainModel>

  5627. 	</Description>';

  5628.     type Submodel

  5629.      ports

  5630.       power out output [6,1];

  5631.     end;

  5632.     icon bg

  5633.      figures

  5634.       rectangle 824 32 904 64 color 0 fill 15132390;

  5635.       text 'name' 864 48 color 0 'Clear Sans' 16;

  5636.     end;

  5637.     implementation bg

  5638.      submodels

  5639.       C 264 168

  5640.        description '<Information>

  5641.  <Description>

  5642.     <Version>4.2</Version>

  5643. <IsMainModel>1</IsMainModel>

  5644.   <KeepParameterValues>False</KeepParameterValues>

  5645.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  5646.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  5647. </Description>

  5648. </Information>';

  5649.        type C

  5650.         ports

  5651.          power in p;

  5652.          signal out state;

  5653.         restrictions

  5654.          causality preferred out p;

  5655.        end;

  5656.        icon bg bottom

  5657.         figures

  5658.          text 'C' 264 168 color 0 18 bold;

  5659.        end;

  5660.        implementation eq

  5661. parameters

  5662. 	real c = 0.1;

  5663. equations

  5664. 	state = int(p.f);

  5665. 	p.e = state / c;

  5666. implementation_end;

  5667.       C1 191.8 216.2

  5668.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5669.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  5670.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  5671. </Description>';

  5672.        type 'C-3'

  5673.         ports

  5674.          power in p [3,1];

  5675.          signal out state [3,1];

  5676.         restrictions

  5677.          causality preferred out p;

  5678.        end;

  5679.        icon bg top

  5680.         figures

  5681.          text 'C' 191.8 216.2 color 0 18 bold;

  5682.        end;

  5683.        implementation eq

  5684. parameters

  5685. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  5686. equations

  5687.     state = int(p.f);

  5688.     p.e = inverse(c) *state;

  5689. implementation_end;

  5690.       C4 191.8 232.2

  5691.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5692.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  5693.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  5694. </Description>';

  5695.        type 'C-2'

  5696.         ports

  5697.          power in p [2,1];

  5698.          signal out state [2,1];

  5699.         restrictions

  5700.          causality preferred out p;

  5701.        end;

  5702.        icon bg bottom

  5703.         figures

  5704.          text 'C' 191.8 232.2 color 0 18 bold;

  5705.        end;

  5706.        implementation eq

  5707. parameters

  5708. 	real c[2,2] = [1, 0.0; 0.0, 1]  {uN.m/rad};

  5709. equations

  5710.     state = int(p.f);

  5711.     p.e = inverse(c) *state;

  5712. implementation_end;

  5713.       plug output 396 216;

  5714.       OneJunction5 239.8 232.2

  5715.        description '<Information>

  5716.  <Description>

  5717.     <Version>4.2</Version>

  5718. <IsMainModel>1</IsMainModel>

  5719.   <KeepParameterValues>False</KeepParameterValues>

  5720.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5721.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5722. </Description>

  5723. </Information>';

  5724.        knot OneJunction

  5725.         ports

  5726.          power knot duplicatable none p [2,1];

  5727.          signal knot out flow [2,1];

  5728.         restrictions

  5729.          causality constraint one_out p;

  5730.        end;

  5731.        icon bg

  5732.         figures

  5733.          text '1' 239.8 232.2 color 0 18 bold;

  5734.        end;

  5735.        implementation eq

  5736. equations

  5737. 	sum (direct (p.e)) = 0;

  5738. 	equal (collect (p.f));

  5739. 	flow = first (p.f);

  5740. implementation_end;

  5741.       OneJunction7 239.8 216.2

  5742.        description '<Information>

  5743.  <Description>

  5744.     <Version>4.2</Version>

  5745. <IsMainModel>1</IsMainModel>

  5746.   <KeepParameterValues>False</KeepParameterValues>

  5747.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5748.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5749. </Description>

  5750. </Information>';

  5751.        knot OneJunction

  5752.         ports

  5753.          power knot duplicatable none p [3,1];

  5754.          signal knot out flow [3,1];

  5755.         restrictions

  5756.          causality constraint one_out p;

  5757.        end;

  5758.        icon bg

  5759.         figures

  5760.          text '1' 239.8 216.2 color 0 18 bold;

  5761.        end;

  5762.        implementation eq

  5763. equations

  5764. 	sum (direct (p.e)) = 0;

  5765. 	equal (collect (p.f));

  5766. 	flow = first (p.f);

  5767. implementation_end;

  5768.       OneJunction8 288 200

  5769.        description '<Information>

  5770.  <Description>

  5771.     <Version>4.2</Version>

  5772. <IsMainModel>1</IsMainModel>

  5773.   <KeepParameterValues>False</KeepParameterValues>

  5774.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5775.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5776. </Description>

  5777. </Information>';

  5778.        knot OneJunction

  5779.         ports

  5780.          power knot duplicatable none p [1];

  5781.          signal knot out flow [1];

  5782.         restrictions

  5783.          causality constraint one_out p;

  5784.        end;

  5785.        icon bg

  5786.         figures

  5787.          text '1' 288 200 color 0 18 bold;

  5788.        end;

  5789.        implementation eq

  5790. equations

  5791. 	sum (direct (p.e)) = 0;

  5792. 	equal (collect (p.f));

  5793. 	flow = first (p.f);

  5794. implementation_end;

  5795.       PowerMux 330 216

  5796. 						specifications active 'rot_z'

  5797. 							specification 'rot_x'

  5798. description '<Information>

  5799.  <Description>

  5800.     <Version>4.8</Version>

  5801.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5802.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5803. <IsMainModel>1</IsMainModel>

  5804.   <KeepParameterValues>False</KeepParameterValues>

  5805.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5806.  </Description>

  5807. </Information>';

  5808.  type 'PowerMux-Rotation'

  5809.   ports

  5810.    power in input;

  5811.    power out output [6,1];

  5812.    power in input_rot2 [2,1];

  5813.    power in input_pos3 [3,1];

  5814.   restrictions

  5815.    causality constraint not_equal input output;

  5816.    causality constraint not_equal input_rot2 output;

  5817.    causality constraint not_equal input_pos3 output;

  5818.  end;

  5819.  icon bg bottom

  5820.   figures

  5821.    line 328 192 328 240 color 0 width 2;

  5822.    rectangle 324 192 336 240 color -1;

  5823.    text '1' 333 210 color 8421504 8;

  5824.   terminals

  5825.    input 328 200 fixed;

  5826.    output 328 216 fixed;

  5827.    input_rot2 328 232 fixed;

  5828.    input_pos3 328 216 fixed;

  5829.  end;

  5830.  implementation eq

  5831. equations

  5832. 	output.e[1] = input.e;

  5833. 	output.e[2:3] = input_rot2.e;

  5834. 	output.e[4:6] = input_pos3.e;

  5835. 	output.f[1] = input.f;

  5836. 	output.f[2:3] = input_rot2.f;

  5837. 	output.f[4:6] = input_pos3.f;implementation_end;

  5838. specification_end;

  5839. 							specification 'rot_y'

  5840. description '<Description>

  5841.    <Version>4.1</Version>

  5842.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5843.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5844. <IsMainModel>1</IsMainModel>

  5845.  <KeepParameterValues>False</KeepParameterValues>

  5846.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5847. </Description>';

  5848.  type PowerMux

  5849.   ports

  5850.    power in input;

  5851.    power out output [6,1];

  5852.    power in input_rot2 [2,1];

  5853.    power in input_pos3 [3,1];

  5854.   restrictions

  5855.    causality constraint not_equal input output;

  5856.    causality constraint not_equal input_rot2 output;

  5857.    causality constraint not_equal input_pos3 output;

  5858.  end;

  5859.  icon bg bottom

  5860.   figures

  5861.    line 242 274 290 274 color 0 width 2;

  5862.    rectangle 242 266 290 278 color -1;

  5863.    text '1' 260 269 color 8421504 8;

  5864.   terminals

  5865.    input 250 274 fixed;

  5866.    output 266 274 fixed;

  5867.    input_rot2 282 274 fixed;

  5868.    input_pos3 266 274 fixed;

  5869.  end;

  5870.  implementation eq

  5871. equations

  5872. 	output.e[1] = input_rot2.e[1];

  5873. 	output.e[2] = input.e;

  5874. 	output.e[3] = input_rot2.e[2];

  5875. 	output.e[4:6] = input_pos3.e;

  5876. 	output.f[1] = input_rot2.f[1];

  5877. 	output.f[2] = input.f;

  5878. 	output.f[3] = input_rot2.f[2];

  5879. 	output.f[4:6] = input_pos3.f;implementation_end;

  5880. specification_end;

  5881. 							specification 'rot_z'

  5882.  description '<Information>

  5883.  <Description>

  5884.     <Version>4.8</Version>

  5885.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5886.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5887. <IsMainModel>1</IsMainModel>

  5888.   <KeepParameterValues>False</KeepParameterValues>

  5889.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5890.  </Description>

  5891. </Information>';

  5892.  type PowerMux

  5893.   ports

  5894.    power in input;

  5895.    power out output [6,1];

  5896.    power in input_rot2 [2,1];

  5897.    power in input_pos3 [3,1];

  5898.   restrictions

  5899.    causality constraint not_equal input output;

  5900.    causality constraint not_equal input_rot2 output;

  5901.    causality constraint not_equal input_pos3 output;

  5902.  end;

  5903.  icon bg bottom

  5904.   figures

  5905.    line 328 192 328 240 color 0 width 2;

  5906.    rectangle 324 192 336 240 color -1;

  5907.    text '1' 333 210 color 8421504 8;

  5908.   terminals

  5909.    input 328 200 fixed;

  5910.    output 328 216 fixed;

  5911.    input_rot2 328 232 fixed;

  5912.    input_pos3 328 216 fixed;

  5913.  end;

  5914.  implementation eq

  5915. equations

  5916. 	output.e[3] = input.e;

  5917. 	output.e[1:2] = input_rot2.e;

  5918. 	output.e[4:6] = input_pos3.e;

  5919. 	output.f[3] = input.f;

  5920. 	output.f[1:2] = input_rot2.f;

  5921. 	output.f[4:6] = input_pos3.f;implementation_end;

  5922. specification_end;

  5923. 						end;

  5924.       R 288 152

  5925.        description '<Information>

  5926.  <Description>

  5927.     <Version>4.2</Version>

  5928. <IsMainModel>1</IsMainModel>

  5929.   <KeepParameterValues>False</KeepParameterValues>

  5930.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5931.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5932. </Description>

  5933. </Information>';

  5934.        type R

  5935.         ports

  5936.          power in p;

  5937.        end;

  5938.        icon bg top

  5939.         figures

  5940.          text 'R' 288 152 color 0 18 bold;

  5941.        end;

  5942.        implementation eq

  5943. parameters

  5944. 	real r = 0.01;

  5945. equations

  5946. 	p.e = r * p.f;

  5947. implementation_end;

  5948.       R4 239.8 288.2

  5949.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5950.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5951.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5952. </Description>';

  5953.        type 'R-2'

  5954.         ports

  5955.          power in p [2,1];

  5956.        end;

  5957.        icon bg bottom

  5958.         figures

  5959.          text 'R' 239.8 288.2 color 0 18 bold;

  5960.        end;

  5961.        implementation eq

  5962. parameters

  5963. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5964. equations					

  5965. 	p.e = r * p.f;

  5966. implementation_end;

  5967.       R5 239.8 168.2

  5968.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5969.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5970.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5971. </Description>';

  5972.        type 'R-3'

  5973.         ports

  5974.          power in p [3,1];

  5975.        end;

  5976.        icon bg top

  5977.         figures

  5978.          text 'R' 239.8 168.2 color 0 18 bold;

  5979.        end;

  5980.        implementation eq

  5981. parameters

  5982. 	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};

  5983. equations					

  5984. 	p.e = r * p.f;

  5985. implementation_end;

  5986.      end;

  5987.      connections

  5988.       C\p <= OneJunction8\p;

  5989.       C1\p <= OneJunction7\p;

  5990.       OneJunction5\p => C4\p;

  5991.       OneJunction5\p => PowerMux\input_rot2;

  5992.       OneJunction5\p => R4\p;

  5993.       OneJunction7\p => PowerMux\input_pos3;

  5994.       OneJunction7\p => R5\p;

  5995.       OneJunction8\p => PowerMux\input;

  5996.       PowerMux\output => output;

  5997.       R\p <= OneJunction8\p;

  5998.      end;

  5999.     implementation_end;

  6000.    LiftingArm 824 240

  6001.     description '<Description>

  6002. 	<Version>4.8</Version>

  6003. 	<IsMainModel>1</IsMainModel>

  6004. 	</Description>';

  6005.     type Submodel

  6006.      ports

  6007.       signal in Hin [4,4];

  6008.       power in Pin [6,1];

  6009.       power out Pout [6,1];

  6010.     end;

  6011.     icon bg bottom

  6012.      figures

  6013.       rectangle 752 208 896 272 color 0 fill 15132390;

  6014.       text 'name' 792 232 color 0 'Clear Sans' 16;

  6015.      terminals

  6016.       Hin 752 256 fixed;

  6017.       Pin 896 224 fixed;

  6018.       Pout 752 224 fixed;

  6019.     end;

  6020.     implementation bg

  6021.      submodels

  6022.       Body_Lift1 376 336

  6023.        description '<Description><Version>4.0</Version>

  6024.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  6025. <IsMainModel>1</IsMainModel>

  6026.  <KeepParameterValues>False</KeepParameterValues>

  6027.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  6028.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6029. </Description>';

  6030.        type 'Submodel-Equation'

  6031.         ports

  6032.          signal in input [4,4];

  6033.        end;

  6034.        implementation eq

  6035. parameters

  6036. 	real dimension[3] = [0.02;0.02;0.02] {m};

  6037. variables

  6038. 	real position[3];

  6039. 	real rotation[3];

  6040. 	real R[3,3];

  6041. equations

  6042. 	position = input[1:3,4];

  6043. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  6044. 	//[input[3,2];input[1,3];input[2,1]];

  6045. 	R = input[1:3,1:3];implementation_end;

  6046.       Body_Lift2 680 336

  6047.        description '<Description><Version>4.0</Version>

  6048.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  6049. <IsMainModel>1</IsMainModel>

  6050.  <KeepParameterValues>False</KeepParameterValues>

  6051.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  6052.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6053. </Description>';

  6054.        type 'Submodel-Equation'

  6055.         ports

  6056.          signal in input [4,4];

  6057.        end;

  6058.        implementation eq

  6059. parameters

  6060. 	real dimension[3] = [0.01;0.003;0.002] {m};

  6061. variables

  6062. 	real position[3];

  6063. 	real rotation[3];

  6064. 	real R[3,3];

  6065. equations

  6066. 	position = input[1:3,4];

  6067. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  6068. 	//[input[3,2];input[1,3];input[2,1]];

  6069. 	R = input[1:3,1:3];implementation_end;

  6070.       Body_Lift3 1104 336

  6071.        description '<Description><Version>4.0</Version>

  6072.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  6073. <IsMainModel>1</IsMainModel>

  6074.  <KeepParameterValues>False</KeepParameterValues>

  6075.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  6076.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6077. </Description>';

  6078.        type 'Submodel-Equation'

  6079.         ports

  6080.          signal in input [4,4];

  6081.        end;

  6082.        implementation eq

  6083. parameters

  6084. 	real dimension[3] = [0.003;0.025;0.001] {m};

  6085. variables

  6086. 	real position[3];

  6087. 	real rotation[3];

  6088. 	real R[3,3];

  6089. equations

  6090. 	position = input[1:3,4];

  6091. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  6092. 	//[input[3,2];input[1,3];input[2,1]];

  6093. 	R = input[1:3,1:3];implementation_end;

  6094.       Body_Lift4 1416 336

  6095.        description '<Description><Version>4.0</Version>

  6096.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  6097. <IsMainModel>1</IsMainModel>

  6098.  <KeepParameterValues>False</KeepParameterValues>

  6099.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  6100.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6101. </Description>';

  6102.        type 'Submodel-Equation'

  6103.         ports

  6104.          signal in input [4,4];

  6105.        end;

  6106.        implementation eq

  6107. parameters

  6108. 	real dimension[3] = [0.0159;0.003;0.002] {m};

  6109. variables

  6110. 	real position[3];

  6111. 	real rotation[3];

  6112. 	real R[3,3];

  6113. equations

  6114. 	position = input[1:3,4];

  6115. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  6116. 	//[input[3,2];input[1,3];input[2,1]];

  6117. 	R = input[1:3,1:3];implementation_end;

  6118.       Joint 488 240

  6119.        description '<Information>

  6120.  <Description>

  6121.     <Version>4.8</Version>

  6122. <IsMainModel>1</IsMainModel>

  6123.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  6124.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  6125. </Description>

  6126. </Information>';

  6127.        type 'Submodel-v3'

  6128.         ports

  6129.          power in Pin [6,1];

  6130.          power in Pdiff [6,1];

  6131.          signal in Hin [4,4];

  6132.          signal out Hout [4,4];

  6133.          signal out Hdiff [4,4];

  6134.          power out Pout [6,1];

  6135.        end;

  6136.        icon bg bottom

  6137.         figures

  6138.          rectangle 464 208 512 272 color 0 fill 14745599;

  6139.          text 'Joint' 488 240 color 0 'Clear Sans' 16;

  6140.         terminals

  6141.          Pin 512 224 fixed;

  6142.          Hin 464 256 fixed;

  6143.          Hout 512 256 fixed;

  6144.          Pout 464 224 fixed;

  6145.        end;

  6146.        implementation bg

  6147.         submodels

  6148.          AdHji 424 424

  6149.           description '<Description>

  6150.  <Version>4.0</Version>

  6151.  <IsMainModel>1</IsMainModel>

  6152.  <KeepParameterValues>False</KeepParameterValues>

  6153.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  6154.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  6155.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6156. </Description>';

  6157.           type MTF

  6158.            ports

  6159.             power out p1 [6,1];

  6160.             power in p2 [6,1];

  6161.             signal in H [4,4];

  6162.            restrictions

  6163.             causality constraint not_equal p1 p2;

  6164.           end;

  6165.           icon bg bottom

  6166.            figures

  6167.             text 'MTF' 424 424 color 0 18 bold;

  6168.           end;

  6169.           implementation eq

  6170. equations					

  6171. 	p2.e = transpose(Adjoint(H)) * p1.e;

  6172. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  6173.          FlowSensor2 184 311.9

  6174.           description '<Information>

  6175.  <Description>

  6176.     <Version>4.2</Version>

  6177. <IsMainModel>1</IsMainModel>

  6178.   <KeepParameterValues>False</KeepParameterValues>

  6179.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  6180.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  6181. </Description>

  6182. </Information>';

  6183.           knot FlowSensor

  6184.            ports

  6185.             power knot in p1 [6,1];

  6186.             power knot out p2 [6,1];

  6187.             signal knot out flow [6,1];

  6188.            restrictions

  6189.             causality constraint not_equal p1 p2;

  6190.           end;

  6191.           icon bg ellipse

  6192.            figures

  6193.             ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  6194.             text 'f' 184 311.2 color 0;

  6195.           end;

  6196.           implementation eq

  6197. equations

  6198. 	p2.f = p1.f;

  6199. 	p1.e = p2.e;

  6200. 	flow = p1.f;

  6201. implementation_end;

  6202.          Hmatrix 256 312

  6203.           description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  6204.           type 'Submodel-Equation'

  6205.            ports

  6206.             signal in flow [6,1];

  6207.             signal out H [4,4];

  6208.           end;

  6209.           icon bg

  6210.            figures

  6211.             rectangle 224 296 288 328 color 0 fill 15132390;

  6212.             text 'name' 256 312 color 0 'Clear Sans' 16;

  6213.           end;

  6214.           implementation eq

  6215. parameters

  6216. 	real init[4] = [1;0;0;0];

  6217. variables

  6218. 	real q[4];		//quaternions

  6219. 	real W[3,4];	//Quaternion Rates Matrix

  6220. 	real R[3,3];	//Rotation Matrix

  6221. 	real p[3];		//Position Vector

  6222. 	real dq[4];

  6223. 	real Wb[3,4];

  6224. equations

  6225. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  6226. 	q = int(dq,init);

  6227. 	p = int(flow[4:6]);

  6228. 	W = [-q[2],	q[1],	-q[4],	q[3];

  6229. 		 -q[3],	q[4],	q[1],	-q[2];

  6230. 		 -q[4],	-q[3],	q[2],	q[1]];

  6231. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  6232. 	   		-q[3], -q[4],  q[1],  q[2];

  6233. 	   		-q[4],  q[3], -q[2],  q[1]];

  6234.  	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]);

  6235. 		  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]);

  6236. 		  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];

  6237. 	H = homogeneous(R,p);

  6238. 	implementation_end;

  6239.          MatrixMul 320 576

  6240.           description '<Description>

  6241.  <Version>4.0</Version>

  6242.  <IsMainModel>1</IsMainModel>

  6243.  <KeepParameterValues>False</KeepParameterValues>

  6244.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  6245.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  6246.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6247. </Description>';

  6248.           type Gain

  6249.            ports

  6250.             signal in input1 [4,4];

  6251.             signal out output [4,4];

  6252.             signal in input2 [4,4];

  6253.           end;

  6254.           icon bg bottom

  6255.            figures

  6256.             rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  6257.             text 'X' 320 576 color 16711680 16 bold;

  6258.           end;

  6259.           implementation eq

  6260. equations

  6261. 	output = input2*input1;    implementation_end;

  6262.          plug Pin 492.1 424;

  6263.          plug Pdiff 184 225;

  6264.          plug Hin 130.8 576;

  6265.          plug Hout 478.4 576;

  6266.          plug Hdiff 320 222;

  6267.          plug Pout 134.7 424;

  6268.          Splitter2 320 312

  6269.           description '<Description><Version>4.0</Version>

  6270.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6271.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6272. <IsMainModel>1</IsMainModel>

  6273.  <KeepParameterValues>False</KeepParameterValues>

  6274. </Description>';

  6275.           knot Splitter

  6276.            ports

  6277.             signal knot duplicatable out output [4,4];

  6278.             signal knot in input [4,4];

  6279.           end;

  6280.           icon bg ellipse

  6281.            figures

  6282.             ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  6283.             ellipse 315.7 307.7 324.3 316.3 color -1;

  6284.            terminals

  6285.             input 320 312 fixed;

  6286.           end;

  6287.           implementation eq

  6288. equations

  6289.     collect (output) = input;

  6290. implementation_end;

  6291.          Wbai 184 424

  6292.           description '<Description>

  6293.  <Version>4.0</Version>

  6294.  <IsMainModel>1</IsMainModel>

  6295.  <KeepParameterValues>False</KeepParameterValues>

  6296.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  6297.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  6298.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6299. </Description>';

  6300.           knot ZeroJunction

  6301.            ports

  6302.             power knot duplicatable none p [6,1];

  6303.             signal knot out effort [6,1];

  6304.            restrictions

  6305.             causality constraint one_in p;

  6306.           end;

  6307.           icon bg bottom

  6308.            figures

  6309.             text '0' 184 424 color 0 18 bold;

  6310.           end;

  6311.           implementation eq

  6312. equations

  6313. 	sum (direct (p.f)) = 0;

  6314. 	equal (collect (p.e));

  6315. 	effort = first (p.e);

  6316. implementation_end;

  6317.         end;

  6318.         connections

  6319.          FlowSensor2\flow -> Hmatrix\flow;

  6320.          FlowSensor2\p2 => Wbai\p;

  6321.          Hin -> MatrixMul\input2;

  6322.          Hmatrix\H -> Splitter2\input;

  6323.          MatrixMul\output -> Hout;

  6324.          Pdiff => FlowSensor2\p1;

  6325.          Pin => AdHji\p2;

  6326.          Splitter2\output -> AdHji\H 424 312;

  6327.          Splitter2\output -> Hdiff;

  6328.          Splitter2\output -> MatrixMul\input1;

  6329.          Wbai\p <= AdHji\p1;

  6330.          Wbai\p => Pout;

  6331.         end;

  6332.        implementation_end;

  6333.       Joint1 952 240

  6334.        description '<Information>

  6335.  <Description>

  6336.     <Version>4.8</Version>

  6337. <IsMainModel>1</IsMainModel>

  6338.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  6339.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  6340. </Description>

  6341. </Information>';

  6342.        type 'Submodel-v3'

  6343.         ports

  6344.          power in Pin [6,1];

  6345.          power in Pdiff [6,1];

  6346.          signal in Hin [4,4];

  6347.          signal out Hout [4,4];

  6348.          signal out Hdiff [4,4];

  6349.          power out Pout [6,1];

  6350.        end;

  6351.        icon bg bottom

  6352.         figures

  6353.          rectangle 928 208 976 272 color 0 fill 14745599;

  6354.          text 'Joint' 952 240 color 0 'Clear Sans' 16;

  6355.         terminals

  6356.          Pin 976 224 fixed;

  6357.          Hin 928 256 fixed;

  6358.          Hout 976 256 fixed;

  6359.          Pout 928 224 fixed;

  6360.        end;

  6361.        implementation bg

  6362.         submodels

  6363.          AdHji 424 424

  6364.           description '<Description>

  6365.  <Version>4.0</Version>

  6366.  <IsMainModel>1</IsMainModel>

  6367.  <KeepParameterValues>False</KeepParameterValues>

  6368.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  6369.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  6370.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6371. </Description>';

  6372.           type MTF

  6373.            ports

  6374.             power out p1 [6,1];

  6375.             power in p2 [6,1];

  6376.             signal in H [4,4];

  6377.            restrictions

  6378.             causality constraint not_equal p1 p2;

  6379.           end;

  6380.           icon bg bottom

  6381.            figures

  6382.             text 'MTF' 424 424 color 0 18 bold;

  6383.           end;

  6384.           implementation eq

  6385. equations					

  6386. 	p2.e = transpose(Adjoint(H)) * p1.e;

  6387. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  6388.          FlowSensor2 184 311.9

  6389.           description '<Information>

  6390.  <Description>

  6391.     <Version>4.2</Version>

  6392. <IsMainModel>1</IsMainModel>

  6393.   <KeepParameterValues>False</KeepParameterValues>

  6394.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  6395.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  6396. </Description>

  6397. </Information>';

  6398.           knot FlowSensor

  6399.            ports

  6400.             power knot in p1 [6,1];

  6401.             power knot out p2 [6,1];

  6402.             signal knot out flow [6,1];

  6403.            restrictions

  6404.             causality constraint not_equal p1 p2;

  6405.           end;

  6406.           icon bg ellipse

  6407.            figures

  6408.             ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  6409.             text 'f' 184 311.2 color 0;

  6410.           end;

  6411.           implementation eq

  6412. equations

  6413. 	p2.f = p1.f;

  6414. 	p1.e = p2.e;

  6415. 	flow = p1.f;

  6416. implementation_end;

  6417.          Hmatrix 256 312

  6418.           description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  6419.           type 'Submodel-Equation'

  6420.            ports

  6421.             signal in flow [6,1];

  6422.             signal out H [4,4];

  6423.           end;

  6424.           icon bg

  6425.            figures

  6426.             rectangle 224 296 288 328 color 0 fill 15132390;

  6427.             text 'name' 256 312 color 0 'Clear Sans' 16;

  6428.           end;

  6429.           implementation eq

  6430. parameters

  6431. 	real init[4] = [1;0;0;0];

  6432. variables

  6433. 	real q[4];		//quaternions

  6434. 	real W[3,4];	//Quaternion Rates Matrix

  6435. 	real R[3,3];	//Rotation Matrix

  6436. 	real p[3];		//Position Vector

  6437. 	real dq[4];

  6438. 	real Wb[3,4];

  6439. equations

  6440. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  6441. 	q = int(dq,init);

  6442. 	p = int(flow[4:6]);

  6443. 	W = [-q[2],	q[1],	-q[4],	q[3];

  6444. 		 -q[3],	q[4],	q[1],	-q[2];

  6445. 		 -q[4],	-q[3],	q[2],	q[1]];

  6446. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  6447. 	   		-q[3], -q[4],  q[1],  q[2];

  6448. 	   		-q[4],  q[3], -q[2],  q[1]];

  6449.  	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]);

  6450. 		  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]);

  6451. 		  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];

  6452. 	H = homogeneous(R,p);

  6453. 	implementation_end;

  6454.          MatrixMul 320 576

  6455.           description '<Description>

  6456.  <Version>4.0</Version>

  6457.  <IsMainModel>1</IsMainModel>

  6458.  <KeepParameterValues>False</KeepParameterValues>

  6459.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  6460.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  6461.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6462. </Description>';

  6463.           type Gain

  6464.            ports

  6465.             signal in input1 [4,4];

  6466.             signal out output [4,4];

  6467.             signal in input2 [4,4];

  6468.           end;

  6469.           icon bg bottom

  6470.            figures

  6471.             rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  6472.             text 'X' 320 576 color 16711680 16 bold;

  6473.           end;

  6474.           implementation eq

  6475. equations

  6476. 	output = input2*input1;    implementation_end;

  6477.          plug Pin 492.1 424;

  6478.          plug Pdiff 184 225;

  6479.          plug Hin 130.8 576;

  6480.          plug Hout 478.4 576;

  6481.          plug Hdiff 320 222;

  6482.          plug Pout 134.7 424;

  6483.          Splitter2 320 312

  6484.           description '<Description><Version>4.0</Version>

  6485.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6486.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6487. <IsMainModel>1</IsMainModel>

  6488.  <KeepParameterValues>False</KeepParameterValues>

  6489. </Description>';

  6490.           knot Splitter

  6491.            ports

  6492.             signal knot duplicatable out output [4,4];

  6493.             signal knot in input [4,4];

  6494.           end;

  6495.           icon bg ellipse

  6496.            figures

  6497.             ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  6498.             ellipse 315.7 307.7 324.3 316.3 color -1;

  6499.            terminals

  6500.             input 320 312 fixed;

  6501.           end;

  6502.           implementation eq

  6503. equations

  6504.     collect (output) = input;

  6505. implementation_end;

  6506.          Wbai 184 424

  6507.           description '<Description>

  6508.  <Version>4.0</Version>

  6509.  <IsMainModel>1</IsMainModel>

  6510.  <KeepParameterValues>False</KeepParameterValues>

  6511.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  6512.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  6513.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6514. </Description>';

  6515.           knot ZeroJunction

  6516.            ports

  6517.             power knot duplicatable none p [6,1];

  6518.             signal knot out effort [6,1];

  6519.            restrictions

  6520.             causality constraint one_in p;

  6521.           end;

  6522.           icon bg bottom

  6523.            figures

  6524.             text '0' 184 424 color 0 18 bold;

  6525.           end;

  6526.           implementation eq

  6527. equations

  6528. 	sum (direct (p.f)) = 0;

  6529. 	equal (collect (p.e));

  6530. 	effort = first (p.e);

  6531. implementation_end;

  6532.         end;

  6533.         connections

  6534.          FlowSensor2\flow -> Hmatrix\flow;

  6535.          FlowSensor2\p2 => Wbai\p;

  6536.          Hin -> MatrixMul\input2;

  6537.          Hmatrix\H -> Splitter2\input;

  6538.          MatrixMul\output -> Hout;

  6539.          Pdiff => FlowSensor2\p1;

  6540.          Pin => AdHji\p2;

  6541.          Splitter2\output -> AdHji\H 424 312;

  6542.          Splitter2\output -> Hdiff;

  6543.          Splitter2\output -> MatrixMul\input1;

  6544.          Wbai\p <= AdHji\p1;

  6545.          Wbai\p => Pout;

  6546.         end;

  6547.        implementation_end;

  6548.       Joint2 1256 240

  6549.        description '<Information>

  6550.  <Description>

  6551.     <Version>4.8</Version>

  6552. <IsMainModel>1</IsMainModel>

  6553.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  6554.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  6555. </Description>

  6556. </Information>';

  6557.        type 'Submodel-v3'

  6558.         ports

  6559.          power in Pin [6,1];

  6560.          power in Pdiff [6,1];

  6561.          signal in Hin [4,4];

  6562.          signal out Hout [4,4];

  6563.          signal out Hdiff [4,4];

  6564.          power out Pout [6,1];

  6565.        end;

  6566.        icon bg bottom

  6567.         figures

  6568.          rectangle 1232 208 1280 272 color 0 fill 14745599;

  6569.          text 'Joint' 1256 240 color 0 'Clear Sans' 16;

  6570.         terminals

  6571.          Pin 1280 224 fixed;

  6572.          Hin 1232 256 fixed;

  6573.          Hout 1280 256 fixed;

  6574.          Pout 1232 224 fixed;

  6575.        end;

  6576.        implementation bg

  6577.         submodels

  6578.          AdHji 424 424

  6579.           description '<Description>

  6580.  <Version>4.0</Version>

  6581.  <IsMainModel>1</IsMainModel>

  6582.  <KeepParameterValues>False</KeepParameterValues>

  6583.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  6584.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  6585.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6586. </Description>';

  6587.           type MTF

  6588.            ports

  6589.             power out p1 [6,1];

  6590.             power in p2 [6,1];

  6591.             signal in H [4,4];

  6592.            restrictions

  6593.             causality constraint not_equal p1 p2;

  6594.           end;

  6595.           icon bg bottom

  6596.            figures

  6597.             text 'MTF' 424 424 color 0 18 bold;

  6598.           end;

  6599.           implementation eq

  6600. equations					

  6601. 	p2.e = transpose(Adjoint(H)) * p1.e;

  6602. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  6603.          FlowSensor2 184 311.9

  6604.           description '<Information>

  6605.  <Description>

  6606.     <Version>4.2</Version>

  6607. <IsMainModel>1</IsMainModel>

  6608.   <KeepParameterValues>False</KeepParameterValues>

  6609.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  6610.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  6611. </Description>

  6612. </Information>';

  6613.           knot FlowSensor

  6614.            ports

  6615.             power knot in p1 [6,1];

  6616.             power knot out p2 [6,1];

  6617.             signal knot out flow [6,1];

  6618.            restrictions

  6619.             causality constraint not_equal p1 p2;

  6620.           end;

  6621.           icon bg ellipse

  6622.            figures

  6623.             ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  6624.             text 'f' 184 311.2 color 0;

  6625.           end;

  6626.           implementation eq

  6627. equations

  6628. 	p2.f = p1.f;

  6629. 	p1.e = p2.e;

  6630. 	flow = p1.f;

  6631. implementation_end;

  6632.          Hmatrix 256 312

  6633.           description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  6634.           type 'Submodel-Equation'

  6635.            ports

  6636.             signal in flow [6,1];

  6637.             signal out H [4,4];

  6638.           end;

  6639.           icon bg

  6640.            figures

  6641.             rectangle 224 296 288 328 color 0 fill 15132390;

  6642.             text 'name' 256 312 color 0 'Clear Sans' 16;

  6643.           end;

  6644.           implementation eq

  6645. parameters

  6646. 	real init[4] = [1;0;0;0];

  6647. variables

  6648. 	real q[4];		//quaternions

  6649. 	real W[3,4];	//Quaternion Rates Matrix

  6650. 	real R[3,3];	//Rotation Matrix

  6651. 	real p[3];		//Position Vector

  6652. 	real dq[4];

  6653. 	real Wb[3,4];

  6654. equations

  6655. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  6656. 	q = int(dq,init);

  6657. 	p = int(flow[4:6]);

  6658. 	W = [-q[2],	q[1],	-q[4],	q[3];

  6659. 		 -q[3],	q[4],	q[1],	-q[2];

  6660. 		 -q[4],	-q[3],	q[2],	q[1]];

  6661. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  6662. 	   		-q[3], -q[4],  q[1],  q[2];

  6663. 	   		-q[4],  q[3], -q[2],  q[1]];

  6664.  	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]);

  6665. 		  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]);

  6666. 		  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];

  6667. 	H = homogeneous(R,p);

  6668. 	implementation_end;

  6669.          MatrixMul 320 576

  6670.           description '<Description>

  6671.  <Version>4.0</Version>

  6672.  <IsMainModel>1</IsMainModel>

  6673.  <KeepParameterValues>False</KeepParameterValues>

  6674.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  6675.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  6676.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6677. </Description>';

  6678.           type Gain

  6679.            ports

  6680.             signal in input1 [4,4];

  6681.             signal out output [4,4];

  6682.             signal in input2 [4,4];

  6683.           end;

  6684.           icon bg bottom

  6685.            figures

  6686.             rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  6687.             text 'X' 320 576 color 16711680 16 bold;

  6688.           end;

  6689.           implementation eq

  6690. equations

  6691. 	output = input2*input1;    implementation_end;

  6692.          plug Pin 492.1 424;

  6693.          plug Pdiff 184 225;

  6694.          plug Hin 130.8 576;

  6695.          plug Hout 478.4 576;

  6696.          plug Hdiff 320 222;

  6697.          plug Pout 134.7 424;

  6698.          Splitter2 320 312

  6699.           description '<Description><Version>4.0</Version>

  6700.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6701.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6702. <IsMainModel>1</IsMainModel>

  6703.  <KeepParameterValues>False</KeepParameterValues>

  6704. </Description>';

  6705.           knot Splitter

  6706.            ports

  6707.             signal knot duplicatable out output [4,4];

  6708.             signal knot in input [4,4];

  6709.           end;

  6710.           icon bg ellipse

  6711.            figures

  6712.             ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  6713.             ellipse 315.7 307.7 324.3 316.3 color -1;

  6714.            terminals

  6715.             input 320 312 fixed;

  6716.           end;

  6717.           implementation eq

  6718. equations

  6719.     collect (output) = input;

  6720. implementation_end;

  6721.          Wbai 184 424

  6722.           description '<Description>

  6723.  <Version>4.0</Version>

  6724.  <IsMainModel>1</IsMainModel>

  6725.  <KeepParameterValues>False</KeepParameterValues>

  6726.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  6727.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  6728.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6729. </Description>';

  6730.           knot ZeroJunction

  6731.            ports

  6732.             power knot duplicatable none p [6,1];

  6733.             signal knot out effort [6,1];

  6734.            restrictions

  6735.             causality constraint one_in p;

  6736.           end;

  6737.           icon bg bottom

  6738.            figures

  6739.             text '0' 184 424 color 0 18 bold;

  6740.           end;

  6741.           implementation eq

  6742. equations

  6743. 	sum (direct (p.f)) = 0;

  6744. 	equal (collect (p.e));

  6745. 	effort = first (p.e);

  6746. implementation_end;

  6747.         end;

  6748.         connections

  6749.          FlowSensor2\flow -> Hmatrix\flow;

  6750.          FlowSensor2\p2 => Wbai\p;

  6751.          Hin -> MatrixMul\input2;

  6752.          Hmatrix\H -> Splitter2\input;

  6753.          MatrixMul\output -> Hout;

  6754.          Pdiff => FlowSensor2\p1;

  6755.          Pin => AdHji\p2;

  6756.          Splitter2\output -> AdHji\H 424 312;

  6757.          Splitter2\output -> Hdiff;

  6758.          Splitter2\output -> MatrixMul\input1;

  6759.          Wbai\p <= AdHji\p1;

  6760.          Wbai\p => Pout;

  6761.         end;

  6762.        implementation_end;

  6763.       Joint_dynF1 488 136

  6764.        description '<Description>

  6765. 	<Version>4.8</Version>

  6766. 	<IsMainModel>1</IsMainModel>

  6767. 	</Description>';

  6768.        type Submodel

  6769.         ports

  6770.          power out output [6,1];

  6771.        end;

  6772.        icon bg

  6773.         figures

  6774.          rectangle 448 120 528 152 color 0 fill 15132390;

  6775.          text 'name' 488 136 color 0 'Clear Sans' 16;

  6776.        end;

  6777.        implementation bg

  6778.         submodels

  6779.          C1 191.8 216.2

  6780.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6781.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  6782.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  6783. </Description>';

  6784.           type 'C-3'

  6785.            ports

  6786.             power in p [3,1];

  6787.             signal out state [3,1];

  6788.            restrictions

  6789.             causality preferred out p;

  6790.           end;

  6791.           icon bg top

  6792.            figures

  6793.             text 'C' 191.8 216.2 color 0 18 bold;

  6794.           end;

  6795.           implementation eq

  6796. parameters

  6797. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {mN/m};

  6798. equations

  6799.     state = int(p.f);

  6800.     p.e = inverse(c) *state;

  6801. implementation_end;

  6802.          C4 191.8 232.2

  6803.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6804.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  6805.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  6806. </Description>';

  6807.           type 'C-2'

  6808.            ports

  6809.             power in p [2,1];

  6810.             signal out state [2,1];

  6811.            restrictions

  6812.             causality preferred out p;

  6813.           end;

  6814.           icon bg bottom

  6815.            figures

  6816.             text 'C' 191.8 232.2 color 0 18 bold;

  6817.           end;

  6818.           implementation eq

  6819. parameters

  6820. 	real c[2,2] = [1, 0.0; 0.0, 1]  {mN.m/rad};

  6821. equations

  6822.     state = int(p.f);

  6823.     p.e = inverse(c) *state;

  6824. implementation_end;

  6825.          MSe 288 304

  6826.           description '<Information>

  6827.  <Description>

  6828.     <Version>4.2</Version>

  6829. <IsMainModel>1</IsMainModel>

  6830.   <KeepParameterValues>False</KeepParameterValues>

  6831.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  6832.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  6833. </Description>

  6834. </Information>';

  6835.           type MSe

  6836.            ports

  6837.             power out p;

  6838.             signal in effort;

  6839.            restrictions

  6840.             causality fixed out p;

  6841.           end;

  6842.           icon bg bottom

  6843.            figures

  6844.             text 'MSe' 288 304 color 0 18 bold;

  6845.           end;

  6846.           implementation eq

  6847. variables

  6848. 	real flow;

  6849. equations

  6850. 	p.e = effort;

  6851. 	flow = p.f;

  6852. implementation_end;

  6853.          plug output 396 216;

  6854.          OneJunction5 239.8 232.2

  6855.           description '<Information>

  6856.  <Description>

  6857.     <Version>4.2</Version>

  6858. <IsMainModel>1</IsMainModel>

  6859.   <KeepParameterValues>False</KeepParameterValues>

  6860.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6861.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6862. </Description>

  6863. </Information>';

  6864.           knot OneJunction

  6865.            ports

  6866.             power knot duplicatable none p [2,1];

  6867.             signal knot out flow [2,1];

  6868.            restrictions

  6869.             causality constraint one_out p;

  6870.           end;

  6871.           icon bg

  6872.            figures

  6873.             text '1' 239.8 232.2 color 0 18 bold;

  6874.           end;

  6875.           implementation eq

  6876. equations

  6877. 	sum (direct (p.e)) = 0;

  6878. 	equal (collect (p.f));

  6879. 	flow = first (p.f);

  6880. implementation_end;

  6881.          OneJunction7 239.8 216.2

  6882.           description '<Information>

  6883.  <Description>

  6884.     <Version>4.2</Version>

  6885. <IsMainModel>1</IsMainModel>

  6886.   <KeepParameterValues>False</KeepParameterValues>

  6887.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6888.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6889. </Description>

  6890. </Information>';

  6891.           knot OneJunction

  6892.            ports

  6893.             power knot duplicatable none p [3,1];

  6894.             signal knot out flow [3,1];

  6895.            restrictions

  6896.             causality constraint one_out p;

  6897.           end;

  6898.           icon bg

  6899.            figures

  6900.             text '1' 239.8 216.2 color 0 18 bold;

  6901.           end;

  6902.           implementation eq

  6903. equations

  6904. 	sum (direct (p.e)) = 0;

  6905. 	equal (collect (p.f));

  6906. 	flow = first (p.f);

  6907. implementation_end;

  6908.          OneJunction8 288 200

  6909.           description '<Information>

  6910.  <Description>

  6911.     <Version>4.2</Version>

  6912. <IsMainModel>1</IsMainModel>

  6913.   <KeepParameterValues>False</KeepParameterValues>

  6914.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6915.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6916. </Description>

  6917. </Information>';

  6918.           knot OneJunction

  6919.            ports

  6920.             power knot duplicatable none p [1];

  6921.             signal knot out flow [1];

  6922.            restrictions

  6923.             causality constraint one_out p;

  6924.           end;

  6925.           icon bg

  6926.            figures

  6927.             text '1' 288 200 color 0 18 bold;

  6928.           end;

  6929.           implementation eq

  6930. equations

  6931. 	sum (direct (p.e)) = 0;

  6932. 	equal (collect (p.f));

  6933. 	flow = first (p.f);

  6934. implementation_end;

  6935.          PowerMux 330 216

  6936. 									specifications active 'rot_z'

  6937. 										specification 'rot_x'

  6938. description '<Information>

  6939.  <Description>

  6940.     <Version>4.8</Version>

  6941.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  6942.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  6943. <IsMainModel>1</IsMainModel>

  6944.   <KeepParameterValues>False</KeepParameterValues>

  6945.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6946.  </Description>

  6947. </Information>';

  6948.  type 'PowerMux-Rotation'

  6949.   ports

  6950.    power in input;

  6951.    power out output [6,1];

  6952.    power in input_rot2 [2,1];

  6953.    power in input_pos3 [3,1];

  6954.   restrictions

  6955.    causality constraint not_equal input output;

  6956.    causality constraint not_equal input_rot2 output;

  6957.    causality constraint not_equal input_pos3 output;

  6958.  end;

  6959.  icon bg bottom

  6960.   figures

  6961.    line 328 192 328 240 color 0 width 2;

  6962.    rectangle 324 192 336 240 color -1;

  6963.    text '1' 333 210 color 8421504 8;

  6964.   terminals

  6965.    input 328 200 fixed;

  6966.    output 328 216 fixed;

  6967.    input_rot2 328 232 fixed;

  6968.    input_pos3 328 216 fixed;

  6969.  end;

  6970.  implementation eq

  6971. equations

  6972. 	output.e[1] = input.e;

  6973. 	output.e[2:3] = input_rot2.e;

  6974. 	output.e[4:6] = input_pos3.e;

  6975. 	output.f[1] = input.f;

  6976. 	output.f[2:3] = input_rot2.f;

  6977. 	output.f[4:6] = input_pos3.f;implementation_end;

  6978. specification_end;

  6979. 										specification 'rot_y'

  6980. description '<Description>

  6981.    <Version>4.1</Version>

  6982.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  6983.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  6984. <IsMainModel>1</IsMainModel>

  6985.  <KeepParameterValues>False</KeepParameterValues>

  6986.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6987. </Description>';

  6988.  type PowerMux

  6989.   ports

  6990.    power in input;

  6991.    power out output [6,1];

  6992.    power in input_rot2 [2,1];

  6993.    power in input_pos3 [3,1];

  6994.   restrictions

  6995.    causality constraint not_equal input output;

  6996.    causality constraint not_equal input_rot2 output;

  6997.    causality constraint not_equal input_pos3 output;

  6998.  end;

  6999.  icon bg bottom

  7000.   figures

  7001.    line 328 192 328 240 color 0 width 2;

  7002.    rectangle 324 192 336 240 color -1;

  7003.    text '1' 333 210 color 8421504 8;

  7004.   terminals

  7005.    input 328 200 fixed;

  7006.    output 328 216 fixed;

  7007.    input_rot2 328 232 fixed;

  7008.    input_pos3 328 216 fixed;

  7009.  end;

  7010.  implementation eq

  7011. equations

  7012. 	output.e[1] = input_rot2.e[1];

  7013. 	output.e[2] = input.e;

  7014. 	output.e[3] = input_rot2.e[2];

  7015. 	output.e[4:6] = input_pos3.e;

  7016. 	output.f[1] = input_rot2.f[1];

  7017. 	output.f[2] = input.f;

  7018. 	output.f[3] = input_rot2.f[2];

  7019. 	output.f[4:6] = input_pos3.f;implementation_end;

  7020. specification_end;

  7021. 										specification 'rot_z'

  7022.  description '<Information>

  7023.  <Description>

  7024.     <Version>4.8</Version>

  7025.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  7026.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  7027. <IsMainModel>1</IsMainModel>

  7028.   <KeepParameterValues>False</KeepParameterValues>

  7029.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7030.  </Description>

  7031. </Information>';

  7032.  type PowerMux

  7033.   ports

  7034.    power in input;

  7035.    power out output [6,1];

  7036.    power in input_rot2 [2,1];

  7037.    power in input_pos3 [3,1];

  7038.   restrictions

  7039.    causality constraint not_equal input output;

  7040.    causality constraint not_equal input_rot2 output;

  7041.    causality constraint not_equal input_pos3 output;

  7042.  end;

  7043.  icon bg bottom

  7044.   figures

  7045.    line 328 192 328 240 color 0 width 2;

  7046.    rectangle 324 192 336 240 color -1;

  7047.    text '1' 333 210 color 8421504 8;

  7048.   terminals

  7049.    input 328 200 fixed;

  7050.    output 328 216 fixed;

  7051.    input_rot2 328 232 fixed;

  7052.    input_pos3 328 216 fixed;

  7053.  end;

  7054.  implementation eq

  7055. equations

  7056. 	output.e[3] = input.e;

  7057. 	output.e[1:2] = input_rot2.e;

  7058. 	output.e[4:6] = input_pos3.e;

  7059. 	output.f[3] = input.f;

  7060. 	output.f[1:2] = input_rot2.f;

  7061. 	output.f[4:6] = input_pos3.f;implementation_end;

  7062. specification_end;

  7063. 									end;

  7064.          R 288 112

  7065.           description '<Information>

  7066.  <Description>

  7067.     <Version>4.2</Version>

  7068. <IsMainModel>1</IsMainModel>

  7069.   <KeepParameterValues>False</KeepParameterValues>

  7070.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  7071.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  7072. </Description>

  7073. </Information>';

  7074.           type R

  7075.            ports

  7076.             power in p;

  7077.           end;

  7078.           icon bg top

  7079.            figures

  7080.             text 'R' 288 112 color 0 18 bold;

  7081.           end;

  7082.           implementation eq

  7083. parameters

  7084. 	real r = 0.0001;

  7085. equations

  7086. 	p.e = r * p.f;

  7087. implementation_end;

  7088.          R4 239.8 288.2

  7089.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7090.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  7091.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  7092. </Description>';

  7093.           type 'R-2'

  7094.            ports

  7095.             power in p [2,1];

  7096.           end;

  7097.           icon bg bottom

  7098.            figures

  7099.             text 'R' 239.8 288.2 color 0 18 bold;

  7100.           end;

  7101.           implementation eq

  7102. parameters

  7103. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  7104. equations					

  7105. 	p.e = r * p.f;

  7106. implementation_end;

  7107.          R5 239.8 168.2

  7108.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7109.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  7110.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  7111. </Description>';

  7112.           type 'R-3'

  7113.            ports

  7114.             power in p [3,1];

  7115.           end;

  7116.           icon bg top

  7117.            figures

  7118.             text 'R' 239.8 168.2 color 0 18 bold;

  7119.           end;

  7120.           implementation eq

  7121. parameters

  7122. 	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};

  7123. equations					

  7124. 	p.e = r * p.f;

  7125. implementation_end;

  7126.          Square 288 392

  7127.           description '<Description>

  7128.    <Version>4.0</Version>

  7129. <IsMainModel>1</IsMainModel>

  7130.  <KeepParameterValues>False</KeepParameterValues>

  7131.    <LibraryPath>Signal\Sources\WaveGenerator-Square.emx</LibraryPath>

  7132.   <TimeStamp>2009-3-5 16:05:33</TimeStamp>

  7133. </Description>';

  7134.           type 'WaveGenerator-Square'

  7135.            ports

  7136.             signal out output;

  7137.           end;

  7138.           icon bg bottom

  7139.            figures

  7140.             rectangle 272.1 376 303.9 408 color 0 fill 15132390;

  7141.             line 276.1 379.9 275.9 406.2 color 0 fill 0;

  7142.             line 273.9 404.1 299.9 404.1 color 0 fill 0;

  7143.             line 276.1 404.1 280 404.1 280 392 color 16711680 fill 0;

  7144.             line 288 392 280 392 288 392 color 16711680 fill 0;

  7145.             line 288 404.1 288 392 288 404.1 color 16711680 fill 0;

  7146.             line 296 392 296 404.1 296 392 color 16711680 fill 0;

  7147.             line 299.9 392.1 295.7 392.1 color 16711680 fill 0;

  7148.             line 288 404.1 296 404.1 color 16711680 fill 0;

  7149.           end;

  7150.           implementation eq

  7151. parameters

  7152. 	real amplitude = 0.0;			// amplitude of the wave

  7153. 	real omega = 3.1415926535898 {rad/s};		// angular frequency of the wave

  7154. variables					

  7155. 	real hidden s, half;

  7156. 	boolean hidden change;

  7157. equations

  7158. 	"calculate at least 2 points per period 

  7159. 	(just after the change in sign)"

  7160. 	half = pi / omega;

  7161. 	change = frequencyevent (half, 1e-14);

  7162. 

  7163. 	"calculate the square wave"

  7164. 	s = sign (sin (omega * time));

  7165. 	output = if( s == 0 ) then

  7166. 		amplitude

  7167. 	else

  7168. 		(amplitude / 2) * (s + 1)

  7169. 	end;

  7170. implementation_end;

  7171.         end;

  7172.         connections

  7173.          C1\p <= OneJunction7\p;

  7174.          OneJunction5\p => C4\p;

  7175.          OneJunction5\p => PowerMux\input_rot2;

  7176.          OneJunction5\p => R4\p;

  7177.          OneJunction7\p => PowerMux\input_pos3;

  7178.          OneJunction7\p => R5\p;

  7179.          OneJunction8\p <= MSe\p;

  7180.          OneJunction8\p => PowerMux\input;

  7181.          PowerMux\output => output;

  7182.          R\p <= OneJunction8\p;

  7183.          Square\output -> MSe\effort;

  7184.         end;

  7185.        implementation_end;

  7186.       Joint_dynF2 952 136

  7187.        description '<Description>

  7188. 	<Version>4.8</Version>

  7189. 	<IsMainModel>1</IsMainModel>

  7190. 	</Description>';

  7191.        type Submodel

  7192.         ports

  7193.          power out output [6,1];

  7194.        end;

  7195.        icon bg

  7196.         figures

  7197.          rectangle 912 120 992 152 color 0 fill 15132390;

  7198.          text 'name' 952 136 color 0 'Clear Sans' 16;

  7199.        end;

  7200.        implementation bg

  7201.         submodels

  7202.          C1 191.8 216.2

  7203.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7204.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  7205.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  7206. </Description>';

  7207.           type 'C-3'

  7208.            ports

  7209.             power in p [3,1];

  7210.             signal out state [3,1];

  7211.            restrictions

  7212.             causality preferred out p;

  7213.           end;

  7214.           icon bg top

  7215.            figures

  7216.             text 'C' 191.8 216.2 color 0 18 bold;

  7217.           end;

  7218.           implementation eq

  7219. parameters

  7220. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {mN/m};

  7221. equations

  7222.     state = int(p.f);

  7223.     p.e = inverse(c) *state;

  7224. implementation_end;

  7225.          C4 191.8 232.2

  7226.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7227.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  7228.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  7229. </Description>';

  7230.           type 'C-2'

  7231.            ports

  7232.             power in p [2,1];

  7233.             signal out state [2,1];

  7234.            restrictions

  7235.             causality preferred out p;

  7236.           end;

  7237.           icon bg bottom

  7238.            figures

  7239.             text 'C' 191.8 232.2 color 0 18 bold;

  7240.           end;

  7241.           implementation eq

  7242. parameters

  7243. 	real c[2,2] = [1, 0.0; 0.0, 1]  {mN.m/rad};

  7244. equations

  7245.     state = int(p.f);

  7246.     p.e = inverse(c) *state;

  7247. implementation_end;

  7248.          plug output 396 216;

  7249.          OneJunction5 239.8 232.2

  7250.           description '<Information>

  7251.  <Description>

  7252.     <Version>4.2</Version>

  7253. <IsMainModel>1</IsMainModel>

  7254.   <KeepParameterValues>False</KeepParameterValues>

  7255.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7256.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7257. </Description>

  7258. </Information>';

  7259.           knot OneJunction

  7260.            ports

  7261.             power knot duplicatable none p [2,1];

  7262.             signal knot out flow [2,1];

  7263.            restrictions

  7264.             causality constraint one_out p;

  7265.           end;

  7266.           icon bg

  7267.            figures

  7268.             text '1' 239.8 232.2 color 0 18 bold;

  7269.           end;

  7270.           implementation eq

  7271. equations

  7272. 	sum (direct (p.e)) = 0;

  7273. 	equal (collect (p.f));

  7274. 	flow = first (p.f);

  7275. implementation_end;

  7276.          OneJunction7 239.8 216.2

  7277.           description '<Information>

  7278.  <Description>

  7279.     <Version>4.2</Version>

  7280. <IsMainModel>1</IsMainModel>

  7281.   <KeepParameterValues>False</KeepParameterValues>

  7282.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7283.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7284. </Description>

  7285. </Information>';

  7286.           knot OneJunction

  7287.            ports

  7288.             power knot duplicatable none p [3,1];

  7289.             signal knot out flow [3,1];

  7290.            restrictions

  7291.             causality constraint one_out p;

  7292.           end;

  7293.           icon bg

  7294.            figures

  7295.             text '1' 239.8 216.2 color 0 18 bold;

  7296.           end;

  7297.           implementation eq

  7298. equations

  7299. 	sum (direct (p.e)) = 0;

  7300. 	equal (collect (p.f));

  7301. 	flow = first (p.f);

  7302. implementation_end;

  7303.          OneJunction8 288 200

  7304.           description '<Information>

  7305.  <Description>

  7306.     <Version>4.2</Version>

  7307. <IsMainModel>1</IsMainModel>

  7308.   <KeepParameterValues>False</KeepParameterValues>

  7309.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7310.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7311. </Description>

  7312. </Information>';

  7313.           knot OneJunction

  7314.            ports

  7315.             power knot duplicatable none p [1];

  7316.             signal knot out flow [1];

  7317.            restrictions

  7318.             causality constraint one_out p;

  7319.           end;

  7320.           icon bg

  7321.            figures

  7322.             text '1' 288 200 color 0 18 bold;

  7323.           end;

  7324.           implementation eq

  7325. equations

  7326. 	sum (direct (p.e)) = 0;

  7327. 	equal (collect (p.f));

  7328. 	flow = first (p.f);

  7329. implementation_end;

  7330.          PowerMux 330 216

  7331. 									specifications active 'rot_z'

  7332. 										specification 'rot_x'

  7333. description '<Information>

  7334.  <Description>

  7335.     <Version>4.8</Version>

  7336.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  7337.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  7338. <IsMainModel>1</IsMainModel>

  7339.   <KeepParameterValues>False</KeepParameterValues>

  7340.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7341.  </Description>

  7342. </Information>';

  7343.  type 'PowerMux-Rotation'

  7344.   ports

  7345.    power in input;

  7346.    power out output [6,1];

  7347.    power in input_rot2 [2,1];

  7348.    power in input_pos3 [3,1];

  7349.   restrictions

  7350.    causality constraint not_equal input output;

  7351.    causality constraint not_equal input_rot2 output;

  7352.    causality constraint not_equal input_pos3 output;

  7353.  end;

  7354.  icon bg bottom

  7355.   figures

  7356.    line 328 192 328 240 color 0 width 2;

  7357.    rectangle 324 192 336 240 color -1;

  7358.    text '1' 333 210 color 8421504 8;

  7359.   terminals

  7360.    input 328 200 fixed;

  7361.    output 328 216 fixed;

  7362.    input_rot2 328 232 fixed;

  7363.    input_pos3 328 216 fixed;

  7364.  end;

  7365.  implementation eq

  7366. equations

  7367. 	output.e[1] = input.e;

  7368. 	output.e[2:3] = input_rot2.e;

  7369. 	output.e[4:6] = input_pos3.e;

  7370. 	output.f[1] = input.f;

  7371. 	output.f[2:3] = input_rot2.f;

  7372. 	output.f[4:6] = input_pos3.f;implementation_end;

  7373. specification_end;

  7374. 										specification 'rot_y'

  7375. description '<Description>

  7376.    <Version>4.1</Version>

  7377.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  7378.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  7379. <IsMainModel>1</IsMainModel>

  7380.  <KeepParameterValues>False</KeepParameterValues>

  7381.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7382. </Description>';

  7383.  type PowerMux

  7384.   ports

  7385.    power in input;

  7386.    power out output [6,1];

  7387.    power in input_rot2 [2,1];

  7388.    power in input_pos3 [3,1];

  7389.   restrictions

  7390.    causality constraint not_equal input output;

  7391.    causality constraint not_equal input_rot2 output;

  7392.    causality constraint not_equal input_pos3 output;

  7393.  end;

  7394.  icon bg bottom

  7395.   figures

  7396.    line 242 274 290 274 color 0 width 2;

  7397.    rectangle 242 266 290 278 color -1;

  7398.    text '1' 260 269 color 8421504 8;

  7399.   terminals

  7400.    input 250 274 fixed;

  7401.    output 266 274 fixed;

  7402.    input_rot2 282 274 fixed;

  7403.    input_pos3 266 274 fixed;

  7404.  end;

  7405.  implementation eq

  7406. equations

  7407. 	output.e[1] = input_rot2.e[1];

  7408. 	output.e[2] = input.e;

  7409. 	output.e[3] = input_rot2.e[2];

  7410. 	output.e[4:6] = input_pos3.e;

  7411. 	output.f[1] = input_rot2.f[1];

  7412. 	output.f[2] = input.f;

  7413. 	output.f[3] = input_rot2.f[2];

  7414. 	output.f[4:6] = input_pos3.f;implementation_end;

  7415. specification_end;

  7416. 										specification 'rot_z'

  7417.  description '<Information>

  7418.  <Description>

  7419.     <Version>4.8</Version>

  7420.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  7421.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  7422. <IsMainModel>1</IsMainModel>

  7423.   <KeepParameterValues>False</KeepParameterValues>

  7424.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7425.  </Description>

  7426. </Information>';

  7427.  type PowerMux

  7428.   ports

  7429.    power in input;

  7430.    power out output [6,1];

  7431.    power in input_rot2 [2,1];

  7432.    power in input_pos3 [3,1];

  7433.   restrictions

  7434.    causality constraint not_equal input output;

  7435.    causality constraint not_equal input_rot2 output;

  7436.    causality constraint not_equal input_pos3 output;

  7437.  end;

  7438.  icon bg bottom

  7439.   figures

  7440.    line 328 192 328 240 color 0 width 2;

  7441.    rectangle 324 192 336 240 color -1;

  7442.    text '1' 333 210 color 8421504 8;

  7443.   terminals

  7444.    input 328 200 fixed;

  7445.    output 328 216 fixed;

  7446.    input_rot2 328 232 fixed;

  7447.    input_pos3 328 216 fixed;

  7448.  end;

  7449.  implementation eq

  7450. equations

  7451. 	output.e[3] = input.e;

  7452. 	output.e[1:2] = input_rot2.e;

  7453. 	output.e[4:6] = input_pos3.e;

  7454. 	output.f[3] = input.f;

  7455. 	output.f[1:2] = input_rot2.f;

  7456. 	output.f[4:6] = input_pos3.f;implementation_end;

  7457. specification_end;

  7458. 									end;

  7459.          R 288 152

  7460.           description '<Information>

  7461.  <Description>

  7462.     <Version>4.2</Version>

  7463. <IsMainModel>1</IsMainModel>

  7464.   <KeepParameterValues>False</KeepParameterValues>

  7465.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  7466.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  7467. </Description>

  7468. </Information>';

  7469.           type R

  7470.            ports

  7471.             power in p;

  7472.           end;

  7473.           icon bg top

  7474.            figures

  7475.             text 'R' 288 152 color 0 18 bold;

  7476.           end;

  7477.           implementation eq

  7478. parameters

  7479. 	real r = 0.0001;

  7480. equations

  7481. 	p.e = r * p.f;

  7482. implementation_end;

  7483.          R4 239.8 288.2

  7484.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7485.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  7486.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  7487. </Description>';

  7488.           type 'R-2'

  7489.            ports

  7490.             power in p [2,1];

  7491.           end;

  7492.           icon bg bottom

  7493.            figures

  7494.             text 'R' 239.8 288.2 color 0 18 bold;

  7495.           end;

  7496.           implementation eq

  7497. parameters

  7498. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  7499. equations					

  7500. 	p.e = r * p.f;

  7501. implementation_end;

  7502.          R5 239.8 168.2

  7503.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7504.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  7505.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  7506. </Description>';

  7507.           type 'R-3'

  7508.            ports

  7509.             power in p [3,1];

  7510.           end;

  7511.           icon bg top

  7512.            figures

  7513.             text 'R' 239.8 168.2 color 0 18 bold;

  7514.           end;

  7515.           implementation eq

  7516. parameters

  7517. 	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};

  7518. equations					

  7519. 	p.e = r * p.f;

  7520. implementation_end;

  7521.         end;

  7522.         connections

  7523.          C1\p <= OneJunction7\p;

  7524.          OneJunction5\p => C4\p;

  7525.          OneJunction5\p => PowerMux\input_rot2;

  7526.          OneJunction5\p => R4\p;

  7527.          OneJunction7\p => PowerMux\input_pos3;

  7528.          OneJunction7\p => R5\p;

  7529.          OneJunction8\p => PowerMux\input;

  7530.          PowerMux\output => output;

  7531.          R\p <= OneJunction8\p;

  7532.         end;

  7533.        implementation_end;

  7534.       Joint_dynF3 1256 136

  7535.        description '<Description>

  7536. 	<Version>4.8</Version>

  7537. 	<IsMainModel>1</IsMainModel>

  7538. 	</Description>';

  7539.        type Submodel

  7540.         ports

  7541.          power out output [6,1];

  7542.        end;

  7543.        icon bg

  7544.         figures

  7545.          rectangle 1216 120 1296 152 color 0 fill 15132390;

  7546.          text 'name' 1256 136 color 0 'Clear Sans' 16;

  7547.        end;

  7548.        implementation bg

  7549.         submodels

  7550.          C1 191.8 216.2

  7551.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7552.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  7553.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  7554. </Description>';

  7555.           type 'C-3'

  7556.            ports

  7557.             power in p [3,1];

  7558.             signal out state [3,1];

  7559.            restrictions

  7560.             causality preferred out p;

  7561.           end;

  7562.           icon bg top

  7563.            figures

  7564.             text 'C' 191.8 216.2 color 0 18 bold;

  7565.           end;

  7566.           implementation eq

  7567. parameters

  7568. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {mN/m};

  7569. equations

  7570.     state = int(p.f);

  7571.     p.e = inverse(c) *state;

  7572. implementation_end;

  7573.          C4 191.8 232.2

  7574.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7575.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  7576.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  7577. </Description>';

  7578.           type 'C-2'

  7579.            ports

  7580.             power in p [2,1];

  7581.             signal out state [2,1];

  7582.            restrictions

  7583.             causality preferred out p;

  7584.           end;

  7585.           icon bg bottom

  7586.            figures

  7587.             text 'C' 191.8 232.2 color 0 18 bold;

  7588.           end;

  7589.           implementation eq

  7590. parameters

  7591. 	real c[2,2] = [1, 0.0; 0.0, 1]  {mN.m/rad};

  7592. equations

  7593.     state = int(p.f);

  7594.     p.e = inverse(c) *state;

  7595. implementation_end;

  7596.          plug output 396 216;

  7597.          OneJunction5 239.8 232.2

  7598.           description '<Information>

  7599.  <Description>

  7600.     <Version>4.2</Version>

  7601. <IsMainModel>1</IsMainModel>

  7602.   <KeepParameterValues>False</KeepParameterValues>

  7603.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7604.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7605. </Description>

  7606. </Information>';

  7607.           knot OneJunction

  7608.            ports

  7609.             power knot duplicatable none p [2,1];

  7610.             signal knot out flow [2,1];

  7611.            restrictions

  7612.             causality constraint one_out p;

  7613.           end;

  7614.           icon bg

  7615.            figures

  7616.             text '1' 239.8 232.2 color 0 18 bold;

  7617.           end;

  7618.           implementation eq

  7619. equations

  7620. 	sum (direct (p.e)) = 0;

  7621. 	equal (collect (p.f));

  7622. 	flow = first (p.f);

  7623. implementation_end;

  7624.          OneJunction7 239.8 216.2

  7625.           description '<Information>

  7626.  <Description>

  7627.     <Version>4.2</Version>

  7628. <IsMainModel>1</IsMainModel>

  7629.   <KeepParameterValues>False</KeepParameterValues>

  7630.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7631.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7632. </Description>

  7633. </Information>';

  7634.           knot OneJunction

  7635.            ports

  7636.             power knot duplicatable none p [3,1];

  7637.             signal knot out flow [3,1];

  7638.            restrictions

  7639.             causality constraint one_out p;

  7640.           end;

  7641.           icon bg

  7642.            figures

  7643.             text '1' 239.8 216.2 color 0 18 bold;

  7644.           end;

  7645.           implementation eq

  7646. equations

  7647. 	sum (direct (p.e)) = 0;

  7648. 	equal (collect (p.f));

  7649. 	flow = first (p.f);

  7650. implementation_end;

  7651.          OneJunction8 288 200

  7652.           description '<Information>

  7653.  <Description>

  7654.     <Version>4.2</Version>

  7655. <IsMainModel>1</IsMainModel>

  7656.   <KeepParameterValues>False</KeepParameterValues>

  7657.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7658.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7659. </Description>

  7660. </Information>';

  7661.           knot OneJunction

  7662.            ports

  7663.             power knot duplicatable none p [1];

  7664.             signal knot out flow [1];

  7665.            restrictions

  7666.             causality constraint one_out p;

  7667.           end;

  7668.           icon bg

  7669.            figures

  7670.             text '1' 288 200 color 0 18 bold;

  7671.           end;

  7672.           implementation eq

  7673. equations

  7674. 	sum (direct (p.e)) = 0;

  7675. 	equal (collect (p.f));

  7676. 	flow = first (p.f);

  7677. implementation_end;

  7678.          PowerMux 330 216

  7679. 									specifications active 'rot_z'

  7680. 										specification 'rot_x'

  7681. description '<Information>

  7682.  <Description>

  7683.     <Version>4.8</Version>

  7684.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  7685.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  7686. <IsMainModel>1</IsMainModel>

  7687.   <KeepParameterValues>False</KeepParameterValues>

  7688.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7689.  </Description>

  7690. </Information>';

  7691.  type 'PowerMux-Rotation'

  7692.   ports

  7693.    power in input;

  7694.    power out output [6,1];

  7695.    power in input_rot2 [2,1];

  7696.    power in input_pos3 [3,1];

  7697.   restrictions

  7698.    causality constraint not_equal input output;

  7699.    causality constraint not_equal input_rot2 output;

  7700.    causality constraint not_equal input_pos3 output;

  7701.  end;

  7702.  icon bg bottom

  7703.   figures

  7704.    line 328 192 328 240 color 0 width 2;

  7705.    rectangle 324 192 336 240 color -1;

  7706.    text '1' 333 210 color 8421504 8;

  7707.   terminals

  7708.    input 328 200 fixed;

  7709.    output 328 216 fixed;

  7710.    input_rot2 328 232 fixed;

  7711.    input_pos3 328 216 fixed;

  7712.  end;

  7713.  implementation eq

  7714. equations

  7715. 	output.e[1] = input.e;

  7716. 	output.e[2:3] = input_rot2.e;

  7717. 	output.e[4:6] = input_pos3.e;

  7718. 	output.f[1] = input.f;

  7719. 	output.f[2:3] = input_rot2.f;

  7720. 	output.f[4:6] = input_pos3.f;implementation_end;

  7721. specification_end;

  7722. 										specification 'rot_y'

  7723. description '<Description>

  7724.    <Version>4.1</Version>

  7725.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  7726.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  7727. <IsMainModel>1</IsMainModel>

  7728.  <KeepParameterValues>False</KeepParameterValues>

  7729.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7730. </Description>';

  7731.  type PowerMux

  7732.   ports

  7733.    power in input;

  7734.    power out output [6,1];

  7735.    power in input_rot2 [2,1];

  7736.    power in input_pos3 [3,1];

  7737.   restrictions

  7738.    causality constraint not_equal input output;

  7739.    causality constraint not_equal input_rot2 output;

  7740.    causality constraint not_equal input_pos3 output;

  7741.  end;

  7742.  icon bg bottom

  7743.   figures

  7744.    line 242 274 290 274 color 0 width 2;

  7745.    rectangle 242 266 290 278 color -1;

  7746.    text '1' 260 269 color 8421504 8;

  7747.   terminals

  7748.    input 250 274 fixed;

  7749.    output 266 274 fixed;

  7750.    input_rot2 282 274 fixed;

  7751.    input_pos3 266 274 fixed;

  7752.  end;

  7753.  implementation eq

  7754. equations

  7755. 	output.e[1] = input_rot2.e[1];

  7756. 	output.e[2] = input.e;

  7757. 	output.e[3] = input_rot2.e[2];

  7758. 	output.e[4:6] = input_pos3.e;

  7759. 	output.f[1] = input_rot2.f[1];

  7760. 	output.f[2] = input.f;

  7761. 	output.f[3] = input_rot2.f[2];

  7762. 	output.f[4:6] = input_pos3.f;implementation_end;

  7763. specification_end;

  7764. 										specification 'rot_z'

  7765.  description '<Information>

  7766.  <Description>

  7767.     <Version>4.8</Version>

  7768.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  7769.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  7770. <IsMainModel>1</IsMainModel>

  7771.   <KeepParameterValues>False</KeepParameterValues>

  7772.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7773.  </Description>

  7774. </Information>';

  7775.  type PowerMux

  7776.   ports

  7777.    power in input;

  7778.    power out output [6,1];

  7779.    power in input_rot2 [2,1];

  7780.    power in input_pos3 [3,1];

  7781.   restrictions

  7782.    causality constraint not_equal input output;

  7783.    causality constraint not_equal input_rot2 output;

  7784.    causality constraint not_equal input_pos3 output;

  7785.  end;

  7786.  icon bg bottom

  7787.   figures

  7788.    line 328 192 328 240 color 0 width 2;

  7789.    rectangle 324 192 336 240 color -1;

  7790.    text '1' 333 210 color 8421504 8;

  7791.   terminals

  7792.    input 328 200 fixed;

  7793.    output 328 216 fixed;

  7794.    input_rot2 328 232 fixed;

  7795.    input_pos3 328 216 fixed;

  7796.  end;

  7797.  implementation eq

  7798. equations

  7799. 	output.e[3] = input.e;

  7800. 	output.e[1:2] = input_rot2.e;

  7801. 	output.e[4:6] = input_pos3.e;

  7802. 	output.f[3] = input.f;

  7803. 	output.f[1:2] = input_rot2.f;

  7804. 	output.f[4:6] = input_pos3.f;implementation_end;

  7805. specification_end;

  7806. 									end;

  7807.          R 288 152

  7808.           description '<Information>

  7809.  <Description>

  7810.     <Version>4.2</Version>

  7811. <IsMainModel>1</IsMainModel>

  7812.   <KeepParameterValues>False</KeepParameterValues>

  7813.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  7814.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  7815. </Description>

  7816. </Information>';

  7817.           type R

  7818.            ports

  7819.             power in p;

  7820.           end;

  7821.           icon bg top

  7822.            figures

  7823.             text 'R' 288 152 color 0 18 bold;

  7824.           end;

  7825.           implementation eq

  7826. parameters

  7827. 	real r = 0.0001;

  7828. equations

  7829. 	p.e = r * p.f;

  7830. implementation_end;

  7831.          R4 239.8 288.2

  7832.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7833.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  7834.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  7835. </Description>';

  7836.           type 'R-2'

  7837.            ports

  7838.             power in p [2,1];

  7839.           end;

  7840.           icon bg bottom

  7841.            figures

  7842.             text 'R' 239.8 288.2 color 0 18 bold;

  7843.           end;

  7844.           implementation eq

  7845. parameters

  7846. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  7847. equations					

  7848. 	p.e = r * p.f;

  7849. implementation_end;

  7850.          R5 239.8 168.2

  7851.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7852.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  7853.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  7854. </Description>';

  7855.           type 'R-3'

  7856.            ports

  7857.             power in p [3,1];

  7858.           end;

  7859.           icon bg top

  7860.            figures

  7861.             text 'R' 239.8 168.2 color 0 18 bold;

  7862.           end;

  7863.           implementation eq

  7864. parameters

  7865. 	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};

  7866. equations					

  7867. 	p.e = r * p.f;

  7868. implementation_end;

  7869.         end;

  7870.         connections

  7871.          C1\p <= OneJunction7\p;

  7872.          OneJunction5\p => C4\p;

  7873.          OneJunction5\p => PowerMux\input_rot2;

  7874.          OneJunction5\p => R4\p;

  7875.          OneJunction7\p => PowerMux\input_pos3;

  7876.          OneJunction7\p => R5\p;

  7877.          OneJunction8\p => PowerMux\input;

  7878.          PowerMux\output => output;

  7879.          R\p <= OneJunction8\p;

  7880.         end;

  7881.        implementation_end;

  7882.       Link1 800 240

  7883.        description '<Information>

  7884.  <Description>

  7885.     <Version>4.8</Version>

  7886.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  7887. <IsMainModel>1</IsMainModel>

  7888.   <KeepParameterValues>False</KeepParameterValues>

  7889.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  7890. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  7891.  </Description>

  7892. </Information>';

  7893.        type 'Submodel-Equation'

  7894.         ports

  7895.          signal in Hin [4,4];

  7896.          signal out Hout [4,4];

  7897.          power in Pin [6,1];

  7898.          power out Pout [6,1];

  7899.         restrictions

  7900.          causality constraint not_equal Pin Pout;

  7901.        end;

  7902.        icon bg bottom

  7903.         figures

  7904.          rectangle 768 216 832 264 color 0 fill 8454041;

  7905.          text 'Link' 800 240 color 0 'Clear Sans' 16;

  7906.         terminals

  7907.          Hin 768 256 fixed;

  7908.          Hout 832 256 fixed;

  7909.          Pin 832 224 fixed;

  7910.          Pout 768 224 fixed;

  7911.        end;

  7912.        implementation eq

  7913. parameters

  7914. 	real offset[6]= [0;0;0;0.005;0;0]; //coordinates of joint_1

  7915. variables

  7916. 	real Hab[4,4];

  7917. 	real AdHab[6,6];

  7918. 	real R[3,3];

  7919. 	real omega[3];

  7920. initialequations

  7921. 	omega = offset[1:3];

  7922. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  7923. 	Hab = homogeneous(R,offset[4:6]);

  7924. 	AdHab = Adjoint(Hab);

  7925. equations

  7926. 	Hout = Hin * Hab;

  7927. 	Pout.e = transpose(AdHab) * Pin.e;

  7928. 	Pin.f = AdHab * Pout.f;

  7929. 

  7930.     implementation_end;

  7931.       Link12 304 240

  7932.        description '<Information>

  7933.  <Description>

  7934.     <Version>4.8</Version>

  7935.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  7936. <IsMainModel>1</IsMainModel>

  7937.   <KeepParameterValues>False</KeepParameterValues>

  7938.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  7939. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  7940.  </Description>

  7941. </Information>';

  7942.        type 'Submodel-Equation'

  7943.         ports

  7944.          signal in Hin [4,4];

  7945.          signal out Hout [4,4];

  7946.          power in Pin [6,1];

  7947.          power out Pout [6,1];

  7948.         restrictions

  7949.          causality constraint not_equal Pin Pout;

  7950.        end;

  7951.        icon bg bottom

  7952.         figures

  7953.          rectangle 272 216 336 264 color 0 fill 8454041;

  7954.          text 'Link' 304 240 color 0 'Clear Sans' 16;

  7955.         terminals

  7956.          Hin 272 256 fixed;

  7957.          Hout 336 256 fixed;

  7958.          Pin 336 224 fixed;

  7959.          Pout 272 224 fixed;

  7960.        end;

  7961.        implementation eq

  7962. parameters

  7963. 	real offset[6]= [0;0;0;0.0059;0;0]; //coordinates of joint_1

  7964. variables

  7965. 	real Hab[4,4];

  7966. 	real AdHab[6,6];

  7967. 	real R[3,3];

  7968. 	real omega[3];

  7969. initialequations

  7970. 	omega = offset[1:3];

  7971. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  7972. 	Hab = homogeneous(R,offset[4:6]);

  7973. 	AdHab = Adjoint(Hab);

  7974. equations

  7975. 	Hout = Hin * Hab;

  7976. 	Pout.e = transpose(AdHab) * Pin.e;

  7977. 	Pin.f = AdHab * Pout.f;implementation_end;

  7978.       Link13 592 240

  7979.        description '<Information>

  7980.  <Description>

  7981.     <Version>4.8</Version>

  7982.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  7983. <IsMainModel>1</IsMainModel>

  7984.   <KeepParameterValues>False</KeepParameterValues>

  7985.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  7986. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  7987.  </Description>

  7988. </Information>';

  7989.        type 'Submodel-Equation'

  7990.         ports

  7991.          signal in Hin [4,4];

  7992.          signal out Hout [4,4];

  7993.          power in Pin [6,1];

  7994.          power out Pout [6,1];

  7995.         restrictions

  7996.          causality constraint not_equal Pin Pout;

  7997.        end;

  7998.        icon bg bottom

  7999.         figures

  8000.          rectangle 560 216 624 264 color 0 fill 8454041;

  8001.          text 'Link' 592 240 color 0 'Clear Sans' 16;

  8002.         terminals

  8003.          Hin 560 256 fixed;

  8004.          Hout 624 256 fixed;

  8005.          Pin 624 224 fixed;

  8006.          Pout 560 224 fixed;

  8007.        end;

  8008.        implementation eq

  8009. parameters

  8010. 	real offset[6]= [0;0;0;0.005;0;0]; //coordinates of joint_1

  8011. variables

  8012. 	real Hab[4,4];

  8013. 	real AdHab[6,6];

  8014. 	real R[3,3];

  8015. 	real omega[3];

  8016. initialequations

  8017. 	omega = offset[1:3];

  8018. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8019. 	Hab = homogeneous(R,offset[4:6]);

  8020. 	AdHab = Adjoint(Hab);

  8021. equations

  8022. 	Hout = Hin * Hab;

  8023. 	Pout.e = transpose(AdHab) * Pin.e;

  8024. 	Pin.f = AdHab * Pout.f;

  8025. 

  8026.     implementation_end;

  8027.       Link14 1048 240

  8028.        description '<Information>

  8029.  <Description>

  8030.     <Version>4.8</Version>

  8031.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8032. <IsMainModel>1</IsMainModel>

  8033.   <KeepParameterValues>False</KeepParameterValues>

  8034.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8035. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8036.  </Description>

  8037. </Information>';

  8038.        type 'Submodel-Equation'

  8039.         ports

  8040.          signal in Hin [4,4];

  8041.          signal out Hout [4,4];

  8042.          power in Pin [6,1];

  8043.          power out Pout [6,1];

  8044.         restrictions

  8045.          causality constraint not_equal Pin Pout;

  8046.        end;

  8047.        icon bg bottom

  8048.         figures

  8049.          rectangle 1016 216 1080 264 color 0 fill 8454041;

  8050.          text 'Link' 1048 240 color 0 'Clear Sans' 16;

  8051.         terminals

  8052.          Hin 1016 256 fixed;

  8053.          Hout 1080 256 fixed;

  8054.          Pin 1080 224 fixed;

  8055.          Pout 1016 224 fixed;

  8056.        end;

  8057.        implementation eq

  8058. parameters

  8059. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  8060. variables

  8061. 	real Hab[4,4];

  8062. 	real AdHab[6,6];

  8063. 	real R[3,3];

  8064. 	real omega[3];

  8065. initialequations

  8066. 	omega = offset[1:3];

  8067. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8068. 	Hab = homogeneous(R,offset[4:6]);

  8069. 	AdHab = Adjoint(Hab);

  8070. equations

  8071. 	Hout = Hin * Hab;

  8072. 	Pout.e = transpose(AdHab) * Pin.e;

  8073. 	Pin.f = AdHab * Pout.f;

  8074. 

  8075.     implementation_end;

  8076.       Link15 1360 240

  8077.        description '<Information>

  8078.  <Description>

  8079.     <Version>4.8</Version>

  8080.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8081. <IsMainModel>1</IsMainModel>

  8082.   <KeepParameterValues>False</KeepParameterValues>

  8083.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8084. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8085.  </Description>

  8086. </Information>';

  8087.        type 'Submodel-Equation'

  8088.         ports

  8089.          signal in Hin [4,4];

  8090.          signal out Hout [4,4];

  8091.          power in Pin [6,1];

  8092.          power out Pout [6,1];

  8093.         restrictions

  8094.          causality constraint not_equal Pin Pout;

  8095.        end;

  8096.        icon bg bottom

  8097.         figures

  8098.          rectangle 1328 216 1392 264 color 0 fill 8454041;

  8099.          text 'Link' 1360 240 color 0 'Clear Sans' 16;

  8100.         terminals

  8101.          Hin 1328 256 fixed;

  8102.          Hout 1392 256 fixed;

  8103.          Pin 1392 224 fixed;

  8104.          Pout 1328 224 fixed;

  8105.        end;

  8106.        implementation eq

  8107. parameters

  8108. 	real offset[6]= [0;0;0;-0.00795;0;0]; //coordinates of joint_1

  8109. variables

  8110. 	real Hab[4,4];

  8111. 	real AdHab[6,6];

  8112. 	real R[3,3];

  8113. 	real omega[3];

  8114. initialequations

  8115. 	omega = offset[1:3];

  8116. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8117. 	Hab = homogeneous(R,offset[4:6]);

  8118. 	AdHab = Adjoint(Hab);

  8119. equations

  8120. 	Hout = Hin * Hab;

  8121. 	Pout.e = transpose(AdHab) * Pin.e;

  8122. 	Pin.f = AdHab * Pout.f;

  8123. 

  8124.     implementation_end;

  8125.       Link2 1168 240

  8126.        description '<Information>

  8127.  <Description>

  8128.     <Version>4.8</Version>

  8129.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8130. <IsMainModel>1</IsMainModel>

  8131.   <KeepParameterValues>False</KeepParameterValues>

  8132.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8133. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8134.  </Description>

  8135. </Information>';

  8136.        type 'Submodel-Equation'

  8137.         ports

  8138.          signal in Hin [4,4];

  8139.          signal out Hout [4,4];

  8140.          power in Pin [6,1];

  8141.          power out Pout [6,1];

  8142.         restrictions

  8143.          causality constraint not_equal Pin Pout;

  8144.        end;

  8145.        icon bg bottom

  8146.         figures

  8147.          rectangle 1136 216 1200 264 color 0 fill 8454041;

  8148.          text 'Link' 1168 240 color 0 'Clear Sans' 16;

  8149.         terminals

  8150.          Hin 1136 256 fixed;

  8151.          Hout 1200 256 fixed;

  8152.          Pin 1200 224 fixed;

  8153.          Pout 1136 224 fixed;

  8154.        end;

  8155.        implementation eq

  8156. parameters

  8157. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  8158. variables

  8159. 	real Hab[4,4];

  8160. 	real AdHab[6,6];

  8161. 	real R[3,3];

  8162. 	real omega[3];

  8163. initialequations

  8164. 	omega = offset[1:3];

  8165. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8166. 	Hab = homogeneous(R,offset[4:6]);

  8167. 	AdHab = Adjoint(Hab);

  8168. equations

  8169. 	Hout = Hin * Hab;

  8170. 	Pout.e = transpose(AdHab) * Pin.e;

  8171. 	Pin.f = AdHab * Pout.f;

  8172. 

  8173.     implementation_end;

  8174.       Link3 1472 240

  8175.        description '<Information>

  8176.  <Description>

  8177.     <Version>4.8</Version>

  8178.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8179. <IsMainModel>1</IsMainModel>

  8180.   <KeepParameterValues>False</KeepParameterValues>

  8181.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8182. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8183.  </Description>

  8184. </Information>';

  8185.        type 'Submodel-Equation'

  8186.         ports

  8187.          signal in Hin [4,4];

  8188.          signal out Hout [4,4];

  8189.          power in Pin [6,1];

  8190.          power out Pout [6,1];

  8191.         restrictions

  8192.          causality constraint not_equal Pin Pout;

  8193.        end;

  8194.        icon bg bottom

  8195.         figures

  8196.          rectangle 1440 216 1504 264 color 0 fill 8454041;

  8197.          text 'Link' 1472 240 color 0 'Clear Sans' 16;

  8198.         terminals

  8199.          Hin 1440 256 fixed;

  8200.          Hout 1504 256 fixed;

  8201.          Pin 1504 224 fixed;

  8202.          Pout 1440 224 fixed;

  8203.        end;

  8204.        implementation eq

  8205. parameters

  8206. 	real offset[6]= [0;0;0;-0.00795;0;0]; //coordinates of joint_1

  8207. variables

  8208. 	real Hab[4,4];

  8209. 	real AdHab[6,6];

  8210. 	real R[3,3];

  8211. 	real omega[3];

  8212. initialequations

  8213. 	omega = offset[1:3];

  8214. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8215. 	Hab = homogeneous(R,offset[4:6]);

  8216. 	AdHab = Adjoint(Hab);

  8217. equations

  8218. 	Hout = Hin * Hab;

  8219. 	Pout.e = transpose(AdHab) * Pin.e;

  8220. 	Pin.f = AdHab * Pout.f;

  8221. 

  8222.     implementation_end;

  8223.       plug Hin 224 256;

  8224.       plug Pin 1584 224;

  8225.       plug Pout 192 224;

  8226.       Splitter1 680 256

  8227.        description '<Description><Version>4.0</Version>

  8228.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  8229.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  8230. <IsMainModel>1</IsMainModel>

  8231.  <KeepParameterValues>False</KeepParameterValues>

  8232. </Description>';

  8233.        knot Splitter

  8234.         ports

  8235.          signal knot duplicatable out output [4,4];

  8236.          signal knot in input [4,4];

  8237.        end;

  8238.        icon bg ellipse

  8239.         figures

  8240.          ellipse 676.8 252.8 683.2 259.2 color -1 fill 0;

  8241.          ellipse 675.7 251.7 684.3 260.3 color -1;

  8242.         terminals

  8243.          input 680 256 fixed;

  8244.        end;

  8245.        implementation eq

  8246. equations

  8247.     collect (output) = input;

  8248. implementation_end;

  8249.       Splitter2 376 256

  8250.        description '<Description><Version>4.0</Version>

  8251.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  8252.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  8253. <IsMainModel>1</IsMainModel>

  8254.  <KeepParameterValues>False</KeepParameterValues>

  8255. </Description>';

  8256.        knot Splitter

  8257.         ports

  8258.          signal knot duplicatable out output [4,4];

  8259.          signal knot in input [4,4];

  8260.        end;

  8261.        icon bg ellipse

  8262.         figures

  8263.          ellipse 372.8 252.8 379.2 259.2 color -1 fill 0;

  8264.          ellipse 371.7 251.7 380.3 260.3 color -1;

  8265.         terminals

  8266.          input 376 256 fixed;

  8267.        end;

  8268.        implementation eq

  8269. equations

  8270.     collect (output) = input;

  8271. implementation_end;

  8272.       Splitter3 1104 256

  8273.        description '<Description><Version>4.0</Version>

  8274.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  8275.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  8276. <IsMainModel>1</IsMainModel>

  8277.  <KeepParameterValues>False</KeepParameterValues>

  8278. </Description>';

  8279.        knot Splitter

  8280.         ports

  8281.          signal knot duplicatable out output [4,4];

  8282.          signal knot in input [4,4];

  8283.        end;

  8284.        icon bg ellipse

  8285.         figures

  8286.          ellipse 1100.8 252.8 1107.2 259.2 color -1 fill 0;

  8287.          ellipse 1099.7 251.7 1108.3 260.3 color -1;

  8288.         terminals

  8289.          input 1104 256 fixed;

  8290.        end;

  8291.        implementation eq

  8292. equations

  8293.     collect (output) = input;

  8294. implementation_end;

  8295.       Splitter4 1416 256

  8296.        description '<Description><Version>4.0</Version>

  8297.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  8298.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  8299. <IsMainModel>1</IsMainModel>

  8300.  <KeepParameterValues>False</KeepParameterValues>

  8301. </Description>';

  8302.        knot Splitter

  8303.         ports

  8304.          signal knot duplicatable out output [4,4];

  8305.          signal knot in input [4,4];

  8306.        end;

  8307.        icon bg ellipse

  8308.         figures

  8309.          ellipse 1412.8 252.8 1419.2 259.2 color -1 fill 0;

  8310.          ellipse 1411.7 251.7 1420.3 260.3 color -1;

  8311.         terminals

  8312.          input 1416 256 fixed;

  8313.        end;

  8314.        implementation eq

  8315. equations

  8316.     collect (output) = input;

  8317. implementation_end;

  8318.      end;

  8319.      connections

  8320.       Hin -> Link12\Hin;

  8321.       Joint_dynF1\output => Joint\Pdiff;

  8322.       Joint_dynF2\output => Joint1\Pdiff;

  8323.       Joint_dynF3\output => Joint2\Pdiff;

  8324.       Joint\Hout -> Link13\Hin;

  8325.       Joint\Pin <= Link13\Pout;

  8326.       Joint1\Hout -> Link14\Hin;

  8327.       Joint1\Pin <= Link14\Pout;

  8328.       Joint2\Hout -> Link15\Hin;

  8329.       Joint2\Pin <= Link15\Pout;

  8330.       Link1\Hout -> Joint1\Hin;

  8331.       Link1\Pin <= Joint1\Pout;

  8332.       Link12\Hout -> Splitter2\input;

  8333.       Link12\Pin <= Joint\Pout;

  8334.       Link12\Pout => Pout;

  8335.       Link13\Hout -> Splitter1\input;

  8336.       Link13\Pin <= Link1\Pout;

  8337.       Link14\Hout -> Splitter3\input;

  8338.       Link14\Pin <= Link2\Pout;

  8339.       Link15\Hout -> Splitter4\input;

  8340.       Link15\Pin <= Link3\Pout;

  8341.       Link2\Hout -> Joint2\Hin;

  8342.       Link2\Pin <= Joint2\Pout;

  8343.       Link3\Pin <= Pin;

  8344.       Splitter1\output -> Body_Lift2\input;

  8345.       Splitter1\output -> Link1\Hin;

  8346.       Splitter2\output -> Body_Lift1\input;

  8347.       Splitter2\output -> Joint\Hin;

  8348.       Splitter3\output -> Body_Lift3\input;

  8349.       Splitter3\output -> Link2\Hin;

  8350.       Splitter4\output -> Body_Lift4\input;

  8351.       Splitter4\output -> Link3\Hin;

  8352.      end;

  8353.     implementation_end;

  8354.    Link1 632 128

  8355.     description '<Information>

  8356.  <Description>

  8357.     <Version>4.8</Version>

  8358.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8359. <IsMainModel>1</IsMainModel>

  8360.   <KeepParameterValues>False</KeepParameterValues>

  8361.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8362. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8363.  </Description>

  8364. </Information>';

  8365.     type 'Submodel-Equation'

  8366.      ports

  8367.       signal in Hin [4,4];

  8368.       signal out Hout [4,4];

  8369.       power in Pin [6,1];

  8370.       power out Pout [6,1];

  8371.      restrictions

  8372.       causality constraint not_equal Pin Pout;

  8373.     end;

  8374.     icon bg bottom

  8375.      figures

  8376.       rectangle 600 104 664 152 color 0 fill 8454041;

  8377.       text 'Link' 632 128 color 0 'Clear Sans' 16;

  8378.      terminals

  8379.       Hin 600 144 fixed;

  8380.       Hout 664 144 fixed;

  8381.       Pin 664 112 fixed;

  8382.       Pout 600 112 fixed;

  8383.     end;

  8384.     implementation eq

  8385. parameters

  8386. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  8387. variables

  8388. 	real Hab[4,4];

  8389. 	real AdHab[6,6];

  8390. 	real R[3,3];

  8391. 	real omega[3];

  8392. initialequations

  8393. 	omega = offset[1:3];

  8394. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8395. 	Hab = homogeneous(R,offset[4:6]);

  8396. 	AdHab = Adjoint(Hab);

  8397. equations

  8398. 	Hout = Hin * Hab;

  8399. 	Pout.e = transpose(AdHab) * Pin.e;

  8400. 	Pin.f = AdHab * Pout.f;

  8401. 

  8402.     implementation_end;

  8403.    Link10 944 128

  8404.     description '<Information>

  8405.  <Description>

  8406.     <Version>4.8</Version>

  8407.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8408. <IsMainModel>1</IsMainModel>

  8409.   <KeepParameterValues>False</KeepParameterValues>

  8410.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8411. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8412.  </Description>

  8413. </Information>';

  8414.     type 'Submodel-Equation'

  8415.      ports

  8416.       signal in Hin [4,4];

  8417.       signal out Hout [4,4];

  8418.       power in Pin [6,1];

  8419.       power out Pout [6,1];

  8420.      restrictions

  8421.       causality constraint not_equal Pin Pout;

  8422.     end;

  8423.     icon bg bottom

  8424.      figures

  8425.       rectangle 912 104 976 152 color 0 fill 8454041;

  8426.       text 'Link' 944 128 color 0 'Clear Sans' 16;

  8427.      terminals

  8428.       Hin 912 144 fixed;

  8429.       Hout 976 144 fixed;

  8430.       Pin 976 112 fixed;

  8431.       Pout 912 112 fixed;

  8432.     end;

  8433.     implementation eq

  8434. parameters

  8435. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  8436. variables

  8437. 	real Hab[4,4];

  8438. 	real AdHab[6,6];

  8439. 	real R[3,3];

  8440. 	real omega[3];

  8441. initialequations

  8442. 	omega = offset[1:3];

  8443. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8444. 	Hab = homogeneous(R,offset[4:6]);

  8445. 	AdHab = Adjoint(Hab);

  8446. equations

  8447. 	Hout = Hin * Hab;

  8448. 	Pout.e = transpose(AdHab) * Pin.e;

  8449. 	Pin.f = AdHab * Pout.f;

  8450. 

  8451.     implementation_end;

  8452.    Link11 784 128

  8453.     description '<Information>

  8454.  <Description>

  8455.     <Version>4.8</Version>

  8456.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8457. <IsMainModel>1</IsMainModel>

  8458.   <KeepParameterValues>False</KeepParameterValues>

  8459.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8460. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8461.  </Description>

  8462. </Information>';

  8463.     type 'Submodel-Equation'

  8464.      ports

  8465.       signal in Hin [4,4];

  8466.       signal out Hout [4,4];

  8467.       power in Pin [6,1];

  8468.       power out Pout [6,1];

  8469.      restrictions

  8470.       causality constraint not_equal Pin Pout;

  8471.     end;

  8472.     icon bg bottom

  8473.      figures

  8474.       rectangle 752 104 816 152 color 0 fill 8454041;

  8475.       text 'Link' 784 128 color 0 'Clear Sans' 16;

  8476.      terminals

  8477.       Hin 752 144 fixed;

  8478.       Hout 816 144 fixed;

  8479.       Pin 816 112 fixed;

  8480.       Pout 752 112 fixed;

  8481.     end;

  8482.     implementation eq

  8483. parameters

  8484. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  8485. variables

  8486. 	real Hab[4,4];

  8487. 	real AdHab[6,6];

  8488. 	real R[3,3];

  8489. 	real omega[3];

  8490. initialequations

  8491. 	omega = offset[1:3];

  8492. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8493. 	Hab = homogeneous(R,offset[4:6]);

  8494. 	AdHab = Adjoint(Hab);

  8495. equations

  8496. 	Hout = Hin * Hab;

  8497. 	Pout.e = transpose(AdHab) * Pin.e;

  8498. 	Pin.f = AdHab * Pout.f;

  8499. 

  8500.     implementation_end;

  8501.    Link2 384 128

  8502.     description '<Information>

  8503.  <Description>

  8504.     <Version>4.8</Version>

  8505.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8506. <IsMainModel>1</IsMainModel>

  8507.   <KeepParameterValues>False</KeepParameterValues>

  8508.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8509. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8510.  </Description>

  8511. </Information>';

  8512.     type 'Submodel-Equation'

  8513.      ports

  8514.       signal in Hin [4,4];

  8515.       signal out Hout [4,4];

  8516.       power in Pin [6,1];

  8517.       power out Pout [6,1];

  8518.      restrictions

  8519.       causality constraint not_equal Pin Pout;

  8520.     end;

  8521.     icon bg bottom

  8522.      figures

  8523.       rectangle 352 104 416 152 color 0 fill 8454041;

  8524.       text 'Link' 384 128 color 0 'Clear Sans' 16;

  8525.      terminals

  8526.       Hin 352 144 fixed;

  8527.       Hout 416 144 fixed;

  8528.       Pin 416 112 fixed;

  8529.       Pout 352 112 fixed;

  8530.     end;

  8531.     implementation eq

  8532. parameters

  8533. 	real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1

  8534. variables

  8535. 	real Hab[4,4];

  8536. 	real AdHab[6,6];

  8537. 	real R[3,3];

  8538. 	real omega[3];

  8539. initialequations

  8540. 	omega = offset[1:3];

  8541. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8542. 	Hab = homogeneous(R,offset[4:6]);

  8543. 	AdHab = Adjoint(Hab);

  8544. equations

  8545. 	Hout = Hin * Hab;

  8546. 	Pout.e = transpose(AdHab) * Pin.e;

  8547. 	Pin.f = AdHab * Pout.f;

  8548. 

  8549.     implementation_end;

  8550.    Link3 560 424

  8551.     description '<Information>

  8552.  <Description>

  8553.     <Version>4.8</Version>

  8554.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8555. <IsMainModel>1</IsMainModel>

  8556.   <KeepParameterValues>False</KeepParameterValues>

  8557.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8558. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8559.  </Description>

  8560. </Information>';

  8561.     type 'Submodel-Equation'

  8562.      ports

  8563.       signal in Hin [4,4];

  8564.       signal out Hout [4,4];

  8565.       power in Pin [6,1];

  8566.       power out Pout [6,1];

  8567.      restrictions

  8568.       causality constraint not_equal Pin Pout;

  8569.     end;

  8570.     icon bg bottom

  8571.      figures

  8572.       rectangle 536 392 584 456 color 0 fill 8454041;

  8573.       text 'Link' 560 424 color 0 'Clear Sans' 16;

  8574.      terminals

  8575.       Hin 576 392 fixed;

  8576.       Hout 576 456 fixed;

  8577.       Pin 544 456 fixed;

  8578.       Pout 544 392 fixed;

  8579.     end;

  8580.     implementation eq

  8581. parameters

  8582. 	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1

  8583. variables

  8584. 	real Hab[4,4];

  8585. 	real AdHab[6,6];

  8586. 	real R[3,3];

  8587. 	real omega[3];

  8588. initialequations

  8589. 	omega = offset[1:3];

  8590. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8591. 	Hab = homogeneous(R,offset[4:6]);

  8592. 	AdHab = Adjoint(Hab);

  8593. equations

  8594. 	Hout = Hin * Hab;

  8595. 	Pout.e = transpose(AdHab) * Pin.e;

  8596. 	Pin.f = AdHab * Pout.f;

  8597. 

  8598.     implementation_end;

  8599.    Link4 200 256

  8600.     description '<Information>

  8601.  <Description>

  8602.     <Version>4.8</Version>

  8603.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8604. <IsMainModel>1</IsMainModel>

  8605.   <KeepParameterValues>False</KeepParameterValues>

  8606.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8607. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8608.  </Description>

  8609. </Information>';

  8610.     type 'Submodel-Equation'

  8611.      ports

  8612.       signal in Hin [4,4];

  8613.       signal out Hout [4,4];

  8614.       power in Pin [6,1];

  8615.       power out Pout [6,1];

  8616.      restrictions

  8617.       causality constraint not_equal Pin Pout;

  8618.     end;

  8619.     icon bg bottom

  8620.      figures

  8621.       rectangle 176 224 224 288 color 0 fill 8454041;

  8622.       text 'Link' 200 256 color 0 'Clear Sans' 16;

  8623.      terminals

  8624.       Hin 216 288 fixed;

  8625.       Hout 216 224 fixed;

  8626.       Pin 184 224 fixed;

  8627.       Pout 184 288 fixed;

  8628.     end;

  8629.     implementation eq

  8630. parameters

  8631. 	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1

  8632. variables

  8633. 	real Hab[4,4];

  8634. 	real AdHab[6,6];

  8635. 	real R[3,3];

  8636. 	real omega[3];

  8637. initialequations

  8638. 	omega = offset[1:3];

  8639. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8640. 	Hab = homogeneous(R,offset[4:6]);

  8641. 	AdHab = Adjoint(Hab);

  8642. equations

  8643. 	Hout = Hin * Hab;

  8644. 	Pout.e = transpose(AdHab) * Pin.e;

  8645. 	Pin.f = AdHab * Pout.f;

  8646. 

  8647.     implementation_end;

  8648.    Link5 408 632

  8649.     description '<Information>

  8650.  <Description>

  8651.     <Version>4.8</Version>

  8652.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8653. <IsMainModel>1</IsMainModel>

  8654.   <KeepParameterValues>False</KeepParameterValues>

  8655.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8656. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8657.  </Description>

  8658. </Information>';

  8659.     type 'Submodel-Equation'

  8660.      ports

  8661.       signal in Hin [4,4];

  8662.       signal out Hout [4,4];

  8663.       power in Pin [6,1];

  8664.       power out Pout [6,1];

  8665.      restrictions

  8666.       causality constraint not_equal Pin Pout;

  8667.     end;

  8668.     icon bg bottom

  8669.      figures

  8670.       rectangle 376 608 440 656 color 0 fill 8454041;

  8671.       text 'Link' 408 632 color 0 'Clear Sans' 16;

  8672.      terminals

  8673.       Hin 440 616 fixed;

  8674.       Hout 376 616 fixed;

  8675.       Pin 376 648 fixed;

  8676.       Pout 440 648 fixed;

  8677.     end;

  8678.     implementation eq

  8679. parameters

  8680. 	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1

  8681. variables

  8682. 	real Hab[4,4];

  8683. 	real AdHab[6,6];

  8684. 	real R[3,3];

  8685. 	real omega[3];

  8686. initialequations

  8687. 	omega = offset[1:3];

  8688. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8689. 	Hab = homogeneous(R,offset[4:6]);

  8690. 	AdHab = Adjoint(Hab);

  8691. equations

  8692. 	Hout = Hin * Hab;

  8693. 	Pout.e = transpose(AdHab) * Pin.e;

  8694. 	Pin.f = AdHab * Pout.f;

  8695. 

  8696.     implementation_end;

  8697.    Link6 560 280

  8698.     description '<Information>

  8699.  <Description>

  8700.     <Version>4.8</Version>

  8701.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8702. <IsMainModel>1</IsMainModel>

  8703.   <KeepParameterValues>False</KeepParameterValues>

  8704.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8705. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8706.  </Description>

  8707. </Information>';

  8708.     type 'Submodel-Equation'

  8709.      ports

  8710.       signal in Hin [4,4];

  8711.       signal out Hout [4,4];

  8712.       power in Pin [6,1];

  8713.       power out Pout [6,1];

  8714.      restrictions

  8715.       causality constraint not_equal Pin Pout;

  8716.     end;

  8717.     icon bg bottom

  8718.      figures

  8719.       rectangle 536 248 584 312 color 0 fill 8454041;

  8720.       text 'Link' 560 280 color 0 'Clear Sans' 16;

  8721.      terminals

  8722.       Hin 576 248 fixed;

  8723.       Hout 576 312 fixed;

  8724.       Pin 544 312 fixed;

  8725.       Pout 544 248 fixed;

  8726.     end;

  8727.     implementation eq

  8728. parameters

  8729. 	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1

  8730. variables

  8731. 	real Hab[4,4];

  8732. 	real AdHab[6,6];

  8733. 	real R[3,3];

  8734. 	real omega[3];

  8735. initialequations

  8736. 	omega = offset[1:3];

  8737. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8738. 	Hab = homogeneous(R,offset[4:6]);

  8739. 	AdHab = Adjoint(Hab);

  8740. equations

  8741. 	Hout = Hin * Hab;

  8742. 	Pout.e = transpose(AdHab) * Pin.e;

  8743. 	Pin.f = AdHab * Pout.f;

  8744. 

  8745.     implementation_end;

  8746.    Link7 272 632

  8747.     description '<Information>

  8748.  <Description>

  8749.     <Version>4.8</Version>

  8750.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8751. <IsMainModel>1</IsMainModel>

  8752.   <KeepParameterValues>False</KeepParameterValues>

  8753.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8754. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8755.  </Description>

  8756. </Information>';

  8757.     type 'Submodel-Equation'

  8758.      ports

  8759.       signal in Hin [4,4];

  8760.       signal out Hout [4,4];

  8761.       power in Pin [6,1];

  8762.       power out Pout [6,1];

  8763.      restrictions

  8764.       causality constraint not_equal Pin Pout;

  8765.     end;

  8766.     icon bg bottom

  8767.      figures

  8768.       rectangle 240 608 304 656 color 0 fill 8454041;

  8769.       text 'Link' 272 632 color 0 'Clear Sans' 16;

  8770.      terminals

  8771.       Hin 304 616 fixed;

  8772.       Hout 240 616 fixed;

  8773.       Pin 240 648 fixed;

  8774.       Pout 304 648 fixed;

  8775.     end;

  8776.     implementation eq

  8777. parameters

  8778. 	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1

  8779. variables

  8780. 	real Hab[4,4];

  8781. 	real AdHab[6,6];

  8782. 	real R[3,3];

  8783. 	real omega[3];

  8784. initialequations

  8785. 	omega = offset[1:3];

  8786. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8787. 	Hab = homogeneous(R,offset[4:6]);

  8788. 	AdHab = Adjoint(Hab);

  8789. equations

  8790. 	Hout = Hin * Hab;

  8791. 	Pout.e = transpose(AdHab) * Pin.e;

  8792. 	Pin.f = AdHab * Pout.f;

  8793. 

  8794.     implementation_end;

  8795.    Link8 1360 128

  8796.     description '<Information>

  8797.  <Description>

  8798.     <Version>4.8</Version>

  8799.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8800. <IsMainModel>1</IsMainModel>

  8801.   <KeepParameterValues>False</KeepParameterValues>

  8802.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8803. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8804.  </Description>

  8805. </Information>';

  8806.     type 'Submodel-Equation'

  8807.      ports

  8808.       signal in Hin [4,4];

  8809.       signal out Hout [4,4];

  8810.       power in Pin [6,1];

  8811.       power out Pout [6,1];

  8812.      restrictions

  8813.       causality constraint not_equal Pin Pout;

  8814.     end;

  8815.     icon bg bottom

  8816.      figures

  8817.       rectangle 1328 104 1392 152 color 0 fill 8454041;

  8818.       text 'Link' 1360 128 color 0 'Clear Sans' 16;

  8819.      terminals

  8820.       Hin 1328 144 fixed;

  8821.       Hout 1392 144 fixed;

  8822.       Pin 1392 112 fixed;

  8823.       Pout 1328 112 fixed;

  8824.     end;

  8825.     implementation eq

  8826. parameters

  8827. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  8828. variables

  8829. 	real Hab[4,4];

  8830. 	real AdHab[6,6];

  8831. 	real R[3,3];

  8832. 	real omega[3];

  8833. initialequations

  8834. 	omega = offset[1:3];

  8835. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8836. 	Hab = homogeneous(R,offset[4:6]);

  8837. 	AdHab = Adjoint(Hab);

  8838. equations

  8839. 	Hout = Hin * Hab;

  8840. 	Pout.e = transpose(AdHab) * Pin.e;

  8841. 	Pin.f = AdHab * Pout.f;

  8842. 

  8843.     implementation_end;

  8844.    Link9 200 400

  8845.     description '<Information>

  8846.  <Description>

  8847.     <Version>4.8</Version>

  8848.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8849. <IsMainModel>1</IsMainModel>

  8850.   <KeepParameterValues>False</KeepParameterValues>

  8851.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8852. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8853.  </Description>

  8854. </Information>';

  8855.     type 'Submodel-Equation'

  8856.      ports

  8857.       signal in Hin [4,4];

  8858.       signal out Hout [4,4];

  8859.       power in Pin [6,1];

  8860.       power out Pout [6,1];

  8861.      restrictions

  8862.       causality constraint not_equal Pin Pout;

  8863.     end;

  8864.     icon bg bottom

  8865.      figures

  8866.       rectangle 176 368 224 432 color 0 fill 8454041;

  8867.       text 'Link' 200 400 color 0 'Clear Sans' 16;

  8868.      terminals

  8869.       Hin 216 432 fixed;

  8870.       Hout 216 368 fixed;

  8871.       Pin 184 368 fixed;

  8872.       Pout 184 432 fixed;

  8873.     end;

  8874.     implementation eq

  8875. parameters

  8876. 	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1

  8877. variables

  8878. 	real Hab[4,4];

  8879. 	real AdHab[6,6];

  8880. 	real R[3,3];

  8881. 	real omega[3];

  8882. initialequations

  8883. 	omega = offset[1:3];

  8884. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8885. 	Hab = homogeneous(R,offset[4:6]);

  8886. 	AdHab = Adjoint(Hab);

  8887. equations

  8888. 	Hout = Hin * Hab;

  8889. 	Pout.e = transpose(AdHab) * Pin.e;

  8890. 	Pin.f = AdHab * Pout.f;

  8891. 

  8892.     implementation_end;

  8893.    Negate2 608 768

  8894.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8895.    <LibraryPath>Signal\Block Diagram\Negate.emx</LibraryPath>

  8896.   <TimeStamp>2007-9-26 12:14:11</TimeStamp>

  8897. </Description>';

  8898.     type Negate

  8899.      ports

  8900.       signal in input;

  8901.       signal out output;

  8902.     end;

  8903.     icon bg bottom

  8904.      figures

  8905.       rectangle 592 752 624 784 color 0 fill 15132390;

  8906.       text '-1' 608 768 color 16711680 16 bold;

  8907.     end;

  8908.     implementation eq

  8909. equations

  8910. 	output = - input;

  8911.      implementation_end;

  8912.    OneJunction1 328 648

  8913.     description '<Information>

  8914.  <Description>

  8915.     <Version>4.2</Version>

  8916. <IsMainModel>1</IsMainModel>

  8917.   <KeepParameterValues>False</KeepParameterValues>

  8918.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  8919.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  8920. </Description>

  8921. </Information>';

  8922.     knot OneJunction

  8923.      ports

  8924.       power knot duplicatable none p [6,1];

  8925.       signal knot out flow [6,1];

  8926.      restrictions

  8927.       causality constraint one_out p;

  8928.     end;

  8929.     icon bg

  8930.      figures

  8931.       text '1' 328 648 color 0 18 bold;

  8932.     end;

  8933.     implementation eq

  8934. equations

  8935. 	sum (direct (p.e)) = 0;

  8936. 	equal (collect (p.f));

  8937. 	flow = first (p.f);

  8938. implementation_end;

  8939.    OneJunction2 544 368

  8940.     description '<Information>

  8941.  <Description>

  8942.     <Version>4.2</Version>

  8943. <IsMainModel>1</IsMainModel>

  8944.   <KeepParameterValues>False</KeepParameterValues>

  8945.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  8946.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  8947. </Description>

  8948. </Information>';

  8949.     knot OneJunction

  8950.      ports

  8951.       power knot duplicatable none p [6,1];

  8952.       signal knot out flow [6,1];

  8953.      restrictions

  8954.       causality constraint one_out p;

  8955.     end;

  8956.     icon bg

  8957.      figures

  8958.       text '1' 544 368 color 0 18 bold;

  8959.     end;

  8960.     implementation eq

  8961. equations

  8962. 	sum (direct (p.e)) = 0;

  8963. 	equal (collect (p.f));

  8964. 	flow = first (p.f);

  8965. implementation_end;

  8966.    OneJunction3 544 112

  8967.     description '<Information>

  8968.  <Description>

  8969.     <Version>4.2</Version>

  8970. <IsMainModel>1</IsMainModel>

  8971.   <KeepParameterValues>False</KeepParameterValues>

  8972.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  8973.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  8974. </Description>

  8975. </Information>';

  8976.     knot OneJunction

  8977.      ports

  8978.       power knot duplicatable none p [6,1];

  8979.       signal knot out flow [6,1];

  8980.      restrictions

  8981.       causality constraint one_out p;

  8982.     end;

  8983.     icon bg

  8984.      figures

  8985.       text '1' 544 112 color 0 18 bold;

  8986.     end;

  8987.     implementation eq

  8988. equations

  8989. 	sum (direct (p.e)) = 0;

  8990. 	equal (collect (p.f));

  8991. 	flow = first (p.f);

  8992. implementation_end;

  8993.    OneJunction4 184 344

  8994.     description '<Information>

  8995.  <Description>

  8996.     <Version>4.2</Version>

  8997. <IsMainModel>1</IsMainModel>

  8998.   <KeepParameterValues>False</KeepParameterValues>

  8999.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  9000.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  9001. </Description>

  9002. </Information>';

  9003.     knot OneJunction

  9004.      ports

  9005.       power knot duplicatable none p [6,1];

  9006.       signal knot out flow [6,1];

  9007.      restrictions

  9008.       causality constraint one_out p;

  9009.     end;

  9010.     icon bg

  9011.      figures

  9012.       text '1' 184 344 color 0 18 bold;

  9013.     end;

  9014.     implementation eq

  9015. equations

  9016. 	sum (direct (p.e)) = 0;

  9017. 	equal (collect (p.f));

  9018. 	flow = first (p.f);

  9019. implementation_end;

  9020.    OneJunction5 600 648

  9021.     description '<Information>

  9022.  <Description>

  9023.     <Version>4.2</Version>

  9024. <IsMainModel>1</IsMainModel>

  9025.   <KeepParameterValues>False</KeepParameterValues>

  9026.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  9027.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  9028. </Description>

  9029. </Information>';

  9030.     knot OneJunction

  9031.      ports

  9032.       power knot duplicatable none p [6,1];

  9033.       signal knot out flow [6,1];

  9034.      restrictions

  9035.       causality constraint one_out p;

  9036.     end;

  9037.     icon bg

  9038.      figures

  9039.       text '1' 600 648 color 0 18 bold;

  9040.     end;

  9041.     implementation eq

  9042. equations

  9043. 	sum (direct (p.e)) = 0;

  9044. 	equal (collect (p.f));

  9045. 	flow = first (p.f);

  9046. implementation_end;

  9047.    OneJunction6 696 112

  9048.     description '<Information>

  9049.  <Description>

  9050.     <Version>4.2</Version>

  9051. <IsMainModel>1</IsMainModel>

  9052.   <KeepParameterValues>False</KeepParameterValues>

  9053.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  9054.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  9055. </Description>

  9056. </Information>';

  9057.     knot OneJunction

  9058.      ports

  9059.       power knot duplicatable none p [6,1];

  9060.       signal knot out flow [6,1];

  9061.      restrictions

  9062.       causality constraint one_out p;

  9063.     end;

  9064.     icon bg

  9065.      figures

  9066.       text '1' 696 112 color 0 18 bold;

  9067.     end;

  9068.     implementation eq

  9069. equations

  9070. 	sum (direct (p.e)) = 0;

  9071. 	equal (collect (p.f));

  9072. 	flow = first (p.f);

  9073. implementation_end;

  9074.    OneJunction7 1264 112

  9075.     description '<Information>

  9076.  <Description>

  9077.     <Version>4.2</Version>

  9078. <IsMainModel>1</IsMainModel>

  9079.   <KeepParameterValues>False</KeepParameterValues>

  9080.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  9081.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  9082. </Description>

  9083. </Information>';

  9084.     knot OneJunction

  9085.      ports

  9086.       power knot duplicatable none p [6,1];

  9087.       signal knot out flow [6,1];

  9088.      restrictions

  9089.       causality constraint one_out p;

  9090.     end;

  9091.     icon bg

  9092.      figures

  9093.       text '1' 1264 112 color 0 18 bold;

  9094.     end;

  9095.     implementation eq

  9096. equations

  9097. 	sum (direct (p.e)) = 0;

  9098. 	equal (collect (p.f));

  9099. 	flow = first (p.f);

  9100. implementation_end;

  9101.    rectanglepath 856 768

  9102.     description '<Information>

  9103.  <Description>

  9104.     <Version>4.8</Version>

  9105.   <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>

  9106. <IsMainModel>1</IsMainModel>

  9107.   <KeepParameterValues>False</KeepParameterValues>

  9108.     <TimeStamp>2020-7-10 12:30:38</TimeStamp>

  9109. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9110.  </Description>

  9111. </Information>';

  9112.     type 'Submodel-Equation'

  9113.      ports

  9114.       signal out output [2,1];

  9115.     end;

  9116.     icon bg

  9117.      figures

  9118.       rectangle 800 752 912 784 color 0 fill 15132390;

  9119.       text 'name' 856 768 color 0 'Clear Sans' 16;

  9120.     end;

  9121.     implementation eq

  9122. /* 

  9123. This will generate coordinates for the box that has to be drawn

  9124. */

  9125. parameters

  9126. 	real w = 0.07 {m} ;

  9127. 	real h = 0.05 {m};

  9128. 	real t  = 1 {s};

  9129. 	real origin[2] = [0.01;0.03] {m};

  9130. variables

  9131. 	real v {m/s};

  9132. 	real t_w {s};

  9133. 	real t_h {s};

  9134. 	real period {s};

  9135. 	boolean y;

  9136. initialequations

  9137. 	v = (2*w + 2*h)/t;

  9138. 	t_w = w / v;

  9139. 	t_h = h / v;

  9140. code

  9141. y = frequencyevent (t,0);

  9142. period = t - (time - floor(time / t) * t);

  9143. 

  9144. if period < t_w or time < t then

  9145. 	output = origin;

  9146. else

  9147. 	if period < t_w + t_h then

  9148. 		output = origin + [w;0];

  9149. 	else	

  9150. 		if period < 2 * t_w + t_h then

  9151. 			output = origin + [w;h];

  9152. 		else

  9153. 			output = origin + [0;h];

  9154. 		end;

  9155. 	end;

  9156. end;

  9157. 

  9158. 

  9159. 

  9160. 	//output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];

  9161. 	//output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];

  9162. implementation_end;

  9163.    Splitter1 360 616

  9164.     description '<Description><Version>4.0</Version>

  9165.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9166.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9167. <IsMainModel>1</IsMainModel>

  9168.  <KeepParameterValues>False</KeepParameterValues>

  9169. </Description>';

  9170.     knot Splitter

  9171.      ports

  9172.       signal knot duplicatable out output [4,4];

  9173.       signal knot in input [4,4];

  9174.     end;

  9175.     icon bg ellipse

  9176.      figures

  9177.       ellipse 356.8 612.8 363.2 619.2 color -1 fill 0;

  9178.       ellipse 355.7 611.7 364.3 620.3 color -1;

  9179.      terminals

  9180.       input 360 616 fixed;

  9181.     end;

  9182.     implementation eq

  9183. equations

  9184.     collect (output) = input;

  9185. implementation_end;

  9186.    Splitter10 1416 144

  9187.     description '<Description><Version>4.0</Version>

  9188.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9189.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9190. <IsMainModel>1</IsMainModel>

  9191.  <KeepParameterValues>False</KeepParameterValues>

  9192. </Description>';

  9193.     knot Splitter

  9194.      ports

  9195.       signal knot duplicatable out output [4,4];

  9196.       signal knot in input [4,4];

  9197.     end;

  9198.     icon bg ellipse

  9199.      figures

  9200.       ellipse 1412.8 140.8 1419.2 147.2 color -1 fill 0;

  9201.       ellipse 1411.7 139.7 1420.3 148.3 color -1;

  9202.      terminals

  9203.       input 1416 144 fixed;

  9204.     end;

  9205.     implementation eq

  9206. equations

  9207.     collect (output) = input;

  9208. implementation_end;

  9209.    Splitter11 480 144

  9210.     description '<Description><Version>4.0</Version>

  9211.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9212.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9213. <IsMainModel>1</IsMainModel>

  9214.  <KeepParameterValues>False</KeepParameterValues>

  9215. </Description>';

  9216.     knot Splitter

  9217.      ports

  9218.       signal knot duplicatable out output [4,4];

  9219.       signal knot in input [4,4];

  9220.     end;

  9221.     icon bg ellipse

  9222.      figures

  9223.       ellipse 476.8 140.8 483.2 147.2 color -1 fill 0;

  9224.       ellipse 475.7 139.7 484.3 148.3 color -1;

  9225.      terminals

  9226.       input 480 144 fixed;

  9227.     end;

  9228.     implementation eq

  9229. equations

  9230.     collect (output) = input;

  9231. implementation_end;

  9232.    Splitter2 576 336

  9233.     description '<Description><Version>4.0</Version>

  9234.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9235.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9236. <IsMainModel>1</IsMainModel>

  9237.  <KeepParameterValues>False</KeepParameterValues>

  9238. </Description>';

  9239.     knot Splitter

  9240.      ports

  9241.       signal knot duplicatable out output [4,4];

  9242.       signal knot in input [4,4];

  9243.     end;

  9244.     icon bg ellipse

  9245.      figures

  9246.       ellipse 572.8 332.8 579.2 339.2 color -1 fill 0;

  9247.       ellipse 571.7 331.7 580.3 340.3 color -1;

  9248.      terminals

  9249.       input 576 336 fixed;

  9250.     end;

  9251.     implementation eq

  9252. equations

  9253.     collect (output) = input;

  9254. implementation_end;

  9255.    Splitter3 216 312

  9256.     description '<Description><Version>4.0</Version>

  9257.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9258.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9259. <IsMainModel>1</IsMainModel>

  9260.  <KeepParameterValues>False</KeepParameterValues>

  9261. </Description>';

  9262.     knot Splitter

  9263.      ports

  9264.       signal knot duplicatable out output [4,4];

  9265.       signal knot in input [4,4];

  9266.     end;

  9267.     icon bg ellipse

  9268.      figures

  9269.       ellipse 212.8 308.8 219.2 315.2 color -1 fill 0;

  9270.       ellipse 211.7 307.7 220.3 316.3 color -1;

  9271.      terminals

  9272.       input 216 312 fixed;

  9273.     end;

  9274.     implementation eq

  9275. equations

  9276.     collect (output) = input;

  9277. implementation_end;

  9278.    Splitter4 576 144

  9279.     description '<Description><Version>4.0</Version>

  9280.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9281.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9282. <IsMainModel>1</IsMainModel>

  9283.  <KeepParameterValues>False</KeepParameterValues>

  9284. </Description>';

  9285.     knot Splitter

  9286.      ports

  9287.       signal knot duplicatable out output [4,4];

  9288.       signal knot in input [4,4];

  9289.     end;

  9290.     icon bg ellipse

  9291.      figures

  9292.       ellipse 572.8 140.8 579.2 147.2 color -1 fill 0;

  9293.       ellipse 571.7 139.7 580.3 148.3 color -1;

  9294.      terminals

  9295.       input 576 144 fixed;

  9296.     end;

  9297.     implementation eq

  9298. equations

  9299.     collect (output) = input;

  9300. implementation_end;

  9301.    Splitter6 728 144

  9302.     description '<Description><Version>4.0</Version>

  9303.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9304.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9305. <IsMainModel>1</IsMainModel>

  9306.  <KeepParameterValues>False</KeepParameterValues>

  9307. </Description>';

  9308.     knot Splitter

  9309.      ports

  9310.       signal knot duplicatable out output [4,4];

  9311.       signal knot in input [4,4];

  9312.     end;

  9313.     icon bg ellipse

  9314.      figures

  9315.       ellipse 724.8 140.8 731.2 147.2 color -1 fill 0;

  9316.       ellipse 723.7 139.7 732.3 148.3 color -1;

  9317.      terminals

  9318.       input 728 144 fixed;

  9319.     end;

  9320.     implementation eq

  9321. equations

  9322.     collect (output) = input;

  9323. implementation_end;

  9324.    Splitter8 576 472

  9325.     description '<Description><Version>4.0</Version>

  9326.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9327.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9328. <IsMainModel>1</IsMainModel>

  9329.  <KeepParameterValues>False</KeepParameterValues>

  9330. </Description>';

  9331.     knot Splitter

  9332.      ports

  9333.       signal knot duplicatable out output [4,4];

  9334.       signal knot in input [4,4];

  9335.     end;

  9336.     icon bg ellipse

  9337.      figures

  9338.       ellipse 572.8 468.8 579.2 475.2 color -1 fill 0;

  9339.       ellipse 571.7 467.7 580.3 476.3 color -1;

  9340.      terminals

  9341.       input 576 472 fixed;

  9342.     end;

  9343.     implementation eq

  9344. equations

  9345.     collect (output) = input;

  9346. implementation_end;

  9347.    Splitter9 992 144

  9348.     description '<Description><Version>4.0</Version>

  9349.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9350.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9351. <IsMainModel>1</IsMainModel>

  9352.  <KeepParameterValues>False</KeepParameterValues>

  9353. </Description>';

  9354.     knot Splitter

  9355.      ports

  9356.       signal knot duplicatable out output [4,4];

  9357.       signal knot in input [4,4];

  9358.     end;

  9359.     icon bg ellipse

  9360.      figures

  9361.       ellipse 988.8 140.8 995.2 147.2 color -1 fill 0;

  9362.       ellipse 987.7 139.7 996.3 148.3 color -1;

  9363.      terminals

  9364.       input 992 144 fixed;

  9365.     end;

  9366.     implementation eq

  9367. equations

  9368.     collect (output) = input;

  9369. implementation_end;

  9370.    stepper_control 712 592

  9371. 			specifications active 'P_only'

  9372. 				specification 'default'

  9373. description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx</LibraryPath><TimeStamp>2020-7-23 13:09:57</TimeStamp></Description><Attributes><GlobalRelations>parameters

  9374. 	real max_acceleration = 250 {rad/s2};

  9375. 	real max_velocity = 25 {rad/s};

  9376. 	real initial_velocity = 0 {rad/s};

  9377. 	real initial_angle = -1.570796 {rad};</GlobalRelations></Attributes></Information>';

  9378.  type Submodel

  9379.   ports

  9380.    signal in setpoint {rad} ;

  9381.    signal out output {rad} ;

  9382.  end;

  9383.  icon bg bottom

  9384.   figures

  9385.    rectangle 648 576 760 608 color 0 fill 15132390;

  9386.    text 'name' 704 592 color 0 'Clear Sans' 16;

  9387.  end;

  9388.  implementation bg

  9389.   submodels

  9390.    Acceleration_int 648 336

  9391.     description '<Information>

  9392.  <Description>

  9393.     <Version>4.3</Version>

  9394. <IsMainModel>1</IsMainModel>

  9395.   <KeepParameterValues>False</KeepParameterValues>

  9396.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  9397.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  9398. </Description>

  9399. </Information>';

  9400.     type Integrate

  9401.      ports

  9402.       signal in input;

  9403.       signal out output;

  9404.     end;

  9405.     icon bg bottom

  9406.      figures

  9407.       rectangle 632 320 664 352 color 0 fill 15132390;

  9408.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  9409.     end;

  9410.     implementation eq

  9411. parameters

  9412. 	real global initial_velocity;		// initial value

  9413. equations

  9414. 	output = int (input, initial_velocity);

  9415.      implementation_end;

  9416.    Acceleration_limit 568 336

  9417.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9418.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  9419.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  9420. </Description>';

  9421.     type 'SignalLimiter-Limit'

  9422.      ports

  9423.       signal in input;

  9424.       signal out output;

  9425.     end;

  9426.     icon bg bottom

  9427.      figures

  9428.       group

  9429.        rectangle 552 320 584 352 color 0 fill 15132390;

  9430.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  9431.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  9432.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  9433.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  9434.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  9435.       end;

  9436.     end;

  9437.     implementation eq

  9438. parameters

  9439. 	real global max_acceleration {rad/s2};

  9440. equations

  9441. 	output = limit (input, -max_acceleration, max_acceleration);

  9442.   implementation_end;

  9443.    plug setpoint 136 336;

  9444.    plug output 791 336;

  9445.    PlusMinus1 240 336

  9446.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9447.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  9448.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  9449. </Description>';

  9450.     knot PlusMinus

  9451.      ports

  9452.       signal knot duplicatable in plus [1];

  9453.       signal knot duplicatable in minus [1];

  9454.       signal knot out output [1];

  9455.     end;

  9456.     icon bg ellipse

  9457.      figures

  9458.       ellipse 232 328 248 344 color 0 fill 16777215;

  9459.     end;

  9460.     implementation eq

  9461. equations

  9462.     output = sum (collect (plus)) - sum (collect (minus));

  9463.     implementation_end;

  9464.    PlusMinus2 432 336

  9465.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9466.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  9467.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  9468. </Description>';

  9469.     knot PlusMinus

  9470.      ports

  9471.       signal knot duplicatable in plus [1];

  9472.       signal knot duplicatable in minus [1];

  9473.       signal knot out output [1];

  9474.     end;

  9475.     icon bg ellipse

  9476.      figures

  9477.       ellipse 424 328 440 344 color 0 fill 16777215;

  9478.     end;

  9479.     implementation eq

  9480. equations

  9481.     output = sum (collect (plus)) - sum (collect (minus));

  9482.     implementation_end;

  9483.    Position_control 296 336

  9484.     description '<Description>

  9485.  <Version>4.0</Version>

  9486.  <IsMainModel>1</IsMainModel>

  9487.  <KeepParameterValues>False</KeepParameterValues>

  9488.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  9489.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  9490. </Description>';

  9491.     type PD

  9492.      ports

  9493.       signal in error;

  9494.       signal out output;

  9495.     end;

  9496.     icon bg bottom

  9497.      figures

  9498.       rectangle 280 320 312 352 color 0 fill 15132390;

  9499.       text 'PD' 296.5 336.1 color 16711680 18 bold;

  9500.     end;

  9501.     implementation eq

  9502. parameters

  9503. 	real kp = 4 {};			// Proportional gain

  9504. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  9505. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  9506. variables

  9507. 	real state, rate;

  9508. equations

  9509. 	rate = (kp * error - output) / (beta * tauD);

  9510. 	state = int (rate);

  9511. 	output = state + kp * error /  beta;

  9512.       implementation_end;

  9513.    Splitter3 688 336

  9514.     description '<Description><Version>4.0</Version>

  9515.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9516.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9517. <IsMainModel>1</IsMainModel>

  9518.  <KeepParameterValues>False</KeepParameterValues>

  9519. </Description>';

  9520.     knot Splitter

  9521.      ports

  9522.       signal knot duplicatable out output [1];

  9523.       signal knot in input [1];

  9524.     end;

  9525.     icon bg ellipse

  9526.      figures

  9527.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  9528.       ellipse 683.7 331.7 692.3 340.3 color -1;

  9529.      terminals

  9530.       input 688 336 fixed;

  9531.     end;

  9532.     implementation eq

  9533. equations

  9534.     collect (output) = input;

  9535. implementation_end;

  9536.    Splitter4 752 336

  9537.     description '<Description><Version>4.0</Version>

  9538.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9539.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9540. <IsMainModel>1</IsMainModel>

  9541.  <KeepParameterValues>False</KeepParameterValues>

  9542. </Description>';

  9543.     knot Splitter

  9544.      ports

  9545.       signal knot duplicatable out output [1];

  9546.       signal knot in input [1];

  9547.     end;

  9548.     icon bg ellipse

  9549.      figures

  9550.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  9551.       ellipse 747.7 331.7 756.3 340.3 color -1;

  9552.      terminals

  9553.       input 752 336 fixed;

  9554.     end;

  9555.     implementation eq

  9556. equations

  9557.     collect (output) = input;

  9558. implementation_end;

  9559.    Velocity_control 480 336

  9560.     description '<Description>

  9561.  <Version>4.0</Version>

  9562.  <IsMainModel>1</IsMainModel>

  9563.  <KeepParameterValues>False</KeepParameterValues>

  9564.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  9565.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  9566. </Description>';

  9567.     type PD

  9568.      ports

  9569.       signal in error;

  9570.       signal out output;

  9571.     end;

  9572.     icon bg bottom

  9573.      figures

  9574.       rectangle 464 320 496 352 color 0 fill 15132390;

  9575.       text 'PD' 480.5 336.1 color 16711680 18 bold;

  9576.     end;

  9577.     implementation eq

  9578. parameters

  9579. 	real kp = 12 {};			// Proportional gain

  9580. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  9581. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  9582. variables

  9583. 	real state, rate;

  9584. equations

  9585. 	rate = (kp * error - output) / (beta * tauD);

  9586. 	state = int (rate);

  9587. 	output = state + kp * error /  beta;

  9588.       implementation_end;

  9589.    Velocity_int 720 336

  9590.     description '<Information>

  9591.  <Description>

  9592.     <Version>4.3</Version>

  9593. <IsMainModel>1</IsMainModel>

  9594.   <KeepParameterValues>False</KeepParameterValues>

  9595.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  9596.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  9597. </Description>

  9598. </Information>';

  9599.     type Integrate

  9600.      ports

  9601.       signal in input;

  9602.       signal out output;

  9603.     end;

  9604.     icon bg bottom

  9605.      figures

  9606.       rectangle 704 320 736 352 color 0 fill 15132390;

  9607.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  9608.     end;

  9609.     implementation eq

  9610. parameters

  9611. 	real global initial_angle;		// initial value

  9612. equations

  9613. 	output = int (input, initial_angle);

  9614.      implementation_end;

  9615.    Velocity_limit 376 336

  9616.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9617.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  9618.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  9619. </Description>';

  9620.     type 'SignalLimiter-Limit'

  9621.      ports

  9622.       signal in input;

  9623.       signal out output;

  9624.     end;

  9625.     icon bg bottom

  9626.      figures

  9627.       group

  9628.        rectangle 360 320 392 352 color 0 fill 15132390;

  9629.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  9630.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  9631.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  9632.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  9633.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  9634.       end;

  9635.     end;

  9636.     implementation eq

  9637. parameters

  9638. 	real global max_velocity {rad/s};

  9639. equations

  9640. 	output = limit (input, -max_velocity, max_velocity);

  9641.   implementation_end;

  9642.   end;

  9643.   connections

  9644.    Acceleration_int\output -> Splitter3\input;

  9645.    Acceleration_limit\output -> Acceleration_int\input;

  9646.    PlusMinus1\output -> Position_control\error;

  9647.    PlusMinus2\output -> Velocity_control\error;

  9648.    Position_control\output -> Velocity_limit\input;

  9649.    setpoint -> PlusMinus1\plus;

  9650.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  9651.    Splitter3\output -> Velocity_int\input;

  9652.    Splitter4\output -> output;

  9653.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  9654.    Velocity_control\output -> Acceleration_limit\input;

  9655.    Velocity_int\output -> Splitter4\input;

  9656.    Velocity_limit\output -> PlusMinus2\plus;

  9657.   end;

  9658.  implementation_end;

  9659. specification_end;

  9660. 				specification 'P_only'

  9661.  description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx</LibraryPath><TimeStamp>2020-7-23 13:09:57</TimeStamp></Description><Attributes><GlobalRelations>parameters

  9662. 	real max_acceleration = 350 {rad/s2};

  9663. 	real max_velocity = 25 {rad/s};

  9664. 	real initial_velocity = 0 {rad/s};

  9665. 	real initial_angle = 1.570796 {rad};</GlobalRelations></Attributes></Information>';

  9666.  type Submodel

  9667.   ports

  9668.    signal in setpoint {rad} ;

  9669.    signal out output {rad} ;

  9670.  end;

  9671.  icon bg bottom

  9672.   figures

  9673.    rectangle 656 576 768 608 color 0 fill 15132390;

  9674.    text 'name' 712 592 color 0 'Clear Sans' 16;

  9675.  end;

  9676.  implementation bg

  9677.   submodels

  9678.    Acceleration_int 648 336

  9679.     description '<Information>

  9680.  <Description>

  9681.     <Version>4.3</Version>

  9682. <IsMainModel>1</IsMainModel>

  9683.   <KeepParameterValues>False</KeepParameterValues>

  9684.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  9685.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  9686. </Description>

  9687. </Information>';

  9688.     type Integrate

  9689.      ports

  9690.       signal in input;

  9691.       signal out output;

  9692.     end;

  9693.     icon bg bottom

  9694.      figures

  9695.       rectangle 632 320 664 352 color 0 fill 15132390;

  9696.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  9697.     end;

  9698.     implementation eq

  9699. parameters

  9700. 	real global initial_velocity;		// initial value

  9701. equations

  9702. 	output = int (input, initial_velocity);

  9703.      implementation_end;

  9704.    Acceleration_limit 568 336

  9705.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9706.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  9707.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  9708. </Description>';

  9709.     type 'SignalLimiter-Limit'

  9710.      ports

  9711.       signal in input;

  9712.       signal out output;

  9713.     end;

  9714.     icon bg bottom

  9715.      figures

  9716.       group

  9717.        rectangle 552 320 584 352 color 0 fill 15132390;

  9718.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  9719.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  9720.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  9721.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  9722.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  9723.       end;

  9724.     end;

  9725.     implementation eq

  9726. parameters

  9727. 	real global max_acceleration {rad/s2};

  9728. equations

  9729. 	output = limit (input, -max_acceleration, max_acceleration);

  9730.   implementation_end;

  9731.    plug setpoint 136 336;

  9732.    plug output 791 336;

  9733.    PlusMinus1 240 336

  9734.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9735.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  9736.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  9737. </Description>';

  9738.     knot PlusMinus

  9739.      ports

  9740.       signal knot duplicatable in plus [1];

  9741.       signal knot duplicatable in minus [1];

  9742.       signal knot out output [1];

  9743.     end;

  9744.     icon bg ellipse

  9745.      figures

  9746.       ellipse 232 328 248 344 color 0 fill 16777215;

  9747.     end;

  9748.     implementation eq

  9749. equations

  9750.     output = sum (collect (plus)) - sum (collect (minus));

  9751.     implementation_end;

  9752.    PlusMinus2 432 336

  9753.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9754.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  9755.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  9756. </Description>';

  9757.     knot PlusMinus

  9758.      ports

  9759.       signal knot duplicatable in plus [1];

  9760.       signal knot duplicatable in minus [1];

  9761.       signal knot out output [1];

  9762.     end;

  9763.     icon bg ellipse

  9764.      figures

  9765.       ellipse 424 328 440 344 color 0 fill 16777215;

  9766.     end;

  9767.     implementation eq

  9768. equations

  9769.     output = sum (collect (plus)) - sum (collect (minus));

  9770.     implementation_end;

  9771.    Position_control 296 336

  9772.     description '<Description>

  9773.  <Version>4.0</Version>

  9774.  <IsMainModel>1</IsMainModel>

  9775.  <KeepParameterValues>False</KeepParameterValues>

  9776.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  9777.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  9778. </Description>';

  9779.     type P

  9780.      ports

  9781.       signal in error;

  9782.       signal out output;

  9783.     end;

  9784.     icon bg bottom

  9785.      figures

  9786.       rectangle 280 320 312 352 color 0 fill 15132390;

  9787.       text 'P' 296.5 336.1 color 16711680 18 bold;

  9788.     end;

  9789.     implementation eq

  9790. parameters

  9791. 	real kp = 26.0 {};			// Proportional gain

  9792. equations

  9793. 	output = kp * error;

  9794.     implementation_end;

  9795.    Splitter3 688 336

  9796.     description '<Description><Version>4.0</Version>

  9797.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9798.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9799. <IsMainModel>1</IsMainModel>

  9800.  <KeepParameterValues>False</KeepParameterValues>

  9801. </Description>';

  9802.     knot Splitter

  9803.      ports

  9804.       signal knot duplicatable out output [1];

  9805.       signal knot in input [1];

  9806.     end;

  9807.     icon bg ellipse

  9808.      figures

  9809.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  9810.       ellipse 683.7 331.7 692.3 340.3 color -1;

  9811.      terminals

  9812.       input 688 336 fixed;

  9813.     end;

  9814.     implementation eq

  9815. equations

  9816.     collect (output) = input;

  9817. implementation_end;

  9818.    Splitter4 752 336

  9819.     description '<Description><Version>4.0</Version>

  9820.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9821.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9822. <IsMainModel>1</IsMainModel>

  9823.  <KeepParameterValues>False</KeepParameterValues>

  9824. </Description>';

  9825.     knot Splitter

  9826.      ports

  9827.       signal knot duplicatable out output [1];

  9828.       signal knot in input [1];

  9829.     end;

  9830.     icon bg ellipse

  9831.      figures

  9832.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  9833.       ellipse 747.7 331.7 756.3 340.3 color -1;

  9834.      terminals

  9835.       input 752 336 fixed;

  9836.     end;

  9837.     implementation eq

  9838. equations

  9839.     collect (output) = input;

  9840. implementation_end;

  9841.    Velocity_control 480 336

  9842.     description '<Description>

  9843.  <Version>4.0</Version>

  9844.  <IsMainModel>1</IsMainModel>

  9845.  <KeepParameterValues>False</KeepParameterValues>

  9846.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  9847.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  9848. </Description>';

  9849.     type P

  9850.      ports

  9851.       signal in error;

  9852.       signal out output;

  9853.     end;

  9854.     icon bg bottom

  9855.      figures

  9856.       rectangle 464 320 496 352 color 0 fill 15132390;

  9857.       text 'P' 480.5 336.1 color 16711680 18 bold;

  9858.     end;

  9859.     implementation eq

  9860. parameters

  9861. 	real kp = 66.0 {};			// Proportional gain

  9862. equations

  9863. 	output = kp * error;

  9864.     implementation_end;

  9865.    Velocity_int 720 336

  9866.     description '<Information>

  9867.  <Description>

  9868.     <Version>4.3</Version>

  9869. <IsMainModel>1</IsMainModel>

  9870.   <KeepParameterValues>False</KeepParameterValues>

  9871.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  9872.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  9873. </Description>

  9874. </Information>';

  9875.     type Integrate

  9876.      ports

  9877.       signal in input;

  9878.       signal out output;

  9879.     end;

  9880.     icon bg bottom

  9881.      figures

  9882.       rectangle 704 320 736 352 color 0 fill 15132390;

  9883.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  9884.     end;

  9885.     implementation eq

  9886. parameters

  9887. 	real global initial_angle;		// initial value

  9888. equations

  9889. 	output = int (input, initial_angle);

  9890.      implementation_end;

  9891.    Velocity_limit 376 336

  9892.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9893.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  9894.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  9895. </Description>';

  9896.     type 'SignalLimiter-Limit'

  9897.      ports

  9898.       signal in input;

  9899.       signal out output;

  9900.     end;

  9901.     icon bg bottom

  9902.      figures

  9903.       group

  9904.        rectangle 360 320 392 352 color 0 fill 15132390;

  9905.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  9906.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  9907.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  9908.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  9909.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  9910.       end;

  9911.     end;

  9912.     implementation eq

  9913. parameters

  9914. 	real global max_velocity {rad/s};

  9915. equations

  9916. 	output = limit (input, -max_velocity, max_velocity);

  9917.   implementation_end;

  9918.   end;

  9919.   connections

  9920.    Acceleration_int\output -> Splitter3\input;

  9921.    Acceleration_limit\output -> Acceleration_int\input;

  9922.    PlusMinus1\output -> Position_control\error;

  9923.    PlusMinus2\output -> Velocity_control\error;

  9924.    Position_control\output -> Velocity_limit\input;

  9925.    setpoint -> PlusMinus1\plus;

  9926.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  9927.    Splitter3\output -> Velocity_int\input;

  9928.    Splitter4\output -> output;

  9929.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  9930.    Velocity_control\output -> Acceleration_limit\input;

  9931.    Velocity_int\output -> Splitter4\input;

  9932.    Velocity_limit\output -> PlusMinus2\plus;

  9933.   end;

  9934.  implementation_end;

  9935. specification_end;

  9936. 			end;

  9937.    stepper_control1 512 768

  9938. 			specifications active 'P_only'

  9939. 				specification 'default'

  9940. description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx</LibraryPath><TimeStamp>2020-7-23 13:09:57</TimeStamp></Description><Attributes><GlobalRelations>parameters

  9941. 	real max_acceleration = 250 {rad/s2};

  9942. 	real max_velocity = 25 {rad/s};

  9943. 	real initial_velocity = 0 {rad/s};

  9944. 	real initial_angle = -1.570796 {rad};</GlobalRelations></Attributes></Information>';

  9945.  type Submodel

  9946.   ports

  9947.    signal in setpoint {rad} ;

  9948.    signal out output {rad} ;

  9949.  end;

  9950.  icon bg bottom

  9951.   figures

  9952.    rectangle 648 576 760 608 color 0 fill 15132390;

  9953.    text 'name' 704 592 color 0 'Clear Sans' 16;

  9954.  end;

  9955.  implementation bg

  9956.   submodels

  9957.    Acceleration_int 648 336

  9958.     description '<Information>

  9959.  <Description>

  9960.     <Version>4.3</Version>

  9961. <IsMainModel>1</IsMainModel>

  9962.   <KeepParameterValues>False</KeepParameterValues>

  9963.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  9964.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  9965. </Description>

  9966. </Information>';

  9967.     type Integrate

  9968.      ports

  9969.       signal in input;

  9970.       signal out output;

  9971.     end;

  9972.     icon bg bottom

  9973.      figures

  9974.       rectangle 632 320 664 352 color 0 fill 15132390;

  9975.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  9976.     end;

  9977.     implementation eq

  9978. parameters

  9979. 	real global initial_velocity;		// initial value

  9980. equations

  9981. 	output = int (input, initial_velocity);

  9982.      implementation_end;

  9983.    Acceleration_limit 568 336

  9984.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9985.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  9986.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  9987. </Description>';

  9988.     type 'SignalLimiter-Limit'

  9989.      ports

  9990.       signal in input;

  9991.       signal out output;

  9992.     end;

  9993.     icon bg bottom

  9994.      figures

  9995.       group

  9996.        rectangle 552 320 584 352 color 0 fill 15132390;

  9997.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  9998.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  9999.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  10000.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  10001.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  10002.       end;

  10003.     end;

  10004.     implementation eq

  10005. parameters

  10006. 	real global max_acceleration {rad/s2};

  10007. equations

  10008. 	output = limit (input, -max_acceleration, max_acceleration);

  10009.   implementation_end;

  10010.    plug setpoint 136 336;

  10011.    plug output 791 336;

  10012.    PlusMinus1 240 336

  10013.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10014.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  10015.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  10016. </Description>';

  10017.     knot PlusMinus

  10018.      ports

  10019.       signal knot duplicatable in plus [1];

  10020.       signal knot duplicatable in minus [1];

  10021.       signal knot out output [1];

  10022.     end;

  10023.     icon bg ellipse

  10024.      figures

  10025.       ellipse 232 328 248 344 color 0 fill 16777215;

  10026.     end;

  10027.     implementation eq

  10028. equations

  10029.     output = sum (collect (plus)) - sum (collect (minus));

  10030.     implementation_end;

  10031.    PlusMinus2 432 336

  10032.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10033.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  10034.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  10035. </Description>';

  10036.     knot PlusMinus

  10037.      ports

  10038.       signal knot duplicatable in plus [1];

  10039.       signal knot duplicatable in minus [1];

  10040.       signal knot out output [1];

  10041.     end;

  10042.     icon bg ellipse

  10043.      figures

  10044.       ellipse 424 328 440 344 color 0 fill 16777215;

  10045.     end;

  10046.     implementation eq

  10047. equations

  10048.     output = sum (collect (plus)) - sum (collect (minus));

  10049.     implementation_end;

  10050.    Position_control 296 336

  10051.     description '<Description>

  10052.  <Version>4.0</Version>

  10053.  <IsMainModel>1</IsMainModel>

  10054.  <KeepParameterValues>False</KeepParameterValues>

  10055.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  10056.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  10057. </Description>';

  10058.     type PD

  10059.      ports

  10060.       signal in error;

  10061.       signal out output;

  10062.     end;

  10063.     icon bg bottom

  10064.      figures

  10065.       rectangle 280 320 312 352 color 0 fill 15132390;

  10066.       text 'PD' 296.5 336.1 color 16711680 18 bold;

  10067.     end;

  10068.     implementation eq

  10069. parameters

  10070. 	real kp = 4 {};			// Proportional gain

  10071. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  10072. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  10073. variables

  10074. 	real state, rate;

  10075. equations

  10076. 	rate = (kp * error - output) / (beta * tauD);

  10077. 	state = int (rate);

  10078. 	output = state + kp * error /  beta;

  10079.       implementation_end;

  10080.    Splitter3 688 336

  10081.     description '<Description><Version>4.0</Version>

  10082.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10083.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10084. <IsMainModel>1</IsMainModel>

  10085.  <KeepParameterValues>False</KeepParameterValues>

  10086. </Description>';

  10087.     knot Splitter

  10088.      ports

  10089.       signal knot duplicatable out output [1];

  10090.       signal knot in input [1];

  10091.     end;

  10092.     icon bg ellipse

  10093.      figures

  10094.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  10095.       ellipse 683.7 331.7 692.3 340.3 color -1;

  10096.      terminals

  10097.       input 688 336 fixed;

  10098.     end;

  10099.     implementation eq

  10100. equations

  10101.     collect (output) = input;

  10102. implementation_end;

  10103.    Splitter4 752 336

  10104.     description '<Description><Version>4.0</Version>

  10105.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10106.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10107. <IsMainModel>1</IsMainModel>

  10108.  <KeepParameterValues>False</KeepParameterValues>

  10109. </Description>';

  10110.     knot Splitter

  10111.      ports

  10112.       signal knot duplicatable out output [1];

  10113.       signal knot in input [1];

  10114.     end;

  10115.     icon bg ellipse

  10116.      figures

  10117.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  10118.       ellipse 747.7 331.7 756.3 340.3 color -1;

  10119.      terminals

  10120.       input 752 336 fixed;

  10121.     end;

  10122.     implementation eq

  10123. equations

  10124.     collect (output) = input;

  10125. implementation_end;

  10126.    Velocity_control 480 336

  10127.     description '<Description>

  10128.  <Version>4.0</Version>

  10129.  <IsMainModel>1</IsMainModel>

  10130.  <KeepParameterValues>False</KeepParameterValues>

  10131.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  10132.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  10133. </Description>';

  10134.     type PD

  10135.      ports

  10136.       signal in error;

  10137.       signal out output;

  10138.     end;

  10139.     icon bg bottom

  10140.      figures

  10141.       rectangle 464 320 496 352 color 0 fill 15132390;

  10142.       text 'PD' 480.5 336.1 color 16711680 18 bold;

  10143.     end;

  10144.     implementation eq

  10145. parameters

  10146. 	real kp = 12 {};			// Proportional gain

  10147. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  10148. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  10149. variables

  10150. 	real state, rate;

  10151. equations

  10152. 	rate = (kp * error - output) / (beta * tauD);

  10153. 	state = int (rate);

  10154. 	output = state + kp * error /  beta;

  10155.       implementation_end;

  10156.    Velocity_int 720 336

  10157.     description '<Information>

  10158.  <Description>

  10159.     <Version>4.3</Version>

  10160. <IsMainModel>1</IsMainModel>

  10161.   <KeepParameterValues>False</KeepParameterValues>

  10162.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  10163.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  10164. </Description>

  10165. </Information>';

  10166.     type Integrate

  10167.      ports

  10168.       signal in input;

  10169.       signal out output;

  10170.     end;

  10171.     icon bg bottom

  10172.      figures

  10173.       rectangle 704 320 736 352 color 0 fill 15132390;

  10174.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  10175.     end;

  10176.     implementation eq

  10177. parameters

  10178. 	real global initial_angle;		// initial value

  10179. equations

  10180. 	output = int (input, initial_angle);

  10181.      implementation_end;

  10182.    Velocity_limit 376 336

  10183.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10184.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  10185.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  10186. </Description>';

  10187.     type 'SignalLimiter-Limit'

  10188.      ports

  10189.       signal in input;

  10190.       signal out output;

  10191.     end;

  10192.     icon bg bottom

  10193.      figures

  10194.       group

  10195.        rectangle 360 320 392 352 color 0 fill 15132390;

  10196.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  10197.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  10198.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  10199.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  10200.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  10201.       end;

  10202.     end;

  10203.     implementation eq

  10204. parameters

  10205. 	real global max_velocity {rad/s};

  10206. equations

  10207. 	output = limit (input, -max_velocity, max_velocity);

  10208.   implementation_end;

  10209.   end;

  10210.   connections

  10211.    Acceleration_int\output -> Splitter3\input;

  10212.    Acceleration_limit\output -> Acceleration_int\input;

  10213.    PlusMinus1\output -> Position_control\error;

  10214.    PlusMinus2\output -> Velocity_control\error;

  10215.    Position_control\output -> Velocity_limit\input;

  10216.    setpoint -> PlusMinus1\plus;

  10217.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  10218.    Splitter3\output -> Velocity_int\input;

  10219.    Splitter4\output -> output;

  10220.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  10221.    Velocity_control\output -> Acceleration_limit\input;

  10222.    Velocity_int\output -> Splitter4\input;

  10223.    Velocity_limit\output -> PlusMinus2\plus;

  10224.   end;

  10225.  implementation_end;

  10226. specification_end;

  10227. 				specification 'P_only'

  10228.  description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx</LibraryPath><TimeStamp>2020-7-23 13:09:57</TimeStamp></Description><Attributes><GlobalRelations>parameters

  10229. 	real max_acceleration = 350 {rad/s2};

  10230. 	real max_velocity = 25 {rad/s};

  10231. 	real initial_velocity = 0 {rad/s};

  10232. 	real initial_angle = 0 {rad};</GlobalRelations></Attributes></Information>';

  10233.  type Submodel

  10234.   ports

  10235.    signal in setpoint {rad} ;

  10236.    signal out output {rad} ;

  10237.  end;

  10238.  icon bg

  10239.   figures

  10240.    rectangle 456 752 568 784 color 0 fill 15132390;

  10241.    text 'name' 512 768 color 0 'Clear Sans' 16;

  10242.  end;

  10243.  implementation bg

  10244.   submodels

  10245.    Acceleration_int 648 336

  10246.     description '<Information>

  10247.  <Description>

  10248.     <Version>4.3</Version>

  10249. <IsMainModel>1</IsMainModel>

  10250.   <KeepParameterValues>False</KeepParameterValues>

  10251.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  10252.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  10253. </Description>

  10254. </Information>';

  10255.     type Integrate

  10256.      ports

  10257.       signal in input;

  10258.       signal out output;

  10259.     end;

  10260.     icon bg bottom

  10261.      figures

  10262.       rectangle 632 320 664 352 color 0 fill 15132390;

  10263.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  10264.     end;

  10265.     implementation eq

  10266. parameters

  10267. 	real global initial_velocity;		// initial value

  10268. equations

  10269. 	output = int (input, initial_velocity);

  10270.      implementation_end;

  10271.    Acceleration_limit 568 336

  10272.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10273.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  10274.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  10275. </Description>';

  10276.     type 'SignalLimiter-Limit'

  10277.      ports

  10278.       signal in input;

  10279.       signal out output;

  10280.     end;

  10281.     icon bg bottom

  10282.      figures

  10283.       group

  10284.        rectangle 552 320 584 352 color 0 fill 15132390;

  10285.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  10286.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  10287.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  10288.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  10289.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  10290.       end;

  10291.     end;

  10292.     implementation eq

  10293. parameters

  10294. 	real global max_acceleration {rad/s2};

  10295. equations

  10296. 	output = limit (input, -max_acceleration, max_acceleration);

  10297.   implementation_end;

  10298.    plug setpoint 136 336;

  10299.    plug output 791 336;

  10300.    PlusMinus1 240 336

  10301.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10302.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  10303.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  10304. </Description>';

  10305.     knot PlusMinus

  10306.      ports

  10307.       signal knot duplicatable in plus [1];

  10308.       signal knot duplicatable in minus [1];

  10309.       signal knot out output [1];

  10310.     end;

  10311.     icon bg ellipse

  10312.      figures

  10313.       ellipse 232 328 248 344 color 0 fill 16777215;

  10314.     end;

  10315.     implementation eq

  10316. equations

  10317.     output = sum (collect (plus)) - sum (collect (minus));

  10318.     implementation_end;

  10319.    PlusMinus2 432 336

  10320.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10321.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  10322.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  10323. </Description>';

  10324.     knot PlusMinus

  10325.      ports

  10326.       signal knot duplicatable in plus [1];

  10327.       signal knot duplicatable in minus [1];

  10328.       signal knot out output [1];

  10329.     end;

  10330.     icon bg ellipse

  10331.      figures

  10332.       ellipse 424 328 440 344 color 0 fill 16777215;

  10333.     end;

  10334.     implementation eq

  10335. equations

  10336.     output = sum (collect (plus)) - sum (collect (minus));

  10337.     implementation_end;

  10338.    Position_control 296 336

  10339.     description '<Description>

  10340.  <Version>4.0</Version>

  10341.  <IsMainModel>1</IsMainModel>

  10342.  <KeepParameterValues>False</KeepParameterValues>

  10343.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  10344.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  10345. </Description>';

  10346.     type P

  10347.      ports

  10348.       signal in error;

  10349.       signal out output;

  10350.     end;

  10351.     icon bg bottom

  10352.      figures

  10353.       rectangle 280 320 312 352 color 0 fill 15132390;

  10354.       text 'P' 296.5 336.1 color 16711680 18 bold;

  10355.     end;

  10356.     implementation eq

  10357. parameters

  10358. 	real kp = 31.0 {};			// Proportional gain

  10359. equations

  10360. 	output = kp * error;

  10361.     implementation_end;

  10362.    Splitter3 688 336

  10363.     description '<Description><Version>4.0</Version>

  10364.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10365.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10366. <IsMainModel>1</IsMainModel>

  10367.  <KeepParameterValues>False</KeepParameterValues>

  10368. </Description>';

  10369.     knot Splitter

  10370.      ports

  10371.       signal knot duplicatable out output [1];

  10372.       signal knot in input [1];

  10373.     end;

  10374.     icon bg ellipse

  10375.      figures

  10376.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  10377.       ellipse 683.7 331.7 692.3 340.3 color -1;

  10378.      terminals

  10379.       input 688 336 fixed;

  10380.     end;

  10381.     implementation eq

  10382. equations

  10383.     collect (output) = input;

  10384. implementation_end;

  10385.    Splitter4 752 336

  10386.     description '<Description><Version>4.0</Version>

  10387.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10388.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10389. <IsMainModel>1</IsMainModel>

  10390.  <KeepParameterValues>False</KeepParameterValues>

  10391. </Description>';

  10392.     knot Splitter

  10393.      ports

  10394.       signal knot duplicatable out output [1];

  10395.       signal knot in input [1];

  10396.     end;

  10397.     icon bg ellipse

  10398.      figures

  10399.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  10400.       ellipse 747.7 331.7 756.3 340.3 color -1;

  10401.      terminals

  10402.       input 752 336 fixed;

  10403.     end;

  10404.     implementation eq

  10405. equations

  10406.     collect (output) = input;

  10407. implementation_end;

  10408.    Velocity_control 480 336

  10409.     description '<Description>

  10410.  <Version>4.0</Version>

  10411.  <IsMainModel>1</IsMainModel>

  10412.  <KeepParameterValues>False</KeepParameterValues>

  10413.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  10414.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  10415. </Description>';

  10416.     type P

  10417.      ports

  10418.       signal in error;

  10419.       signal out output;

  10420.     end;

  10421.     icon bg bottom

  10422.      figures

  10423.       rectangle 464 320 496 352 color 0 fill 15132390;

  10424.       text 'P' 480.5 336.1 color 16711680 18 bold;

  10425.     end;

  10426.     implementation eq

  10427. parameters

  10428. 	real kp = 69.0 {};			// Proportional gain

  10429. equations

  10430. 	output = kp * error;

  10431.     implementation_end;

  10432.    Velocity_int 720 336

  10433.     description '<Information>

  10434.  <Description>

  10435.     <Version>4.3</Version>

  10436. <IsMainModel>1</IsMainModel>

  10437.   <KeepParameterValues>False</KeepParameterValues>

  10438.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  10439.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  10440. </Description>

  10441. </Information>';

  10442.     type Integrate

  10443.      ports

  10444.       signal in input;

  10445.       signal out output;

  10446.     end;

  10447.     icon bg bottom

  10448.      figures

  10449.       rectangle 704 320 736 352 color 0 fill 15132390;

  10450.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  10451.     end;

  10452.     implementation eq

  10453. parameters

  10454. 	real global initial_angle;		// initial value

  10455. equations

  10456. 	output = int (input, initial_angle);

  10457.      implementation_end;

  10458.    Velocity_limit 376 336

  10459.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10460.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  10461.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  10462. </Description>';

  10463.     type 'SignalLimiter-Limit'

  10464.      ports

  10465.       signal in input;

  10466.       signal out output;

  10467.     end;

  10468.     icon bg bottom

  10469.      figures

  10470.       group

  10471.        rectangle 360 320 392 352 color 0 fill 15132390;

  10472.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  10473.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  10474.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  10475.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  10476.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  10477.       end;

  10478.     end;

  10479.     implementation eq

  10480. parameters

  10481. 	real global max_velocity {rad/s};

  10482. equations

  10483. 	output = limit (input, -max_velocity, max_velocity);

  10484.   implementation_end;

  10485.   end;

  10486.   connections

  10487.    Acceleration_int\output -> Splitter3\input;

  10488.    Acceleration_limit\output -> Acceleration_int\input;

  10489.    PlusMinus1\output -> Position_control\error;

  10490.    PlusMinus2\output -> Velocity_control\error;

  10491.    Position_control\output -> Velocity_limit\input;

  10492.    setpoint -> PlusMinus1\plus;

  10493.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  10494.    Splitter3\output -> Velocity_int\input;

  10495.    Splitter4\output -> output;

  10496.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  10497.    Velocity_control\output -> Acceleration_limit\input;

  10498.    Velocity_int\output -> Splitter4\input;

  10499.    Velocity_limit\output -> PlusMinus2\plus;

  10500.   end;

  10501.  implementation_end;

  10502. specification_end;

  10503. 			end;

  10504.    Zero 816 680

  10505.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10506.   <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>

  10507.   <TimeStamp>2007-9-27 15:54:36</TimeStamp>

  10508. </Description>

  10509. ';

  10510.     type Zero

  10511.      ports

  10512.       signal out output;

  10513.     end;

  10514.     icon bg bottom

  10515.      figures

  10516.       rectangle 800.1 664 831.9 696 color 0 fill 15132390;

  10517.       text '0' 816 680 color 16711680 18 bold;

  10518.     end;

  10519.     implementation eq

  10520. equations

  10521. 	output = 0;implementation_end;

  10522.   end;

  10523.   connections

  10524.    Body1\input <- Splitter2\output;

  10525.    Body3\input <- Splitter3\output;

  10526.    COM_body3\p => OneJunction4\p;

  10527.    COM_body4\p => OneJunction6\p;

  10528.    COM_body5\p => Link8\Pin;

  10529.    Ground1\output -> JointC\Hin 632 616;

  10530.    Ground1\p <= OneJunction5\p;

  10531.    inverse_kinematics\angle1 -> stepper_control\setpoint;

  10532.    inverse_kinematics\angle2 -> Negate2\input;

  10533.    inverse_kinematics\input <- rectanglepath\output;

  10534.    Joint_dynB\output => JointB\Pdiff;

  10535.    Joint_dynC\output => JointC\Pdiff;

  10536.    Joint_dynD\output => JointD\Pdiff;

  10537.    Joint_dynE\output => JointE\Pdiff;

  10538.    Joint_dynF\output => JointF\Pdiff;

  10539.    JointA\Pdiff <= Joint_dynA\output;

  10540.    JointA\Pout => Link3\Pin;

  10541.    JointB\Hin <- Splitter4\output;

  10542.    JointB\Hout -> Link6\Hin;

  10543.    JointB\Pin <= Link6\Pout;

  10544.    JointB\Pout => OneJunction3\p;

  10545.    JointC\Hout -> Link5\Hin;

  10546.    JointC\Pin <= Link5\Pout;

  10547.    JointD\Hin <- Link7\Hout 216 616;

  10548.    JointD\Hout -> Link9\Hin;

  10549.    JointD\Pin <= Link9\Pout;

  10550.    JointD\Pout => Link7\Pin 184 648;

  10551.    JointE\Pout => Link4\Pin;

  10552.    JointF\Hout -> Link10\Hin;

  10553.    JointF\Pout => Link11\Pin;

  10554.    LiftingArm\Hin <- Splitter6\output 728 256;

  10555.    LiftingArm\Pin <= OneJunction7\p 1264 224;

  10556.    LiftingArm\Pout => OneJunction6\p 696 224;

  10557.    Link1\Hout -> Splitter6\input;

  10558.    Link10\Hout -> Splitter9\input;

  10559.    Link10\Pout => JointF\Pin;

  10560.    Link11\Hout -> JointF\Hin;

  10561.    Link11\Pout => OneJunction6\p;

  10562.    Link2\Hin <- JointE\Hout;

  10563.    Link2\Hout -> Splitter11\input;

  10564.    Link2\Pin <= OneJunction3\p;

  10565.    Link2\Pout => JointE\Pin 184 112;

  10566.    Link3\Hout -> Splitter8\input;

  10567.    Link4\Hout -> JointE\Hin;

  10568.    Link5\Hout -> Splitter1\input;

  10569.    Link5\Pin <= OneJunction1\p;

  10570.    Link6\Hout -> Splitter2\input;

  10571.    Link6\Pin <= OneJunction2\p;

  10572.    Link8\Hout -> Splitter10\input;

  10573.    Link8\Pout => OneJunction7\p;

  10574.    Link9\Hout -> Splitter3\input;

  10575.    Link9\Pin <= OneJunction4\p;

  10576.    Negate2\output -> stepper_control1\setpoint;

  10577.    OneJunction1\p <= COM_body2\p;

  10578.    OneJunction1\p <= Link7\Pout;

  10579.    OneJunction2\p <= COM_body1\p;

  10580.    OneJunction2\p <= Link3\Pout;

  10581.    OneJunction3\p <= Link1\Pout;

  10582.    OneJunction4\p <= Link4\Pout;

  10583.    OneJunction5\p <= JointC\Pout;

  10584.    OneJunction5\p => JointA\Pin;

  10585.    OneJunction6\p => Link1\Pin;

  10586.    OneJunction7\p => Link10\Pin;

  10587.    Splitter1\output -> Body2\input;

  10588.    Splitter1\output -> COM_body2\Hin;

  10589.    Splitter1\output -> Link7\Hin;

  10590.    Splitter10\output -> Body6\input;

  10591.    Splitter10\output -> COM_body5\Hin;

  10592.    Splitter11\output -> Body4\input;

  10593.    Splitter11\output -> Splitter4\input;

  10594.    Splitter2\output -> COM_body1\Hin;

  10595.    Splitter2\output -> Link3\Hin;

  10596.    Splitter3\output -> COM_body3\Hin;

  10597.    Splitter3\output -> Link4\Hin;

  10598.    Splitter4\output -> Link1\Hin;

  10599.    Splitter6\output -> COM_body4\Hin;

  10600.    Splitter6\output -> Link11\Hin;

  10601.    Splitter8\output -> JointA\Hin;

  10602.    Splitter9\output -> Body5\input;

  10603.    Splitter9\output -> Link8\Hin;

  10604.    stepper_control\output -> Joint_dynA\angle;

  10605.    stepper_control1\output -> Joint_dynC\angle;

  10606.   end;

  10607.  implementation_end;

  10608. ]]>

  10609. </Sidops>

  10610.  </Model>

  10611.  <Experiments>

  10612.      <DefaultExperiment><![CDATA[Experiment 1]]>

  10613. </DefaultExperiment>

  10614.   <Experiment>

  10615.     <Name>Experiment 1</Name>

  10616.     <CreatedBy></CreatedBy>

  10617.     <Info></Info>

  10618. <ExpData>

  10619.   <VersionNumber>4.8</VersionNumber>

  10620.   <ModelProperties>

  10621.     <ModelProperty section="processing" entry="checkForStaticExpressions" value="1"/>

  10622.     <ModelProperty section="processing" entry="debug_checkForStaticExpressions" value="1"/>

  10623.     <ModelProperty section="processing" entry="checkForDuplicateExpressions" value="1"/>

  10624.     <ModelProperty section="processing" entry="debug_checkForDuplicateExpressions" value="1"/>

  10625.     <ModelProperty section="processing" entry="showresult" value="1"/>

  10626.     <ModelProperty section="processing" entry="debug_showresult" value="1"/>

  10627.   </ModelProperties>

  10628.   <Variables>

  10629.    <Constants>

  10630.    </Constants>

  10631.    <Parameters>

  10632.    </Parameters>

  10633.    <Initials>

  10634.     <Variable>

  10635.      <Name>COM_body1\InertialTensor\state_initial</Name>

  10636.      <Rows>6</Rows>

  10637.      <Columns>1</Columns>

  10638.      <Value>0 0 0 0 0 0</Value>

  10639.     </Variable>

  10640.     <Variable>

  10641.      <Name>COM_body2\InertialTensor\state_initial</Name>

  10642.      <Rows>6</Rows>

  10643.      <Columns>1</Columns>

  10644.      <Value>0 0 0 0 0 0</Value>

  10645.     </Variable>

  10646.     <Variable>

  10647.      <Name>COM_body3\InertialTensor\state_initial</Name>

  10648.      <Rows>6</Rows>

  10649.      <Columns>1</Columns>

  10650.      <Value>0 0 0 0 0 0</Value>

  10651.     </Variable>

  10652.     <Variable>

  10653.      <Name>COM_body4\InertialTensor\state_initial</Name>

  10654.      <Rows>6</Rows>

  10655.      <Columns>1</Columns>

  10656.      <Value>0 0 0 0 0 0</Value>

  10657.     </Variable>

  10658.     <Variable>

  10659.      <Name>COM_body5\InertialTensor\state_initial</Name>

  10660.      <Rows>6</Rows>

  10661.      <Columns>1</Columns>

  10662.      <Value>0 0 0 0 0 0</Value>

  10663.     </Variable>

  10664.     <Variable>

  10665.      <Name>JointA\Hmatrix\p_initial</Name>

  10666.      <Rows>3</Rows>

  10667.      <Columns>1</Columns>

  10668.      <Value>0 0 0</Value>

  10669.     </Variable>

  10670.     <Variable>

  10671.      <Name>JointB\Hmatrix\p_initial</Name>

  10672.      <Rows>3</Rows>

  10673.      <Columns>1</Columns>

  10674.      <Value>0 0 0</Value>

  10675.     </Variable>

  10676.     <Variable>

  10677.      <Name>JointC\Hmatrix\p_initial</Name>

  10678.      <Rows>3</Rows>

  10679.      <Columns>1</Columns>

  10680.      <Value>0 0 0</Value>

  10681.     </Variable>

  10682.     <Variable>

  10683.      <Name>JointD\Hmatrix\p_initial</Name>

  10684.      <Rows>3</Rows>

  10685.      <Columns>1</Columns>

  10686.      <Value>0 0 0</Value>

  10687.     </Variable>

  10688.     <Variable>

  10689.      <Name>JointE\Hmatrix\p_initial</Name>

  10690.      <Rows>3</Rows>

  10691.      <Columns>1</Columns>

  10692.      <Value>0 0 0</Value>

  10693.     </Variable>

  10694.     <Variable>

  10695.      <Name>JointF\Hmatrix\p_initial</Name>

  10696.      <Rows>3</Rows>

  10697.      <Columns>1</Columns>

  10698.      <Value>0 0 0</Value>

  10699.     </Variable>

  10700.     <Variable>

  10701.      <Name>Joint_dynA\C1\state_initial</Name>

  10702.      <Rows>3</Rows>

  10703.      <Columns>1</Columns>

  10704.      <Value>0 0 0</Value>

  10705.     </Variable>

  10706.     <Variable>

  10707.      <Name>Joint_dynA\C4\state_initial</Name>

  10708.      <Rows>2</Rows>

  10709.      <Columns>1</Columns>

  10710.      <Value>0 0</Value>

  10711.     </Variable>

  10712.     <Variable>

  10713.      <Name>Joint_dynA\C\state_initial</Name>

  10714.      <Value>0</Value>

  10715.     </Variable>

  10716.     <Variable>

  10717.      <Name>Joint_dynA\stepper_model\I1\state_initial</Name>

  10718.      <Value>0</Value>

  10719.     </Variable>

  10720.     <Variable>

  10721.      <Name>Joint_dynA\stepper_model\I2\state_initial</Name>

  10722.      <Value>0</Value>

  10723.     </Variable>

  10724.     <Variable>

  10725.      <Name>Joint_dynA\stepper_model\I\state_initial</Name>

  10726.      <Value>0</Value>

  10727.     </Variable>

  10728.     <Variable>

  10729.      <Name>Joint_dynB\C1\state_initial</Name>

  10730.      <Rows>3</Rows>

  10731.      <Columns>1</Columns>

  10732.      <Value>0 0 0</Value>

  10733.     </Variable>

  10734.     <Variable>

  10735.      <Name>Joint_dynB\C4\state_initial</Name>

  10736.      <Rows>2</Rows>

  10737.      <Columns>1</Columns>

  10738.      <Value>0 0</Value>

  10739.     </Variable>

  10740.     <Variable>

  10741.      <Name>Joint_dynC\C1\state_initial</Name>

  10742.      <Rows>3</Rows>

  10743.      <Columns>1</Columns>

  10744.      <Value>0 0 0</Value>

  10745.     </Variable>

  10746.     <Variable>

  10747.      <Name>Joint_dynC\C4\state_initial</Name>

  10748.      <Rows>2</Rows>

  10749.      <Columns>1</Columns>

  10750.      <Value>0 0</Value>

  10751.     </Variable>

  10752.     <Variable>

  10753.      <Name>Joint_dynC\C\state_initial</Name>

  10754.      <Value>0</Value>

  10755.     </Variable>

  10756.     <Variable>

  10757.      <Name>Joint_dynC\stepper_model\I1\state_initial</Name>

  10758.      <Value>0</Value>

  10759.     </Variable>

  10760.     <Variable>

  10761.      <Name>Joint_dynC\stepper_model\I2\state_initial</Name>

  10762.      <Value>0</Value>

  10763.     </Variable>

  10764.     <Variable>

  10765.      <Name>Joint_dynC\stepper_model\I\state_initial</Name>

  10766.      <Value>0</Value>

  10767.     </Variable>

  10768.     <Variable>

  10769.      <Name>Joint_dynC\stepper_model\RotorAngle\angle_initial</Name>

  10770.      <Unit>rad</Unit>

  10771.      <Value>0</Value>

  10772.     </Variable>

  10773.     <Variable>

  10774.      <Name>Joint_dynD\C1\state_initial</Name>

  10775.      <Rows>3</Rows>

  10776.      <Columns>1</Columns>

  10777.      <Value>0 0 0</Value>

  10778.     </Variable>

  10779.     <Variable>

  10780.      <Name>Joint_dynD\C4\state_initial</Name>

  10781.      <Rows>2</Rows>

  10782.      <Columns>1</Columns>

  10783.      <Value>0 0</Value>

  10784.     </Variable>

  10785.     <Variable>

  10786.      <Name>Joint_dynE\C1\state_initial</Name>

  10787.      <Rows>3</Rows>

  10788.      <Columns>1</Columns>

  10789.      <Value>0 0 0</Value>

  10790.     </Variable>

  10791.     <Variable>

  10792.      <Name>Joint_dynE\C4\state_initial</Name>

  10793.      <Rows>2</Rows>

  10794.      <Columns>1</Columns>

  10795.      <Value>0 0</Value>

  10796.     </Variable>

  10797.     <Variable>

  10798.      <Name>Joint_dynF\C1\state_initial</Name>

  10799.      <Rows>3</Rows>

  10800.      <Columns>1</Columns>

  10801.      <Value>0 0 0</Value>

  10802.     </Variable>

  10803.     <Variable>

  10804.      <Name>Joint_dynF\C4\state_initial</Name>

  10805.      <Rows>2</Rows>

  10806.      <Columns>1</Columns>

  10807.      <Value>0 0</Value>

  10808.     </Variable>

  10809.     <Variable>

  10810.      <Name>Joint_dynF\C\state_initial</Name>

  10811.      <Value>0</Value>

  10812.     </Variable>

  10813.     <Variable>

  10814.      <Name>LiftingArm\Joint1\Hmatrix\p_initial</Name>

  10815.      <Rows>3</Rows>

  10816.      <Columns>1</Columns>

  10817.      <Value>0 0 0</Value>

  10818.     </Variable>

  10819.     <Variable>

  10820.      <Name>LiftingArm\Joint2\Hmatrix\p_initial</Name>

  10821.      <Rows>3</Rows>

  10822.      <Columns>1</Columns>

  10823.      <Value>0 0 0</Value>

  10824.     </Variable>

  10825.     <Variable>

  10826.      <Name>LiftingArm\Joint\Hmatrix\p_initial</Name>

  10827.      <Rows>3</Rows>

  10828.      <Columns>1</Columns>

  10829.      <Value>0 0 0</Value>

  10830.     </Variable>

  10831.     <Variable>

  10832.      <Name>LiftingArm\Joint_dynF1\C1\state_initial</Name>

  10833.      <Rows>3</Rows>

  10834.      <Columns>1</Columns>

  10835.      <Value>0 0 0</Value>

  10836.     </Variable>

  10837.     <Variable>

  10838.      <Name>LiftingArm\Joint_dynF1\C4\state_initial</Name>

  10839.      <Rows>2</Rows>

  10840.      <Columns>1</Columns>

  10841.      <Value>0 0</Value>

  10842.     </Variable>

  10843.     <Variable>

  10844.      <Name>LiftingArm\Joint_dynF2\C1\state_initial</Name>

  10845.      <Rows>3</Rows>

  10846.      <Columns>1</Columns>

  10847.      <Value>0 0 0</Value>

  10848.     </Variable>

  10849.     <Variable>

  10850.      <Name>LiftingArm\Joint_dynF2\C4\state_initial</Name>

  10851.      <Rows>2</Rows>

  10852.      <Columns>1</Columns>

  10853.      <Value>0 0</Value>

  10854.     </Variable>

  10855.     <Variable>

  10856.      <Name>LiftingArm\Joint_dynF3\C1\state_initial</Name>

  10857.      <Rows>3</Rows>

  10858.      <Columns>1</Columns>

  10859.      <Value>0 0 0</Value>

  10860.     </Variable>

  10861.     <Variable>

  10862.      <Name>LiftingArm\Joint_dynF3\C4\state_initial</Name>

  10863.      <Rows>2</Rows>

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  11340.       <DiffuseOn>false</DiffuseOn>

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  11342.      </Light>

  11343.      <Light>

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  11345.       <Name>Parallel</Name>

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  11347.        <X>

  11348.         <Value>-3</Value>

  11349.        </X>

  11350.        <Y>

  11351.         <Value>5</Value>

  11352.        </Y>

  11353.        <Z>

  11354.         <Value>3</Value>

  11355.        </Z>

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  11359.         <X>

  11360.          <Value>0.457495710997814</Value>

  11361.         </X>

  11362.         <Y>

  11363.          <Value>-0.762492851663023</Value>

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  11370.         <X>

  11371.          <Value>0.235379601434674</Value>

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  11373.         <Y>

  11374.          <Value>-0.392299335724456</Value>

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  11376.         <Z>

  11377.          <Value>0.889211827642101</Value>

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  11381.       </Orientation>

  11382.       <LockX>false</LockX>

  11383.       <LockY>false</LockY>

  11384.       <LockZ>false</LockZ>

  11385.       <LockXPitch>false</LockXPitch>

  11386.       <LockYYaw>false</LockYYaw>

  11387.       <LockZRoll>false</LockZRoll>

  11388.       <Childs>

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  11390.       <LightType>3</LightType>

  11391.       <LightColor>

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  11393.         <X>

  11394.          <Value>0.5</Value>

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  11397.          <Value>0.5</Value>

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  11400.          <Value>0.5</Value>

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  11407.          <Value>1</Value>

  11408.         </X>

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  11413.          <Value>1</Value>

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  11416.        <Direct3DColorRange>true</Direct3DColorRange>

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  11420.         <Value>1.0</Value>

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  11422.        <Linear>

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  11425.        <Quadratic>

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  11429.       <DiffuseLight>

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  11432.          <Value>0.5</Value>

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  11434.         <Y>

  11435.          <Value>0.5</Value>

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  11438.          <Value>0.5</Value>

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  11445.          <Value>1</Value>

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  11454.        <Direct3DColorRange>true</Direct3DColorRange>

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  11458.         <X>

  11459.          <Value>0.5</Value>

  11460.         </X>

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  11462.          <Value>0.5</Value>

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  11465.          <Value>0.5</Value>

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  11472.          <Value>1</Value>

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  11475.          <Value>1</Value>

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  11478.          <Value>1</Value>

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  11483.       <AmbientOn>false</AmbientOn>

  11484.       <DiffuseOn>true</DiffuseOn>

  11485.       <SpecularOn>true</SpecularOn>

  11486.      </Light>

  11487.      <Light>

  11488.       <ShowReferenceFrame>false</ShowReferenceFrame>

  11489.       <Name>Spot Light 1</Name>

  11490.       <Position>

  11491.        <X>

  11492.         <Value>-3</Value>

  11493.        </X>

  11494.        <Y>

  11495.         <Value>-5</Value>

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  11497.        <Z>

  11498.         <Value>1</Value>

  11499.        </Z>

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  11503.         <X>

  11504.          <Value>0.50709255283711</Value>

  11505.         </X>

  11506.         <Y>

  11507.          <Value>0.845154254728517</Value>

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  11510.          <Value>-0.169030850945703</Value>

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  11514.         <X>

  11515.          <Value>0.0869656553478673</Value>

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  11517.         <Y>

  11518.          <Value>0.144942758913112</Value>

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  11521.          <Value>0.985610760609162</Value>

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  11526.       <LockX>false</LockX>

  11527.       <LockY>false</LockY>

  11528.       <LockZ>false</LockZ>

  11529.       <LockXPitch>false</LockXPitch>

  11530.       <LockYYaw>false</LockYYaw>

  11531.       <LockZRoll>false</LockZRoll>

  11532.       <Childs>

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  11534.       <LightType>2</LightType>

  11535.       <LightColor>

  11536.        <Color>

  11537.         <X>

  11538.          <Value>0.5</Value>

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  11540.         <Y>

  11541.          <Value>0.5</Value>

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  11544.          <Value>0.5</Value>

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  11551.          <Value>1</Value>

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  11554.          <Value>1</Value>

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  11557.          <Value>1</Value>

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  11560.        <Direct3DColorRange>true</Direct3DColorRange>

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  11563.        <Constant>

  11564.         <Value>1.0</Value>

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  11566.        <Linear>

  11567.         <Value>0.05</Value>

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  11569.        <Quadratic>

  11570.         <Value>0.05</Value>

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  11573.       <Umbra>

  11574.        <Value>1.0471975511965976</Value>

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  11576.       <Penumbra>

  11577.        <Value>1.0471975511965976</Value>

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  11579.       <SpotExponent>0.0</SpotExponent>

  11580.       <DiffuseLight>

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  11582.         <X>

  11583.          <Value>0.5</Value>

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  11585.         <Y>

  11586.          <Value>0.5</Value>

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  11589.          <Value>0.5</Value>

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  11595.         <X>

  11596.          <Value>1</Value>

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  11599.          <Value>1</Value>

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  11602.          <Value>1</Value>

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  11605.        <Direct3DColorRange>true</Direct3DColorRange>

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  11608.        <Color>

  11609.         <X>

  11610.          <Value>0.5</Value>

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  11612.         <Y>

  11613.          <Value>0.5</Value>

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  11616.          <Value>0.5</Value>

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  11623.          <Value>1</Value>

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  11629.          <Value>1</Value>

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  11632.        <Direct3DColorRange>true</Direct3DColorRange>

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  11634.       <AmbientOn>false</AmbientOn>

  11635.       <DiffuseOn>true</DiffuseOn>

  11636.       <SpecularOn>true</SpecularOn>

  11637.      </Light>

  11638.      <Light>

  11639.       <ShowReferenceFrame>false</ShowReferenceFrame>

  11640.       <Name>Spot Light 2</Name>

  11641.       <Position>

  11642.        <X>

  11643.         <Value>2</Value>

  11644.        </X>

  11645.        <Y>

  11646.         <Value>-3</Value>

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  11649.         <Value>-1</Value>

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  11654.         <X>

  11655.          <Value>-0.534522483824849</Value>

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  11657.         <Y>

  11658.          <Value>0.801783725737273</Value>

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  11661.          <Value>0.267261241912424</Value>

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  11665.         <X>

  11666.          <Value>0.14824986333222</Value>

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  11668.         <Y>

  11669.          <Value>-0.22237479499833</Value>

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  11672.          <Value>0.963624111659432</Value>

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  11678.       <LockY>false</LockY>

  11679.       <LockZ>false</LockZ>

  11680.       <LockXPitch>false</LockXPitch>

  11681.       <LockYYaw>false</LockYYaw>

  11682.       <LockZRoll>false</LockZRoll>

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  11689.          <Value>1</Value>

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  11708.          <Value>1</Value>

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  11711.        <Direct3DColorRange>true</Direct3DColorRange>

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  11715.         <Value>1.0</Value>

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  11721.         <Value>0.05</Value>

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  11725.        <Value>1.5707963267948966</Value>

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  11728.        <Value>1.5707963267948966</Value>

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  11734.          <Value>1</Value>

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  11760.         <X>

  11761.          <Value>0.5</Value>

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  11780.          <Value>1</Value>

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  11786.       <DiffuseOn>true</DiffuseOn>

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  11789.      <Camera>

  11790.       <ShowReferenceFrame>false</ShowReferenceFrame>

  11791.       <Name>Camera Looking at Origin</Name>

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  11793.        <X>

  11794.         <Value>0.223787984479337</Value>

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  11806.          <Value>-0.88839104703304</Value>

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  11817.          <Value>-0.239783703536445</Value>

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  11839.       <Field>0.003926990816987242</Field>

  11840.       <Fieldy>45.0</Fieldy>

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  11848.         <Value>-0.000627364166602552</Value>

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  11864.       <Perspective>true</Perspective>

  11865.       <IsSelectedCamera>true</IsSelectedCamera>

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  11869.       <Name>Front(XY)-Camera</Name>

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  11877.         <Z>

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  11897.       <BackPlane>100.0</BackPlane>

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  11899.       <Field>9.999999999999998</Field>

  11900.       <Fieldy>45.0</Fieldy>

  11901.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  11902.       <PlaneRight>9.999999999999998</PlaneRight>

  11903.       <PlaneTop>9.999999999999998</PlaneTop>

  11904.       <PlaneBottom>-9.999999999999998</PlaneBottom>

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  11908.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

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  11911.         <Value>1</Value>

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  11914.       <RightHand>true</RightHand>

  11915.       <Perspective>false</Perspective>

  11916.       <IsSelectedCamera>false</IsSelectedCamera>

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  11920.       <Name>Side(YZ)-Camera</Name>

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  11922.        <X>

  11923.         <Value>10</Value>

  11924.        </X>

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  11929.          <Value>-1</Value>

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  11934.          <Value>1</Value>

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  11940.       <LockY>false</LockY>

  11941.       <LockZ>false</LockZ>

  11942.       <LockXPitch>false</LockXPitch>

  11943.       <LockYYaw>false</LockYYaw>

  11944.       <LockZRoll>false</LockZRoll>

  11945.       <Childs>

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  11947.       <FrontPlane>0.01</FrontPlane>

  11948.       <BackPlane>100.0</BackPlane>

  11949.       <AutoFrontBack>true</AutoFrontBack>

  11950.       <Field>9.999999999999998</Field>

  11951.       <Fieldy>45.0</Fieldy>

  11952.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  11953.       <PlaneRight>9.999999999999998</PlaneRight>

  11954.       <PlaneTop>9.999999999999998</PlaneTop>

  11955.       <PlaneBottom>-9.999999999999998</PlaneBottom>

  11956.       <UseLookatPosition>true</UseLookatPosition>

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  11959.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  11960.       <LookUpVector>

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  12001.       <Field>9.999999999999998</Field>

  12002.       <Fieldy>45.0</Fieldy>

  12003.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  12004.       <PlaneRight>9.999999999999998</PlaneRight>

  12005.       <PlaneTop>9.999999999999998</PlaneTop>

  12006.       <PlaneBottom>-9.999999999999998</PlaneBottom>

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  12163.       <LockXPitch>false</LockXPitch>

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  12533.         <VariableName>Body5\dimension[1]</VariableName>

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