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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>2020-7-23 16:28:58</TimeStamp>

  12. </Description>

  13. </Information>';

  14.  type 'Mainmodel-v2'

  15.  end;

  16.  implementation bg

  17.   submodels

  18.    Body1 472 336

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

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

  21. <IsMainModel>1</IsMainModel>

  22.  <KeepParameterValues>False</KeepParameterValues>

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

  24.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  25. </Description>';

  26.     type 'Submodel-Equation'

  27.      ports

  28.       signal in input [4,4];

  29.     end;

  30.     implementation eq

  31. parameters

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

  33. variables

  34. 	real position[3];

  35. 	real rotation[3];

  36. 	real R[3,3];

  37. equations

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

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

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

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

  42.    Body2 360 560

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

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

  45. <IsMainModel>1</IsMainModel>

  46.  <KeepParameterValues>False</KeepParameterValues>

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

  48.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  49. </Description>';

  50.     type 'Submodel-Equation'

  51.      ports

  52.       signal in input [4,4];

  53.     end;

  54.     implementation eq

  55. parameters

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

  57. variables

  58. 	real position[3];

  59. 	real rotation[3];

  60. 	real R[3,3];

  61. equations

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

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

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

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

  66.    Body3 104 312

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

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

  69. <IsMainModel>1</IsMainModel>

  70.  <KeepParameterValues>False</KeepParameterValues>

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

  72.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  73. </Description>';

  74.     type 'Submodel-Equation'

  75.      ports

  76.       signal in input [4,4];

  77.     end;

  78.     implementation eq

  79. parameters

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

  81. variables

  82. 	real position[3];

  83. 	real rotation[3];

  84. 	real R[3,3];

  85. equations

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

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

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

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

  90.    Body4 480 192

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

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

  93. <IsMainModel>1</IsMainModel>

  94.  <KeepParameterValues>False</KeepParameterValues>

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

  96.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  97. </Description>';

  98.     type 'Submodel-Equation'

  99.      ports

  100.       signal in input [4,4];

  101.     end;

  102.     implementation eq

  103. parameters

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

  105. variables

  106. 	real position[3];

  107. 	real rotation[3];

  108. 	real R[3,3];

  109. equations

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

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

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

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

  114.    Body5 992 224

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

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

  117. <IsMainModel>1</IsMainModel>

  118.  <KeepParameterValues>False</KeepParameterValues>

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

  120.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  121. </Description>';

  122.     type 'Submodel-Equation'

  123.      ports

  124.       signal in input [4,4];

  125.     end;

  126.     implementation eq

  127. parameters

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

  129. variables

  130. 	real position[3];

  131. 	real rotation[3];

  132. 	real R[3,3];

  133. equations

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

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

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

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

  138.    Body6 1104 224

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

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

  141. <IsMainModel>1</IsMainModel>

  142.  <KeepParameterValues>False</KeepParameterValues>

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

  144.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  145. </Description>';

  146.     type 'Submodel-Equation'

  147.      ports

  148.       signal in input [4,4];

  149.     end;

  150.     implementation eq

  151. parameters

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

  153. variables

  154. 	real position[3];

  155. 	real rotation[3];

  156. 	real R[3,3];

  157. equations

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

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

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

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

  162.    COM_body1 624 352

  163.     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

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

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

  166.     type Submodel

  167.      ports

  168.       signal in Hin [4,4];

  169.       signal out Hout [4,4];

  170.       power out p [6,1];

  171.     end;

  172.     icon bg bottom

  173.      figures

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

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

  176.      terminals

  177.       Hin 608 336 fixed;

  178.       p 608 368 fixed;

  179.     end;

  180.     implementation bg

  181.      submodels

  182.       AdHi0 544 400

  183.        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>';

  184.        type MTF

  185.         ports

  186.          power in p1 [6,1];

  187.          power out p2 [6,1];

  188.          signal in H [4,4];

  189.         restrictions

  190.          causality constraint not_equal p1 p2;

  191.        end;

  192.        icon bg left

  193.         figures

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

  195.        end;

  196.        implementation eq

  197. variables

  198.  	real onlyRotH[4,4];

  199. code

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

  201. 	onlyRotH = H;

  202. 	onlyRotH[1,4] = 0;

  203. 	onlyRotH[2,4] = 0;

  204. 	onlyRotH[3,4] = 0;

  205. 						

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

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

  208. implementation_end;

  209.       EJS 616 336

  210.        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>';

  211.        type MGY

  212.         ports

  213.          power in p1 [6,1];

  214.        end;

  215.        icon bg top

  216.         figures

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

  218.        end;

  219.        implementation eq

  220. //EJS / Gyroscopic effects

  221. parameters

  222. 	real global I[3];

  223. 	real global m;

  224. variables

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

  226. 	real Q[6,6];

  227. 	real QI[6,6];

  228. 	real Ia[6];

  229. initialequations

  230. 	Ia[1:3] = I;

  231. 	Ia[4:6] = m;

  232. 	II = diag(Ia);

  233. equations

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

  235. 	QI = Q*II;

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

  237.       Gravity 624 400

  238.        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>';

  239.        type Se

  240.         ports

  241.          power out p [6,1];

  242.         restrictions

  243.          causality fixed out p;

  244.        end;

  245.        icon bg bottom

  246.         figures

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

  248.        end;

  249.        implementation eq

  250. parameters

  251. 	real global m;

  252. variables

  253. 	real effort[6];

  254. equations

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

  256. 	p.e = effort;

  257. implementation_end;

  258.       InertialTensor 544 272

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

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

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

  262. </Description>';

  263.        type 'I-3'

  264.         ports

  265.          power in p [6,1];

  266.          signal out state [6,1];

  267.         restrictions

  268.          causality preferred in p;

  269.        end;

  270.        icon bg bottom

  271.         figures

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

  273.        end;

  274.        implementation eq

  275. parameters

  276. 	real global I[3];

  277. 	real global m;

  278. variables

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

  280. 	real Ia[6];

  281. initialequations

  282. 	Ia[1:3] = I;

  283. 	Ia[4:6] = m;

  284. 	II = diag(Ia);

  285. equations

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

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

  288. implementation_end;

  289.       plug Hin 433.4 496;

  290.       plug Hout 691.2 496;

  291.       plug p 439.4 336;

  292.       Splitter1 544 496

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

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

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

  296. <IsMainModel>1</IsMainModel>

  297.  <KeepParameterValues>False</KeepParameterValues>

  298. </Description>';

  299.        knot Splitter

  300.         ports

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

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

  303.        end;

  304.        icon bg ellipse

  305.         figures

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

  307.          ellipse 539.7 491.7 548.3 500.3 color -1;

  308.         terminals

  309.          input 544 496 fixed;

  310.        end;

  311.        implementation eq

  312. equations

  313.     collect (output) = input;

  314. implementation_end;

  315.       Ta0j 544 336

  316.        description '<Description>

  317.  <Version>4.0</Version>

  318.  <IsMainModel>1</IsMainModel>

  319.  <KeepParameterValues>False</KeepParameterValues>

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

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

  322.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  323.    <Description></Description>

  324. </Description>';

  325.        knot OneJunction

  326.         ports

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

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

  329.         restrictions

  330.          causality constraint one_out p;

  331.        end;

  332.        icon bg bottom

  333.         figures

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

  335.        end;

  336.        implementation eq

  337. equations

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

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

  340. 	flow = first (p.f);

  341. implementation_end;

  342.       ZeroJunction1 504 336

  343.        description '<Information>

  344.  <Description>

  345.     <Version>4.2</Version>

  346. <IsMainModel>1</IsMainModel>

  347.   <KeepParameterValues>False</KeepParameterValues>

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

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

  350. </Description>

  351. </Information>';

  352.        knot ZeroJunction

  353.         ports

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

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

  356.         restrictions

  357.          causality constraint one_in p;

  358.        end;

  359.        icon bg

  360.         figures

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

  362.        end;

  363.        implementation eq

  364. equations

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

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

  367. 	effort = first (p.e);

  368. implementation_end;

  369.      end;

  370.      connections

  371.       AdHi0\p2 => Ta0j\p;

  372.       Gravity\p => AdHi0\p1;

  373.       Hin -> Splitter1\input;

  374.       Splitter1\output -> AdHi0\H;

  375.       Splitter1\output -> Hout;

  376.       Ta0j\p => EJS\p1;

  377.       Ta0j\p => InertialTensor\p;

  378.       ZeroJunction1\p => p;

  379.       ZeroJunction1\p => Ta0j\p;

  380.      end;

  381.     implementation_end;

  382.    COM_body2 344 704

  383.     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

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

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

  386. variables

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

  388. 	real m {kg}; 

  389. initialequations

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

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

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

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

  394.     type Submodel

  395.      ports

  396.       signal in Hin [4,4];

  397.       signal out Hout [4,4];

  398.       power out p [6,1];

  399.     end;

  400.     icon bg bottom

  401.      figures

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

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

  404.      terminals

  405.       Hin 360 688 fixed;

  406.       p 328 688 fixed;

  407.     end;

  408.     implementation bg

  409.      submodels

  410.       AdHi0 544 400

  411.        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>';

  412.        type MTF

  413.         ports

  414.          power in p1 [6,1];

  415.          power out p2 [6,1];

  416.          signal in H [4,4];

  417.         restrictions

  418.          causality constraint not_equal p1 p2;

  419.        end;

  420.        icon bg left

  421.         figures

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

  423.        end;

  424.        implementation eq

  425. variables

  426.  	real onlyRotH[4,4];

  427. code

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

  429. 	onlyRotH = H;

  430. 	onlyRotH[1,4] = 0;

  431. 	onlyRotH[2,4] = 0;

  432. 	onlyRotH[3,4] = 0;

  433. 						

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

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

  436. implementation_end;

  437.       EJS 624 336

  438.        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>';

  439.        type MGY

  440.         ports

  441.          power in p1 [6,1];

  442.        end;

  443.        icon bg top

  444.         figures

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

  446.        end;

  447.        implementation eq

  448. //EJS / Gyroscopic effects

  449. variables

  450. 	real global I[3];

  451. 	real global m;

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

  453. 	real Q[6,6];

  454. 	real QI[6,6];

  455. 	real Ia[6];

  456. initialequations

  457. 	Ia[1:3] = I;

  458. 	Ia[4:6] = m;

  459. 	II = diag(Ia);

  460. equations

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

  462. 	QI = Q*II;

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

  464.       Gravity 624 400

  465.        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>';

  466.        type Se

  467.         ports

  468.          power out p [6,1];

  469.         restrictions

  470.          causality fixed out p;

  471.        end;

  472.        icon bg bottom

  473.         figures

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

  475.        end;

  476.        implementation eq

  477. variables

  478. 	real global m;

  479. 	real effort[6];

  480. equations

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

  482. 	p.e = effort;

  483. implementation_end;

  484.       InertialTensor 544 256

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

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

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

  488. </Description>';

  489.        type 'I-3'

  490.         ports

  491.          power in p [6,1];

  492.          signal out state [6,1];

  493.         restrictions

  494.          causality preferred in p;

  495.        end;

  496.        icon bg bottom

  497.         figures

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

  499.        end;

  500.        implementation eq

  501. variables

  502. 	real global I[3];

  503. 	real global m;

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

  505. 	real Ia[6];

  506. initialequations

  507. 	Ia[1:3] = I;

  508. 	Ia[4:6] = m;

  509. 	II = diag(Ia);

  510. equations

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

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

  513. implementation_end;

  514.       plug Hin 433.4 496;

  515.       plug Hout 691.2 496;

  516.       plug p 439.4 336;

  517.       Splitter1 544 496

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

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

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

  521. <IsMainModel>1</IsMainModel>

  522.  <KeepParameterValues>False</KeepParameterValues>

  523. </Description>';

  524.        knot Splitter

  525.         ports

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

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

  528.        end;

  529.        icon bg ellipse

  530.         figures

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

  532.          ellipse 539.7 491.7 548.3 500.3 color -1;

  533.         terminals

  534.          input 544 496 fixed;

  535.        end;

  536.        implementation eq

  537. equations

  538.     collect (output) = input;

  539. implementation_end;

  540.       Ta0j 544 336

  541.        description '<Description>

  542.  <Version>4.0</Version>

  543.  <IsMainModel>1</IsMainModel>

  544.  <KeepParameterValues>False</KeepParameterValues>

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

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

  547.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  548.    <Description></Description>

  549. </Description>';

  550.        knot OneJunction

  551.         ports

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

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

  554.         restrictions

  555.          causality constraint one_out p;

  556.        end;

  557.        icon bg bottom

  558.         figures

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

  560.        end;

  561.        implementation eq

  562. equations

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

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

  565. 	flow = first (p.f);

  566. implementation_end;

  567.       ZeroJunction1 504 336

  568.        description '<Information>

  569.  <Description>

  570.     <Version>4.2</Version>

  571. <IsMainModel>1</IsMainModel>

  572.   <KeepParameterValues>False</KeepParameterValues>

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

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

  575. </Description>

  576. </Information>';

  577.        knot ZeroJunction

  578.         ports

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

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

  581.         restrictions

  582.          causality constraint one_in p;

  583.        end;

  584.        icon bg

  585.         figures

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

  587.        end;

  588.        implementation eq

  589. equations

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

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

  592. 	effort = first (p.e);

  593. implementation_end;

  594.      end;

  595.      connections

  596.       AdHi0\p2 => Ta0j\p;

  597.       Gravity\p => AdHi0\p1;

  598.       Hin -> Splitter1\input;

  599.       Splitter1\output -> AdHi0\H;

  600.       Splitter1\output -> Hout;

  601.       Ta0j\p => EJS\p1;

  602.       Ta0j\p => InertialTensor\p;

  603.       ZeroJunction1\p => p;

  604.       ZeroJunction1\p => Ta0j\p;

  605.      end;

  606.     implementation_end;

  607.    COM_body3 272 328

  608.     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

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

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

  611.     type Submodel

  612.      ports

  613.       signal in Hin [4,4];

  614.       signal out Hout [4,4];

  615.       power out p [6,1];

  616.     end;

  617.     icon bg bottom

  618.      figures

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

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

  621.      terminals

  622.       Hin 256 312 fixed;

  623.       p 256 344 fixed;

  624.     end;

  625.     implementation bg

  626.      submodels

  627.       AdHi0 544 400

  628.        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>';

  629.        type MTF

  630.         ports

  631.          power in p1 [6,1];

  632.          power out p2 [6,1];

  633.          signal in H [4,4];

  634.         restrictions

  635.          causality constraint not_equal p1 p2;

  636.        end;

  637.        icon bg left

  638.         figures

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

  640.        end;

  641.        implementation eq

  642. variables

  643.  	real onlyRotH[4,4];

  644. code

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

  646. 	onlyRotH = H;

  647. 	onlyRotH[1,4] = 0;

  648. 	onlyRotH[2,4] = 0;

  649. 	onlyRotH[3,4] = 0;

  650. 						

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

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

  653. implementation_end;

  654.       EJS 616 336

  655.        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>';

  656.        type MGY

  657.         ports

  658.          power in p1 [6,1];

  659.        end;

  660.        icon bg top

  661.         figures

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

  663.        end;

  664.        implementation eq

  665. //EJS / Gyroscopic effects

  666. parameters

  667. 	real global I[3];

  668. 	real global m;

  669. variables

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

  671. 	real Q[6,6];

  672. 	real QI[6,6];

  673. 	real Ia[6];

  674. initialequations

  675. 	Ia[1:3] = I;

  676. 	Ia[4:6] = m;

  677. 	II = diag(Ia);

  678. equations

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

  680. 	QI = Q*II;

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

  682.       Gravity 624 400

  683.        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>';

  684.        type Se

  685.         ports

  686.          power out p [6,1];

  687.         restrictions

  688.          causality fixed out p;

  689.        end;

  690.        icon bg bottom

  691.         figures

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

  693.        end;

  694.        implementation eq

  695. parameters

  696. 	real global m;

  697. variables

  698. 	real effort[6];

  699. equations

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

  701. 	p.e = effort;

  702. implementation_end;

  703.       InertialTensor 544 272

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

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

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

  707. </Description>';

  708.        type 'I-3'

  709.         ports

  710.          power in p [6,1];

  711.          signal out state [6,1];

  712.         restrictions

  713.          causality preferred in p;

  714.        end;

  715.        icon bg bottom

  716.         figures

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

  718.        end;

  719.        implementation eq

  720. parameters

  721. 	real global I[3];

  722. 	real global m;

  723. variables

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

  725. 	real Ia[6];

  726. initialequations

  727. 	Ia[1:3] = I;

  728. 	Ia[4:6] = m;

  729. 	II = diag(Ia);

  730. equations

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

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

  733. implementation_end;

  734.       plug Hin 433.4 496;

  735.       plug Hout 691.2 496;

  736.       plug p 439.4 336;

  737.       Splitter1 544 496

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

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

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

  741. <IsMainModel>1</IsMainModel>

  742.  <KeepParameterValues>False</KeepParameterValues>

  743. </Description>';

  744.        knot Splitter

  745.         ports

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

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

  748.        end;

  749.        icon bg ellipse

  750.         figures

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

  752.          ellipse 539.7 491.7 548.3 500.3 color -1;

  753.         terminals

  754.          input 544 496 fixed;

  755.        end;

  756.        implementation eq

  757. equations

  758.     collect (output) = input;

  759. implementation_end;

  760.       Ta0j 544 336

  761.        description '<Description>

  762.  <Version>4.0</Version>

  763.  <IsMainModel>1</IsMainModel>

  764.  <KeepParameterValues>False</KeepParameterValues>

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

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

  767.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  768.    <Description></Description>

  769. </Description>';

  770.        knot OneJunction

  771.         ports

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

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

  774.         restrictions

  775.          causality constraint one_out p;

  776.        end;

  777.        icon bg bottom

  778.         figures

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

  780.        end;

  781.        implementation eq

  782. equations

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

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

  785. 	flow = first (p.f);

  786. implementation_end;

  787.       ZeroJunction1 504 336

  788.        description '<Information>

  789.  <Description>

  790.     <Version>4.2</Version>

  791. <IsMainModel>1</IsMainModel>

  792.   <KeepParameterValues>False</KeepParameterValues>

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

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

  795. </Description>

  796. </Information>';

  797.        knot ZeroJunction

  798.         ports

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

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

  801.         restrictions

  802.          causality constraint one_in p;

  803.        end;

  804.        icon bg

  805.         figures

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

  807.        end;

  808.        implementation eq

  809. equations

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

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

  812. 	effort = first (p.e);

  813. implementation_end;

  814.      end;

  815.      connections

  816.       AdHi0\p2 => Ta0j\p;

  817.       Gravity\p => AdHi0\p1;

  818.       Hin -> Splitter1\input;

  819.       Splitter1\output -> AdHi0\H;

  820.       Splitter1\output -> Hout;

  821.       Ta0j\p => EJS\p1;

  822.       Ta0j\p => InertialTensor\p;

  823.       ZeroJunction1\p => p;

  824.       ZeroJunction1\p => Ta0j\p;

  825.      end;

  826.     implementation_end;

  827.    COM_body4 712 48

  828.     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

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

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

  831. variables

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

  833. 	real m {kg}; 

  834. initialequations

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

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

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

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

  839.     type Submodel

  840.      ports

  841.       signal in Hin [4,4];

  842.       signal out Hout [4,4];

  843.       power out p [6,1];

  844.     end;

  845.     icon bg bottom

  846.      figures

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

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

  849.      terminals

  850.       Hin 728 64 fixed;

  851.       p 696 64 fixed;

  852.     end;

  853.     implementation bg

  854.      submodels

  855.       AdHi0 544 400

  856.        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>';

  857.        type MTF

  858.         ports

  859.          power in p1 [6,1];

  860.          power out p2 [6,1];

  861.          signal in H [4,4];

  862.         restrictions

  863.          causality constraint not_equal p1 p2;

  864.        end;

  865.        icon bg left

  866.         figures

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

  868.        end;

  869.        implementation eq

  870. variables

  871.  	real onlyRotH[4,4];

  872. code

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

  874. 	onlyRotH = H;

  875. 	onlyRotH[1,4] = 0;

  876. 	onlyRotH[2,4] = 0;

  877. 	onlyRotH[3,4] = 0;

  878. 						

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

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

  881. implementation_end;

  882.       EJS 624 336

  883.        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>';

  884.        type MGY

  885.         ports

  886.          power in p1 [6,1];

  887.        end;

  888.        icon bg top

  889.         figures

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

  891.        end;

  892.        implementation eq

  893. //EJS / Gyroscopic effects

  894. variables

  895. 	real global I[3];

  896. 	real global m;

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

  898. 	real Q[6,6];

  899. 	real QI[6,6];

  900. 	real Ia[6];

  901. initialequations

  902. 	Ia[1:3] = I;

  903. 	Ia[4:6] = m;

  904. 	II = diag(Ia);

  905. equations

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

  907. 	QI = Q*II;

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

  909.       Gravity 624 400

  910.        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>';

  911.        type Se

  912.         ports

  913.          power out p [6,1];

  914.         restrictions

  915.          causality fixed out p;

  916.        end;

  917.        icon bg bottom

  918.         figures

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

  920.        end;

  921.        implementation eq

  922. variables

  923. 	real global m;

  924. 	real effort[6];

  925. equations

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

  927. 	p.e = effort;

  928. implementation_end;

  929.       InertialTensor 544 256

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

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

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

  933. </Description>';

  934.        type 'I-3'

  935.         ports

  936.          power in p [6,1];

  937.          signal out state [6,1];

  938.         restrictions

  939.          causality preferred in p;

  940.        end;

  941.        icon bg bottom

  942.         figures

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

  944.        end;

  945.        implementation eq

  946. variables

  947. 	real global I[3];

  948. 	real global m;

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

  950. 	real Ia[6];

  951. initialequations

  952. 	Ia[1:3] = I;

  953. 	Ia[4:6] = m;

  954. 	II = diag(Ia);

  955. equations

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

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

  958. implementation_end;

  959.       plug Hin 433.4 496;

  960.       plug Hout 691.2 496;

  961.       plug p 439.4 336;

  962.       Splitter1 544 496

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

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

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

  966. <IsMainModel>1</IsMainModel>

  967.  <KeepParameterValues>False</KeepParameterValues>

  968. </Description>';

  969.        knot Splitter

  970.         ports

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

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

  973.        end;

  974.        icon bg ellipse

  975.         figures

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

  977.          ellipse 539.7 491.7 548.3 500.3 color -1;

  978.         terminals

  979.          input 544 496 fixed;

  980.        end;

  981.        implementation eq

  982. equations

  983.     collect (output) = input;

  984. implementation_end;

  985.       Ta0j 544 336

  986.        description '<Description>

  987.  <Version>4.0</Version>

  988.  <IsMainModel>1</IsMainModel>

  989.  <KeepParameterValues>False</KeepParameterValues>

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

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

  992.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  993.    <Description></Description>

  994. </Description>';

  995.        knot OneJunction

  996.         ports

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

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

  999.         restrictions

  1000.          causality constraint one_out p;

  1001.        end;

  1002.        icon bg bottom

  1003.         figures

  1004.          text '1' 544 336 color 0 18 bold;

  1005.        end;

  1006.        implementation eq

  1007. equations

  1008. 	sum (direct (p.e)) = 0;

  1009. 	equal (collect (p.f));

  1010. 	flow = first (p.f);

  1011. implementation_end;

  1012.       ZeroJunction1 504 336

  1013.        description '<Information>

  1014.  <Description>

  1015.     <Version>4.2</Version>

  1016. <IsMainModel>1</IsMainModel>

  1017.   <KeepParameterValues>False</KeepParameterValues>

  1018.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1019.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1020. </Description>

  1021. </Information>';

  1022.        knot ZeroJunction

  1023.         ports

  1024.          power knot duplicatable none p [6,1];

  1025.          signal knot out effort [6,1];

  1026.         restrictions

  1027.          causality constraint one_in p;

  1028.        end;

  1029.        icon bg

  1030.         figures

  1031.          text '0' 504 336 color 0 18 bold;

  1032.        end;

  1033.        implementation eq

  1034. equations

  1035. 	sum (direct (p.f)) = 0;

  1036. 	equal (collect (p.e));

  1037. 	effort = first (p.e);

  1038. implementation_end;

  1039.      end;

  1040.      connections

  1041.       AdHi0\p2 => Ta0j\p;

  1042.       Gravity\p => AdHi0\p1;

  1043.       Hin -> Splitter1\input;

  1044.       Splitter1\output -> AdHi0\H;

  1045.       Splitter1\output -> Hout;

  1046.       Ta0j\p => EJS\p1;

  1047.       Ta0j\p => InertialTensor\p;

  1048.       ZeroJunction1\p => p;

  1049.       ZeroJunction1\p => Ta0j\p;

  1050.      end;

  1051.     implementation_end;

  1052.    COM_body5 1184 128

  1053.     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

  1054. 	real I [3,1] = [0.018;0.159;0.159] {mN.m.s};

  1055. 	real m = 0.015 {kg};</GlobalRelations></Attributes></Information>';

  1056.     type Submodel

  1057.      ports

  1058.       signal in Hin [4,4];

  1059.       signal out Hout [4,4];

  1060.       power out p [6,1];

  1061.     end;

  1062.     icon bg bottom

  1063.      figures

  1064.       rectangle 1168 96 1200 160 color 0 fill 139;

  1065.       text 'COM' 1184 128 color 0 'Clear Sans' 16;

  1066.      terminals

  1067.       Hin 1168 144 fixed;

  1068.       p 1168 112 fixed;

  1069.     end;

  1070.     implementation bg

  1071.      submodels

  1072.       AdHi0 544 400

  1073.        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>';

  1074.        type MTF

  1075.         ports

  1076.          power in p1 [6,1];

  1077.          power out p2 [6,1];

  1078.          signal in H [4,4];

  1079.         restrictions

  1080.          causality constraint not_equal p1 p2;

  1081.        end;

  1082.        icon bg left

  1083.         figures

  1084.          text 'MTF' 544 400 color 0 18 bold;

  1085.        end;

  1086.        implementation eq

  1087. variables

  1088.  	real onlyRotH[4,4];

  1089. code

  1090. 	//Only rotations with respect to the inertial system matter!

  1091. 	onlyRotH = H;

  1092. 	onlyRotH[1,4] = 0;

  1093. 	onlyRotH[2,4] = 0;

  1094. 	onlyRotH[3,4] = 0;

  1095. 						

  1096. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  1097. 	p1.f = Adjoint(onlyRotH) * p2.f;

  1098. implementation_end;

  1099.       EJS 616 336

  1100.        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>';

  1101.        type MGY

  1102.         ports

  1103.          power in p1 [6,1];

  1104.        end;

  1105.        icon bg top

  1106.         figures

  1107.          text 'MGY' 616 336 color 0 18 bold;

  1108.        end;

  1109.        implementation eq

  1110. //EJS / Gyroscopic effects

  1111. parameters

  1112. 	real global I[3];

  1113. 	real global m;

  1114. variables

  1115. 	real II[6,6]; //Inertial tensor

  1116. 	real Q[6,6];

  1117. 	real QI[6,6];

  1118. 	real Ia[6];

  1119. initialequations

  1120. 	Ia[1:3] = I;

  1121. 	Ia[4:6] = m;

  1122. 	II = diag(Ia);

  1123. equations

  1124. 	Q = transpose(adjoint(p1.f));

  1125. 	QI = Q*II;

  1126. 	p1.e = QI*p1.f;implementation_end;

  1127.       Gravity 624 400

  1128.        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>';

  1129.        type Se

  1130.         ports

  1131.          power out p [6,1];

  1132.         restrictions

  1133.          causality fixed out p;

  1134.        end;

  1135.        icon bg bottom

  1136.         figures

  1137.          text 'Se' 624 400 color 0 18 bold;

  1138.        end;

  1139.        implementation eq

  1140. parameters

  1141. 	real global m;

  1142. variables

  1143. 	real effort[6];

  1144. equations

  1145. 	effort = [0;0;0;0;0;-g_n*m];

  1146. 	p.e = effort;

  1147. implementation_end;

  1148.       InertialTensor 544 272

  1149.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1150.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  1151.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  1152. </Description>';

  1153.        type 'I-3'

  1154.         ports

  1155.          power in p [6,1];

  1156.          signal out state [6,1];

  1157.         restrictions

  1158.          causality preferred in p;

  1159.        end;

  1160.        icon bg bottom

  1161.         figures

  1162.          text 'I' 544 272 color 0 18 bold;

  1163.        end;

  1164.        implementation eq

  1165. parameters

  1166. 	real global I[3];

  1167. 	real global m;

  1168. variables

  1169. 	real II[6,6]; //Inertial tensor

  1170. 	real Ia[6];

  1171. initialequations

  1172. 	Ia[1:3] = I;

  1173. 	Ia[4:6] = m;

  1174. 	II = diag(Ia);

  1175. equations

  1176.     state = int(p.e); //state = generalized momentum

  1177.     p.f = inverse(II)*state;

  1178. implementation_end;

  1179.       plug Hin 433.4 496;

  1180.       plug Hout 691.2 496;

  1181.       plug p 439.4 336;

  1182.       Splitter1 544 496

  1183.        description '<Description><Version>4.0</Version>

  1184.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1185.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1186. <IsMainModel>1</IsMainModel>

  1187.  <KeepParameterValues>False</KeepParameterValues>

  1188. </Description>';

  1189.        knot Splitter

  1190.         ports

  1191.          signal knot duplicatable out output [4,4];

  1192.          signal knot in input [4,4];

  1193.        end;

  1194.        icon bg ellipse

  1195.         figures

  1196.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  1197.          ellipse 539.7 491.7 548.3 500.3 color -1;

  1198.         terminals

  1199.          input 544 496 fixed;

  1200.        end;

  1201.        implementation eq

  1202. equations

  1203.     collect (output) = input;

  1204. implementation_end;

  1205.       Ta0j 544 336

  1206.        description '<Description>

  1207.  <Version>4.0</Version>

  1208.  <IsMainModel>1</IsMainModel>

  1209.  <KeepParameterValues>False</KeepParameterValues>

  1210.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1211.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  1212.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1213.    <Description></Description>

  1214. </Description>';

  1215.        knot OneJunction

  1216.         ports

  1217.          power knot duplicatable none p [6,1];

  1218.          signal knot out flow [6,1];

  1219.         restrictions

  1220.          causality constraint one_out p;

  1221.        end;

  1222.        icon bg bottom

  1223.         figures

  1224.          text '1' 544 336 color 0 18 bold;

  1225.        end;

  1226.        implementation eq

  1227. equations

  1228. 	sum (direct (p.e)) = 0;

  1229. 	equal (collect (p.f));

  1230. 	flow = first (p.f);

  1231. implementation_end;

  1232.       ZeroJunction1 504 336

  1233.        description '<Information>

  1234.  <Description>

  1235.     <Version>4.2</Version>

  1236. <IsMainModel>1</IsMainModel>

  1237.   <KeepParameterValues>False</KeepParameterValues>

  1238.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1239.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1240. </Description>

  1241. </Information>';

  1242.        knot ZeroJunction

  1243.         ports

  1244.          power knot duplicatable none p [6,1];

  1245.          signal knot out effort [6,1];

  1246.         restrictions

  1247.          causality constraint one_in p;

  1248.        end;

  1249.        icon bg

  1250.         figures

  1251.          text '0' 504 336 color 0 18 bold;

  1252.        end;

  1253.        implementation eq

  1254. equations

  1255. 	sum (direct (p.f)) = 0;

  1256. 	equal (collect (p.e));

  1257. 	effort = first (p.e);

  1258. implementation_end;

  1259.      end;

  1260.      connections

  1261.       AdHi0\p2 => Ta0j\p;

  1262.       Gravity\p => AdHi0\p1;

  1263.       Hin -> Splitter1\input;

  1264.       Splitter1\output -> AdHi0\H;

  1265.       Splitter1\output -> Hout;

  1266.       Ta0j\p => EJS\p1;

  1267.       Ta0j\p => InertialTensor\p;

  1268.       ZeroJunction1\p => p;

  1269.       ZeroJunction1\p => Ta0j\p;

  1270.      end;

  1271.     implementation_end;

  1272.    Ground1 620 687.5

  1273.     description '<Information>

  1274.  <Description>

  1275.     <Version>4.8</Version>

  1276. <IsMainModel>1</IsMainModel>

  1277.     <LibraryPath>Bond Graph\MR\Ground.emx</LibraryPath>

  1278.   <TimeStamp>2020-7-23 09:30:51</TimeStamp>

  1279. </Description>

  1280. </Information>';

  1281.     type Submodel

  1282.      ports

  1283.       power in p [6,1];

  1284.       signal out output [4,4];

  1285.     end;

  1286.     icon bg bottom

  1287.      figures

  1288.       line 584 680 600 696 color 0 fill 15132390;

  1289.       line 592 680 608 696 color 0 fill 15132390;

  1290.       line 576 680 592 696 color 0 fill 15132390;

  1291.       line 616 696 600 680 color 0 fill 15132390;

  1292.       line 624 696 608 680 color 0 fill 15132390;

  1293.       line 632 696 616 680 color 0 fill 15132390;

  1294.       line 648 696 632 680 color 0 fill 15132390;

  1295.       line 640 696 624 680 color 0 fill 15132390;

  1296.       line 656 696 640 680 color 0 fill 15132390;

  1297.       line 664 696 648 680 color 0 fill 15132390;

  1298.       line 576 680 664 680 color 0 fill 15132390 width 2;

  1299.       line 656 680 664 688 color 0 fill 15132390;

  1300.       line 576 688 584 696 color 0 fill 15132390;

  1301.      terminals

  1302.       p 600 680 fixed;

  1303.       output 632 680 fixed;

  1304.     end;

  1305.     implementation bg

  1306.      submodels

  1307.       plug p 240 88;

  1308.       plug output 240 120;

  1309.       OneJunction2 192 88

  1310.        description '<Information>

  1311.  <Description>

  1312.     <Version>4.2</Version>

  1313. <IsMainModel>1</IsMainModel>

  1314.   <KeepParameterValues>False</KeepParameterValues>

  1315.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1316.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1317. </Description>

  1318. </Information>';

  1319.        knot OneJunction

  1320.         ports

  1321.          power knot duplicatable none p [6,1];

  1322.          signal knot out flow [6,1];

  1323.         restrictions

  1324.          causality constraint one_out p;

  1325.        end;

  1326.        icon bg

  1327.         figures

  1328.          text '1' 192 88 color 0 18 bold;

  1329.        end;

  1330.        implementation eq

  1331. equations

  1332. 	sum (direct (p.e)) = 0;

  1333. 	equal (collect (p.f));

  1334. 	flow = first (p.f);

  1335. implementation_end;

  1336.       Sf2 136 88

  1337.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1338.    <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>

  1339.   <TimeStamp>2007-9-25 12:7:5</TimeStamp>

  1340. </Description>';

  1341.        type 'Sf-2'

  1342.         ports

  1343.          power out p [6,1];

  1344.         restrictions

  1345.          causality fixed in p;

  1346.        end;

  1347.        icon bg bottom

  1348.         figures

  1349.          text 'Sf' 136 88 color 0 18 bold;

  1350.        end;

  1351.        implementation eq

  1352. parameters

  1353. 	real flow[6,1] = 	0;

  1354. variables

  1355. 	real effort [6];

  1356. equations

  1357. 	p.f = flow;

  1358. 	effort = p.e;

  1359. implementation_end;

  1360.       Zero 144 120

  1361.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1362.   <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>

  1363.   <TimeStamp>2007-9-27 15:54:36</TimeStamp>

  1364. </Description>

  1365. ';

  1366.        type Zero

  1367.         ports

  1368.          signal out output [4,4];

  1369.        end;

  1370.        icon bg bottom

  1371.         figures

  1372.          rectangle 128.1 104 159.9 136 color 0 fill 15132390;

  1373.          text '0' 144 120 color 16711680 18 bold;

  1374.        end;

  1375.        implementation eq

  1376. equations

  1377. 	output = eye(4);implementation_end;

  1378.      end;

  1379.      connections

  1380.       p => OneJunction2\p;

  1381.       Sf2\p => OneJunction2\p;

  1382.       Zero\output -> output;

  1383.      end;

  1384.     implementation_end;

  1385.    inverse_kinematics 712 768

  1386.     description '<Information>

  1387.  <Description>

  1388.     <Version>4.8</Version>

  1389.   <LibraryPath>SCARA\inverse_kinematics_v1.emx</LibraryPath>

  1390. <IsMainModel>1</IsMainModel>

  1391.   <KeepParameterValues>False</KeepParameterValues>

  1392.     <TimeStamp>2020-7-10 12:26:18</TimeStamp>

  1393. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1394.  </Description>

  1395. </Information>';

  1396.     type 'Submodel-Equation'

  1397.      ports

  1398.       signal in input [2,1] {m} ;

  1399.       signal out angle1 {rad} ;

  1400.       signal out angle2 {rad} ;

  1401.       signal out a {rad} ;

  1402.       signal out b {rad} ;

  1403.       signal out c {rad} ;

  1404.       signal out phi {rad} ;

  1405.     end;

  1406.     implementation eq

  1407. parameters

  1408. 	real A_length = 0.065 {m}; // length of first arm

  1409. 	real B_length = 0.05 {m}; // length of second arm

  1410. 	real to_rad = 1 {rad};

  1411. variables

  1412. 	real x {m}, y {m};

  1413. 	real C_length {m}; // length to x and y.

  1414. equations

  1415. 	x = input[1];

  1416. 	y = input[2];

  1417. 	phi = atan2(y, x);

  1418. 	C_length = sqrt(x^2 + y^2);	

  1419. 	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));

  1420. 	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));

  1421. 	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));

  1422. 	angle1 = b + phi;

  1423. 	angle2 =  angle1 - pi * to_rad + c;

  1424. 	

  1425. 	

  1426. 

  1427.  implementation_end;

  1428.    JointA 560 512

  1429.     description '<Information>

  1430.  <Description>

  1431.     <Version>4.8</Version>

  1432. <IsMainModel>1</IsMainModel>

  1433.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1434.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1435. </Description>

  1436. </Information>';

  1437.     type 'Submodel-v3'

  1438.      ports

  1439.       power in Pin [6,1];

  1440.       power in Pdiff [6,1];

  1441.       signal in Hin [4,4];

  1442.       signal out Hout [4,4];

  1443.       signal out Hdiff [4,4];

  1444.       power out Pout [6,1];

  1445.     end;

  1446.     icon bg bottom

  1447.      figures

  1448.       rectangle 528 488 592 536 color 0 fill 14745599;

  1449.       text 'Joint' 560 512 color 0 'Clear Sans' 16;

  1450.      terminals

  1451.       Pin 544 536 fixed;

  1452.       Hin 576 488 fixed;

  1453.       Hout 576 536 fixed;

  1454.       Pout 544 488 fixed;

  1455.     end;

  1456.     implementation bg

  1457.      submodels

  1458.       AdHji 424 424

  1459.        description '<Description>

  1460.  <Version>4.0</Version>

  1461.  <IsMainModel>1</IsMainModel>

  1462.  <KeepParameterValues>False</KeepParameterValues>

  1463.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1464.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1465.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1466. </Description>';

  1467.        type MTF

  1468.         ports

  1469.          power out p1 [6,1];

  1470.          power in p2 [6,1];

  1471.          signal in H [4,4];

  1472.         restrictions

  1473.          causality constraint not_equal p1 p2;

  1474.        end;

  1475.        icon bg bottom

  1476.         figures

  1477.          text 'MTF' 424 424 color 0 18 bold;

  1478.        end;

  1479.        implementation eq

  1480. equations					

  1481. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1482. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1483.       FlowSensor2 184 311.9

  1484.        description '<Information>

  1485.  <Description>

  1486.     <Version>4.2</Version>

  1487. <IsMainModel>1</IsMainModel>

  1488.   <KeepParameterValues>False</KeepParameterValues>

  1489.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1490.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1491. </Description>

  1492. </Information>';

  1493.        knot FlowSensor

  1494.         ports

  1495.          power knot in p1 [6,1];

  1496.          power knot out p2 [6,1];

  1497.          signal knot out flow [6,1];

  1498.         restrictions

  1499.          causality constraint not_equal p1 p2;

  1500.        end;

  1501.        icon bg ellipse

  1502.         figures

  1503.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1504.          text 'f' 184 311.2 color 0;

  1505.        end;

  1506.        implementation eq

  1507. equations

  1508. 	p2.f = p1.f;

  1509. 	p1.e = p2.e;

  1510. 	flow = p1.f;

  1511. implementation_end;

  1512.       Hmatrix 256 312

  1513.        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>';

  1514.        type 'Submodel-Equation'

  1515.         ports

  1516.          signal in flow [6,1];

  1517.          signal out H [4,4];

  1518.        end;

  1519.        icon bg

  1520.         figures

  1521.          rectangle 224 296 288 328 color 0 fill 15132390;

  1522.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1523.        end;

  1524.        implementation eq

  1525. parameters

  1526. 	real init[4] = [1;0;0;0];

  1527. variables

  1528. 	real q[4];		//quaternions

  1529. 	real W[3,4];	//Quaternion Rates Matrix

  1530. 	real R[3,3];	//Rotation Matrix

  1531. 	real p[3];		//Position Vector

  1532. 	real dq[4];

  1533. 	real Wb[3,4];

  1534. equations

  1535. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1536. 	q = int(dq,init);

  1537. 	p = int(flow[4:6]);

  1538. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1539. 		 -q[3],	q[4],	q[1],	-q[2];

  1540. 		 -q[4],	-q[3],	q[2],	q[1]];

  1541. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

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

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

  1544.  	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]);

  1545. 		  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]);

  1546. 		  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];

  1547. 	H = homogeneous(R,p);

  1548. 	implementation_end;

  1549.       MatrixMul 320 576

  1550.        description '<Description>

  1551.  <Version>4.0</Version>

  1552.  <IsMainModel>1</IsMainModel>

  1553.  <KeepParameterValues>False</KeepParameterValues>

  1554.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1555.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1556.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1557. </Description>';

  1558.        type Gain

  1559.         ports

  1560.          signal in input1 [4,4];

  1561.          signal out output [4,4];

  1562.          signal in input2 [4,4];

  1563.        end;

  1564.        icon bg bottom

  1565.         figures

  1566.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1567.          text 'X' 320 576 color 16711680 16 bold;

  1568.        end;

  1569.        implementation eq

  1570. equations

  1571. 	output = input2*input1;    implementation_end;

  1572.       plug Pin 492.1 424;

  1573.       plug Pdiff 184 225;

  1574.       plug Hin 130.8 576;

  1575.       plug Hout 478.4 576;

  1576.       plug Hdiff 320 222;

  1577.       plug Pout 134.7 424;

  1578.       Splitter2 320 312

  1579.        description '<Description><Version>4.0</Version>

  1580.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1581.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1582. <IsMainModel>1</IsMainModel>

  1583.  <KeepParameterValues>False</KeepParameterValues>

  1584. </Description>';

  1585.        knot Splitter

  1586.         ports

  1587.          signal knot duplicatable out output [4,4];

  1588.          signal knot in input [4,4];

  1589.        end;

  1590.        icon bg ellipse

  1591.         figures

  1592.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1593.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1594.         terminals

  1595.          input 320 312 fixed;

  1596.        end;

  1597.        implementation eq

  1598. equations

  1599.     collect (output) = input;

  1600. implementation_end;

  1601.       Wbai 184 424

  1602.        description '<Description>

  1603.  <Version>4.0</Version>

  1604.  <IsMainModel>1</IsMainModel>

  1605.  <KeepParameterValues>False</KeepParameterValues>

  1606.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1607.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1608.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1609. </Description>';

  1610.        knot ZeroJunction

  1611.         ports

  1612.          power knot duplicatable none p [6,1];

  1613.          signal knot out effort [6,1];

  1614.         restrictions

  1615.          causality constraint one_in p;

  1616.        end;

  1617.        icon bg bottom

  1618.         figures

  1619.          text '0' 184 424 color 0 18 bold;

  1620.        end;

  1621.        implementation eq

  1622. equations

  1623. 	sum (direct (p.f)) = 0;

  1624. 	equal (collect (p.e));

  1625. 	effort = first (p.e);

  1626. implementation_end;

  1627.      end;

  1628.      connections

  1629.       FlowSensor2\flow -> Hmatrix\flow;

  1630.       FlowSensor2\p2 => Wbai\p;

  1631.       Hin -> MatrixMul\input2;

  1632.       Hmatrix\H -> Splitter2\input;

  1633.       MatrixMul\output -> Hout;

  1634.       Pdiff => FlowSensor2\p1;

  1635.       Pin => AdHji\p2;

  1636.       Splitter2\output -> AdHji\H 424 312;

  1637.       Splitter2\output -> Hdiff;

  1638.       Splitter2\output -> MatrixMul\input1;

  1639.       Wbai\p <= AdHji\p1;

  1640.       Wbai\p => Pout;

  1641.      end;

  1642.     implementation_end;

  1643.    JointB 560 192

  1644.     description '<Information>

  1645.  <Description>

  1646.     <Version>4.8</Version>

  1647. <IsMainModel>1</IsMainModel>

  1648.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1649.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1650. </Description>

  1651. </Information>';

  1652.     type 'Submodel-v3'

  1653.      ports

  1654.       power in Pin [6,1];

  1655.       power in Pdiff [6,1];

  1656.       signal in Hin [4,4];

  1657.       signal out Hout [4,4];

  1658.       signal out Hdiff [4,4];

  1659.       power out Pout [6,1];

  1660.     end;

  1661.     icon bg bottom

  1662.      figures

  1663.       rectangle 528 168 592 216 color 0 fill 14745599;

  1664.       text 'Joint' 560 192 color 0 'Clear Sans' 16;

  1665.      terminals

  1666.       Pin 544 216 fixed;

  1667.       Hin 576 168 fixed;

  1668.       Hout 576 216 fixed;

  1669.       Pout 544 168 fixed;

  1670.     end;

  1671.     implementation bg

  1672.      submodels

  1673.       AdHji 424 424

  1674.        description '<Description>

  1675.  <Version>4.0</Version>

  1676.  <IsMainModel>1</IsMainModel>

  1677.  <KeepParameterValues>False</KeepParameterValues>

  1678.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1679.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1680.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1681. </Description>';

  1682.        type MTF

  1683.         ports

  1684.          power out p1 [6,1];

  1685.          power in p2 [6,1];

  1686.          signal in H [4,4];

  1687.         restrictions

  1688.          causality constraint not_equal p1 p2;

  1689.        end;

  1690.        icon bg bottom

  1691.         figures

  1692.          text 'MTF' 424 424 color 0 18 bold;

  1693.        end;

  1694.        implementation eq

  1695. equations					

  1696. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1697. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1698.       FlowSensor2 184 311.9

  1699.        description '<Information>

  1700.  <Description>

  1701.     <Version>4.2</Version>

  1702. <IsMainModel>1</IsMainModel>

  1703.   <KeepParameterValues>False</KeepParameterValues>

  1704.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1705.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1706. </Description>

  1707. </Information>';

  1708.        knot FlowSensor

  1709.         ports

  1710.          power knot in p1 [6,1];

  1711.          power knot out p2 [6,1];

  1712.          signal knot out flow [6,1];

  1713.         restrictions

  1714.          causality constraint not_equal p1 p2;

  1715.        end;

  1716.        icon bg ellipse

  1717.         figures

  1718.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1719.          text 'f' 184 311.2 color 0;

  1720.        end;

  1721.        implementation eq

  1722. equations

  1723. 	p2.f = p1.f;

  1724. 	p1.e = p2.e;

  1725. 	flow = p1.f;

  1726. implementation_end;

  1727.       Hmatrix 256 312

  1728.        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>';

  1729.        type 'Submodel-Equation'

  1730.         ports

  1731.          signal in flow [6,1];

  1732.          signal out H [4,4];

  1733.        end;

  1734.        icon bg

  1735.         figures

  1736.          rectangle 224 296 288 328 color 0 fill 15132390;

  1737.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1738.        end;

  1739.        implementation eq

  1740. parameters

  1741. 	real init[4] = [1;0;0;0];

  1742. variables

  1743. 	real q[4];		//quaternions

  1744. 	real W[3,4];	//Quaternion Rates Matrix

  1745. 	real R[3,3];	//Rotation Matrix

  1746. 	real p[3];		//Position Vector

  1747. 	real dq[4];

  1748. 	real Wb[3,4];

  1749. equations

  1750. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1751. 	q = int(dq,init);

  1752. 	p = int(flow[4:6]);

  1753. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1754. 		 -q[3],	q[4],	q[1],	-q[2];

  1755. 		 -q[4],	-q[3],	q[2],	q[1]];

  1756. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

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

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

  1759.  	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]);

  1760. 		  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]);

  1761. 		  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];

  1762. 	H = homogeneous(R,p);

  1763. 	implementation_end;

  1764.       MatrixMul 320 576

  1765.        description '<Description>

  1766.  <Version>4.0</Version>

  1767.  <IsMainModel>1</IsMainModel>

  1768.  <KeepParameterValues>False</KeepParameterValues>

  1769.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1770.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1771.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1772. </Description>';

  1773.        type Gain

  1774.         ports

  1775.          signal in input1 [4,4];

  1776.          signal out output [4,4];

  1777.          signal in input2 [4,4];

  1778.        end;

  1779.        icon bg bottom

  1780.         figures

  1781.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1782.          text 'X' 320 576 color 16711680 16 bold;

  1783.        end;

  1784.        implementation eq

  1785. equations

  1786. 	output = input2*input1;    implementation_end;

  1787.       plug Pin 492.1 424;

  1788.       plug Pdiff 184 225;

  1789.       plug Hin 130.8 576;

  1790.       plug Hout 478.4 576;

  1791.       plug Hdiff 320 222;

  1792.       plug Pout 134.7 424;

  1793.       Splitter2 320 312

  1794.        description '<Description><Version>4.0</Version>

  1795.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1796.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1797. <IsMainModel>1</IsMainModel>

  1798.  <KeepParameterValues>False</KeepParameterValues>

  1799. </Description>';

  1800.        knot Splitter

  1801.         ports

  1802.          signal knot duplicatable out output [4,4];

  1803.          signal knot in input [4,4];

  1804.        end;

  1805.        icon bg ellipse

  1806.         figures

  1807.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1808.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1809.         terminals

  1810.          input 320 312 fixed;

  1811.        end;

  1812.        implementation eq

  1813. equations

  1814.     collect (output) = input;

  1815. implementation_end;

  1816.       Wbai 184 424

  1817.        description '<Description>

  1818.  <Version>4.0</Version>

  1819.  <IsMainModel>1</IsMainModel>

  1820.  <KeepParameterValues>False</KeepParameterValues>

  1821.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1822.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1823.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1824. </Description>';

  1825.        knot ZeroJunction

  1826.         ports

  1827.          power knot duplicatable none p [6,1];

  1828.          signal knot out effort [6,1];

  1829.         restrictions

  1830.          causality constraint one_in p;

  1831.        end;

  1832.        icon bg bottom

  1833.         figures

  1834.          text '0' 184 424 color 0 18 bold;

  1835.        end;

  1836.        implementation eq

  1837. equations

  1838. 	sum (direct (p.f)) = 0;

  1839. 	equal (collect (p.e));

  1840. 	effort = first (p.e);

  1841. implementation_end;

  1842.      end;

  1843.      connections

  1844.       FlowSensor2\flow -> Hmatrix\flow;

  1845.       FlowSensor2\p2 => Wbai\p;

  1846.       Hin -> MatrixMul\input2;

  1847.       Hmatrix\H -> Splitter2\input;

  1848.       MatrixMul\output -> Hout;

  1849.       Pdiff => FlowSensor2\p1;

  1850.       Pin => AdHji\p2;

  1851.       Splitter2\output -> AdHji\H 424 312;

  1852.       Splitter2\output -> Hdiff;

  1853.       Splitter2\output -> MatrixMul\input1;

  1854.       Wbai\p <= AdHji\p1;

  1855.       Wbai\p => Pout;

  1856.      end;

  1857.     implementation_end;

  1858.    JointC 512 632

  1859.     description '<Information>

  1860.  <Description>

  1861.     <Version>4.8</Version>

  1862. <IsMainModel>1</IsMainModel>

  1863.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1864.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1865. </Description>

  1866. </Information>';

  1867.     type 'Submodel-v3'

  1868.      ports

  1869.       power in Pin [6,1];

  1870.       power in Pdiff [6,1];

  1871.       signal in Hin [4,4];

  1872.       signal out Hout [4,4];

  1873.       signal out Hdiff [4,4];

  1874.       power out Pout [6,1];

  1875.     end;

  1876.     icon bg bottom

  1877.      figures

  1878.       rectangle 488 600 536 664 color 0 fill 14745599;

  1879.       text 'Joint' 512 632 color 0 'Clear Sans' 16;

  1880.      terminals

  1881.       Pin 488 648 fixed;

  1882.       Hin 536 616 fixed;

  1883.       Hout 488 616 fixed;

  1884.       Pout 536 648 fixed;

  1885.     end;

  1886.     implementation bg

  1887.      submodels

  1888.       AdHji 424 424

  1889.        description '<Description>

  1890.  <Version>4.0</Version>

  1891.  <IsMainModel>1</IsMainModel>

  1892.  <KeepParameterValues>False</KeepParameterValues>

  1893.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1894.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1895.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1896. </Description>';

  1897.        type MTF

  1898.         ports

  1899.          power out p1 [6,1];

  1900.          power in p2 [6,1];

  1901.          signal in H [4,4];

  1902.         restrictions

  1903.          causality constraint not_equal p1 p2;

  1904.        end;

  1905.        icon bg bottom

  1906.         figures

  1907.          text 'MTF' 424 424 color 0 18 bold;

  1908.        end;

  1909.        implementation eq

  1910. equations					

  1911. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1912. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1913.       FlowSensor2 184 311.9

  1914.        description '<Information>

  1915.  <Description>

  1916.     <Version>4.2</Version>

  1917. <IsMainModel>1</IsMainModel>

  1918.   <KeepParameterValues>False</KeepParameterValues>

  1919.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1920.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1921. </Description>

  1922. </Information>';

  1923.        knot FlowSensor

  1924.         ports

  1925.          power knot in p1 [6,1];

  1926.          power knot out p2 [6,1];

  1927.          signal knot out flow [6,1];

  1928.         restrictions

  1929.          causality constraint not_equal p1 p2;

  1930.        end;

  1931.        icon bg ellipse

  1932.         figures

  1933.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1934.          text 'f' 184 311.2 color 0;

  1935.        end;

  1936.        implementation eq

  1937. equations

  1938. 	p2.f = p1.f;

  1939. 	p1.e = p2.e;

  1940. 	flow = p1.f;

  1941. implementation_end;

  1942.       Hmatrix 256 312

  1943.        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>';

  1944.        type 'Submodel-Equation'

  1945.         ports

  1946.          signal in flow [6,1];

  1947.          signal out H [4,4];

  1948.        end;

  1949.        icon bg

  1950.         figures

  1951.          rectangle 224 296 288 328 color 0 fill 15132390;

  1952.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1953.        end;

  1954.        implementation eq

  1955. parameters

  1956. 	real init[4] = [1;0;0;0];

  1957. variables

  1958. 	real q[4];		//quaternions

  1959. 	real W[3,4];	//Quaternion Rates Matrix

  1960. 	real R[3,3];	//Rotation Matrix

  1961. 	real p[3];		//Position Vector

  1962. 	real dq[4];

  1963. 	real Wb[3,4];

  1964. equations

  1965. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1966. 	q = int(dq,init);

  1967. 	p = int(flow[4:6]);

  1968. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1969. 		 -q[3],	q[4],	q[1],	-q[2];

  1970. 		 -q[4],	-q[3],	q[2],	q[1]];

  1971. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

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

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

  1974.  	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]);

  1975. 		  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]);

  1976. 		  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];

  1977. 	H = homogeneous(R,p);

  1978. 	implementation_end;

  1979.       MatrixMul 320 576

  1980.        description '<Description>

  1981.  <Version>4.0</Version>

  1982.  <IsMainModel>1</IsMainModel>

  1983.  <KeepParameterValues>False</KeepParameterValues>

  1984.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1985.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1986.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1987. </Description>';

  1988.        type Gain

  1989.         ports

  1990.          signal in input1 [4,4];

  1991.          signal out output [4,4];

  1992.          signal in input2 [4,4];

  1993.        end;

  1994.        icon bg bottom

  1995.         figures

  1996.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1997.          text 'X' 320 576 color 16711680 16 bold;

  1998.        end;

  1999.        implementation eq

  2000. equations

  2001. 	output = input2*input1;    implementation_end;

  2002.       plug Pin 492.1 424;

  2003.       plug Pdiff 184 225;

  2004.       plug Hin 130.8 576;

  2005.       plug Hout 478.4 576;

  2006.       plug Hdiff 320 222;

  2007.       plug Pout 134.7 424;

  2008.       Splitter2 320 312

  2009.        description '<Description><Version>4.0</Version>

  2010.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2011.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2012. <IsMainModel>1</IsMainModel>

  2013.  <KeepParameterValues>False</KeepParameterValues>

  2014. </Description>';

  2015.        knot Splitter

  2016.         ports

  2017.          signal knot duplicatable out output [4,4];

  2018.          signal knot in input [4,4];

  2019.        end;

  2020.        icon bg ellipse

  2021.         figures

  2022.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2023.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2024.         terminals

  2025.          input 320 312 fixed;

  2026.        end;

  2027.        implementation eq

  2028. equations

  2029.     collect (output) = input;

  2030. implementation_end;

  2031.       Wbai 184 424

  2032.        description '<Description>

  2033.  <Version>4.0</Version>

  2034.  <IsMainModel>1</IsMainModel>

  2035.  <KeepParameterValues>False</KeepParameterValues>

  2036.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2037.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2038.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2039. </Description>';

  2040.        knot ZeroJunction

  2041.         ports

  2042.          power knot duplicatable none p [6,1];

  2043.          signal knot out effort [6,1];

  2044.         restrictions

  2045.          causality constraint one_in p;

  2046.        end;

  2047.        icon bg bottom

  2048.         figures

  2049.          text '0' 184 424 color 0 18 bold;

  2050.        end;

  2051.        implementation eq

  2052. equations

  2053. 	sum (direct (p.f)) = 0;

  2054. 	equal (collect (p.e));

  2055. 	effort = first (p.e);

  2056. implementation_end;

  2057.      end;

  2058.      connections

  2059.       FlowSensor2\flow -> Hmatrix\flow;

  2060.       FlowSensor2\p2 => Wbai\p;

  2061.       Hin -> MatrixMul\input2;

  2062.       Hmatrix\H -> Splitter2\input;

  2063.       MatrixMul\output -> Hout;

  2064.       Pdiff => FlowSensor2\p1;

  2065.       Pin => AdHji\p2;

  2066.       Splitter2\output -> AdHji\H 424 312;

  2067.       Splitter2\output -> Hdiff;

  2068.       Splitter2\output -> MatrixMul\input1;

  2069.       Wbai\p <= AdHji\p1;

  2070.       Wbai\p => Pout;

  2071.      end;

  2072.     implementation_end;

  2073.    JointD 200 488

  2074.     description '<Information>

  2075.  <Description>

  2076.     <Version>4.8</Version>

  2077. <IsMainModel>1</IsMainModel>

  2078.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2079.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2080. </Description>

  2081. </Information>';

  2082.     type 'Submodel-v3'

  2083.      ports

  2084.       power in Pin [6,1];

  2085.       power in Pdiff [6,1];

  2086.       signal in Hin [4,4];

  2087.       signal out Hout [4,4];

  2088.       signal out Hdiff [4,4];

  2089.       power out Pout [6,1];

  2090.     end;

  2091.     icon bg bottom

  2092.      figures

  2093.       rectangle 168 464 232 512 color 0 fill 14745599;

  2094.       text 'Joint' 200 488 color 0 'Clear Sans' 16;

  2095.      terminals

  2096.       Pin 184 464 fixed;

  2097.       Hin 216 512 fixed;

  2098.       Hout 216 464 fixed;

  2099.       Pout 184 512 fixed;

  2100.     end;

  2101.     implementation bg

  2102.      submodels

  2103.       AdHji 424 424

  2104.        description '<Description>

  2105.  <Version>4.0</Version>

  2106.  <IsMainModel>1</IsMainModel>

  2107.  <KeepParameterValues>False</KeepParameterValues>

  2108.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2109.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2110.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2111. </Description>';

  2112.        type MTF

  2113.         ports

  2114.          power out p1 [6,1];

  2115.          power in p2 [6,1];

  2116.          signal in H [4,4];

  2117.         restrictions

  2118.          causality constraint not_equal p1 p2;

  2119.        end;

  2120.        icon bg bottom

  2121.         figures

  2122.          text 'MTF' 424 424 color 0 18 bold;

  2123.        end;

  2124.        implementation eq

  2125. equations					

  2126. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2127. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2128.       FlowSensor2 184 311.9

  2129.        description '<Information>

  2130.  <Description>

  2131.     <Version>4.2</Version>

  2132. <IsMainModel>1</IsMainModel>

  2133.   <KeepParameterValues>False</KeepParameterValues>

  2134.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2135.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2136. </Description>

  2137. </Information>';

  2138.        knot FlowSensor

  2139.         ports

  2140.          power knot in p1 [6,1];

  2141.          power knot out p2 [6,1];

  2142.          signal knot out flow [6,1];

  2143.         restrictions

  2144.          causality constraint not_equal p1 p2;

  2145.        end;

  2146.        icon bg ellipse

  2147.         figures

  2148.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2149.          text 'f' 184 311.2 color 0;

  2150.        end;

  2151.        implementation eq

  2152. equations

  2153. 	p2.f = p1.f;

  2154. 	p1.e = p2.e;

  2155. 	flow = p1.f;

  2156. implementation_end;

  2157.       Hmatrix 256 312

  2158.        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>';

  2159.        type 'Submodel-Equation'

  2160.         ports

  2161.          signal in flow [6,1];

  2162.          signal out H [4,4];

  2163.        end;

  2164.        icon bg

  2165.         figures

  2166.          rectangle 224 296 288 328 color 0 fill 15132390;

  2167.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2168.        end;

  2169.        implementation eq

  2170. parameters

  2171. 	real init[4] = [1;0;0;0];

  2172. variables

  2173. 	real q[4];		//quaternions

  2174. 	real W[3,4];	//Quaternion Rates Matrix

  2175. 	real R[3,3];	//Rotation Matrix

  2176. 	real p[3];		//Position Vector

  2177. 	real dq[4];

  2178. 	real Wb[3,4];

  2179. equations

  2180. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2181. 	q = int(dq,init);

  2182. 	p = int(flow[4:6]);

  2183. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2184. 		 -q[3],	q[4],	q[1],	-q[2];

  2185. 		 -q[4],	-q[3],	q[2],	q[1]];

  2186. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

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

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

  2189.  	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]);

  2190. 		  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]);

  2191. 		  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];

  2192. 	H = homogeneous(R,p);

  2193. 	implementation_end;

  2194.       MatrixMul 320 576

  2195.        description '<Description>

  2196.  <Version>4.0</Version>

  2197.  <IsMainModel>1</IsMainModel>

  2198.  <KeepParameterValues>False</KeepParameterValues>

  2199.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2200.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2201.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2202. </Description>';

  2203.        type Gain

  2204.         ports

  2205.          signal in input1 [4,4];

  2206.          signal out output [4,4];

  2207.          signal in input2 [4,4];

  2208.        end;

  2209.        icon bg bottom

  2210.         figures

  2211.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2212.          text 'X' 320 576 color 16711680 16 bold;

  2213.        end;

  2214.        implementation eq

  2215. equations

  2216. 	output = input2*input1;    implementation_end;

  2217.       plug Pin 492.1 424;

  2218.       plug Pdiff 184 225;

  2219.       plug Hin 130.8 576;

  2220.       plug Hout 478.4 576;

  2221.       plug Hdiff 320 222;

  2222.       plug Pout 134.7 424;

  2223.       Splitter2 320 312

  2224.        description '<Description><Version>4.0</Version>

  2225.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2226.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2227. <IsMainModel>1</IsMainModel>

  2228.  <KeepParameterValues>False</KeepParameterValues>

  2229. </Description>';

  2230.        knot Splitter

  2231.         ports

  2232.          signal knot duplicatable out output [4,4];

  2233.          signal knot in input [4,4];

  2234.        end;

  2235.        icon bg ellipse

  2236.         figures

  2237.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2238.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2239.         terminals

  2240.          input 320 312 fixed;

  2241.        end;

  2242.        implementation eq

  2243. equations

  2244.     collect (output) = input;

  2245. implementation_end;

  2246.       Wbai 184 424

  2247.        description '<Description>

  2248.  <Version>4.0</Version>

  2249.  <IsMainModel>1</IsMainModel>

  2250.  <KeepParameterValues>False</KeepParameterValues>

  2251.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2252.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2253.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2254. </Description>';

  2255.        knot ZeroJunction

  2256.         ports

  2257.          power knot duplicatable none p [6,1];

  2258.          signal knot out effort [6,1];

  2259.         restrictions

  2260.          causality constraint one_in p;

  2261.        end;

  2262.        icon bg bottom

  2263.         figures

  2264.          text '0' 184 424 color 0 18 bold;

  2265.        end;

  2266.        implementation eq

  2267. equations

  2268. 	sum (direct (p.f)) = 0;

  2269. 	equal (collect (p.e));

  2270. 	effort = first (p.e);

  2271. implementation_end;

  2272.      end;

  2273.      connections

  2274.       FlowSensor2\flow -> Hmatrix\flow;

  2275.       FlowSensor2\p2 => Wbai\p;

  2276.       Hin -> MatrixMul\input2;

  2277.       Hmatrix\H -> Splitter2\input;

  2278.       MatrixMul\output -> Hout;

  2279.       Pdiff => FlowSensor2\p1;

  2280.       Pin => AdHji\p2;

  2281.       Splitter2\output -> AdHji\H 424 312;

  2282.       Splitter2\output -> Hdiff;

  2283.       Splitter2\output -> MatrixMul\input1;

  2284.       Wbai\p <= AdHji\p1;

  2285.       Wbai\p => Pout;

  2286.      end;

  2287.     implementation_end;

  2288.    JointE 200 168

  2289.     description '<Information>

  2290.  <Description>

  2291.     <Version>4.8</Version>

  2292. <IsMainModel>1</IsMainModel>

  2293.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2294.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2295. </Description>

  2296. </Information>';

  2297.     type 'Submodel-v3'

  2298.      ports

  2299.       power in Pin [6,1];

  2300.       power in Pdiff [6,1];

  2301.       signal in Hin [4,4];

  2302.       signal out Hout [4,4];

  2303.       signal out Hdiff [4,4];

  2304.       power out Pout [6,1];

  2305.     end;

  2306.     icon bg bottom

  2307.      figures

  2308.       rectangle 168 144 232 192 color 0 fill 14745599;

  2309.       text 'Joint' 200 168 color 0 'Clear Sans' 16;

  2310.      terminals

  2311.       Pin 184 144 fixed;

  2312.       Hin 216 192 fixed;

  2313.       Hout 216 144 fixed;

  2314.       Pout 184 192 fixed;

  2315.     end;

  2316.     implementation bg

  2317.      submodels

  2318.       AdHji 424 424

  2319.        description '<Description>

  2320.  <Version>4.0</Version>

  2321.  <IsMainModel>1</IsMainModel>

  2322.  <KeepParameterValues>False</KeepParameterValues>

  2323.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2324.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2325.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2326. </Description>';

  2327.        type MTF

  2328.         ports

  2329.          power out p1 [6,1];

  2330.          power in p2 [6,1];

  2331.          signal in H [4,4];

  2332.         restrictions

  2333.          causality constraint not_equal p1 p2;

  2334.        end;

  2335.        icon bg bottom

  2336.         figures

  2337.          text 'MTF' 424 424 color 0 18 bold;

  2338.        end;

  2339.        implementation eq

  2340. equations					

  2341. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2342. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2343.       FlowSensor2 184 311.9

  2344.        description '<Information>

  2345.  <Description>

  2346.     <Version>4.2</Version>

  2347. <IsMainModel>1</IsMainModel>

  2348.   <KeepParameterValues>False</KeepParameterValues>

  2349.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2350.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2351. </Description>

  2352. </Information>';

  2353.        knot FlowSensor

  2354.         ports

  2355.          power knot in p1 [6,1];

  2356.          power knot out p2 [6,1];

  2357.          signal knot out flow [6,1];

  2358.         restrictions

  2359.          causality constraint not_equal p1 p2;

  2360.        end;

  2361.        icon bg ellipse

  2362.         figures

  2363.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2364.          text 'f' 184 311.2 color 0;

  2365.        end;

  2366.        implementation eq

  2367. equations

  2368. 	p2.f = p1.f;

  2369. 	p1.e = p2.e;

  2370. 	flow = p1.f;

  2371. implementation_end;

  2372.       Hmatrix 256 312

  2373.        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>';

  2374.        type 'Submodel-Equation'

  2375.         ports

  2376.          signal in flow [6,1];

  2377.          signal out H [4,4];

  2378.        end;

  2379.        icon bg

  2380.         figures

  2381.          rectangle 224 296 288 328 color 0 fill 15132390;

  2382.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2383.        end;

  2384.        implementation eq

  2385. parameters

  2386. 	real init[4] = [1;0;0;0];

  2387. variables

  2388. 	real q[4];		//quaternions

  2389. 	real W[3,4];	//Quaternion Rates Matrix

  2390. 	real R[3,3];	//Rotation Matrix

  2391. 	real p[3];		//Position Vector

  2392. 	real dq[4];

  2393. 	real Wb[3,4];

  2394. equations

  2395. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2396. 	q = int(dq,init);

  2397. 	p = int(flow[4:6]);

  2398. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2399. 		 -q[3],	q[4],	q[1],	-q[2];

  2400. 		 -q[4],	-q[3],	q[2],	q[1]];

  2401. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

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

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

  2404.  	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]);

  2405. 		  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]);

  2406. 		  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];

  2407. 	H = homogeneous(R,p);

  2408. 	implementation_end;

  2409.       MatrixMul 320 576

  2410.        description '<Description>

  2411.  <Version>4.0</Version>

  2412.  <IsMainModel>1</IsMainModel>

  2413.  <KeepParameterValues>False</KeepParameterValues>

  2414.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2415.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2416.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2417. </Description>';

  2418.        type Gain

  2419.         ports

  2420.          signal in input1 [4,4];

  2421.          signal out output [4,4];

  2422.          signal in input2 [4,4];

  2423.        end;

  2424.        icon bg bottom

  2425.         figures

  2426.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2427.          text 'X' 320 576 color 16711680 16 bold;

  2428.        end;

  2429.        implementation eq

  2430. equations

  2431. 	output = input2*input1;    implementation_end;

  2432.       plug Pin 492.1 424;

  2433.       plug Pdiff 184 225;

  2434.       plug Hin 130.8 576;

  2435.       plug Hout 478.4 576;

  2436.       plug Hdiff 320 222;

  2437.       plug Pout 134.7 424;

  2438.       Splitter2 320 312

  2439.        description '<Description><Version>4.0</Version>

  2440.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2441.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2442. <IsMainModel>1</IsMainModel>

  2443.  <KeepParameterValues>False</KeepParameterValues>

  2444. </Description>';

  2445.        knot Splitter

  2446.         ports

  2447.          signal knot duplicatable out output [4,4];

  2448.          signal knot in input [4,4];

  2449.        end;

  2450.        icon bg ellipse

  2451.         figures

  2452.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2453.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2454.         terminals

  2455.          input 320 312 fixed;

  2456.        end;

  2457.        implementation eq

  2458. equations

  2459.     collect (output) = input;

  2460. implementation_end;

  2461.       Wbai 184 424

  2462.        description '<Description>

  2463.  <Version>4.0</Version>

  2464.  <IsMainModel>1</IsMainModel>

  2465.  <KeepParameterValues>False</KeepParameterValues>

  2466.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2467.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2468.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2469. </Description>';

  2470.        knot ZeroJunction

  2471.         ports

  2472.          power knot duplicatable none p [6,1];

  2473.          signal knot out effort [6,1];

  2474.         restrictions

  2475.          causality constraint one_in p;

  2476.        end;

  2477.        icon bg bottom

  2478.         figures

  2479.          text '0' 184 424 color 0 18 bold;

  2480.        end;

  2481.        implementation eq

  2482. equations

  2483. 	sum (direct (p.f)) = 0;

  2484. 	equal (collect (p.e));

  2485. 	effort = first (p.e);

  2486. implementation_end;

  2487.      end;

  2488.      connections

  2489.       FlowSensor2\flow -> Hmatrix\flow;

  2490.       FlowSensor2\p2 => Wbai\p;

  2491.       Hin -> MatrixMul\input2;

  2492.       Hmatrix\H -> Splitter2\input;

  2493.       MatrixMul\output -> Hout;

  2494.       Pdiff => FlowSensor2\p1;

  2495.       Pin => AdHji\p2;

  2496.       Splitter2\output -> AdHji\H 424 312;

  2497.       Splitter2\output -> Hdiff;

  2498.       Splitter2\output -> MatrixMul\input1;

  2499.       Wbai\p <= AdHji\p1;

  2500.       Wbai\p => Pout;

  2501.      end;

  2502.     implementation_end;

  2503.    JointF 864 128

  2504.     description '<Information>

  2505.  <Description>

  2506.     <Version>4.8</Version>

  2507. <IsMainModel>1</IsMainModel>

  2508.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2509.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2510. </Description>

  2511. </Information>';

  2512.     type 'Submodel-v3'

  2513.      ports

  2514.       power in Pin [6,1];

  2515.       power in Pdiff [6,1];

  2516.       signal in Hin [4,4];

  2517.       signal out Hout [4,4];

  2518.       signal out Hdiff [4,4];

  2519.       power out Pout [6,1];

  2520.     end;

  2521.     icon bg bottom

  2522.      figures

  2523.       rectangle 840 96 888 160 color 0 fill 14745599;

  2524.       text 'Joint' 864 128 color 0 'Clear Sans' 16;

  2525.      terminals

  2526.       Pin 888 112 fixed;

  2527.       Hin 840 144 fixed;

  2528.       Hout 888 144 fixed;

  2529.       Pout 840 112 fixed;

  2530.     end;

  2531.     implementation bg

  2532.      submodels

  2533.       AdHji 424 424

  2534.        description '<Description>

  2535.  <Version>4.0</Version>

  2536.  <IsMainModel>1</IsMainModel>

  2537.  <KeepParameterValues>False</KeepParameterValues>

  2538.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2539.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2540.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2541. </Description>';

  2542.        type MTF

  2543.         ports

  2544.          power out p1 [6,1];

  2545.          power in p2 [6,1];

  2546.          signal in H [4,4];

  2547.         restrictions

  2548.          causality constraint not_equal p1 p2;

  2549.        end;

  2550.        icon bg bottom

  2551.         figures

  2552.          text 'MTF' 424 424 color 0 18 bold;

  2553.        end;

  2554.        implementation eq

  2555. equations					

  2556. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2557. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2558.       FlowSensor2 184 311.9

  2559.        description '<Information>

  2560.  <Description>

  2561.     <Version>4.2</Version>

  2562. <IsMainModel>1</IsMainModel>

  2563.   <KeepParameterValues>False</KeepParameterValues>

  2564.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2565.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2566. </Description>

  2567. </Information>';

  2568.        knot FlowSensor

  2569.         ports

  2570.          power knot in p1 [6,1];

  2571.          power knot out p2 [6,1];

  2572.          signal knot out flow [6,1];

  2573.         restrictions

  2574.          causality constraint not_equal p1 p2;

  2575.        end;

  2576.        icon bg ellipse

  2577.         figures

  2578.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2579.          text 'f' 184 311.2 color 0;

  2580.        end;

  2581.        implementation eq

  2582. equations

  2583. 	p2.f = p1.f;

  2584. 	p1.e = p2.e;

  2585. 	flow = p1.f;

  2586. implementation_end;

  2587.       Hmatrix 256 312

  2588.        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>';

  2589.        type 'Submodel-Equation'

  2590.         ports

  2591.          signal in flow [6,1];

  2592.          signal out H [4,4];

  2593.        end;

  2594.        icon bg

  2595.         figures

  2596.          rectangle 224 296 288 328 color 0 fill 15132390;

  2597.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2598.        end;

  2599.        implementation eq

  2600. parameters

  2601. 	real init[4] = [1;0;0;0];

  2602. variables

  2603. 	real q[4];		//quaternions

  2604. 	real W[3,4];	//Quaternion Rates Matrix

  2605. 	real R[3,3];	//Rotation Matrix

  2606. 	real p[3];		//Position Vector

  2607. 	real dq[4];

  2608. 	real Wb[3,4];

  2609. equations

  2610. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2611. 	q = int(dq,init);

  2612. 	p = int(flow[4:6]);

  2613. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2614. 		 -q[3],	q[4],	q[1],	-q[2];

  2615. 		 -q[4],	-q[3],	q[2],	q[1]];

  2616. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

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

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

  2619.  	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]);

  2620. 		  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]);

  2621. 		  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];

  2622. 	H = homogeneous(R,p);

  2623. 	implementation_end;

  2624.       MatrixMul 320 576

  2625.        description '<Description>

  2626.  <Version>4.0</Version>

  2627.  <IsMainModel>1</IsMainModel>

  2628.  <KeepParameterValues>False</KeepParameterValues>

  2629.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2630.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2631.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2632. </Description>';

  2633.        type Gain

  2634.         ports

  2635.          signal in input1 [4,4];

  2636.          signal out output [4,4];

  2637.          signal in input2 [4,4];

  2638.        end;

  2639.        icon bg bottom

  2640.         figures

  2641.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2642.          text 'X' 320 576 color 16711680 16 bold;

  2643.        end;

  2644.        implementation eq

  2645. equations

  2646. 	output = input2*input1;    implementation_end;

  2647.       plug Pin 492.1 424;

  2648.       plug Pdiff 184 225;

  2649.       plug Hin 130.8 576;

  2650.       plug Hout 478.4 576;

  2651.       plug Hdiff 320 222;

  2652.       plug Pout 134.7 424;

  2653.       Splitter2 320 312

  2654.        description '<Description><Version>4.0</Version>

  2655.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2656.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2657. <IsMainModel>1</IsMainModel>

  2658.  <KeepParameterValues>False</KeepParameterValues>

  2659. </Description>';

  2660.        knot Splitter

  2661.         ports

  2662.          signal knot duplicatable out output [4,4];

  2663.          signal knot in input [4,4];

  2664.        end;

  2665.        icon bg ellipse

  2666.         figures

  2667.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2668.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2669.         terminals

  2670.          input 320 312 fixed;

  2671.        end;

  2672.        implementation eq

  2673. equations

  2674.     collect (output) = input;

  2675. implementation_end;

  2676.       Wbai 184 424

  2677.        description '<Description>

  2678.  <Version>4.0</Version>

  2679.  <IsMainModel>1</IsMainModel>

  2680.  <KeepParameterValues>False</KeepParameterValues>

  2681.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2682.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2683.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2684. </Description>';

  2685.        knot ZeroJunction

  2686.         ports

  2687.          power knot duplicatable none p [6,1];

  2688.          signal knot out effort [6,1];

  2689.         restrictions

  2690.          causality constraint one_in p;

  2691.        end;

  2692.        icon bg bottom

  2693.         figures

  2694.          text '0' 184 424 color 0 18 bold;

  2695.        end;

  2696.        implementation eq

  2697. equations

  2698. 	sum (direct (p.f)) = 0;

  2699. 	equal (collect (p.e));

  2700. 	effort = first (p.e);

  2701. implementation_end;

  2702.      end;

  2703.      connections

  2704.       FlowSensor2\flow -> Hmatrix\flow;

  2705.       FlowSensor2\p2 => Wbai\p;

  2706.       Hin -> MatrixMul\input2;

  2707.       Hmatrix\H -> Splitter2\input;

  2708.       MatrixMul\output -> Hout;

  2709.       Pdiff => FlowSensor2\p1;

  2710.       Pin => AdHji\p2;

  2711.       Splitter2\output -> AdHji\H 424 312;

  2712.       Splitter2\output -> Hdiff;

  2713.       Splitter2\output -> MatrixMul\input1;

  2714.       Wbai\p <= AdHji\p1;

  2715.       Wbai\p => Pout;

  2716.      end;

  2717.     implementation_end;

  2718.    Joint_dynA 712 512

  2719.     description '<Description>

  2720. 	<Version>4.8</Version>

  2721. 	<IsMainModel>1</IsMainModel>

  2722. 	</Description>';

  2723.     type Submodel

  2724.      ports

  2725.       power out output [6,1];

  2726.       signal in angle {rad} ;

  2727.     end;

  2728.     implementation bg

  2729.      submodels

  2730.       C 264 200

  2731.        description '<Information>

  2732.  <Description>

  2733.     <Version>4.2</Version>

  2734. <IsMainModel>1</IsMainModel>

  2735.   <KeepParameterValues>False</KeepParameterValues>

  2736.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  2737.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  2738. </Description>

  2739. </Information>';

  2740.        type C

  2741.         ports

  2742.          power in p;

  2743.          signal out state;

  2744.         restrictions

  2745.          causality preferred out p;

  2746.        end;

  2747.        icon bg bottom

  2748.         figures

  2749.          text 'C' 264 200 color 0 18 bold;

  2750.        end;

  2751.        implementation eq

  2752. parameters

  2753. 	real c = 0.001;

  2754. equations

  2755. 	state = int(p.f);

  2756. 	p.e = state / c;

  2757. implementation_end;

  2758.       C1 191.8 216.2

  2759.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2760.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  2761.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  2762. </Description>';

  2763.        type 'C-3'

  2764.         ports

  2765.          power in p [3,1];

  2766.          signal out state [3,1];

  2767.         restrictions

  2768.          causality preferred out p;

  2769.        end;

  2770.        icon bg top

  2771.         figures

  2772.          text 'C' 191.8 216.2 color 0 18 bold;

  2773.        end;

  2774.        implementation eq

  2775. parameters

  2776. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  2777. equations

  2778.     state = int(p.f);

  2779.     p.e = inverse(c) *state;

  2780. implementation_end;

  2781.       C4 191.8 232.2

  2782.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2783.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  2784.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  2785. </Description>';

  2786.        type 'C-2'

  2787.         ports

  2788.          power in p [2,1];

  2789.          signal out state [2,1];

  2790.         restrictions

  2791.          causality preferred out p;

  2792.        end;

  2793.        icon bg bottom

  2794.         figures

  2795.          text 'C' 191.8 232.2 color 0 18 bold;

  2796.        end;

  2797.        implementation eq

  2798. parameters

  2799. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  2800. equations

  2801.     state = int(p.f);

  2802.     p.e = inverse(c) *state;

  2803. implementation_end;

  2804.       plug output 468 216;

  2805.       plug angle 224 80;

  2806.       OneJunction5 239.8 232.2

  2807.        description '<Information>

  2808.  <Description>

  2809.     <Version>4.2</Version>

  2810. <IsMainModel>1</IsMainModel>

  2811.   <KeepParameterValues>False</KeepParameterValues>

  2812.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2813.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2814. </Description>

  2815. </Information>';

  2816.        knot OneJunction

  2817.         ports

  2818.          power knot duplicatable none p [2,1];

  2819.          signal knot out flow [2,1];

  2820.         restrictions

  2821.          causality constraint one_out p;

  2822.        end;

  2823.        icon bg

  2824.         figures

  2825.          text '1' 239.8 232.2 color 0 18 bold;

  2826.        end;

  2827.        implementation eq

  2828. equations

  2829. 	sum (direct (p.e)) = 0;

  2830. 	equal (collect (p.f));

  2831. 	flow = first (p.f);

  2832. implementation_end;

  2833.       OneJunction7 239.8 216.2

  2834.        description '<Information>

  2835.  <Description>

  2836.     <Version>4.2</Version>

  2837. <IsMainModel>1</IsMainModel>

  2838.   <KeepParameterValues>False</KeepParameterValues>

  2839.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2840.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2841. </Description>

  2842. </Information>';

  2843.        knot OneJunction

  2844.         ports

  2845.          power knot duplicatable none p [3,1];

  2846.          signal knot out flow [3,1];

  2847.         restrictions

  2848.          causality constraint one_out p;

  2849.        end;

  2850.        icon bg

  2851.         figures

  2852.          text '1' 239.8 216.2 color 0 18 bold;

  2853.        end;

  2854.        implementation eq

  2855. equations

  2856. 	sum (direct (p.e)) = 0;

  2857. 	equal (collect (p.f));

  2858. 	flow = first (p.f);

  2859. implementation_end;

  2860.       OneJunction8 312 200

  2861.        description '<Information>

  2862.  <Description>

  2863.     <Version>4.2</Version>

  2864. <IsMainModel>1</IsMainModel>

  2865.   <KeepParameterValues>False</KeepParameterValues>

  2866.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2867.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2868. </Description>

  2869. </Information>';

  2870.        knot OneJunction

  2871.         ports

  2872.          rotation knot duplicatable none p [1];

  2873.          signal knot out flow [1];

  2874.         restrictions

  2875.          causality constraint one_out p;

  2876.        end;

  2877.        icon bg

  2878.         figures

  2879.          text '1' 312 200 color 0 18 bold;

  2880.        end;

  2881.        implementation eq

  2882. equations

  2883. 	sum (direct (p.e)) = 0;

  2884. 	equal (collect (p.f));

  2885. 	flow = first (p.f);

  2886. implementation_end;

  2887.       PowerMux 402 216

  2888. 						specifications active 'rot_x'

  2889. 							specification 'rot_x'

  2890.  description '<Information>

  2891.  <Description>

  2892.     <Version>4.8</Version>

  2893.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2894.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  2895. <IsMainModel>1</IsMainModel>

  2896.   <KeepParameterValues>False</KeepParameterValues>

  2897.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2898.  </Description>

  2899. </Information>';

  2900.  type 'PowerMux-Rotation'

  2901.   ports

  2902.    power in input;

  2903.    power out output [6,1];

  2904.    power in input_rot2 [2,1];

  2905.    power in input_pos3 [3,1];

  2906.   restrictions

  2907.    causality constraint not_equal input output;

  2908.    causality constraint not_equal input_rot2 output;

  2909.    causality constraint not_equal input_pos3 output;

  2910.  end;

  2911.  icon bg bottom

  2912.   figures

  2913.    line 400 192 400 240 color 0 width 2;

  2914.    rectangle 396 192 408 240 color -1;

  2915.    text '1' 405 210 color 8421504 8;

  2916.   terminals

  2917.    input 400 200 fixed;

  2918.    output 400 216 fixed;

  2919.    input_rot2 400 232 fixed;

  2920.    input_pos3 400 216 fixed;

  2921.  end;

  2922.  implementation eq

  2923. equations

  2924. 	output.e[1] = input.e;

  2925. 	output.e[2:3] = input_rot2.e;

  2926. 	output.e[4:6] = input_pos3.e;

  2927. 	output.f[1] = input.f;

  2928. 	output.f[2:3] = input_rot2.f;

  2929. 	output.f[4:6] = input_pos3.f;implementation_end;

  2930. specification_end;

  2931. 							specification 'rot_y'

  2932. description '<Description>

  2933.    <Version>4.1</Version>

  2934.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  2935.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  2936. <IsMainModel>1</IsMainModel>

  2937.  <KeepParameterValues>False</KeepParameterValues>

  2938.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2939. </Description>';

  2940.  type PowerMux

  2941.   ports

  2942.    power in input;

  2943.    power out output [6,1];

  2944.    power in input_rot2 [2,1];

  2945.    power in input_pos3 [3,1];

  2946.   restrictions

  2947.    causality constraint not_equal input output;

  2948.    causality constraint not_equal input_rot2 output;

  2949.    causality constraint not_equal input_pos3 output;

  2950.  end;

  2951.  icon bg bottom

  2952.   figures

  2953.    line 242 274 290 274 color 0 width 2;

  2954.    rectangle 242 266 290 278 color -1;

  2955.    text '1' 260 269 color 8421504 8;

  2956.   terminals

  2957.    input 250 274 fixed;

  2958.    output 266 274 fixed;

  2959.    input_rot2 282 274 fixed;

  2960.    input_pos3 266 274 fixed;

  2961.  end;

  2962.  implementation eq

  2963. equations

  2964. 	output.e[1] = input_rot2.e[1];

  2965. 	output.e[2] = input.e;

  2966. 	output.e[3] = input_rot2.e[2];

  2967. 	output.e[4:6] = input_pos3.e;

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

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

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

  2971. 	output.f[4:6] = input_pos3.f;implementation_end;

  2972. specification_end;

  2973. 							specification 'rot_z'

  2974. description '<Information>

  2975.  <Description>

  2976.     <Version>4.8</Version>

  2977.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2978.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  2979. <IsMainModel>1</IsMainModel>

  2980.   <KeepParameterValues>False</KeepParameterValues>

  2981.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2982.  </Description>

  2983. </Information>';

  2984.  type PowerMux

  2985.   ports

  2986.    power in input;

  2987.    power out output [6,1];

  2988.    power in input_rot2 [2,1];

  2989.    power in input_pos3 [3,1];

  2990.   restrictions

  2991.    causality constraint not_equal input output;

  2992.    causality constraint not_equal input_rot2 output;

  2993.    causality constraint not_equal input_pos3 output;

  2994.  end;

  2995.  icon bg bottom

  2996.   figures

  2997.    line 242 274 290 274 color 0 width 2;

  2998.    rectangle 242 266 290 278 color -1;

  2999.    text '1' 260 269 color 8421504 8;

  3000.   terminals

  3001.    input 250 274 fixed;

  3002.    output 266 274 fixed;

  3003.    input_rot2 282 274 fixed;

  3004.    input_pos3 266 274 fixed;

  3005.  end;

  3006.  implementation eq

  3007. equations

  3008. 	output.e[3] = input.e;

  3009. 	output.e[1:2] = input_rot2.e;

  3010. 	output.e[4:6] = input_pos3.e;

  3011. 	output.f[3] = input.f;

  3012. 	output.f[1:2] = input_rot2.f;

  3013. 	output.f[4:6] = input_pos3.f;implementation_end;

  3014. specification_end;

  3015. 						end;

  3016.       R 312 152

  3017.        description '<Information>

  3018.  <Description>

  3019.     <Version>4.2</Version>

  3020. <IsMainModel>1</IsMainModel>

  3021.   <KeepParameterValues>False</KeepParameterValues>

  3022.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3023.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3024. </Description>

  3025. </Information>';

  3026.        type R

  3027.         ports

  3028.          power in p;

  3029.        end;

  3030.        icon bg bottom

  3031.         figures

  3032.          text 'R' 312 152 color 0 18 bold;

  3033.        end;

  3034.        implementation eq

  3035. parameters

  3036. 	real r = 100;

  3037. equations

  3038. 	p.e = r * p.f;

  3039. implementation_end;

  3040.       R4 239.8 288.2

  3041.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3042.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3043.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3044. </Description>';

  3045.        type 'R-2'

  3046.         ports

  3047.          power in p [2,1];

  3048.        end;

  3049.        icon bg bottom

  3050.         figures

  3051.          text 'R' 239.8 288.2 color 0 18 bold;

  3052.        end;

  3053.        implementation eq

  3054. parameters

  3055. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3056. equations					

  3057. 	p.e = r * p.f;

  3058. implementation_end;

  3059.       R5 239.8 168.2

  3060.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3061.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3062.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3063. </Description>';

  3064.        type 'R-3'

  3065.         ports

  3066.          power in p [3,1];

  3067.        end;

  3068.        icon bg top

  3069.         figures

  3070.          text 'R' 239.8 168.2 color 0 18 bold;

  3071.        end;

  3072.        implementation eq

  3073. parameters

  3074. 	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};

  3075. equations					

  3076. 	p.e = r * p.f;

  3077. implementation_end;

  3078.       stepper_model 360 80

  3079.        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 

  3080. 	real I_phase = 3.4 {mH};

  3081. 	real R_phase = 2.9 {ohm};

  3082. 	real u_max = 3.4 {V};

  3083. 	real RotorInertia = 5.6e-6 {kg.m2};

  3084. 	real StepperMass = 0.29 {kg};

  3085. 	real angle_step = 1.8 {deg};

  3086. 	real n_phase = 2 {none};

  3087. 	real fluxLinkage = 0.0022 {Wb};

  3088. 	real detentTorque = 0.01 {N.m};

  3089. variables

  3090. 	real omega;

  3091. 	real p; // rotor division

  3092. initialequations

  3093. 	p = 2 * pi / (2 * n_phase * angle_step);

  3094. 	omega = 200;</GlobalRelations></Attributes></Information>';

  3095.        type Submodel

  3096.         ports

  3097.          signal in angle;

  3098.          rotation out p;

  3099.        end;

  3100.        implementation bg

  3101.         submodels

  3102.          I 560 104

  3103.           description '<Information>

  3104.  <Description>

  3105.     <Version>4.2</Version>

  3106. <IsMainModel>1</IsMainModel>

  3107.   <KeepParameterValues>False</KeepParameterValues>

  3108.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3109.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3110. </Description>

  3111. </Information>';

  3112.           type I

  3113.            ports

  3114.             power in p;

  3115.             signal out state;

  3116.            restrictions

  3117.             causality preferred in p;

  3118.           end;

  3119.           icon bg bottom

  3120.            figures

  3121.             text 'I' 560 104 color 0 18 bold;

  3122.           end;

  3123.           implementation eq

  3124. parameters

  3125. 	real global I_phase;

  3126. equations

  3127.     state = int(p.e);

  3128.     p.f = state / I_phase;

  3129. implementation_end;

  3130.          I1 608 328

  3131.           description '<Information>

  3132.  <Description>

  3133.     <Version>4.2</Version>

  3134. <IsMainModel>1</IsMainModel>

  3135.   <KeepParameterValues>False</KeepParameterValues>

  3136.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3137.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3138. </Description>

  3139. </Information>';

  3140.           type I

  3141.            ports

  3142.             power in p;

  3143.             signal out state;

  3144.            restrictions

  3145.             causality preferred in p;

  3146.           end;

  3147.           icon bg bottom

  3148.            figures

  3149.             text 'I' 608 328 color 0 18 bold;

  3150.           end;

  3151.           implementation eq

  3152. parameters

  3153. 	real global I_phase;

  3154. equations

  3155.     state = int(p.e);

  3156.     p.f = state / I_phase;

  3157. implementation_end;

  3158.          I2 752 160

  3159.           description '<Information>

  3160.  <Description>

  3161.     <Version>4.2</Version>

  3162. <IsMainModel>1</IsMainModel>

  3163.   <KeepParameterValues>False</KeepParameterValues>

  3164.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3165.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3166. </Description>

  3167. </Information>';

  3168.           type I

  3169.            ports

  3170.             power in p;

  3171.             signal out state;

  3172.            restrictions

  3173.             causality preferred in p;

  3174.           end;

  3175.           icon bg bottom

  3176.            figures

  3177.             text 'I' 752 160 color 0 18 bold;

  3178.           end;

  3179.           implementation eq

  3180. parameters

  3181. 	real global RotorInertia;

  3182. equations

  3183.     state = int(p.e);

  3184.     p.f = state / (RotorInertia);

  3185. implementation_end;

  3186.          MGY_a 656 160

  3187.           description '<Information>

  3188.  <Description>

  3189.     <Version>4.2</Version>

  3190. <IsMainModel>1</IsMainModel>

  3191.   <KeepParameterValues>False</KeepParameterValues>

  3192.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3193.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3194. </Description>

  3195. </Information>';

  3196.           type MGY

  3197.            ports

  3198.             power in p1;

  3199.             power out p2;

  3200.             signal in r;

  3201.            restrictions

  3202.             causality constraint equal p1 p2;

  3203.           end;

  3204.           icon bg bottom

  3205.            figures

  3206.             text 'MGY' 656 160 color 0 18 bold;

  3207.           end;

  3208.           implementation eq

  3209. equations

  3210. 	p1.e = r * p2.f;

  3211. 	p2.e = r * p1.f;

  3212. implementation_end;

  3213.          MGY_b 656 272

  3214.           description '<Information>

  3215.  <Description>

  3216.     <Version>4.2</Version>

  3217. <IsMainModel>1</IsMainModel>

  3218.   <KeepParameterValues>False</KeepParameterValues>

  3219.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3220.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3221. </Description>

  3222. </Information>';

  3223.           type MGY

  3224.            ports

  3225.             power in p1;

  3226.             power out p2;

  3227.             signal in r;

  3228.            restrictions

  3229.             causality constraint equal p1 p2;

  3230.           end;

  3231.           icon bg bottom

  3232.            figures

  3233.             text 'MGY' 656 272 color 0 18 bold;

  3234.           end;

  3235.           implementation eq

  3236. equations

  3237. 	p1.e = r * p2.f;

  3238. 	p2.e = r * p1.f;

  3239. implementation_end;

  3240.          MSe_a 512 160

  3241.           description '<Information>

  3242.  <Description>

  3243.     <Version>4.2</Version>

  3244. <IsMainModel>1</IsMainModel>

  3245.   <KeepParameterValues>False</KeepParameterValues>

  3246.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3247.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3248. </Description>

  3249. </Information>';

  3250.           type MSe

  3251.            ports

  3252.             electric out p;

  3253.             signal in effort;

  3254.            restrictions

  3255.             causality fixed out p;

  3256.           end;

  3257.           icon bg bottom

  3258.            figures

  3259.             text 'MSe' 512 160 color 0 18 bold;

  3260.           end;

  3261.           implementation eq

  3262. variables

  3263. 	real flow;

  3264. equations

  3265. 	p.e = effort;

  3266. 	flow = p.f;

  3267. implementation_end;

  3268.          MSe_b 512 272

  3269.           description '<Information>

  3270.  <Description>

  3271.     <Version>4.2</Version>

  3272. <IsMainModel>1</IsMainModel>

  3273.   <KeepParameterValues>False</KeepParameterValues>

  3274.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3275.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3276. </Description>

  3277. </Information>';

  3278.           type MSe

  3279.            ports

  3280.             electric out p;

  3281.             signal in effort;

  3282.            restrictions

  3283.             causality fixed out p;

  3284.           end;

  3285.           icon bg bottom

  3286.            figures

  3287.             text 'MSe' 512 272 color 0 18 bold;

  3288.           end;

  3289.           implementation eq

  3290. variables

  3291. 	real flow;

  3292. equations

  3293. 	p.e = effort;

  3294. 	flow = p.f;

  3295. implementation_end;

  3296.          plug angle 200 216;

  3297.          plug p 1472 216;

  3298.          OneJunction1 840 216

  3299.           description '<Information>

  3300.  <Description>

  3301.     <Version>4.2</Version>

  3302. <IsMainModel>1</IsMainModel>

  3303.   <KeepParameterValues>False</KeepParameterValues>

  3304.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3305.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3306. </Description>

  3307. </Information>';

  3308.           knot OneJunction

  3309.            ports

  3310.             rotation knot duplicatable none p [1];

  3311.             signal knot out flow [1];

  3312.            restrictions

  3313.             causality constraint one_out p;

  3314.           end;

  3315.           icon bg

  3316.            figures

  3317.             text '1' 840 216 color 0 18 bold;

  3318.           end;

  3319.           implementation eq

  3320. equations

  3321. 	sum (direct (p.e)) = 0;

  3322. 	equal (collect (p.f));

  3323. 	flow = first (p.f);

  3324. implementation_end;

  3325.          OneJunction2 584 160

  3326.           description '<Information>

  3327.  <Description>

  3328.     <Version>4.2</Version>

  3329. <IsMainModel>1</IsMainModel>

  3330.   <KeepParameterValues>False</KeepParameterValues>

  3331.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3332.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3333. </Description>

  3334. </Information>';

  3335.           knot OneJunction

  3336.            ports

  3337.             electric knot duplicatable none p [1];

  3338.             signal knot out flow [1];

  3339.            restrictions

  3340.             causality constraint one_out p;

  3341.           end;

  3342.           icon bg

  3343.            figures

  3344.             text '1' 584 160 color 0 18 bold;

  3345.           end;

  3346.           implementation eq

  3347. equations

  3348. 	sum (direct (p.e)) = 0;

  3349. 	equal (collect (p.f));

  3350. 	flow = first (p.f);

  3351. implementation_end;

  3352.          OneJunction3 584 272

  3353.           description '<Information>

  3354.  <Description>

  3355.     <Version>4.2</Version>

  3356. <IsMainModel>1</IsMainModel>

  3357.   <KeepParameterValues>False</KeepParameterValues>

  3358.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3359.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3360. </Description>

  3361. </Information>';

  3362.           knot OneJunction

  3363.            ports

  3364.             electric knot duplicatable none p [1];

  3365.             signal knot out flow [1];

  3366.            restrictions

  3367.             causality constraint one_out p;

  3368.           end;

  3369.           icon bg

  3370.            figures

  3371.             text '1' 584 272 color 0 18 bold;

  3372.           end;

  3373.           implementation eq

  3374. equations

  3375. 	sum (direct (p.e)) = 0;

  3376. 	equal (collect (p.f));

  3377. 	flow = first (p.f);

  3378. implementation_end;

  3379.          OneJunction4 752 216

  3380.           description '<Information>

  3381.  <Description>

  3382.     <Version>4.2</Version>

  3383. <IsMainModel>1</IsMainModel>

  3384.   <KeepParameterValues>False</KeepParameterValues>

  3385.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3386.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3387. </Description>

  3388. </Information>';

  3389.           knot OneJunction

  3390.            ports

  3391.             rotation knot duplicatable none p [1];

  3392.             signal knot out flow [1];

  3393.            restrictions

  3394.             causality constraint one_out p;

  3395.           end;

  3396.           icon bg

  3397.            figures

  3398.             text '1' 752 216 color 0 18 bold;

  3399.           end;

  3400.           implementation eq

  3401. equations

  3402. 	sum (direct (p.e)) = 0;

  3403. 	equal (collect (p.f));

  3404. 	flow = first (p.f);

  3405. implementation_end;

  3406.          phase_control 512 216

  3407.           description '<Description><Version>4.0</Version>

  3408.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  3409. <IsMainModel>1</IsMainModel>

  3410.  <KeepParameterValues>False</KeepParameterValues>

  3411.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  3412.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3413. </Description>';

  3414.           type Submodel

  3415.            ports

  3416.             signal in angle;

  3417.             signal out a;

  3418.             signal out b;

  3419.           end;

  3420.           icon bg

  3421.            figures

  3422.             rectangle 472 200 552 232 color 0 fill 15132390;

  3423.             text 'name' 512 216 color 0 'Clear Sans' 16;

  3424.           end;

  3425.           implementation eq

  3426. parameters

  3427. 	real global u_max {V};

  3428. variables

  3429. 	real global p;

  3430. 	boolean hidden eventa, eventb;

  3431. equations

  3432. 	a = u_max * (cos (p*angle));

  3433. 	eventa = event(a);

  3434. 	b = u_max * -(sin (p*angle));

  3435. 	eventb = event(b);

  3436. 

  3437. 	

  3438. 	

  3439.  implementation_end;

  3440.          R 608 104

  3441.           description '<Information>

  3442.  <Description>

  3443.     <Version>4.2</Version>

  3444. <IsMainModel>1</IsMainModel>

  3445.   <KeepParameterValues>False</KeepParameterValues>

  3446.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3447.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3448. </Description>

  3449. </Information>';

  3450.           type R

  3451.            ports

  3452.             power in p;

  3453.           end;

  3454.           icon bg bottom

  3455.            figures

  3456.             text 'R' 608 104 color 0 18 bold;

  3457.           end;

  3458.           implementation eq

  3459. parameters

  3460. 	real global R_phase;

  3461. equations

  3462. 	p.e = R_phase * p.f;

  3463. implementation_end;

  3464.          R1 560 328

  3465.           description '<Information>

  3466.  <Description>

  3467.     <Version>4.2</Version>

  3468. <IsMainModel>1</IsMainModel>

  3469.   <KeepParameterValues>False</KeepParameterValues>

  3470.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3471.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3472. </Description>

  3473. </Information>';

  3474.           type R

  3475.            ports

  3476.             power in p;

  3477.           end;

  3478.           icon bg bottom

  3479.            figures

  3480.             text 'R' 560 328 color 0 18 bold;

  3481.           end;

  3482.           implementation eq

  3483. parameters

  3484. 	real global R_phase;

  3485. equations

  3486. 	p.e = R_phase * p.f;

  3487. implementation_end;

  3488.          R2 824 264

  3489.           description '<Information>

  3490.  <Description>

  3491.     <Version>4.2</Version>

  3492. <IsMainModel>1</IsMainModel>

  3493.   <KeepParameterValues>False</KeepParameterValues>

  3494.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3495.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3496. </Description>

  3497. </Information>';

  3498.           type R

  3499.            ports

  3500.             power in p;

  3501.           end;

  3502.           icon bg bottom

  3503.            figures

  3504.             text 'R' 824 264 color 0 18 bold;

  3505.           end;

  3506.           implementation eq

  3507. parameters

  3508. 	real r = 1.0e-3;

  3509. equations

  3510. 	p.e = r * p.f;

  3511. implementation_end;

  3512.          RotorAngle 656 216

  3513.           description '<Description><Version>4.0</Version>

  3514.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  3515. <IsMainModel>1</IsMainModel>

  3516.  <KeepParameterValues>False</KeepParameterValues>

  3517.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  3518.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3519. </Description>';

  3520.           type Submodel

  3521.            ports

  3522.             signal out output_b;

  3523.             signal out output_a;

  3524.             signal in omega {rad/s} ;

  3525.             signal out output_d;

  3526.           end;

  3527.           icon bg

  3528.            figures

  3529.             rectangle 616 200 696 232 color 0 fill 15132390;

  3530.             text 'name' 656 216 color 0 'Clear Sans' 16;

  3531.           end;

  3532.           implementation eq

  3533. parameters

  3534. 	real global fluxLinkage;

  3535. 	real global detentTorque;

  3536. variables

  3537. 	real global p;

  3538. 	real angle {rad};

  3539. equations

  3540. 	angle = int(omega,1.570796);

  3541. 	output_a = -p * fluxLinkage * sin(p * angle);

  3542. 	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);

  3543. 	output_d =  detentTorque * sin(2 * p * angle);

  3544.  implementation_end;

  3545.          Se 752 272

  3546.           description '<Information>

  3547.  <Description>

  3548.     <Version>4.2</Version>

  3549. <IsMainModel>1</IsMainModel>

  3550.   <KeepParameterValues>False</KeepParameterValues>

  3551.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3552.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3553. </Description>

  3554. </Information>';

  3555.           type MSe

  3556.            ports

  3557.             power out p;

  3558.             signal in effort;

  3559.            restrictions

  3560.             causality fixed out p;

  3561.           end;

  3562.           icon bg bottom

  3563.            figures

  3564.             text 'MSe' 752 272 color 0 18 bold;

  3565.           end;

  3566.           implementation eq

  3567. 

  3568. variables

  3569. 	real flow;

  3570. equations

  3571. 	p.e = effort;

  3572. 	flow = p.f;

  3573. implementation_end;

  3574.         end;

  3575.         connections

  3576.          angle -> phase_control\angle;

  3577.          I2\p <= OneJunction4\p;

  3578.          MGY_a\p2 => OneJunction4\p;

  3579.          MGY_b\p2 => OneJunction4\p;

  3580.          MSe_b\p => OneJunction3\p;

  3581.          OneJunction1\p => p;

  3582.          OneJunction2\p <= MSe_a\p;

  3583.          OneJunction2\p => I\p;

  3584.          OneJunction2\p => MGY_a\p1;

  3585.          OneJunction2\p => R\p;

  3586.          OneJunction3\p => I1\p;

  3587.          OneJunction3\p => MGY_b\p1;

  3588.          OneJunction3\p => R1\p;

  3589.          OneJunction4\flow -> RotorAngle\omega;

  3590.          OneJunction4\p => OneJunction1\p;

  3591.          OneJunction4\p => R2\p;

  3592.          phase_control\a -> MSe_a\effort;

  3593.          phase_control\b -> MSe_b\effort;

  3594.          RotorAngle\output_a -> MGY_a\r;

  3595.          RotorAngle\output_b -> MGY_b\r;

  3596.          RotorAngle\output_d -> Se\effort;

  3597.          Se\p => OneJunction4\p;

  3598.         end;

  3599.        implementation_end;

  3600.       ZeroJunction1 360 200

  3601.        description '<Information>

  3602.  <Description>

  3603.     <Version>4.2</Version>

  3604. <IsMainModel>1</IsMainModel>

  3605.   <KeepParameterValues>False</KeepParameterValues>

  3606.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  3607.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  3608. </Description>

  3609. </Information>';

  3610.        knot ZeroJunction

  3611.         ports

  3612.          rotation knot duplicatable none p [1];

  3613.          signal knot out effort [1];

  3614.         restrictions

  3615.          causality constraint one_in p;

  3616.        end;

  3617.        icon bg

  3618.         figures

  3619.          text '0' 360 200 color 0 18 bold;

  3620.        end;

  3621.        implementation eq

  3622. equations

  3623. 	sum (direct (p.f)) = 0;

  3624. 	equal (collect (p.e));

  3625. 	effort = first (p.e);

  3626. implementation_end;

  3627.      end;

  3628.      connections

  3629.       angle -> stepper_model\angle;

  3630.       C\p <= OneJunction8\p;

  3631.       C1\p <= OneJunction7\p;

  3632.       OneJunction5\p => C4\p;

  3633.       OneJunction5\p => PowerMux\input_rot2;

  3634.       OneJunction5\p => R4\p;

  3635.       OneJunction7\p => PowerMux\input_pos3;

  3636.       OneJunction7\p => R5\p;

  3637.       OneJunction8\p => R\p;

  3638.       OneJunction8\p => ZeroJunction1\p;

  3639.       PowerMux\input <= ZeroJunction1\p;

  3640.       PowerMux\output => output;

  3641.       ZeroJunction1\p <= stepper_model\p;

  3642.      end;

  3643.     implementation_end;

  3644.    Joint_dynB 672 192

  3645.     description '<Description>

  3646. 	<Version>4.8</Version>

  3647. 	<IsMainModel>1</IsMainModel>

  3648. 	</Description>';

  3649.     type Submodel

  3650.      ports

  3651.       power out output [6,1];

  3652.     end;

  3653.     icon bg

  3654.      figures

  3655.       rectangle 632 176 712 208 color 0 fill 15132390;

  3656.       text 'name' 672 192 color 0 'Clear Sans' 16;

  3657.     end;

  3658.     implementation bg

  3659.      submodels

  3660.       C1 191.8 216.2

  3661.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3662.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  3663.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  3664. </Description>';

  3665.        type 'C-3'

  3666.         ports

  3667.          power in p [3,1];

  3668.          signal out state [3,1];

  3669.         restrictions

  3670.          causality preferred out p;

  3671.        end;

  3672.        icon bg top

  3673.         figures

  3674.          text 'C' 191.8 216.2 color 0 18 bold;

  3675.        end;

  3676.        implementation eq

  3677. parameters

  3678. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {uN/m};

  3679. equations

  3680.     state = int(p.f);

  3681.     p.e = inverse(c) *state;

  3682. implementation_end;

  3683.       C4 191.8 232.2

  3684.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3685.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  3686.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  3687. </Description>';

  3688.        type 'C-2'

  3689.         ports

  3690.          power in p [2,1];

  3691.          signal out state [2,1];

  3692.         restrictions

  3693.          causality preferred out p;

  3694.        end;

  3695.        icon bg bottom

  3696.         figures

  3697.          text 'C' 191.8 232.2 color 0 18 bold;

  3698.        end;

  3699.        implementation eq

  3700. parameters

  3701. 	real c[2,2] = [1, 0.0; 0.0, 1]  {uN.m/rad};

  3702. equations

  3703.     state = int(p.f);

  3704.     p.e = inverse(c) *state;

  3705. implementation_end;

  3706.       plug output 396 216;

  3707.       OneJunction5 239.8 232.2

  3708.        description '<Information>

  3709.  <Description>

  3710.     <Version>4.2</Version>

  3711. <IsMainModel>1</IsMainModel>

  3712.   <KeepParameterValues>False</KeepParameterValues>

  3713.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3714.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3715. </Description>

  3716. </Information>';

  3717.        knot OneJunction

  3718.         ports

  3719.          power knot duplicatable none p [2,1];

  3720.          signal knot out flow [2,1];

  3721.         restrictions

  3722.          causality constraint one_out p;

  3723.        end;

  3724.        icon bg

  3725.         figures

  3726.          text '1' 239.8 232.2 color 0 18 bold;

  3727.        end;

  3728.        implementation eq

  3729. equations

  3730. 	sum (direct (p.e)) = 0;

  3731. 	equal (collect (p.f));

  3732. 	flow = first (p.f);

  3733. implementation_end;

  3734.       OneJunction7 239.8 216.2

  3735.        description '<Information>

  3736.  <Description>

  3737.     <Version>4.2</Version>

  3738. <IsMainModel>1</IsMainModel>

  3739.   <KeepParameterValues>False</KeepParameterValues>

  3740.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3741.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3742. </Description>

  3743. </Information>';

  3744.        knot OneJunction

  3745.         ports

  3746.          power knot duplicatable none p [3,1];

  3747.          signal knot out flow [3,1];

  3748.         restrictions

  3749.          causality constraint one_out p;

  3750.        end;

  3751.        icon bg

  3752.         figures

  3753.          text '1' 239.8 216.2 color 0 18 bold;

  3754.        end;

  3755.        implementation eq

  3756. equations

  3757. 	sum (direct (p.e)) = 0;

  3758. 	equal (collect (p.f));

  3759. 	flow = first (p.f);

  3760. implementation_end;

  3761.       OneJunction8 288 200

  3762.        description '<Information>

  3763.  <Description>

  3764.     <Version>4.2</Version>

  3765. <IsMainModel>1</IsMainModel>

  3766.   <KeepParameterValues>False</KeepParameterValues>

  3767.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3768.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3769. </Description>

  3770. </Information>';

  3771.        knot OneJunction

  3772.         ports

  3773.          power knot duplicatable none p [1];

  3774.          signal knot out flow [1];

  3775.         restrictions

  3776.          causality constraint one_out p;

  3777.        end;

  3778.        icon bg

  3779.         figures

  3780.          text '1' 288 200 color 0 18 bold;

  3781.        end;

  3782.        implementation eq

  3783. equations

  3784. 	sum (direct (p.e)) = 0;

  3785. 	equal (collect (p.f));

  3786. 	flow = first (p.f);

  3787. implementation_end;

  3788.       PowerMux 330 216

  3789. 						specifications active 'rot_x'

  3790. 							specification 'rot_x'

  3791.  description '<Information>

  3792.  <Description>

  3793.     <Version>4.8</Version>

  3794.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3795.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  3796. <IsMainModel>1</IsMainModel>

  3797.   <KeepParameterValues>False</KeepParameterValues>

  3798.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3799.  </Description>

  3800. </Information>';

  3801.  type 'PowerMux-Rotation'

  3802.   ports

  3803.    power in input;

  3804.    power out output [6,1];

  3805.    power in input_rot2 [2,1];

  3806.    power in input_pos3 [3,1];

  3807.   restrictions

  3808.    causality constraint not_equal input output;

  3809.    causality constraint not_equal input_rot2 output;

  3810.    causality constraint not_equal input_pos3 output;

  3811.  end;

  3812.  icon bg bottom

  3813.   figures

  3814.    line 328 192 328 240 color 0 width 2;

  3815.    rectangle 324 192 336 240 color -1;

  3816.    text '1' 333 210 color 8421504 8;

  3817.   terminals

  3818.    input 328 200 fixed;

  3819.    output 328 216 fixed;

  3820.    input_rot2 328 232 fixed;

  3821.    input_pos3 328 216 fixed;

  3822.  end;

  3823.  implementation eq

  3824. equations

  3825. 	output.e[1] = input.e;

  3826. 	output.e[2:3] = input_rot2.e;

  3827. 	output.e[4:6] = input_pos3.e;

  3828. 	output.f[1] = input.f;

  3829. 	output.f[2:3] = input_rot2.f;

  3830. 	output.f[4:6] = input_pos3.f;implementation_end;

  3831. specification_end;

  3832. 							specification 'rot_y'

  3833. description '<Description>

  3834.    <Version>4.1</Version>

  3835.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  3836.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  3837. <IsMainModel>1</IsMainModel>

  3838.  <KeepParameterValues>False</KeepParameterValues>

  3839.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3840. </Description>';

  3841.  type PowerMux

  3842.   ports

  3843.    power in input;

  3844.    power out output [6,1];

  3845.    power in input_rot2 [2,1];

  3846.    power in input_pos3 [3,1];

  3847.   restrictions

  3848.    causality constraint not_equal input output;

  3849.    causality constraint not_equal input_rot2 output;

  3850.    causality constraint not_equal input_pos3 output;

  3851.  end;

  3852.  icon bg bottom

  3853.   figures

  3854.    line 242 274 290 274 color 0 width 2;

  3855.    rectangle 242 266 290 278 color -1;

  3856.    text '1' 260 269 color 8421504 8;

  3857.   terminals

  3858.    input 250 274 fixed;

  3859.    output 266 274 fixed;

  3860.    input_rot2 282 274 fixed;

  3861.    input_pos3 266 274 fixed;

  3862.  end;

  3863.  implementation eq

  3864. equations

  3865. 	output.e[1] = input_rot2.e[1];

  3866. 	output.e[2] = input.e;

  3867. 	output.e[3] = input_rot2.e[2];

  3868. 	output.e[4:6] = input_pos3.e;

  3869. 	output.f[1] = input_rot2.f[1];

  3870. 	output.f[2] = input.f;

  3871. 	output.f[3] = input_rot2.f[2];

  3872. 	output.f[4:6] = input_pos3.f;implementation_end;

  3873. specification_end;

  3874. 							specification 'rot_z'

  3875. description '<Information>

  3876.  <Description>

  3877.     <Version>4.8</Version>

  3878.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3879.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  3880. <IsMainModel>1</IsMainModel>

  3881.   <KeepParameterValues>False</KeepParameterValues>

  3882.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3883.  </Description>

  3884. </Information>';

  3885.  type PowerMux

  3886.   ports

  3887.    power in input;

  3888.    power out output [6,1];

  3889.    power in input_rot2 [2,1];

  3890.    power in input_pos3 [3,1];

  3891.   restrictions

  3892.    causality constraint not_equal input output;

  3893.    causality constraint not_equal input_rot2 output;

  3894.    causality constraint not_equal input_pos3 output;

  3895.  end;

  3896.  icon bg bottom

  3897.   figures

  3898.    line 242 274 290 274 color 0 width 2;

  3899.    rectangle 242 266 290 278 color -1;

  3900.    text '1' 260 269 color 8421504 8;

  3901.   terminals

  3902.    input 250 274 fixed;

  3903.    output 266 274 fixed;

  3904.    input_rot2 282 274 fixed;

  3905.    input_pos3 266 274 fixed;

  3906.  end;

  3907.  implementation eq

  3908. equations

  3909. 	output.e[3] = input.e;

  3910. 	output.e[1:2] = input_rot2.e;

  3911. 	output.e[4:6] = input_pos3.e;

  3912. 	output.f[3] = input.f;

  3913. 	output.f[1:2] = input_rot2.f;

  3914. 	output.f[4:6] = input_pos3.f;implementation_end;

  3915. specification_end;

  3916. 						end;

  3917.       R 288 152

  3918.        description '<Information>

  3919.  <Description>

  3920.     <Version>4.2</Version>

  3921. <IsMainModel>1</IsMainModel>

  3922.   <KeepParameterValues>False</KeepParameterValues>

  3923.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3924.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3925. </Description>

  3926. </Information>';

  3927.        type R

  3928.         ports

  3929.          power in p;

  3930.        end;

  3931.        icon bg top

  3932.         figures

  3933.          text 'R' 288 152 color 0 18 bold;

  3934.        end;

  3935.        implementation eq

  3936. parameters

  3937. 	real r = 0.0001;

  3938. equations

  3939. 	p.e = r * p.f;

  3940. implementation_end;

  3941.       R4 239.8 288.2

  3942.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3943.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3944.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3945. </Description>';

  3946.        type 'R-2'

  3947.         ports

  3948.          power in p [2,1];

  3949.        end;

  3950.        icon bg bottom

  3951.         figures

  3952.          text 'R' 239.8 288.2 color 0 18 bold;

  3953.        end;

  3954.        implementation eq

  3955. parameters

  3956. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3957. equations					

  3958. 	p.e = r * p.f;

  3959. implementation_end;

  3960.       R5 239.8 168.2

  3961.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3962.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3963.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3964. </Description>';

  3965.        type 'R-3'

  3966.         ports

  3967.          power in p [3,1];

  3968.        end;

  3969.        icon bg top

  3970.         figures

  3971.          text 'R' 239.8 168.2 color 0 18 bold;

  3972.        end;

  3973.        implementation eq

  3974. parameters

  3975. 	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};

  3976. equations					

  3977. 	p.e = r * p.f;

  3978. implementation_end;

  3979.      end;

  3980.      connections

  3981.       C1\p <= OneJunction7\p;

  3982.       OneJunction5\p => C4\p;

  3983.       OneJunction5\p => PowerMux\input_rot2;

  3984.       OneJunction5\p => R4\p;

  3985.       OneJunction7\p => PowerMux\input_pos3;

  3986.       OneJunction7\p => R5\p;

  3987.       OneJunction8\p => PowerMux\input;

  3988.       PowerMux\output => output;

  3989.       R\p <= OneJunction8\p;

  3990.      end;

  3991.     implementation_end;

  3992.    Joint_dynC 512 712

  3993.     description '<Description>

  3994. 	<Version>4.8</Version>

  3995. 	<IsMainModel>1</IsMainModel>

  3996. 	</Description>';

  3997.     type Submodel

  3998.      ports

  3999.       power out output [6,1];

  4000.       signal in angle {rad} ;

  4001.     end;

  4002.     icon bg

  4003.      figures

  4004.       rectangle 472 696 552 728 color 0 fill 15132390;

  4005.       text 'name' 512 712 color 0 'Clear Sans' 16;

  4006.     end;

  4007.     implementation bg

  4008.      submodels

  4009.       C 264 200

  4010.        description '<Information>

  4011.  <Description>

  4012.     <Version>4.2</Version>

  4013. <IsMainModel>1</IsMainModel>

  4014.   <KeepParameterValues>False</KeepParameterValues>

  4015.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  4016.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  4017. </Description>

  4018. </Information>';

  4019.        type C

  4020.         ports

  4021.          power in p;

  4022.          signal out state;

  4023.         restrictions

  4024.          causality preferred out p;

  4025.        end;

  4026.        icon bg bottom

  4027.         figures

  4028.          text 'C' 264 200 color 0 18 bold;

  4029.        end;

  4030.        implementation eq

  4031. parameters

  4032. 	real c = 0.001;

  4033. equations

  4034. 	state = int(p.f);

  4035. 	p.e = state / c;

  4036. implementation_end;

  4037.       C1 191.8 216.2

  4038.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4039.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4040.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4041. </Description>';

  4042.        type 'C-3'

  4043.         ports

  4044.          power in p [3,1];

  4045.          signal out state [3,1];

  4046.         restrictions

  4047.          causality preferred out p;

  4048.        end;

  4049.        icon bg top

  4050.         figures

  4051.          text 'C' 191.8 216.2 color 0 18 bold;

  4052.        end;

  4053.        implementation eq

  4054. parameters

  4055. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  4056. equations

  4057.     state = int(p.f);

  4058.     p.e = inverse(c) *state;

  4059. implementation_end;

  4060.       C4 191.8 232.2

  4061.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4062.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4063.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4064. </Description>';

  4065.        type 'C-2'

  4066.         ports

  4067.          power in p [2,1];

  4068.          signal out state [2,1];

  4069.         restrictions

  4070.          causality preferred out p;

  4071.        end;

  4072.        icon bg bottom

  4073.         figures

  4074.          text 'C' 191.8 232.2 color 0 18 bold;

  4075.        end;

  4076.        implementation eq

  4077. parameters

  4078. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  4079. equations

  4080.     state = int(p.f);

  4081.     p.e = inverse(c) *state;

  4082. implementation_end;

  4083.       plug output 468 216;

  4084.       plug angle 224 80;

  4085.       OneJunction5 239.8 232.2

  4086.        description '<Information>

  4087.  <Description>

  4088.     <Version>4.2</Version>

  4089. <IsMainModel>1</IsMainModel>

  4090.   <KeepParameterValues>False</KeepParameterValues>

  4091.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4092.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4093. </Description>

  4094. </Information>';

  4095.        knot OneJunction

  4096.         ports

  4097.          power knot duplicatable none p [2,1];

  4098.          signal knot out flow [2,1];

  4099.         restrictions

  4100.          causality constraint one_out p;

  4101.        end;

  4102.        icon bg

  4103.         figures

  4104.          text '1' 239.8 232.2 color 0 18 bold;

  4105.        end;

  4106.        implementation eq

  4107. equations

  4108. 	sum (direct (p.e)) = 0;

  4109. 	equal (collect (p.f));

  4110. 	flow = first (p.f);

  4111. implementation_end;

  4112.       OneJunction7 239.8 216.2

  4113.        description '<Information>

  4114.  <Description>

  4115.     <Version>4.2</Version>

  4116. <IsMainModel>1</IsMainModel>

  4117.   <KeepParameterValues>False</KeepParameterValues>

  4118.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4119.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4120. </Description>

  4121. </Information>';

  4122.        knot OneJunction

  4123.         ports

  4124.          power knot duplicatable none p [3,1];

  4125.          signal knot out flow [3,1];

  4126.         restrictions

  4127.          causality constraint one_out p;

  4128.        end;

  4129.        icon bg

  4130.         figures

  4131.          text '1' 239.8 216.2 color 0 18 bold;

  4132.        end;

  4133.        implementation eq

  4134. equations

  4135. 	sum (direct (p.e)) = 0;

  4136. 	equal (collect (p.f));

  4137. 	flow = first (p.f);

  4138. implementation_end;

  4139.       OneJunction8 312 200

  4140.        description '<Information>

  4141.  <Description>

  4142.     <Version>4.2</Version>

  4143. <IsMainModel>1</IsMainModel>

  4144.   <KeepParameterValues>False</KeepParameterValues>

  4145.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4146.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4147. </Description>

  4148. </Information>';

  4149.        knot OneJunction

  4150.         ports

  4151.          rotation knot duplicatable none p [1];

  4152.          signal knot out flow [1];

  4153.         restrictions

  4154.          causality constraint one_out p;

  4155.        end;

  4156.        icon bg

  4157.         figures

  4158.          text '1' 312 200 color 0 18 bold;

  4159.        end;

  4160.        implementation eq

  4161. equations

  4162. 	sum (direct (p.e)) = 0;

  4163. 	equal (collect (p.f));

  4164. 	flow = first (p.f);

  4165. implementation_end;

  4166.       PowerMux 402 216

  4167. 						specifications active 'rot_x'

  4168. 							specification 'rot_x'

  4169.  description '<Information>

  4170.  <Description>

  4171.     <Version>4.8</Version>

  4172.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4173.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  4174. <IsMainModel>1</IsMainModel>

  4175.   <KeepParameterValues>False</KeepParameterValues>

  4176.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4177.  </Description>

  4178. </Information>';

  4179.  type 'PowerMux-Rotation'

  4180.   ports

  4181.    power in input;

  4182.    power out output [6,1];

  4183.    power in input_rot2 [2,1];

  4184.    power in input_pos3 [3,1];

  4185.   restrictions

  4186.    causality constraint not_equal input output;

  4187.    causality constraint not_equal input_rot2 output;

  4188.    causality constraint not_equal input_pos3 output;

  4189.  end;

  4190.  icon bg bottom

  4191.   figures

  4192.    line 400 192 400 240 color 0 width 2;

  4193.    rectangle 396 192 408 240 color -1;

  4194.    text '1' 405 210 color 8421504 8;

  4195.   terminals

  4196.    input 400 200 fixed;

  4197.    output 400 216 fixed;

  4198.    input_rot2 400 232 fixed;

  4199.    input_pos3 400 216 fixed;

  4200.  end;

  4201.  implementation eq

  4202. equations

  4203. 	output.e[1] = input.e;

  4204. 	output.e[2:3] = input_rot2.e;

  4205. 	output.e[4:6] = input_pos3.e;

  4206. 	output.f[1] = input.f;

  4207. 	output.f[2:3] = input_rot2.f;

  4208. 	output.f[4:6] = input_pos3.f;implementation_end;

  4209. specification_end;

  4210. 							specification 'rot_y'

  4211. description '<Description>

  4212.    <Version>4.1</Version>

  4213.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  4214.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  4215. <IsMainModel>1</IsMainModel>

  4216.  <KeepParameterValues>False</KeepParameterValues>

  4217.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4218. </Description>';

  4219.  type PowerMux

  4220.   ports

  4221.    power in input;

  4222.    power out output [6,1];

  4223.    power in input_rot2 [2,1];

  4224.    power in input_pos3 [3,1];

  4225.   restrictions

  4226.    causality constraint not_equal input output;

  4227.    causality constraint not_equal input_rot2 output;

  4228.    causality constraint not_equal input_pos3 output;

  4229.  end;

  4230.  icon bg bottom

  4231.   figures

  4232.    line 242 274 290 274 color 0 width 2;

  4233.    rectangle 242 266 290 278 color -1;

  4234.    text '1' 260 269 color 8421504 8;

  4235.   terminals

  4236.    input 250 274 fixed;

  4237.    output 266 274 fixed;

  4238.    input_rot2 282 274 fixed;

  4239.    input_pos3 266 274 fixed;

  4240.  end;

  4241.  implementation eq

  4242. equations

  4243. 	output.e[1] = input_rot2.e[1];

  4244. 	output.e[2] = input.e;

  4245. 	output.e[3] = input_rot2.e[2];

  4246. 	output.e[4:6] = input_pos3.e;

  4247. 	output.f[1] = input_rot2.f[1];

  4248. 	output.f[2] = input.f;

  4249. 	output.f[3] = input_rot2.f[2];

  4250. 	output.f[4:6] = input_pos3.f;implementation_end;

  4251. specification_end;

  4252. 							specification 'rot_z'

  4253. description '<Information>

  4254.  <Description>

  4255.     <Version>4.8</Version>

  4256.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4257.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  4258. <IsMainModel>1</IsMainModel>

  4259.   <KeepParameterValues>False</KeepParameterValues>

  4260.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4261.  </Description>

  4262. </Information>';

  4263.  type PowerMux

  4264.   ports

  4265.    power in input;

  4266.    power out output [6,1];

  4267.    power in input_rot2 [2,1];

  4268.    power in input_pos3 [3,1];

  4269.   restrictions

  4270.    causality constraint not_equal input output;

  4271.    causality constraint not_equal input_rot2 output;

  4272.    causality constraint not_equal input_pos3 output;

  4273.  end;

  4274.  icon bg bottom

  4275.   figures

  4276.    line 242 274 290 274 color 0 width 2;

  4277.    rectangle 242 266 290 278 color -1;

  4278.    text '1' 260 269 color 8421504 8;

  4279.   terminals

  4280.    input 250 274 fixed;

  4281.    output 266 274 fixed;

  4282.    input_rot2 282 274 fixed;

  4283.    input_pos3 266 274 fixed;

  4284.  end;

  4285.  implementation eq

  4286. equations

  4287. 	output.e[3] = input.e;

  4288. 	output.e[1:2] = input_rot2.e;

  4289. 	output.e[4:6] = input_pos3.e;

  4290. 	output.f[3] = input.f;

  4291. 	output.f[1:2] = input_rot2.f;

  4292. 	output.f[4:6] = input_pos3.f;implementation_end;

  4293. specification_end;

  4294. 						end;

  4295.       R 312 152

  4296.        description '<Information>

  4297.  <Description>

  4298.     <Version>4.2</Version>

  4299. <IsMainModel>1</IsMainModel>

  4300.   <KeepParameterValues>False</KeepParameterValues>

  4301.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4302.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4303. </Description>

  4304. </Information>';

  4305.        type R

  4306.         ports

  4307.          power in p;

  4308.        end;

  4309.        icon bg bottom

  4310.         figures

  4311.          text 'R' 312 152 color 0 18 bold;

  4312.        end;

  4313.        implementation eq

  4314. parameters

  4315. 	real r = 100;

  4316. equations

  4317. 	p.e = r * p.f;

  4318. implementation_end;

  4319.       R4 239.8 288.2

  4320.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4321.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  4322.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  4323. </Description>';

  4324.        type 'R-2'

  4325.         ports

  4326.          power in p [2,1];

  4327.        end;

  4328.        icon bg bottom

  4329.         figures

  4330.          text 'R' 239.8 288.2 color 0 18 bold;

  4331.        end;

  4332.        implementation eq

  4333. parameters

  4334. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  4335. equations					

  4336. 	p.e = r * p.f;

  4337. implementation_end;

  4338.       R5 239.8 168.2

  4339.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4340.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  4341.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  4342. </Description>';

  4343.        type 'R-3'

  4344.         ports

  4345.          power in p [3,1];

  4346.        end;

  4347.        icon bg top

  4348.         figures

  4349.          text 'R' 239.8 168.2 color 0 18 bold;

  4350.        end;

  4351.        implementation eq

  4352. parameters

  4353. 	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};

  4354. equations					

  4355. 	p.e = r * p.f;

  4356. implementation_end;

  4357.       stepper_model 360 80

  4358.        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 

  4359. 	real I_phase = 3.4 {mH};

  4360. 	real R_phase = 2.9 {ohm};

  4361. 	real u_max = 3.4 {V};

  4362. 	real RotorInertia = 5.6e-6 {kg.m2};

  4363. 	real StepperMass = 0.29 {kg};

  4364. 	real angle_step = 1.8 {deg};

  4365. 	real n_phase = 2 {none};

  4366. 	real fluxLinkage = 0.0022 {Wb};

  4367. 	real detentTorque = 0.01 {N.m};

  4368. variables

  4369. 	real omega;

  4370. 	real p; // rotor division

  4371. initialequations

  4372. 	p = 2 * pi / (2 * n_phase * angle_step);

  4373. 	omega = 200;</GlobalRelations></Attributes></Information>';

  4374.        type Submodel

  4375.         ports

  4376.          signal in angle;

  4377.          rotation out p;

  4378.        end;

  4379.        implementation bg

  4380.         submodels

  4381.          I 560 104

  4382.           description '<Information>

  4383.  <Description>

  4384.     <Version>4.2</Version>

  4385. <IsMainModel>1</IsMainModel>

  4386.   <KeepParameterValues>False</KeepParameterValues>

  4387.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4388.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4389. </Description>

  4390. </Information>';

  4391.           type I

  4392.            ports

  4393.             power in p;

  4394.             signal out state;

  4395.            restrictions

  4396.             causality preferred in p;

  4397.           end;

  4398.           icon bg bottom

  4399.            figures

  4400.             text 'I' 560 104 color 0 18 bold;

  4401.           end;

  4402.           implementation eq

  4403. parameters

  4404. 	real global I_phase;

  4405. equations

  4406.     state = int(p.e);

  4407.     p.f = state / I_phase;

  4408. implementation_end;

  4409.          I1 608 328

  4410.           description '<Information>

  4411.  <Description>

  4412.     <Version>4.2</Version>

  4413. <IsMainModel>1</IsMainModel>

  4414.   <KeepParameterValues>False</KeepParameterValues>

  4415.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4416.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4417. </Description>

  4418. </Information>';

  4419.           type I

  4420.            ports

  4421.             power in p;

  4422.             signal out state;

  4423.            restrictions

  4424.             causality preferred in p;

  4425.           end;

  4426.           icon bg bottom

  4427.            figures

  4428.             text 'I' 608 328 color 0 18 bold;

  4429.           end;

  4430.           implementation eq

  4431. parameters

  4432. 	real global I_phase;

  4433. equations

  4434.     state = int(p.e);

  4435.     p.f = state / I_phase;

  4436. implementation_end;

  4437.          I2 752 160

  4438.           description '<Information>

  4439.  <Description>

  4440.     <Version>4.2</Version>

  4441. <IsMainModel>1</IsMainModel>

  4442.   <KeepParameterValues>False</KeepParameterValues>

  4443.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4444.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4445. </Description>

  4446. </Information>';

  4447.           type I

  4448.            ports

  4449.             power in p;

  4450.             signal out state;

  4451.            restrictions

  4452.             causality preferred in p;

  4453.           end;

  4454.           icon bg bottom

  4455.            figures

  4456.             text 'I' 752 160 color 0 18 bold;

  4457.           end;

  4458.           implementation eq

  4459. parameters

  4460. 	real global RotorInertia;

  4461. equations

  4462.     state = int(p.e);

  4463.     p.f = state / (RotorInertia);

  4464. implementation_end;

  4465.          MGY_a 656 160

  4466.           description '<Information>

  4467.  <Description>

  4468.     <Version>4.2</Version>

  4469. <IsMainModel>1</IsMainModel>

  4470.   <KeepParameterValues>False</KeepParameterValues>

  4471.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  4472.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  4473. </Description>

  4474. </Information>';

  4475.           type MGY

  4476.            ports

  4477.             power in p1;

  4478.             power out p2;

  4479.             signal in r;

  4480.            restrictions

  4481.             causality constraint equal p1 p2;

  4482.           end;

  4483.           icon bg bottom

  4484.            figures

  4485.             text 'MGY' 656 160 color 0 18 bold;

  4486.           end;

  4487.           implementation eq

  4488. equations

  4489. 	p1.e = r * p2.f;

  4490. 	p2.e = r * p1.f;

  4491. implementation_end;

  4492.          MGY_b 656 272

  4493.           description '<Information>

  4494.  <Description>

  4495.     <Version>4.2</Version>

  4496. <IsMainModel>1</IsMainModel>

  4497.   <KeepParameterValues>False</KeepParameterValues>

  4498.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  4499.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  4500. </Description>

  4501. </Information>';

  4502.           type MGY

  4503.            ports

  4504.             power in p1;

  4505.             power out p2;

  4506.             signal in r;

  4507.            restrictions

  4508.             causality constraint equal p1 p2;

  4509.           end;

  4510.           icon bg bottom

  4511.            figures

  4512.             text 'MGY' 656 272 color 0 18 bold;

  4513.           end;

  4514.           implementation eq

  4515. equations

  4516. 	p1.e = r * p2.f;

  4517. 	p2.e = r * p1.f;

  4518. implementation_end;

  4519.          MSe_a 512 160

  4520.           description '<Information>

  4521.  <Description>

  4522.     <Version>4.2</Version>

  4523. <IsMainModel>1</IsMainModel>

  4524.   <KeepParameterValues>False</KeepParameterValues>

  4525.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4526.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4527. </Description>

  4528. </Information>';

  4529.           type MSe

  4530.            ports

  4531.             electric out p;

  4532.             signal in effort;

  4533.            restrictions

  4534.             causality fixed out p;

  4535.           end;

  4536.           icon bg bottom

  4537.            figures

  4538.             text 'MSe' 512 160 color 0 18 bold;

  4539.           end;

  4540.           implementation eq

  4541. variables

  4542. 	real flow;

  4543. equations

  4544. 	p.e = effort;

  4545. 	flow = p.f;

  4546. implementation_end;

  4547.          MSe_b 512 272

  4548.           description '<Information>

  4549.  <Description>

  4550.     <Version>4.2</Version>

  4551. <IsMainModel>1</IsMainModel>

  4552.   <KeepParameterValues>False</KeepParameterValues>

  4553.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4554.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4555. </Description>

  4556. </Information>';

  4557.           type MSe

  4558.            ports

  4559.             electric out p;

  4560.             signal in effort;

  4561.            restrictions

  4562.             causality fixed out p;

  4563.           end;

  4564.           icon bg bottom

  4565.            figures

  4566.             text 'MSe' 512 272 color 0 18 bold;

  4567.           end;

  4568.           implementation eq

  4569. variables

  4570. 	real flow;

  4571. equations

  4572. 	p.e = effort;

  4573. 	flow = p.f;

  4574. implementation_end;

  4575.          plug angle 200 216;

  4576.          plug p 1472 216;

  4577.          OneJunction1 840 216

  4578.           description '<Information>

  4579.  <Description>

  4580.     <Version>4.2</Version>

  4581. <IsMainModel>1</IsMainModel>

  4582.   <KeepParameterValues>False</KeepParameterValues>

  4583.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4584.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4585. </Description>

  4586. </Information>';

  4587.           knot OneJunction

  4588.            ports

  4589.             rotation knot duplicatable none p [1];

  4590.             signal knot out flow [1];

  4591.            restrictions

  4592.             causality constraint one_out p;

  4593.           end;

  4594.           icon bg

  4595.            figures

  4596.             text '1' 840 216 color 0 18 bold;

  4597.           end;

  4598.           implementation eq

  4599. equations

  4600. 	sum (direct (p.e)) = 0;

  4601. 	equal (collect (p.f));

  4602. 	flow = first (p.f);

  4603. implementation_end;

  4604.          OneJunction2 584 160

  4605.           description '<Information>

  4606.  <Description>

  4607.     <Version>4.2</Version>

  4608. <IsMainModel>1</IsMainModel>

  4609.   <KeepParameterValues>False</KeepParameterValues>

  4610.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4611.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4612. </Description>

  4613. </Information>';

  4614.           knot OneJunction

  4615.            ports

  4616.             electric knot duplicatable none p [1];

  4617.             signal knot out flow [1];

  4618.            restrictions

  4619.             causality constraint one_out p;

  4620.           end;

  4621.           icon bg

  4622.            figures

  4623.             text '1' 584 160 color 0 18 bold;

  4624.           end;

  4625.           implementation eq

  4626. equations

  4627. 	sum (direct (p.e)) = 0;

  4628. 	equal (collect (p.f));

  4629. 	flow = first (p.f);

  4630. implementation_end;

  4631.          OneJunction3 584 272

  4632.           description '<Information>

  4633.  <Description>

  4634.     <Version>4.2</Version>

  4635. <IsMainModel>1</IsMainModel>

  4636.   <KeepParameterValues>False</KeepParameterValues>

  4637.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4638.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4639. </Description>

  4640. </Information>';

  4641.           knot OneJunction

  4642.            ports

  4643.             electric knot duplicatable none p [1];

  4644.             signal knot out flow [1];

  4645.            restrictions

  4646.             causality constraint one_out p;

  4647.           end;

  4648.           icon bg

  4649.            figures

  4650.             text '1' 584 272 color 0 18 bold;

  4651.           end;

  4652.           implementation eq

  4653. equations

  4654. 	sum (direct (p.e)) = 0;

  4655. 	equal (collect (p.f));

  4656. 	flow = first (p.f);

  4657. implementation_end;

  4658.          OneJunction4 752 216

  4659.           description '<Information>

  4660.  <Description>

  4661.     <Version>4.2</Version>

  4662. <IsMainModel>1</IsMainModel>

  4663.   <KeepParameterValues>False</KeepParameterValues>

  4664.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4665.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4666. </Description>

  4667. </Information>';

  4668.           knot OneJunction

  4669.            ports

  4670.             rotation knot duplicatable none p [1];

  4671.             signal knot out flow [1];

  4672.            restrictions

  4673.             causality constraint one_out p;

  4674.           end;

  4675.           icon bg

  4676.            figures

  4677.             text '1' 752 216 color 0 18 bold;

  4678.           end;

  4679.           implementation eq

  4680. equations

  4681. 	sum (direct (p.e)) = 0;

  4682. 	equal (collect (p.f));

  4683. 	flow = first (p.f);

  4684. implementation_end;

  4685.          phase_control 512 216

  4686.           description '<Description><Version>4.0</Version>

  4687.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  4688. <IsMainModel>1</IsMainModel>

  4689.  <KeepParameterValues>False</KeepParameterValues>

  4690.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  4691.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4692. </Description>';

  4693.           type Submodel

  4694.            ports

  4695.             signal in angle;

  4696.             signal out a;

  4697.             signal out b;

  4698.           end;

  4699.           icon bg

  4700.            figures

  4701.             rectangle 472 200 552 232 color 0 fill 15132390;

  4702.             text 'name' 512 216 color 0 'Clear Sans' 16;

  4703.           end;

  4704.           implementation eq

  4705. parameters

  4706. 	real global u_max {V};

  4707. variables

  4708. 	real global p;

  4709. 	boolean hidden eventa, eventb;

  4710. equations

  4711. 	a = u_max * (cos (p*angle));

  4712. 	eventa = event(a);

  4713. 	b = u_max * -(sin (p*angle));

  4714. 	eventb = event(b);

  4715. 

  4716. 	

  4717. 	

  4718.  implementation_end;

  4719.          R 608 104

  4720.           description '<Information>

  4721.  <Description>

  4722.     <Version>4.2</Version>

  4723. <IsMainModel>1</IsMainModel>

  4724.   <KeepParameterValues>False</KeepParameterValues>

  4725.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4726.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4727. </Description>

  4728. </Information>';

  4729.           type R

  4730.            ports

  4731.             power in p;

  4732.           end;

  4733.           icon bg bottom

  4734.            figures

  4735.             text 'R' 608 104 color 0 18 bold;

  4736.           end;

  4737.           implementation eq

  4738. parameters

  4739. 	real global R_phase;

  4740. equations

  4741. 	p.e = R_phase * p.f;

  4742. implementation_end;

  4743.          R1 560 328

  4744.           description '<Information>

  4745.  <Description>

  4746.     <Version>4.2</Version>

  4747. <IsMainModel>1</IsMainModel>

  4748.   <KeepParameterValues>False</KeepParameterValues>

  4749.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4750.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4751. </Description>

  4752. </Information>';

  4753.           type R

  4754.            ports

  4755.             power in p;

  4756.           end;

  4757.           icon bg bottom

  4758.            figures

  4759.             text 'R' 560 328 color 0 18 bold;

  4760.           end;

  4761.           implementation eq

  4762. parameters

  4763. 	real global R_phase;

  4764. equations

  4765. 	p.e = R_phase * p.f;

  4766. implementation_end;

  4767.          R2 824 264

  4768.           description '<Information>

  4769.  <Description>

  4770.     <Version>4.2</Version>

  4771. <IsMainModel>1</IsMainModel>

  4772.   <KeepParameterValues>False</KeepParameterValues>

  4773.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4774.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4775. </Description>

  4776. </Information>';

  4777.           type R

  4778.            ports

  4779.             power in p;

  4780.           end;

  4781.           icon bg bottom

  4782.            figures

  4783.             text 'R' 824 264 color 0 18 bold;

  4784.           end;

  4785.           implementation eq

  4786. parameters

  4787. 	real r = 1.0e-3;

  4788. equations

  4789. 	p.e = r * p.f;

  4790. implementation_end;

  4791.          RotorAngle 656 216

  4792.           description '<Description><Version>4.0</Version>

  4793.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  4794. <IsMainModel>1</IsMainModel>

  4795.  <KeepParameterValues>False</KeepParameterValues>

  4796.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  4797.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4798. </Description>';

  4799.           type Submodel

  4800.            ports

  4801.             signal out output_b;

  4802.             signal out output_a;

  4803.             signal in omega {rad/s} ;

  4804.             signal out output_d;

  4805.           end;

  4806.           icon bg

  4807.            figures

  4808.             rectangle 616 200 696 232 color 0 fill 15132390;

  4809.             text 'name' 656 216 color 0 'Clear Sans' 16;

  4810.           end;

  4811.           implementation eq

  4812. parameters

  4813. 	real global fluxLinkage;

  4814. 	real global detentTorque;

  4815. variables

  4816. 	real global p;

  4817. 	real angle {rad};

  4818. equations

  4819. 	angle = int(omega);

  4820. 	output_a = -p * fluxLinkage * sin(p * angle);

  4821. 	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);

  4822. 	output_d =  detentTorque * sin(2 * p * angle);

  4823.  implementation_end;

  4824.          Se 752 272

  4825.           description '<Information>

  4826.  <Description>

  4827.     <Version>4.2</Version>

  4828. <IsMainModel>1</IsMainModel>

  4829.   <KeepParameterValues>False</KeepParameterValues>

  4830.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4831.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4832. </Description>

  4833. </Information>';

  4834.           type MSe

  4835.            ports

  4836.             power out p;

  4837.             signal in effort;

  4838.            restrictions

  4839.             causality fixed out p;

  4840.           end;

  4841.           icon bg bottom

  4842.            figures

  4843.             text 'MSe' 752 272 color 0 18 bold;

  4844.           end;

  4845.           implementation eq

  4846. 

  4847. variables

  4848. 	real flow;

  4849. equations

  4850. 	p.e = effort;

  4851. 	flow = p.f;

  4852. implementation_end;

  4853.         end;

  4854.         connections

  4855.          angle -> phase_control\angle;

  4856.          I2\p <= OneJunction4\p;

  4857.          MGY_a\p2 => OneJunction4\p;

  4858.          MGY_b\p2 => OneJunction4\p;

  4859.          MSe_b\p => OneJunction3\p;

  4860.          OneJunction1\p => p;

  4861.          OneJunction2\p <= MSe_a\p;

  4862.          OneJunction2\p => I\p;

  4863.          OneJunction2\p => MGY_a\p1;

  4864.          OneJunction2\p => R\p;

  4865.          OneJunction3\p => I1\p;

  4866.          OneJunction3\p => MGY_b\p1;

  4867.          OneJunction3\p => R1\p;

  4868.          OneJunction4\flow -> RotorAngle\omega;

  4869.          OneJunction4\p => OneJunction1\p;

  4870.          OneJunction4\p => R2\p;

  4871.          phase_control\a -> MSe_a\effort;

  4872.          phase_control\b -> MSe_b\effort;

  4873.          RotorAngle\output_a -> MGY_a\r;

  4874.          RotorAngle\output_b -> MGY_b\r;

  4875.          RotorAngle\output_d -> Se\effort;

  4876.          Se\p => OneJunction4\p;

  4877.         end;

  4878.        implementation_end;

  4879.       ZeroJunction1 360 200

  4880.        description '<Information>

  4881.  <Description>

  4882.     <Version>4.2</Version>

  4883. <IsMainModel>1</IsMainModel>

  4884.   <KeepParameterValues>False</KeepParameterValues>

  4885.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  4886.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  4887. </Description>

  4888. </Information>';

  4889.        knot ZeroJunction

  4890.         ports

  4891.          rotation knot duplicatable none p [1];

  4892.          signal knot out effort [1];

  4893.         restrictions

  4894.          causality constraint one_in p;

  4895.        end;

  4896.        icon bg

  4897.         figures

  4898.          text '0' 360 200 color 0 18 bold;

  4899.        end;

  4900.        implementation eq

  4901. equations

  4902. 	sum (direct (p.f)) = 0;

  4903. 	equal (collect (p.e));

  4904. 	effort = first (p.e);

  4905. implementation_end;

  4906.      end;

  4907.      connections

  4908.       angle -> stepper_model\angle;

  4909.       C\p <= OneJunction8\p;

  4910.       C1\p <= OneJunction7\p;

  4911.       OneJunction5\p => C4\p;

  4912.       OneJunction5\p => PowerMux\input_rot2;

  4913.       OneJunction5\p => R4\p;

  4914.       OneJunction7\p => PowerMux\input_pos3;

  4915.       OneJunction7\p => R5\p;

  4916.       OneJunction8\p => R\p;

  4917.       OneJunction8\p => ZeroJunction1\p;

  4918.       PowerMux\output => output;

  4919.       stepper_model\p => ZeroJunction1\p;

  4920.       ZeroJunction1\p => PowerMux\input;

  4921.      end;

  4922.     implementation_end;

  4923.    Joint_dynD 88 488

  4924.     description '<Description>

  4925. 	<Version>4.8</Version>

  4926. 	<IsMainModel>1</IsMainModel>

  4927. 	</Description>';

  4928.     type Submodel

  4929.      ports

  4930.       power out output [6,1];

  4931.     end;

  4932.     implementation bg

  4933.      submodels

  4934.       C1 191.8 216.2

  4935.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4936.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4937.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4938. </Description>';

  4939.        type 'C-3'

  4940.         ports

  4941.          power in p [3,1];

  4942.          signal out state [3,1];

  4943.         restrictions

  4944.          causality preferred out p;

  4945.        end;

  4946.        icon bg top

  4947.         figures

  4948.          text 'C' 191.8 216.2 color 0 18 bold;

  4949.        end;

  4950.        implementation eq

  4951. parameters

  4952. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {uN/m};

  4953. equations

  4954.     state = int(p.f);

  4955.     p.e = inverse(c) *state;

  4956. implementation_end;

  4957.       C4 191.8 232.2

  4958.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4959.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4960.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4961. </Description>';

  4962.        type 'C-2'

  4963.         ports

  4964.          power in p [2,1];

  4965.          signal out state [2,1];

  4966.         restrictions

  4967.          causality preferred out p;

  4968.        end;

  4969.        icon bg bottom

  4970.         figures

  4971.          text 'C' 191.8 232.2 color 0 18 bold;

  4972.        end;

  4973.        implementation eq

  4974. parameters

  4975. 	real c[2,2] = [1, 0.0; 0.0, 1]  {uN.m/rad};

  4976. equations

  4977.     state = int(p.f);

  4978.     p.e = inverse(c) *state;

  4979. implementation_end;

  4980.       plug output 396 216;

  4981.       OneJunction5 239.8 232.2

  4982.        description '<Information>

  4983.  <Description>

  4984.     <Version>4.2</Version>

  4985. <IsMainModel>1</IsMainModel>

  4986.   <KeepParameterValues>False</KeepParameterValues>

  4987.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4988.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4989. </Description>

  4990. </Information>';

  4991.        knot OneJunction

  4992.         ports

  4993.          power knot duplicatable none p [2,1];

  4994.          signal knot out flow [2,1];

  4995.         restrictions

  4996.          causality constraint one_out p;

  4997.        end;

  4998.        icon bg

  4999.         figures

  5000.          text '1' 239.8 232.2 color 0 18 bold;

  5001.        end;

  5002.        implementation eq

  5003. equations

  5004. 	sum (direct (p.e)) = 0;

  5005. 	equal (collect (p.f));

  5006. 	flow = first (p.f);

  5007. implementation_end;

  5008.       OneJunction7 239.8 216.2

  5009.        description '<Information>

  5010.  <Description>

  5011.     <Version>4.2</Version>

  5012. <IsMainModel>1</IsMainModel>

  5013.   <KeepParameterValues>False</KeepParameterValues>

  5014.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5015.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5016. </Description>

  5017. </Information>';

  5018.        knot OneJunction

  5019.         ports

  5020.          power knot duplicatable none p [3,1];

  5021.          signal knot out flow [3,1];

  5022.         restrictions

  5023.          causality constraint one_out p;

  5024.        end;

  5025.        icon bg

  5026.         figures

  5027.          text '1' 239.8 216.2 color 0 18 bold;

  5028.        end;

  5029.        implementation eq

  5030. equations

  5031. 	sum (direct (p.e)) = 0;

  5032. 	equal (collect (p.f));

  5033. 	flow = first (p.f);

  5034. implementation_end;

  5035.       OneJunction8 288 200

  5036.        description '<Information>

  5037.  <Description>

  5038.     <Version>4.2</Version>

  5039. <IsMainModel>1</IsMainModel>

  5040.   <KeepParameterValues>False</KeepParameterValues>

  5041.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5042.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5043. </Description>

  5044. </Information>';

  5045.        knot OneJunction

  5046.         ports

  5047.          power knot duplicatable none p [1];

  5048.          signal knot out flow [1];

  5049.         restrictions

  5050.          causality constraint one_out p;

  5051.        end;

  5052.        icon bg

  5053.         figures

  5054.          text '1' 288 200 color 0 18 bold;

  5055.        end;

  5056.        implementation eq

  5057. equations

  5058. 	sum (direct (p.e)) = 0;

  5059. 	equal (collect (p.f));

  5060. 	flow = first (p.f);

  5061. implementation_end;

  5062.       PowerMux 330 216

  5063. 						specifications active 'rot_x'

  5064. 							specification 'rot_x'

  5065.  description '<Information>

  5066.  <Description>

  5067.     <Version>4.8</Version>

  5068.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5069.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5070. <IsMainModel>1</IsMainModel>

  5071.   <KeepParameterValues>False</KeepParameterValues>

  5072.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5073.  </Description>

  5074. </Information>';

  5075.  type 'PowerMux-Rotation'

  5076.   ports

  5077.    power in input;

  5078.    power out output [6,1];

  5079.    power in input_rot2 [2,1];

  5080.    power in input_pos3 [3,1];

  5081.   restrictions

  5082.    causality constraint not_equal input output;

  5083.    causality constraint not_equal input_rot2 output;

  5084.    causality constraint not_equal input_pos3 output;

  5085.  end;

  5086.  icon bg bottom

  5087.   figures

  5088.    line 328 192 328 240 color 0 width 2;

  5089.    rectangle 324 192 336 240 color -1;

  5090.    text '1' 333 210 color 8421504 8;

  5091.   terminals

  5092.    input 328 200 fixed;

  5093.    output 328 216 fixed;

  5094.    input_rot2 328 232 fixed;

  5095.    input_pos3 328 216 fixed;

  5096.  end;

  5097.  implementation eq

  5098. equations

  5099. 	output.e[1] = input.e;

  5100. 	output.e[2:3] = input_rot2.e;

  5101. 	output.e[4:6] = input_pos3.e;

  5102. 	output.f[1] = input.f;

  5103. 	output.f[2:3] = input_rot2.f;

  5104. 	output.f[4:6] = input_pos3.f;implementation_end;

  5105. specification_end;

  5106. 							specification 'rot_y'

  5107. description '<Description>

  5108.    <Version>4.1</Version>

  5109.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5110.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5111. <IsMainModel>1</IsMainModel>

  5112.  <KeepParameterValues>False</KeepParameterValues>

  5113.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5114. </Description>';

  5115.  type PowerMux

  5116.   ports

  5117.    power in input;

  5118.    power out output [6,1];

  5119.    power in input_rot2 [2,1];

  5120.    power in input_pos3 [3,1];

  5121.   restrictions

  5122.    causality constraint not_equal input output;

  5123.    causality constraint not_equal input_rot2 output;

  5124.    causality constraint not_equal input_pos3 output;

  5125.  end;

  5126.  icon bg bottom

  5127.   figures

  5128.    line 242 274 290 274 color 0 width 2;

  5129.    rectangle 242 266 290 278 color -1;

  5130.    text '1' 260 269 color 8421504 8;

  5131.   terminals

  5132.    input 250 274 fixed;

  5133.    output 266 274 fixed;

  5134.    input_rot2 282 274 fixed;

  5135.    input_pos3 266 274 fixed;

  5136.  end;

  5137.  implementation eq

  5138. equations

  5139. 	output.e[1] = input_rot2.e[1];

  5140. 	output.e[2] = input.e;

  5141. 	output.e[3] = input_rot2.e[2];

  5142. 	output.e[4:6] = input_pos3.e;

  5143. 	output.f[1] = input_rot2.f[1];

  5144. 	output.f[2] = input.f;

  5145. 	output.f[3] = input_rot2.f[2];

  5146. 	output.f[4:6] = input_pos3.f;implementation_end;

  5147. specification_end;

  5148. 							specification 'rot_z'

  5149. description '<Information>

  5150.  <Description>

  5151.     <Version>4.8</Version>

  5152.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5153.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5154. <IsMainModel>1</IsMainModel>

  5155.   <KeepParameterValues>False</KeepParameterValues>

  5156.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5157.  </Description>

  5158. </Information>';

  5159.  type PowerMux

  5160.   ports

  5161.    power in input;

  5162.    power out output [6,1];

  5163.    power in input_rot2 [2,1];

  5164.    power in input_pos3 [3,1];

  5165.   restrictions

  5166.    causality constraint not_equal input output;

  5167.    causality constraint not_equal input_rot2 output;

  5168.    causality constraint not_equal input_pos3 output;

  5169.  end;

  5170.  icon bg bottom

  5171.   figures

  5172.    line 242 274 290 274 color 0 width 2;

  5173.    rectangle 242 266 290 278 color -1;

  5174.    text '1' 260 269 color 8421504 8;

  5175.   terminals

  5176.    input 250 274 fixed;

  5177.    output 266 274 fixed;

  5178.    input_rot2 282 274 fixed;

  5179.    input_pos3 266 274 fixed;

  5180.  end;

  5181.  implementation eq

  5182. equations

  5183. 	output.e[3] = input.e;

  5184. 	output.e[1:2] = input_rot2.e;

  5185. 	output.e[4:6] = input_pos3.e;

  5186. 	output.f[3] = input.f;

  5187. 	output.f[1:2] = input_rot2.f;

  5188. 	output.f[4:6] = input_pos3.f;implementation_end;

  5189. specification_end;

  5190. 						end;

  5191.       R 288 152

  5192.        description '<Information>

  5193.  <Description>

  5194.     <Version>4.2</Version>

  5195. <IsMainModel>1</IsMainModel>

  5196.   <KeepParameterValues>False</KeepParameterValues>

  5197.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5198.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5199. </Description>

  5200. </Information>';

  5201.        type R

  5202.         ports

  5203.          power in p;

  5204.        end;

  5205.        icon bg top

  5206.         figures

  5207.          text 'R' 288 152 color 0 18 bold;

  5208.        end;

  5209.        implementation eq

  5210. parameters

  5211. 	real r = 0.0001;

  5212. equations

  5213. 	p.e = r * p.f;

  5214. implementation_end;

  5215.       R4 239.8 288.2

  5216.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5217.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5218.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5219. </Description>';

  5220.        type 'R-2'

  5221.         ports

  5222.          power in p [2,1];

  5223.        end;

  5224.        icon bg bottom

  5225.         figures

  5226.          text 'R' 239.8 288.2 color 0 18 bold;

  5227.        end;

  5228.        implementation eq

  5229. parameters

  5230. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5231. equations					

  5232. 	p.e = r * p.f;

  5233. implementation_end;

  5234.       R5 239.8 168.2

  5235.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5236.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5237.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5238. </Description>';

  5239.        type 'R-3'

  5240.         ports

  5241.          power in p [3,1];

  5242.        end;

  5243.        icon bg top

  5244.         figures

  5245.          text 'R' 239.8 168.2 color 0 18 bold;

  5246.        end;

  5247.        implementation eq

  5248. parameters

  5249. 	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};

  5250. equations					

  5251. 	p.e = r * p.f;

  5252. implementation_end;

  5253.      end;

  5254.      connections

  5255.       C1\p <= OneJunction7\p;

  5256.       OneJunction5\p => C4\p;

  5257.       OneJunction5\p => PowerMux\input_rot2;

  5258.       OneJunction5\p => R4\p;

  5259.       OneJunction7\p => PowerMux\input_pos3;

  5260.       OneJunction7\p => R5\p;

  5261.       OneJunction8\p => PowerMux\input;

  5262.       PowerMux\output => output;

  5263.       R\p <= OneJunction8\p;

  5264.      end;

  5265.     implementation_end;

  5266.    Joint_dynE 88 168

  5267.     description '<Description>

  5268. 	<Version>4.8</Version>

  5269. 	<IsMainModel>1</IsMainModel>

  5270. 	</Description>';

  5271.     type Submodel

  5272.      ports

  5273.       power out output [6,1];

  5274.     end;

  5275.     icon bg

  5276.      figures

  5277.       rectangle 48 152 128 184 color 0 fill 15132390;

  5278.       text 'name' 88 168 color 0 'Clear Sans' 16;

  5279.     end;

  5280.     implementation bg

  5281.      submodels

  5282.       C1 191.8 216.2

  5283.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5284.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  5285.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  5286. </Description>';

  5287.        type 'C-3'

  5288.         ports

  5289.          power in p [3,1];

  5290.          signal out state [3,1];

  5291.         restrictions

  5292.          causality preferred out p;

  5293.        end;

  5294.        icon bg top

  5295.         figures

  5296.          text 'C' 191.8 216.2 color 0 18 bold;

  5297.        end;

  5298.        implementation eq

  5299. parameters

  5300. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {uN/m};

  5301. equations

  5302.     state = int(p.f);

  5303.     p.e = inverse(c) *state;

  5304. implementation_end;

  5305.       C4 191.8 232.2

  5306.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5307.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  5308.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  5309. </Description>';

  5310.        type 'C-2'

  5311.         ports

  5312.          power in p [2,1];

  5313.          signal out state [2,1];

  5314.         restrictions

  5315.          causality preferred out p;

  5316.        end;

  5317.        icon bg bottom

  5318.         figures

  5319.          text 'C' 191.8 232.2 color 0 18 bold;

  5320.        end;

  5321.        implementation eq

  5322. parameters

  5323. 	real c[2,2] = [1, 0.0; 0.0, 1]  {uN.m/rad};

  5324. equations

  5325.     state = int(p.f);

  5326.     p.e = inverse(c) *state;

  5327. implementation_end;

  5328.       plug output 396 216;

  5329.       OneJunction5 239.8 232.2

  5330.        description '<Information>

  5331.  <Description>

  5332.     <Version>4.2</Version>

  5333. <IsMainModel>1</IsMainModel>

  5334.   <KeepParameterValues>False</KeepParameterValues>

  5335.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5336.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5337. </Description>

  5338. </Information>';

  5339.        knot OneJunction

  5340.         ports

  5341.          power knot duplicatable none p [2,1];

  5342.          signal knot out flow [2,1];

  5343.         restrictions

  5344.          causality constraint one_out p;

  5345.        end;

  5346.        icon bg

  5347.         figures

  5348.          text '1' 239.8 232.2 color 0 18 bold;

  5349.        end;

  5350.        implementation eq

  5351. equations

  5352. 	sum (direct (p.e)) = 0;

  5353. 	equal (collect (p.f));

  5354. 	flow = first (p.f);

  5355. implementation_end;

  5356.       OneJunction7 239.8 216.2

  5357.        description '<Information>

  5358.  <Description>

  5359.     <Version>4.2</Version>

  5360. <IsMainModel>1</IsMainModel>

  5361.   <KeepParameterValues>False</KeepParameterValues>

  5362.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5363.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5364. </Description>

  5365. </Information>';

  5366.        knot OneJunction

  5367.         ports

  5368.          power knot duplicatable none p [3,1];

  5369.          signal knot out flow [3,1];

  5370.         restrictions

  5371.          causality constraint one_out p;

  5372.        end;

  5373.        icon bg

  5374.         figures

  5375.          text '1' 239.8 216.2 color 0 18 bold;

  5376.        end;

  5377.        implementation eq

  5378. equations

  5379. 	sum (direct (p.e)) = 0;

  5380. 	equal (collect (p.f));

  5381. 	flow = first (p.f);

  5382. implementation_end;

  5383.       OneJunction8 288 200

  5384.        description '<Information>

  5385.  <Description>

  5386.     <Version>4.2</Version>

  5387. <IsMainModel>1</IsMainModel>

  5388.   <KeepParameterValues>False</KeepParameterValues>

  5389.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5390.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5391. </Description>

  5392. </Information>';

  5393.        knot OneJunction

  5394.         ports

  5395.          power knot duplicatable none p [1];

  5396.          signal knot out flow [1];

  5397.         restrictions

  5398.          causality constraint one_out p;

  5399.        end;

  5400.        icon bg

  5401.         figures

  5402.          text '1' 288 200 color 0 18 bold;

  5403.        end;

  5404.        implementation eq

  5405. equations

  5406. 	sum (direct (p.e)) = 0;

  5407. 	equal (collect (p.f));

  5408. 	flow = first (p.f);

  5409. implementation_end;

  5410.       PowerMux 330 216

  5411. 						specifications active 'rot_x'

  5412. 							specification 'rot_x'

  5413.  description '<Information>

  5414.  <Description>

  5415.     <Version>4.8</Version>

  5416.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5417.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5418. <IsMainModel>1</IsMainModel>

  5419.   <KeepParameterValues>False</KeepParameterValues>

  5420.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5421.  </Description>

  5422. </Information>';

  5423.  type 'PowerMux-Rotation'

  5424.   ports

  5425.    power in input;

  5426.    power out output [6,1];

  5427.    power in input_rot2 [2,1];

  5428.    power in input_pos3 [3,1];

  5429.   restrictions

  5430.    causality constraint not_equal input output;

  5431.    causality constraint not_equal input_rot2 output;

  5432.    causality constraint not_equal input_pos3 output;

  5433.  end;

  5434.  icon bg bottom

  5435.   figures

  5436.    line 328 192 328 240 color 0 width 2;

  5437.    rectangle 324 192 336 240 color -1;

  5438.    text '1' 333 210 color 8421504 8;

  5439.   terminals

  5440.    input 328 200 fixed;

  5441.    output 328 216 fixed;

  5442.    input_rot2 328 232 fixed;

  5443.    input_pos3 328 216 fixed;

  5444.  end;

  5445.  implementation eq

  5446. equations

  5447. 	output.e[1] = input.e;

  5448. 	output.e[2:3] = input_rot2.e;

  5449. 	output.e[4:6] = input_pos3.e;

  5450. 	output.f[1] = input.f;

  5451. 	output.f[2:3] = input_rot2.f;

  5452. 	output.f[4:6] = input_pos3.f;implementation_end;

  5453. specification_end;

  5454. 							specification 'rot_y'

  5455. description '<Description>

  5456.    <Version>4.1</Version>

  5457.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5458.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5459. <IsMainModel>1</IsMainModel>

  5460.  <KeepParameterValues>False</KeepParameterValues>

  5461.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5462. </Description>';

  5463.  type PowerMux

  5464.   ports

  5465.    power in input;

  5466.    power out output [6,1];

  5467.    power in input_rot2 [2,1];

  5468.    power in input_pos3 [3,1];

  5469.   restrictions

  5470.    causality constraint not_equal input output;

  5471.    causality constraint not_equal input_rot2 output;

  5472.    causality constraint not_equal input_pos3 output;

  5473.  end;

  5474.  icon bg bottom

  5475.   figures

  5476.    line 242 274 290 274 color 0 width 2;

  5477.    rectangle 242 266 290 278 color -1;

  5478.    text '1' 260 269 color 8421504 8;

  5479.   terminals

  5480.    input 250 274 fixed;

  5481.    output 266 274 fixed;

  5482.    input_rot2 282 274 fixed;

  5483.    input_pos3 266 274 fixed;

  5484.  end;

  5485.  implementation eq

  5486. equations

  5487. 	output.e[1] = input_rot2.e[1];

  5488. 	output.e[2] = input.e;

  5489. 	output.e[3] = input_rot2.e[2];

  5490. 	output.e[4:6] = input_pos3.e;

  5491. 	output.f[1] = input_rot2.f[1];

  5492. 	output.f[2] = input.f;

  5493. 	output.f[3] = input_rot2.f[2];

  5494. 	output.f[4:6] = input_pos3.f;implementation_end;

  5495. specification_end;

  5496. 							specification 'rot_z'

  5497. description '<Information>

  5498.  <Description>

  5499.     <Version>4.8</Version>

  5500.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5501.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5502. <IsMainModel>1</IsMainModel>

  5503.   <KeepParameterValues>False</KeepParameterValues>

  5504.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5505.  </Description>

  5506. </Information>';

  5507.  type PowerMux

  5508.   ports

  5509.    power in input;

  5510.    power out output [6,1];

  5511.    power in input_rot2 [2,1];

  5512.    power in input_pos3 [3,1];

  5513.   restrictions

  5514.    causality constraint not_equal input output;

  5515.    causality constraint not_equal input_rot2 output;

  5516.    causality constraint not_equal input_pos3 output;

  5517.  end;

  5518.  icon bg bottom

  5519.   figures

  5520.    line 242 274 290 274 color 0 width 2;

  5521.    rectangle 242 266 290 278 color -1;

  5522.    text '1' 260 269 color 8421504 8;

  5523.   terminals

  5524.    input 250 274 fixed;

  5525.    output 266 274 fixed;

  5526.    input_rot2 282 274 fixed;

  5527.    input_pos3 266 274 fixed;

  5528.  end;

  5529.  implementation eq

  5530. equations

  5531. 	output.e[3] = input.e;

  5532. 	output.e[1:2] = input_rot2.e;

  5533. 	output.e[4:6] = input_pos3.e;

  5534. 	output.f[3] = input.f;

  5535. 	output.f[1:2] = input_rot2.f;

  5536. 	output.f[4:6] = input_pos3.f;implementation_end;

  5537. specification_end;

  5538. 						end;

  5539.       R 288 152

  5540.        description '<Information>

  5541.  <Description>

  5542.     <Version>4.2</Version>

  5543. <IsMainModel>1</IsMainModel>

  5544.   <KeepParameterValues>False</KeepParameterValues>

  5545.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5546.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5547. </Description>

  5548. </Information>';

  5549.        type R

  5550.         ports

  5551.          power in p;

  5552.        end;

  5553.        icon bg top

  5554.         figures

  5555.          text 'R' 288 152 color 0 18 bold;

  5556.        end;

  5557.        implementation eq

  5558. parameters

  5559. 	real r = 0.0001;

  5560. equations

  5561. 	p.e = r * p.f;

  5562. implementation_end;

  5563.       R4 239.8 288.2

  5564.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5565.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5566.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5567. </Description>';

  5568.        type 'R-2'

  5569.         ports

  5570.          power in p [2,1];

  5571.        end;

  5572.        icon bg bottom

  5573.         figures

  5574.          text 'R' 239.8 288.2 color 0 18 bold;

  5575.        end;

  5576.        implementation eq

  5577. parameters

  5578. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5579. equations					

  5580. 	p.e = r * p.f;

  5581. implementation_end;

  5582.       R5 239.8 168.2

  5583.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5584.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5585.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5586. </Description>';

  5587.        type 'R-3'

  5588.         ports

  5589.          power in p [3,1];

  5590.        end;

  5591.        icon bg top

  5592.         figures

  5593.          text 'R' 239.8 168.2 color 0 18 bold;

  5594.        end;

  5595.        implementation eq

  5596. parameters

  5597. 	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};

  5598. equations					

  5599. 	p.e = r * p.f;

  5600. implementation_end;

  5601.      end;

  5602.      connections

  5603.       C1\p <= OneJunction7\p;

  5604.       OneJunction5\p => C4\p;

  5605.       OneJunction5\p => PowerMux\input_rot2;

  5606.       OneJunction5\p => R4\p;

  5607.       OneJunction7\p => PowerMux\input_pos3;

  5608.       OneJunction7\p => R5\p;

  5609.       OneJunction8\p => PowerMux\input;

  5610.       PowerMux\output => output;

  5611.       R\p <= OneJunction8\p;

  5612.      end;

  5613.     implementation_end;

  5614.    Joint_dynF 864 48

  5615.     description '<Description>

  5616. 	<Version>4.8</Version>

  5617. 	<IsMainModel>1</IsMainModel>

  5618. 	</Description>';

  5619.     type Submodel

  5620.      ports

  5621.       power out output [6,1];

  5622.     end;

  5623.     icon bg

  5624.      figures

  5625.       rectangle 824 32 904 64 color 0 fill 15132390;

  5626.       text 'name' 864 48 color 0 'Clear Sans' 16;

  5627.     end;

  5628.     implementation bg

  5629.      submodels

  5630.       C1 191.8 216.2

  5631.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5632.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  5633.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  5634. </Description>';

  5635.        type 'C-3'

  5636.         ports

  5637.          power in p [3,1];

  5638.          signal out state [3,1];

  5639.         restrictions

  5640.          causality preferred out p;

  5641.        end;

  5642.        icon bg top

  5643.         figures

  5644.          text 'C' 191.8 216.2 color 0 18 bold;

  5645.        end;

  5646.        implementation eq

  5647. parameters

  5648. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {uN/m};

  5649. equations

  5650.     state = int(p.f);

  5651.     p.e = inverse(c) *state;

  5652. implementation_end;

  5653.       C4 191.8 232.2

  5654.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5655.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  5656.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  5657. </Description>';

  5658.        type 'C-2'

  5659.         ports

  5660.          power in p [2,1];

  5661.          signal out state [2,1];

  5662.         restrictions

  5663.          causality preferred out p;

  5664.        end;

  5665.        icon bg bottom

  5666.         figures

  5667.          text 'C' 191.8 232.2 color 0 18 bold;

  5668.        end;

  5669.        implementation eq

  5670. parameters

  5671. 	real c[2,2] = [1, 0.0; 0.0, 1]  {uN.m/rad};

  5672. equations

  5673.     state = int(p.f);

  5674.     p.e = inverse(c) *state;

  5675. implementation_end;

  5676.       plug output 396 216;

  5677.       OneJunction5 239.8 232.2

  5678.        description '<Information>

  5679.  <Description>

  5680.     <Version>4.2</Version>

  5681. <IsMainModel>1</IsMainModel>

  5682.   <KeepParameterValues>False</KeepParameterValues>

  5683.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5684.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5685. </Description>

  5686. </Information>';

  5687.        knot OneJunction

  5688.         ports

  5689.          power knot duplicatable none p [2,1];

  5690.          signal knot out flow [2,1];

  5691.         restrictions

  5692.          causality constraint one_out p;

  5693.        end;

  5694.        icon bg

  5695.         figures

  5696.          text '1' 239.8 232.2 color 0 18 bold;

  5697.        end;

  5698.        implementation eq

  5699. equations

  5700. 	sum (direct (p.e)) = 0;

  5701. 	equal (collect (p.f));

  5702. 	flow = first (p.f);

  5703. implementation_end;

  5704.       OneJunction7 239.8 216.2

  5705.        description '<Information>

  5706.  <Description>

  5707.     <Version>4.2</Version>

  5708. <IsMainModel>1</IsMainModel>

  5709.   <KeepParameterValues>False</KeepParameterValues>

  5710.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5711.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5712. </Description>

  5713. </Information>';

  5714.        knot OneJunction

  5715.         ports

  5716.          power knot duplicatable none p [3,1];

  5717.          signal knot out flow [3,1];

  5718.         restrictions

  5719.          causality constraint one_out p;

  5720.        end;

  5721.        icon bg

  5722.         figures

  5723.          text '1' 239.8 216.2 color 0 18 bold;

  5724.        end;

  5725.        implementation eq

  5726. equations

  5727. 	sum (direct (p.e)) = 0;

  5728. 	equal (collect (p.f));

  5729. 	flow = first (p.f);

  5730. implementation_end;

  5731.       OneJunction8 288 200

  5732.        description '<Information>

  5733.  <Description>

  5734.     <Version>4.2</Version>

  5735. <IsMainModel>1</IsMainModel>

  5736.   <KeepParameterValues>False</KeepParameterValues>

  5737.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5738.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5739. </Description>

  5740. </Information>';

  5741.        knot OneJunction

  5742.         ports

  5743.          power knot duplicatable none p [1];

  5744.          signal knot out flow [1];

  5745.         restrictions

  5746.          causality constraint one_out p;

  5747.        end;

  5748.        icon bg

  5749.         figures

  5750.          text '1' 288 200 color 0 18 bold;

  5751.        end;

  5752.        implementation eq

  5753. equations

  5754. 	sum (direct (p.e)) = 0;

  5755. 	equal (collect (p.f));

  5756. 	flow = first (p.f);

  5757. implementation_end;

  5758.       PowerMux 330 216

  5759. 						specifications active 'rot_z'

  5760. 							specification 'rot_x'

  5761. description '<Information>

  5762.  <Description>

  5763.     <Version>4.8</Version>

  5764.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5765.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5766. <IsMainModel>1</IsMainModel>

  5767.   <KeepParameterValues>False</KeepParameterValues>

  5768.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5769.  </Description>

  5770. </Information>';

  5771.  type 'PowerMux-Rotation'

  5772.   ports

  5773.    power in input;

  5774.    power out output [6,1];

  5775.    power in input_rot2 [2,1];

  5776.    power in input_pos3 [3,1];

  5777.   restrictions

  5778.    causality constraint not_equal input output;

  5779.    causality constraint not_equal input_rot2 output;

  5780.    causality constraint not_equal input_pos3 output;

  5781.  end;

  5782.  icon bg bottom

  5783.   figures

  5784.    line 328 192 328 240 color 0 width 2;

  5785.    rectangle 324 192 336 240 color -1;

  5786.    text '1' 333 210 color 8421504 8;

  5787.   terminals

  5788.    input 328 200 fixed;

  5789.    output 328 216 fixed;

  5790.    input_rot2 328 232 fixed;

  5791.    input_pos3 328 216 fixed;

  5792.  end;

  5793.  implementation eq

  5794. equations

  5795. 	output.e[1] = input.e;

  5796. 	output.e[2:3] = input_rot2.e;

  5797. 	output.e[4:6] = input_pos3.e;

  5798. 	output.f[1] = input.f;

  5799. 	output.f[2:3] = input_rot2.f;

  5800. 	output.f[4:6] = input_pos3.f;implementation_end;

  5801. specification_end;

  5802. 							specification 'rot_y'

  5803. description '<Description>

  5804.    <Version>4.1</Version>

  5805.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5806.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5807. <IsMainModel>1</IsMainModel>

  5808.  <KeepParameterValues>False</KeepParameterValues>

  5809.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5810. </Description>';

  5811.  type PowerMux

  5812.   ports

  5813.    power in input;

  5814.    power out output [6,1];

  5815.    power in input_rot2 [2,1];

  5816.    power in input_pos3 [3,1];

  5817.   restrictions

  5818.    causality constraint not_equal input output;

  5819.    causality constraint not_equal input_rot2 output;

  5820.    causality constraint not_equal input_pos3 output;

  5821.  end;

  5822.  icon bg bottom

  5823.   figures

  5824.    line 242 274 290 274 color 0 width 2;

  5825.    rectangle 242 266 290 278 color -1;

  5826.    text '1' 260 269 color 8421504 8;

  5827.   terminals

  5828.    input 250 274 fixed;

  5829.    output 266 274 fixed;

  5830.    input_rot2 282 274 fixed;

  5831.    input_pos3 266 274 fixed;

  5832.  end;

  5833.  implementation eq

  5834. equations

  5835. 	output.e[1] = input_rot2.e[1];

  5836. 	output.e[2] = input.e;

  5837. 	output.e[3] = input_rot2.e[2];

  5838. 	output.e[4:6] = input_pos3.e;

  5839. 	output.f[1] = input_rot2.f[1];

  5840. 	output.f[2] = input.f;

  5841. 	output.f[3] = input_rot2.f[2];

  5842. 	output.f[4:6] = input_pos3.f;implementation_end;

  5843. specification_end;

  5844. 							specification 'rot_z'

  5845.  description '<Information>

  5846.  <Description>

  5847.     <Version>4.8</Version>

  5848.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5849.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5850. <IsMainModel>1</IsMainModel>

  5851.   <KeepParameterValues>False</KeepParameterValues>

  5852.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5853.  </Description>

  5854. </Information>';

  5855.  type PowerMux

  5856.   ports

  5857.    power in input;

  5858.    power out output [6,1];

  5859.    power in input_rot2 [2,1];

  5860.    power in input_pos3 [3,1];

  5861.   restrictions

  5862.    causality constraint not_equal input output;

  5863.    causality constraint not_equal input_rot2 output;

  5864.    causality constraint not_equal input_pos3 output;

  5865.  end;

  5866.  icon bg bottom

  5867.   figures

  5868.    line 328 192 328 240 color 0 width 2;

  5869.    rectangle 324 192 336 240 color -1;

  5870.    text '1' 333 210 color 8421504 8;

  5871.   terminals

  5872.    input 328 200 fixed;

  5873.    output 328 216 fixed;

  5874.    input_rot2 328 232 fixed;

  5875.    input_pos3 328 216 fixed;

  5876.  end;

  5877.  implementation eq

  5878. equations

  5879. 	output.e[3] = input.e;

  5880. 	output.e[1:2] = input_rot2.e;

  5881. 	output.e[4:6] = input_pos3.e;

  5882. 	output.f[3] = input.f;

  5883. 	output.f[1:2] = input_rot2.f;

  5884. 	output.f[4:6] = input_pos3.f;implementation_end;

  5885. specification_end;

  5886. 						end;

  5887.       R 288 152

  5888.        description '<Information>

  5889.  <Description>

  5890.     <Version>4.2</Version>

  5891. <IsMainModel>1</IsMainModel>

  5892.   <KeepParameterValues>False</KeepParameterValues>

  5893.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5894.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5895. </Description>

  5896. </Information>';

  5897.        type R

  5898.         ports

  5899.          power in p;

  5900.        end;

  5901.        icon bg top

  5902.         figures

  5903.          text 'R' 288 152 color 0 18 bold;

  5904.        end;

  5905.        implementation eq

  5906. parameters

  5907. 	real r = 0.0001;

  5908. equations

  5909. 	p.e = r * p.f;

  5910. implementation_end;

  5911.       R4 239.8 288.2

  5912.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5913.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5914.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5915. </Description>';

  5916.        type 'R-2'

  5917.         ports

  5918.          power in p [2,1];

  5919.        end;

  5920.        icon bg bottom

  5921.         figures

  5922.          text 'R' 239.8 288.2 color 0 18 bold;

  5923.        end;

  5924.        implementation eq

  5925. parameters

  5926. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5927. equations					

  5928. 	p.e = r * p.f;

  5929. implementation_end;

  5930.       R5 239.8 168.2

  5931.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5932.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5933.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5934. </Description>';

  5935.        type 'R-3'

  5936.         ports

  5937.          power in p [3,1];

  5938.        end;

  5939.        icon bg top

  5940.         figures

  5941.          text 'R' 239.8 168.2 color 0 18 bold;

  5942.        end;

  5943.        implementation eq

  5944. parameters

  5945. 	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};

  5946. equations					

  5947. 	p.e = r * p.f;

  5948. implementation_end;

  5949.      end;

  5950.      connections

  5951.       C1\p <= OneJunction7\p;

  5952.       OneJunction5\p => C4\p;

  5953.       OneJunction5\p => PowerMux\input_rot2;

  5954.       OneJunction5\p => R4\p;

  5955.       OneJunction7\p => PowerMux\input_pos3;

  5956.       OneJunction7\p => R5\p;

  5957.       OneJunction8\p => PowerMux\input;

  5958.       PowerMux\output => output;

  5959.       R\p <= OneJunction8\p;

  5960.      end;

  5961.     implementation_end;

  5962.    Link1 632 128

  5963.     description '<Information>

  5964.  <Description>

  5965.     <Version>4.8</Version>

  5966.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  5967. <IsMainModel>1</IsMainModel>

  5968.   <KeepParameterValues>False</KeepParameterValues>

  5969.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  5970. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  5971.  </Description>

  5972. </Information>';

  5973.     type 'Submodel-Equation'

  5974.      ports

  5975.       signal in Hin [4,4];

  5976.       signal out Hout [4,4];

  5977.       power in Pin [6,1];

  5978.       power out Pout [6,1];

  5979.      restrictions

  5980.       causality constraint not_equal Pin Pout;

  5981.     end;

  5982.     icon bg bottom

  5983.      figures

  5984.       rectangle 600 104 664 152 color 0 fill 8454041;

  5985.       text 'Link' 632 128 color 0 'Clear Sans' 16;

  5986.      terminals

  5987.       Hin 600 144 fixed;

  5988.       Hout 664 144 fixed;

  5989.       Pin 664 112 fixed;

  5990.       Pout 600 112 fixed;

  5991.     end;

  5992.     implementation eq

  5993. parameters

  5994. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  5995. variables

  5996. 	real Hab[4,4];

  5997. 	real AdHab[6,6];

  5998. 	real R[3,3];

  5999. 	real omega[3];

  6000. initialequations

  6001. 	omega = offset[1:3];

  6002. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6003. 	Hab = homogeneous(R,offset[4:6]);

  6004. 	AdHab = Adjoint(Hab);

  6005. equations

  6006. 	Hout = Hin * Hab;

  6007. 	Pout.e = transpose(AdHab) * Pin.e;

  6008. 	Pin.f = AdHab * Pout.f;

  6009. 

  6010.     implementation_end;

  6011.    Link10 944 128

  6012.     description '<Information>

  6013.  <Description>

  6014.     <Version>4.8</Version>

  6015.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6016. <IsMainModel>1</IsMainModel>

  6017.   <KeepParameterValues>False</KeepParameterValues>

  6018.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6019. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6020.  </Description>

  6021. </Information>';

  6022.     type 'Submodel-Equation'

  6023.      ports

  6024.       signal in Hin [4,4];

  6025.       signal out Hout [4,4];

  6026.       power in Pin [6,1];

  6027.       power out Pout [6,1];

  6028.      restrictions

  6029.       causality constraint not_equal Pin Pout;

  6030.     end;

  6031.     icon bg bottom

  6032.      figures

  6033.       rectangle 912 104 976 152 color 0 fill 8454041;

  6034.       text 'Link' 944 128 color 0 'Clear Sans' 16;

  6035.      terminals

  6036.       Hin 912 144 fixed;

  6037.       Hout 976 144 fixed;

  6038.       Pin 976 112 fixed;

  6039.       Pout 912 112 fixed;

  6040.     end;

  6041.     implementation eq

  6042. parameters

  6043. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  6044. variables

  6045. 	real Hab[4,4];

  6046. 	real AdHab[6,6];

  6047. 	real R[3,3];

  6048. 	real omega[3];

  6049. initialequations

  6050. 	omega = offset[1:3];

  6051. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6052. 	Hab = homogeneous(R,offset[4:6]);

  6053. 	AdHab = Adjoint(Hab);

  6054. equations

  6055. 	Hout = Hin * Hab;

  6056. 	Pout.e = transpose(AdHab) * Pin.e;

  6057. 	Pin.f = AdHab * Pout.f;

  6058. 

  6059.     implementation_end;

  6060.    Link11 784 128

  6061.     description '<Information>

  6062.  <Description>

  6063.     <Version>4.8</Version>

  6064.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6065. <IsMainModel>1</IsMainModel>

  6066.   <KeepParameterValues>False</KeepParameterValues>

  6067.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6068. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6069.  </Description>

  6070. </Information>';

  6071.     type 'Submodel-Equation'

  6072.      ports

  6073.       signal in Hin [4,4];

  6074.       signal out Hout [4,4];

  6075.       power in Pin [6,1];

  6076.       power out Pout [6,1];

  6077.      restrictions

  6078.       causality constraint not_equal Pin Pout;

  6079.     end;

  6080.     icon bg bottom

  6081.      figures

  6082.       rectangle 752 104 816 152 color 0 fill 8454041;

  6083.       text 'Link' 784 128 color 0 'Clear Sans' 16;

  6084.      terminals

  6085.       Hin 752 144 fixed;

  6086.       Hout 816 144 fixed;

  6087.       Pin 816 112 fixed;

  6088.       Pout 752 112 fixed;

  6089.     end;

  6090.     implementation eq

  6091. parameters

  6092. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  6093. variables

  6094. 	real Hab[4,4];

  6095. 	real AdHab[6,6];

  6096. 	real R[3,3];

  6097. 	real omega[3];

  6098. initialequations

  6099. 	omega = offset[1:3];

  6100. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6101. 	Hab = homogeneous(R,offset[4:6]);

  6102. 	AdHab = Adjoint(Hab);

  6103. equations

  6104. 	Hout = Hin * Hab;

  6105. 	Pout.e = transpose(AdHab) * Pin.e;

  6106. 	Pin.f = AdHab * Pout.f;

  6107. 

  6108.     implementation_end;

  6109.    Link2 384 128

  6110.     description '<Information>

  6111.  <Description>

  6112.     <Version>4.8</Version>

  6113.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6114. <IsMainModel>1</IsMainModel>

  6115.   <KeepParameterValues>False</KeepParameterValues>

  6116.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6117. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6118.  </Description>

  6119. </Information>';

  6120.     type 'Submodel-Equation'

  6121.      ports

  6122.       signal in Hin [4,4];

  6123.       signal out Hout [4,4];

  6124.       power in Pin [6,1];

  6125.       power out Pout [6,1];

  6126.      restrictions

  6127.       causality constraint not_equal Pin Pout;

  6128.     end;

  6129.     icon bg bottom

  6130.      figures

  6131.       rectangle 352 104 416 152 color 0 fill 8454041;

  6132.       text 'Link' 384 128 color 0 'Clear Sans' 16;

  6133.      terminals

  6134.       Hin 352 144 fixed;

  6135.       Hout 416 144 fixed;

  6136.       Pin 416 112 fixed;

  6137.       Pout 352 112 fixed;

  6138.     end;

  6139.     implementation eq

  6140. parameters

  6141. 	real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1

  6142. variables

  6143. 	real Hab[4,4];

  6144. 	real AdHab[6,6];

  6145. 	real R[3,3];

  6146. 	real omega[3];

  6147. initialequations

  6148. 	omega = offset[1:3];

  6149. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6150. 	Hab = homogeneous(R,offset[4:6]);

  6151. 	AdHab = Adjoint(Hab);

  6152. equations

  6153. 	Hout = Hin * Hab;

  6154. 	Pout.e = transpose(AdHab) * Pin.e;

  6155. 	Pin.f = AdHab * Pout.f;

  6156. 

  6157.     implementation_end;

  6158.    Link3 560 424

  6159.     description '<Information>

  6160.  <Description>

  6161.     <Version>4.8</Version>

  6162.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6163. <IsMainModel>1</IsMainModel>

  6164.   <KeepParameterValues>False</KeepParameterValues>

  6165.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6166. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6167.  </Description>

  6168. </Information>';

  6169.     type 'Submodel-Equation'

  6170.      ports

  6171.       signal in Hin [4,4];

  6172.       signal out Hout [4,4];

  6173.       power in Pin [6,1];

  6174.       power out Pout [6,1];

  6175.      restrictions

  6176.       causality constraint not_equal Pin Pout;

  6177.     end;

  6178.     icon bg bottom

  6179.      figures

  6180.       rectangle 536 392 584 456 color 0 fill 8454041;

  6181.       text 'Link' 560 424 color 0 'Clear Sans' 16;

  6182.      terminals

  6183.       Hin 576 392 fixed;

  6184.       Hout 576 456 fixed;

  6185.       Pin 544 456 fixed;

  6186.       Pout 544 392 fixed;

  6187.     end;

  6188.     implementation eq

  6189. parameters

  6190. 	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1

  6191. variables

  6192. 	real Hab[4,4];

  6193. 	real AdHab[6,6];

  6194. 	real R[3,3];

  6195. 	real omega[3];

  6196. initialequations

  6197. 	omega = offset[1:3];

  6198. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6199. 	Hab = homogeneous(R,offset[4:6]);

  6200. 	AdHab = Adjoint(Hab);

  6201. equations

  6202. 	Hout = Hin * Hab;

  6203. 	Pout.e = transpose(AdHab) * Pin.e;

  6204. 	Pin.f = AdHab * Pout.f;

  6205. 

  6206.     implementation_end;

  6207.    Link4 200 256

  6208.     description '<Information>

  6209.  <Description>

  6210.     <Version>4.8</Version>

  6211.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6212. <IsMainModel>1</IsMainModel>

  6213.   <KeepParameterValues>False</KeepParameterValues>

  6214.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6215. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6216.  </Description>

  6217. </Information>';

  6218.     type 'Submodel-Equation'

  6219.      ports

  6220.       signal in Hin [4,4];

  6221.       signal out Hout [4,4];

  6222.       power in Pin [6,1];

  6223.       power out Pout [6,1];

  6224.      restrictions

  6225.       causality constraint not_equal Pin Pout;

  6226.     end;

  6227.     icon bg bottom

  6228.      figures

  6229.       rectangle 176 224 224 288 color 0 fill 8454041;

  6230.       text 'Link' 200 256 color 0 'Clear Sans' 16;

  6231.      terminals

  6232.       Hin 216 288 fixed;

  6233.       Hout 216 224 fixed;

  6234.       Pin 184 224 fixed;

  6235.       Pout 184 288 fixed;

  6236.     end;

  6237.     implementation eq

  6238. parameters

  6239. 	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1

  6240. variables

  6241. 	real Hab[4,4];

  6242. 	real AdHab[6,6];

  6243. 	real R[3,3];

  6244. 	real omega[3];

  6245. initialequations

  6246. 	omega = offset[1:3];

  6247. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6248. 	Hab = homogeneous(R,offset[4:6]);

  6249. 	AdHab = Adjoint(Hab);

  6250. equations

  6251. 	Hout = Hin * Hab;

  6252. 	Pout.e = transpose(AdHab) * Pin.e;

  6253. 	Pin.f = AdHab * Pout.f;

  6254. 

  6255.     implementation_end;

  6256.    Link5 408 632

  6257.     description '<Information>

  6258.  <Description>

  6259.     <Version>4.8</Version>

  6260.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6261. <IsMainModel>1</IsMainModel>

  6262.   <KeepParameterValues>False</KeepParameterValues>

  6263.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6264. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6265.  </Description>

  6266. </Information>';

  6267.     type 'Submodel-Equation'

  6268.      ports

  6269.       signal in Hin [4,4];

  6270.       signal out Hout [4,4];

  6271.       power in Pin [6,1];

  6272.       power out Pout [6,1];

  6273.      restrictions

  6274.       causality constraint not_equal Pin Pout;

  6275.     end;

  6276.     icon bg bottom

  6277.      figures

  6278.       rectangle 376 608 440 656 color 0 fill 8454041;

  6279.       text 'Link' 408 632 color 0 'Clear Sans' 16;

  6280.      terminals

  6281.       Hin 440 616 fixed;

  6282.       Hout 376 616 fixed;

  6283.       Pin 376 648 fixed;

  6284.       Pout 440 648 fixed;

  6285.     end;

  6286.     implementation eq

  6287. parameters

  6288. 	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1

  6289. variables

  6290. 	real Hab[4,4];

  6291. 	real AdHab[6,6];

  6292. 	real R[3,3];

  6293. 	real omega[3];

  6294. initialequations

  6295. 	omega = offset[1:3];

  6296. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6297. 	Hab = homogeneous(R,offset[4:6]);

  6298. 	AdHab = Adjoint(Hab);

  6299. equations

  6300. 	Hout = Hin * Hab;

  6301. 	Pout.e = transpose(AdHab) * Pin.e;

  6302. 	Pin.f = AdHab * Pout.f;

  6303. 

  6304.     implementation_end;

  6305.    Link6 560 280

  6306.     description '<Information>

  6307.  <Description>

  6308.     <Version>4.8</Version>

  6309.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6310. <IsMainModel>1</IsMainModel>

  6311.   <KeepParameterValues>False</KeepParameterValues>

  6312.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6313. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6314.  </Description>

  6315. </Information>';

  6316.     type 'Submodel-Equation'

  6317.      ports

  6318.       signal in Hin [4,4];

  6319.       signal out Hout [4,4];

  6320.       power in Pin [6,1];

  6321.       power out Pout [6,1];

  6322.      restrictions

  6323.       causality constraint not_equal Pin Pout;

  6324.     end;

  6325.     icon bg bottom

  6326.      figures

  6327.       rectangle 536 248 584 312 color 0 fill 8454041;

  6328.       text 'Link' 560 280 color 0 'Clear Sans' 16;

  6329.      terminals

  6330.       Hin 576 248 fixed;

  6331.       Hout 576 312 fixed;

  6332.       Pin 544 312 fixed;

  6333.       Pout 544 248 fixed;

  6334.     end;

  6335.     implementation eq

  6336. parameters

  6337. 	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1

  6338. variables

  6339. 	real Hab[4,4];

  6340. 	real AdHab[6,6];

  6341. 	real R[3,3];

  6342. 	real omega[3];

  6343. initialequations

  6344. 	omega = offset[1:3];

  6345. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6346. 	Hab = homogeneous(R,offset[4:6]);

  6347. 	AdHab = Adjoint(Hab);

  6348. equations

  6349. 	Hout = Hin * Hab;

  6350. 	Pout.e = transpose(AdHab) * Pin.e;

  6351. 	Pin.f = AdHab * Pout.f;

  6352. 

  6353.     implementation_end;

  6354.    Link7 272 632

  6355.     description '<Information>

  6356.  <Description>

  6357.     <Version>4.8</Version>

  6358.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6359. <IsMainModel>1</IsMainModel>

  6360.   <KeepParameterValues>False</KeepParameterValues>

  6361.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6362. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6363.  </Description>

  6364. </Information>';

  6365.     type 'Submodel-Equation'

  6366.      ports

  6367.       signal in Hin [4,4];

  6368.       signal out Hout [4,4];

  6369.       power in Pin [6,1];

  6370.       power out Pout [6,1];

  6371.      restrictions

  6372.       causality constraint not_equal Pin Pout;

  6373.     end;

  6374.     icon bg bottom

  6375.      figures

  6376.       rectangle 240 608 304 656 color 0 fill 8454041;

  6377.       text 'Link' 272 632 color 0 'Clear Sans' 16;

  6378.      terminals

  6379.       Hin 304 616 fixed;

  6380.       Hout 240 616 fixed;

  6381.       Pin 240 648 fixed;

  6382.       Pout 304 648 fixed;

  6383.     end;

  6384.     implementation eq

  6385. parameters

  6386. 	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1

  6387. variables

  6388. 	real Hab[4,4];

  6389. 	real AdHab[6,6];

  6390. 	real R[3,3];

  6391. 	real omega[3];

  6392. initialequations

  6393. 	omega = offset[1:3];

  6394. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6395. 	Hab = homogeneous(R,offset[4:6]);

  6396. 	AdHab = Adjoint(Hab);

  6397. equations

  6398. 	Hout = Hin * Hab;

  6399. 	Pout.e = transpose(AdHab) * Pin.e;

  6400. 	Pin.f = AdHab * Pout.f;

  6401. 

  6402.     implementation_end;

  6403.    Link8 1048 128

  6404.     description '<Information>

  6405.  <Description>

  6406.     <Version>4.8</Version>

  6407.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6408. <IsMainModel>1</IsMainModel>

  6409.   <KeepParameterValues>False</KeepParameterValues>

  6410.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6411. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6412.  </Description>

  6413. </Information>';

  6414.     type 'Submodel-Equation'

  6415.      ports

  6416.       signal in Hin [4,4];

  6417.       signal out Hout [4,4];

  6418.       power in Pin [6,1];

  6419.       power out Pout [6,1];

  6420.      restrictions

  6421.       causality constraint not_equal Pin Pout;

  6422.     end;

  6423.     icon bg bottom

  6424.      figures

  6425.       rectangle 1016 104 1080 152 color 0 fill 8454041;

  6426.       text 'Link' 1048 128 color 0 'Clear Sans' 16;

  6427.      terminals

  6428.       Hin 1016 144 fixed;

  6429.       Hout 1080 144 fixed;

  6430.       Pin 1080 112 fixed;

  6431.       Pout 1016 112 fixed;

  6432.     end;

  6433.     implementation eq

  6434. parameters

  6435. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  6436. variables

  6437. 	real Hab[4,4];

  6438. 	real AdHab[6,6];

  6439. 	real R[3,3];

  6440. 	real omega[3];

  6441. initialequations

  6442. 	omega = offset[1:3];

  6443. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6444. 	Hab = homogeneous(R,offset[4:6]);

  6445. 	AdHab = Adjoint(Hab);

  6446. equations

  6447. 	Hout = Hin * Hab;

  6448. 	Pout.e = transpose(AdHab) * Pin.e;

  6449. 	Pin.f = AdHab * Pout.f;

  6450. 

  6451.     implementation_end;

  6452.    Link9 200 400

  6453.     description '<Information>

  6454.  <Description>

  6455.     <Version>4.8</Version>

  6456.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6457. <IsMainModel>1</IsMainModel>

  6458.   <KeepParameterValues>False</KeepParameterValues>

  6459.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6460. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6461.  </Description>

  6462. </Information>';

  6463.     type 'Submodel-Equation'

  6464.      ports

  6465.       signal in Hin [4,4];

  6466.       signal out Hout [4,4];

  6467.       power in Pin [6,1];

  6468.       power out Pout [6,1];

  6469.      restrictions

  6470.       causality constraint not_equal Pin Pout;

  6471.     end;

  6472.     icon bg bottom

  6473.      figures

  6474.       rectangle 176 368 224 432 color 0 fill 8454041;

  6475.       text 'Link' 200 400 color 0 'Clear Sans' 16;

  6476.      terminals

  6477.       Hin 216 432 fixed;

  6478.       Hout 216 368 fixed;

  6479.       Pin 184 368 fixed;

  6480.       Pout 184 432 fixed;

  6481.     end;

  6482.     implementation eq

  6483. parameters

  6484. 	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1

  6485. variables

  6486. 	real Hab[4,4];

  6487. 	real AdHab[6,6];

  6488. 	real R[3,3];

  6489. 	real omega[3];

  6490. initialequations

  6491. 	omega = offset[1:3];

  6492. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6493. 	Hab = homogeneous(R,offset[4:6]);

  6494. 	AdHab = Adjoint(Hab);

  6495. equations

  6496. 	Hout = Hin * Hab;

  6497. 	Pout.e = transpose(AdHab) * Pin.e;

  6498. 	Pin.f = AdHab * Pout.f;

  6499. 

  6500.     implementation_end;

  6501.    Negate2 608 768

  6502.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6503.    <LibraryPath>Signal\Block Diagram\Negate.emx</LibraryPath>

  6504.   <TimeStamp>2007-9-26 12:14:11</TimeStamp>

  6505. </Description>';

  6506.     type Negate

  6507.      ports

  6508.       signal in input;

  6509.       signal out output;

  6510.     end;

  6511.     icon bg bottom

  6512.      figures

  6513.       rectangle 592 752 624 784 color 0 fill 15132390;

  6514.       text '-1' 608 768 color 16711680 16 bold;

  6515.     end;

  6516.     implementation eq

  6517. equations

  6518. 	output = - input;

  6519.      implementation_end;

  6520.    OneJunction1 328 648

  6521.     description '<Information>

  6522.  <Description>

  6523.     <Version>4.2</Version>

  6524. <IsMainModel>1</IsMainModel>

  6525.   <KeepParameterValues>False</KeepParameterValues>

  6526.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6527.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6528. </Description>

  6529. </Information>';

  6530.     knot OneJunction

  6531.      ports

  6532.       power knot duplicatable none p [6,1];

  6533.       signal knot out flow [6,1];

  6534.      restrictions

  6535.       causality constraint one_out p;

  6536.     end;

  6537.     icon bg

  6538.      figures

  6539.       text '1' 328 648 color 0 18 bold;

  6540.     end;

  6541.     implementation eq

  6542. equations

  6543. 	sum (direct (p.e)) = 0;

  6544. 	equal (collect (p.f));

  6545. 	flow = first (p.f);

  6546. implementation_end;

  6547.    OneJunction2 544 368

  6548.     description '<Information>

  6549.  <Description>

  6550.     <Version>4.2</Version>

  6551. <IsMainModel>1</IsMainModel>

  6552.   <KeepParameterValues>False</KeepParameterValues>

  6553.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6554.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6555. </Description>

  6556. </Information>';

  6557.     knot OneJunction

  6558.      ports

  6559.       power knot duplicatable none p [6,1];

  6560.       signal knot out flow [6,1];

  6561.      restrictions

  6562.       causality constraint one_out p;

  6563.     end;

  6564.     icon bg

  6565.      figures

  6566.       text '1' 544 368 color 0 18 bold;

  6567.     end;

  6568.     implementation eq

  6569. equations

  6570. 	sum (direct (p.e)) = 0;

  6571. 	equal (collect (p.f));

  6572. 	flow = first (p.f);

  6573. implementation_end;

  6574.    OneJunction3 544 112

  6575.     description '<Information>

  6576.  <Description>

  6577.     <Version>4.2</Version>

  6578. <IsMainModel>1</IsMainModel>

  6579.   <KeepParameterValues>False</KeepParameterValues>

  6580.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6581.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6582. </Description>

  6583. </Information>';

  6584.     knot OneJunction

  6585.      ports

  6586.       power knot duplicatable none p [6,1];

  6587.       signal knot out flow [6,1];

  6588.      restrictions

  6589.       causality constraint one_out p;

  6590.     end;

  6591.     icon bg

  6592.      figures

  6593.       text '1' 544 112 color 0 18 bold;

  6594.     end;

  6595.     implementation eq

  6596. equations

  6597. 	sum (direct (p.e)) = 0;

  6598. 	equal (collect (p.f));

  6599. 	flow = first (p.f);

  6600. implementation_end;

  6601.    OneJunction4 184 344

  6602.     description '<Information>

  6603.  <Description>

  6604.     <Version>4.2</Version>

  6605. <IsMainModel>1</IsMainModel>

  6606.   <KeepParameterValues>False</KeepParameterValues>

  6607.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6608.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6609. </Description>

  6610. </Information>';

  6611.     knot OneJunction

  6612.      ports

  6613.       power knot duplicatable none p [6,1];

  6614.       signal knot out flow [6,1];

  6615.      restrictions

  6616.       causality constraint one_out p;

  6617.     end;

  6618.     icon bg

  6619.      figures

  6620.       text '1' 184 344 color 0 18 bold;

  6621.     end;

  6622.     implementation eq

  6623. equations

  6624. 	sum (direct (p.e)) = 0;

  6625. 	equal (collect (p.f));

  6626. 	flow = first (p.f);

  6627. implementation_end;

  6628.    OneJunction5 600 648

  6629.     description '<Information>

  6630.  <Description>

  6631.     <Version>4.2</Version>

  6632. <IsMainModel>1</IsMainModel>

  6633.   <KeepParameterValues>False</KeepParameterValues>

  6634.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6635.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6636. </Description>

  6637. </Information>';

  6638.     knot OneJunction

  6639.      ports

  6640.       power knot duplicatable none p [6,1];

  6641.       signal knot out flow [6,1];

  6642.      restrictions

  6643.       causality constraint one_out p;

  6644.     end;

  6645.     icon bg

  6646.      figures

  6647.       text '1' 600 648 color 0 18 bold;

  6648.     end;

  6649.     implementation eq

  6650. equations

  6651. 	sum (direct (p.e)) = 0;

  6652. 	equal (collect (p.f));

  6653. 	flow = first (p.f);

  6654. implementation_end;

  6655.    OneJunction6 696 112

  6656.     description '<Information>

  6657.  <Description>

  6658.     <Version>4.2</Version>

  6659. <IsMainModel>1</IsMainModel>

  6660.   <KeepParameterValues>False</KeepParameterValues>

  6661.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6662.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6663. </Description>

  6664. </Information>';

  6665.     knot OneJunction

  6666.      ports

  6667.       power knot duplicatable none p [6,1];

  6668.       signal knot out flow [6,1];

  6669.      restrictions

  6670.       causality constraint one_out p;

  6671.     end;

  6672.     icon bg

  6673.      figures

  6674.       text '1' 696 112 color 0 18 bold;

  6675.     end;

  6676.     implementation eq

  6677. equations

  6678. 	sum (direct (p.e)) = 0;

  6679. 	equal (collect (p.f));

  6680. 	flow = first (p.f);

  6681. implementation_end;

  6682.    rectanglepath 856 768

  6683.     description '<Information>

  6684.  <Description>

  6685.     <Version>4.8</Version>

  6686.   <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>

  6687. <IsMainModel>1</IsMainModel>

  6688.   <KeepParameterValues>False</KeepParameterValues>

  6689.     <TimeStamp>2020-7-10 12:30:38</TimeStamp>

  6690. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6691.  </Description>

  6692. </Information>';

  6693.     type 'Submodel-Equation'

  6694.      ports

  6695.       signal out output [2,1];

  6696.     end;

  6697.     icon bg

  6698.      figures

  6699.       rectangle 800 752 912 784 color 0 fill 15132390;

  6700.       text 'name' 856 768 color 0 'Clear Sans' 16;

  6701.     end;

  6702.     implementation eq

  6703. /* 

  6704. This will generate coordinates for the box that has to be drawn

  6705. */

  6706. parameters

  6707. 	real w = 0.07 {m} ;

  6708. 	real h = 0.05 {m};

  6709. 	real t  = 1 {s};

  6710. 	real origin[2] = [0.01;0.03] {m};

  6711. variables

  6712. 	real v {m/s};

  6713. 	real t_w {s};

  6714. 	real t_h {s};

  6715. 	real period {s};

  6716. 	boolean y;

  6717. initialequations

  6718. 	v = (2*w + 2*h)/t;

  6719. 	t_w = w / v;

  6720. 	t_h = h / v;

  6721. code

  6722. y = frequencyevent (t,0);

  6723. period = t - (time - floor(time / t) * t);

  6724. 

  6725. if period < t_w or time < t then

  6726. 	output = origin;

  6727. else

  6728. 	if period < t_w + t_h then

  6729. 		output = origin + [w;0];

  6730. 	else	

  6731. 		if period < 2 * t_w + t_h then

  6732. 			output = origin + [w;h];

  6733. 		else

  6734. 			output = origin + [0;h];

  6735. 		end;

  6736. 	end;

  6737. end;

  6738. 

  6739. 

  6740. 

  6741. 	//output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];

  6742. 	//output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];

  6743. implementation_end;

  6744.    Splitter1 360 616

  6745.     description '<Description><Version>4.0</Version>

  6746.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6747.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6748. <IsMainModel>1</IsMainModel>

  6749.  <KeepParameterValues>False</KeepParameterValues>

  6750. </Description>';

  6751.     knot Splitter

  6752.      ports

  6753.       signal knot duplicatable out output [4,4];

  6754.       signal knot in input [4,4];

  6755.     end;

  6756.     icon bg ellipse

  6757.      figures

  6758.       ellipse 356.8 612.8 363.2 619.2 color -1 fill 0;

  6759.       ellipse 355.7 611.7 364.3 620.3 color -1;

  6760.      terminals

  6761.       input 360 616 fixed;

  6762.     end;

  6763.     implementation eq

  6764. equations

  6765.     collect (output) = input;

  6766. implementation_end;

  6767.    Splitter10 1104 144

  6768.     description '<Description><Version>4.0</Version>

  6769.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6770.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6771. <IsMainModel>1</IsMainModel>

  6772.  <KeepParameterValues>False</KeepParameterValues>

  6773. </Description>';

  6774.     knot Splitter

  6775.      ports

  6776.       signal knot duplicatable out output [4,4];

  6777.       signal knot in input [4,4];

  6778.     end;

  6779.     icon bg ellipse

  6780.      figures

  6781.       ellipse 1100.8 140.8 1107.2 147.2 color -1 fill 0;

  6782.       ellipse 1099.7 139.7 1108.3 148.3 color -1;

  6783.      terminals

  6784.       input 1104 144 fixed;

  6785.     end;

  6786.     implementation eq

  6787. equations

  6788.     collect (output) = input;

  6789. implementation_end;

  6790.    Splitter11 480 144

  6791.     description '<Description><Version>4.0</Version>

  6792.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6793.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6794. <IsMainModel>1</IsMainModel>

  6795.  <KeepParameterValues>False</KeepParameterValues>

  6796. </Description>';

  6797.     knot Splitter

  6798.      ports

  6799.       signal knot duplicatable out output [4,4];

  6800.       signal knot in input [4,4];

  6801.     end;

  6802.     icon bg ellipse

  6803.      figures

  6804.       ellipse 476.8 140.8 483.2 147.2 color -1 fill 0;

  6805.       ellipse 475.7 139.7 484.3 148.3 color -1;

  6806.      terminals

  6807.       input 480 144 fixed;

  6808.     end;

  6809.     implementation eq

  6810. equations

  6811.     collect (output) = input;

  6812. implementation_end;

  6813.    Splitter2 576 336

  6814.     description '<Description><Version>4.0</Version>

  6815.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6816.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6817. <IsMainModel>1</IsMainModel>

  6818.  <KeepParameterValues>False</KeepParameterValues>

  6819. </Description>';

  6820.     knot Splitter

  6821.      ports

  6822.       signal knot duplicatable out output [4,4];

  6823.       signal knot in input [4,4];

  6824.     end;

  6825.     icon bg ellipse

  6826.      figures

  6827.       ellipse 572.8 332.8 579.2 339.2 color -1 fill 0;

  6828.       ellipse 571.7 331.7 580.3 340.3 color -1;

  6829.      terminals

  6830.       input 576 336 fixed;

  6831.     end;

  6832.     implementation eq

  6833. equations

  6834.     collect (output) = input;

  6835. implementation_end;

  6836.    Splitter3 216 312

  6837.     description '<Description><Version>4.0</Version>

  6838.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6839.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6840. <IsMainModel>1</IsMainModel>

  6841.  <KeepParameterValues>False</KeepParameterValues>

  6842. </Description>';

  6843.     knot Splitter

  6844.      ports

  6845.       signal knot duplicatable out output [4,4];

  6846.       signal knot in input [4,4];

  6847.     end;

  6848.     icon bg ellipse

  6849.      figures

  6850.       ellipse 212.8 308.8 219.2 315.2 color -1 fill 0;

  6851.       ellipse 211.7 307.7 220.3 316.3 color -1;

  6852.      terminals

  6853.       input 216 312 fixed;

  6854.     end;

  6855.     implementation eq

  6856. equations

  6857.     collect (output) = input;

  6858. implementation_end;

  6859.    Splitter4 576 144

  6860.     description '<Description><Version>4.0</Version>

  6861.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6862.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6863. <IsMainModel>1</IsMainModel>

  6864.  <KeepParameterValues>False</KeepParameterValues>

  6865. </Description>';

  6866.     knot Splitter

  6867.      ports

  6868.       signal knot duplicatable out output [4,4];

  6869.       signal knot in input [4,4];

  6870.     end;

  6871.     icon bg ellipse

  6872.      figures

  6873.       ellipse 572.8 140.8 579.2 147.2 color -1 fill 0;

  6874.       ellipse 571.7 139.7 580.3 148.3 color -1;

  6875.      terminals

  6876.       input 576 144 fixed;

  6877.     end;

  6878.     implementation eq

  6879. equations

  6880.     collect (output) = input;

  6881. implementation_end;

  6882.    Splitter6 728 144

  6883.     description '<Description><Version>4.0</Version>

  6884.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6885.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6886. <IsMainModel>1</IsMainModel>

  6887.  <KeepParameterValues>False</KeepParameterValues>

  6888. </Description>';

  6889.     knot Splitter

  6890.      ports

  6891.       signal knot duplicatable out output [4,4];

  6892.       signal knot in input [4,4];

  6893.     end;

  6894.     icon bg ellipse

  6895.      figures

  6896.       ellipse 724.8 140.8 731.2 147.2 color -1 fill 0;

  6897.       ellipse 723.7 139.7 732.3 148.3 color -1;

  6898.      terminals

  6899.       input 728 144 fixed;

  6900.     end;

  6901.     implementation eq

  6902. equations

  6903.     collect (output) = input;

  6904. implementation_end;

  6905.    Splitter8 576 472

  6906.     description '<Description><Version>4.0</Version>

  6907.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6908.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6909. <IsMainModel>1</IsMainModel>

  6910.  <KeepParameterValues>False</KeepParameterValues>

  6911. </Description>';

  6912.     knot Splitter

  6913.      ports

  6914.       signal knot duplicatable out output [4,4];

  6915.       signal knot in input [4,4];

  6916.     end;

  6917.     icon bg ellipse

  6918.      figures

  6919.       ellipse 572.8 468.8 579.2 475.2 color -1 fill 0;

  6920.       ellipse 571.7 467.7 580.3 476.3 color -1;

  6921.      terminals

  6922.       input 576 472 fixed;

  6923.     end;

  6924.     implementation eq

  6925. equations

  6926.     collect (output) = input;

  6927. implementation_end;

  6928.    Splitter9 992 144

  6929.     description '<Description><Version>4.0</Version>

  6930.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6931.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6932. <IsMainModel>1</IsMainModel>

  6933.  <KeepParameterValues>False</KeepParameterValues>

  6934. </Description>';

  6935.     knot Splitter

  6936.      ports

  6937.       signal knot duplicatable out output [4,4];

  6938.       signal knot in input [4,4];

  6939.     end;

  6940.     icon bg ellipse

  6941.      figures

  6942.       ellipse 988.8 140.8 995.2 147.2 color -1 fill 0;

  6943.       ellipse 987.7 139.7 996.3 148.3 color -1;

  6944.      terminals

  6945.       input 992 144 fixed;

  6946.     end;

  6947.     implementation eq

  6948. equations

  6949.     collect (output) = input;

  6950. implementation_end;

  6951.    stepper_control 712 592

  6952. 			specifications active 'P_only'

  6953. 				specification 'default'

  6954. 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

  6955. 	real max_acceleration = 250 {rad/s2};

  6956. 	real max_velocity = 25 {rad/s};

  6957. 	real initial_velocity = 0 {rad/s};

  6958. 	real initial_angle = -1.570796 {rad};</GlobalRelations></Attributes></Information>';

  6959.  type Submodel

  6960.   ports

  6961.    signal in setpoint {rad} ;

  6962.    signal out output {rad} ;

  6963.  end;

  6964.  icon bg bottom

  6965.   figures

  6966.    rectangle 648 576 760 608 color 0 fill 15132390;

  6967.    text 'name' 704 592 color 0 'Clear Sans' 16;

  6968.  end;

  6969.  implementation bg

  6970.   submodels

  6971.    Acceleration_int 648 336

  6972.     description '<Information>

  6973.  <Description>

  6974.     <Version>4.3</Version>

  6975. <IsMainModel>1</IsMainModel>

  6976.   <KeepParameterValues>False</KeepParameterValues>

  6977.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  6978.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  6979. </Description>

  6980. </Information>';

  6981.     type Integrate

  6982.      ports

  6983.       signal in input;

  6984.       signal out output;

  6985.     end;

  6986.     icon bg bottom

  6987.      figures

  6988.       rectangle 632 320 664 352 color 0 fill 15132390;

  6989.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  6990.     end;

  6991.     implementation eq

  6992. parameters

  6993. 	real global initial_velocity;		// initial value

  6994. equations

  6995. 	output = int (input, initial_velocity);

  6996.      implementation_end;

  6997.    Acceleration_limit 568 336

  6998.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6999.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7000.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7001. </Description>';

  7002.     type 'SignalLimiter-Limit'

  7003.      ports

  7004.       signal in input;

  7005.       signal out output;

  7006.     end;

  7007.     icon bg bottom

  7008.      figures

  7009.       group

  7010.        rectangle 552 320 584 352 color 0 fill 15132390;

  7011.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  7012.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  7013.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  7014.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  7015.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  7016.       end;

  7017.     end;

  7018.     implementation eq

  7019. parameters

  7020. 	real global max_acceleration {rad/s2};

  7021. equations

  7022. 	output = limit (input, -max_acceleration, max_acceleration);

  7023.   implementation_end;

  7024.    plug setpoint 136 336;

  7025.    plug output 791 336;

  7026.    PlusMinus1 240 336

  7027.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7028.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7029.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7030. </Description>';

  7031.     knot PlusMinus

  7032.      ports

  7033.       signal knot duplicatable in plus [1];

  7034.       signal knot duplicatable in minus [1];

  7035.       signal knot out output [1];

  7036.     end;

  7037.     icon bg ellipse

  7038.      figures

  7039.       ellipse 232 328 248 344 color 0 fill 16777215;

  7040.     end;

  7041.     implementation eq

  7042. equations

  7043.     output = sum (collect (plus)) - sum (collect (minus));

  7044.     implementation_end;

  7045.    PlusMinus2 432 336

  7046.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7047.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7048.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7049. </Description>';

  7050.     knot PlusMinus

  7051.      ports

  7052.       signal knot duplicatable in plus [1];

  7053.       signal knot duplicatable in minus [1];

  7054.       signal knot out output [1];

  7055.     end;

  7056.     icon bg ellipse

  7057.      figures

  7058.       ellipse 424 328 440 344 color 0 fill 16777215;

  7059.     end;

  7060.     implementation eq

  7061. equations

  7062.     output = sum (collect (plus)) - sum (collect (minus));

  7063.     implementation_end;

  7064.    Position_control 296 336

  7065.     description '<Description>

  7066.  <Version>4.0</Version>

  7067.  <IsMainModel>1</IsMainModel>

  7068.  <KeepParameterValues>False</KeepParameterValues>

  7069.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  7070.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  7071. </Description>';

  7072.     type PD

  7073.      ports

  7074.       signal in error;

  7075.       signal out output;

  7076.     end;

  7077.     icon bg bottom

  7078.      figures

  7079.       rectangle 280 320 312 352 color 0 fill 15132390;

  7080.       text 'PD' 296.5 336.1 color 16711680 18 bold;

  7081.     end;

  7082.     implementation eq

  7083. parameters

  7084. 	real kp = 4 {};			// Proportional gain

  7085. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  7086. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  7087. variables

  7088. 	real state, rate;

  7089. equations

  7090. 	rate = (kp * error - output) / (beta * tauD);

  7091. 	state = int (rate);

  7092. 	output = state + kp * error /  beta;

  7093.       implementation_end;

  7094.    Splitter3 688 336

  7095.     description '<Description><Version>4.0</Version>

  7096.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7097.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7098. <IsMainModel>1</IsMainModel>

  7099.  <KeepParameterValues>False</KeepParameterValues>

  7100. </Description>';

  7101.     knot Splitter

  7102.      ports

  7103.       signal knot duplicatable out output [1];

  7104.       signal knot in input [1];

  7105.     end;

  7106.     icon bg ellipse

  7107.      figures

  7108.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  7109.       ellipse 683.7 331.7 692.3 340.3 color -1;

  7110.      terminals

  7111.       input 688 336 fixed;

  7112.     end;

  7113.     implementation eq

  7114. equations

  7115.     collect (output) = input;

  7116. implementation_end;

  7117.    Splitter4 752 336

  7118.     description '<Description><Version>4.0</Version>

  7119.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7120.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7121. <IsMainModel>1</IsMainModel>

  7122.  <KeepParameterValues>False</KeepParameterValues>

  7123. </Description>';

  7124.     knot Splitter

  7125.      ports

  7126.       signal knot duplicatable out output [1];

  7127.       signal knot in input [1];

  7128.     end;

  7129.     icon bg ellipse

  7130.      figures

  7131.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  7132.       ellipse 747.7 331.7 756.3 340.3 color -1;

  7133.      terminals

  7134.       input 752 336 fixed;

  7135.     end;

  7136.     implementation eq

  7137. equations

  7138.     collect (output) = input;

  7139. implementation_end;

  7140.    Velocity_control 480 336

  7141.     description '<Description>

  7142.  <Version>4.0</Version>

  7143.  <IsMainModel>1</IsMainModel>

  7144.  <KeepParameterValues>False</KeepParameterValues>

  7145.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  7146.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  7147. </Description>';

  7148.     type PD

  7149.      ports

  7150.       signal in error;

  7151.       signal out output;

  7152.     end;

  7153.     icon bg bottom

  7154.      figures

  7155.       rectangle 464 320 496 352 color 0 fill 15132390;

  7156.       text 'PD' 480.5 336.1 color 16711680 18 bold;

  7157.     end;

  7158.     implementation eq

  7159. parameters

  7160. 	real kp = 12 {};			// Proportional gain

  7161. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  7162. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  7163. variables

  7164. 	real state, rate;

  7165. equations

  7166. 	rate = (kp * error - output) / (beta * tauD);

  7167. 	state = int (rate);

  7168. 	output = state + kp * error /  beta;

  7169.       implementation_end;

  7170.    Velocity_int 720 336

  7171.     description '<Information>

  7172.  <Description>

  7173.     <Version>4.3</Version>

  7174. <IsMainModel>1</IsMainModel>

  7175.   <KeepParameterValues>False</KeepParameterValues>

  7176.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7177.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7178. </Description>

  7179. </Information>';

  7180.     type Integrate

  7181.      ports

  7182.       signal in input;

  7183.       signal out output;

  7184.     end;

  7185.     icon bg bottom

  7186.      figures

  7187.       rectangle 704 320 736 352 color 0 fill 15132390;

  7188.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  7189.     end;

  7190.     implementation eq

  7191. parameters

  7192. 	real global initial_angle;		// initial value

  7193. equations

  7194. 	output = int (input, initial_angle);

  7195.      implementation_end;

  7196.    Velocity_limit 376 336

  7197.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7198.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7199.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7200. </Description>';

  7201.     type 'SignalLimiter-Limit'

  7202.      ports

  7203.       signal in input;

  7204.       signal out output;

  7205.     end;

  7206.     icon bg bottom

  7207.      figures

  7208.       group

  7209.        rectangle 360 320 392 352 color 0 fill 15132390;

  7210.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  7211.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  7212.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  7213.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  7214.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  7215.       end;

  7216.     end;

  7217.     implementation eq

  7218. parameters

  7219. 	real global max_velocity {rad/s};

  7220. equations

  7221. 	output = limit (input, -max_velocity, max_velocity);

  7222.   implementation_end;

  7223.   end;

  7224.   connections

  7225.    Acceleration_int\output -> Splitter3\input;

  7226.    Acceleration_limit\output -> Acceleration_int\input;

  7227.    PlusMinus1\output -> Position_control\error;

  7228.    PlusMinus2\output -> Velocity_control\error;

  7229.    Position_control\output -> Velocity_limit\input;

  7230.    setpoint -> PlusMinus1\plus;

  7231.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  7232.    Splitter3\output -> Velocity_int\input;

  7233.    Splitter4\output -> output;

  7234.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  7235.    Velocity_control\output -> Acceleration_limit\input;

  7236.    Velocity_int\output -> Splitter4\input;

  7237.    Velocity_limit\output -> PlusMinus2\plus;

  7238.   end;

  7239.  implementation_end;

  7240. specification_end;

  7241. 				specification 'P_only'

  7242.  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

  7243. 	real max_acceleration = 350 {rad/s2};

  7244. 	real max_velocity = 25 {rad/s};

  7245. 	real initial_velocity = 0 {rad/s};

  7246. 	real initial_angle = 1.570796 {rad};</GlobalRelations></Attributes></Information>';

  7247.  type Submodel

  7248.   ports

  7249.    signal in setpoint {rad} ;

  7250.    signal out output {rad} ;

  7251.  end;

  7252.  icon bg bottom

  7253.   figures

  7254.    rectangle 656 576 768 608 color 0 fill 15132390;

  7255.    text 'name' 712 592 color 0 'Clear Sans' 16;

  7256.  end;

  7257.  implementation bg

  7258.   submodels

  7259.    Acceleration_int 648 336

  7260.     description '<Information>

  7261.  <Description>

  7262.     <Version>4.3</Version>

  7263. <IsMainModel>1</IsMainModel>

  7264.   <KeepParameterValues>False</KeepParameterValues>

  7265.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7266.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7267. </Description>

  7268. </Information>';

  7269.     type Integrate

  7270.      ports

  7271.       signal in input;

  7272.       signal out output;

  7273.     end;

  7274.     icon bg bottom

  7275.      figures

  7276.       rectangle 632 320 664 352 color 0 fill 15132390;

  7277.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  7278.     end;

  7279.     implementation eq

  7280. parameters

  7281. 	real global initial_velocity;		// initial value

  7282. equations

  7283. 	output = int (input, initial_velocity);

  7284.      implementation_end;

  7285.    Acceleration_limit 568 336

  7286.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7287.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7288.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7289. </Description>';

  7290.     type 'SignalLimiter-Limit'

  7291.      ports

  7292.       signal in input;

  7293.       signal out output;

  7294.     end;

  7295.     icon bg bottom

  7296.      figures

  7297.       group

  7298.        rectangle 552 320 584 352 color 0 fill 15132390;

  7299.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  7300.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  7301.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  7302.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  7303.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  7304.       end;

  7305.     end;

  7306.     implementation eq

  7307. parameters

  7308. 	real global max_acceleration {rad/s2};

  7309. equations

  7310. 	output = limit (input, -max_acceleration, max_acceleration);

  7311.   implementation_end;

  7312.    plug setpoint 136 336;

  7313.    plug output 791 336;

  7314.    PlusMinus1 240 336

  7315.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7316.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7317.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7318. </Description>';

  7319.     knot PlusMinus

  7320.      ports

  7321.       signal knot duplicatable in plus [1];

  7322.       signal knot duplicatable in minus [1];

  7323.       signal knot out output [1];

  7324.     end;

  7325.     icon bg ellipse

  7326.      figures

  7327.       ellipse 232 328 248 344 color 0 fill 16777215;

  7328.     end;

  7329.     implementation eq

  7330. equations

  7331.     output = sum (collect (plus)) - sum (collect (minus));

  7332.     implementation_end;

  7333.    PlusMinus2 432 336

  7334.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7335.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7336.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7337. </Description>';

  7338.     knot PlusMinus

  7339.      ports

  7340.       signal knot duplicatable in plus [1];

  7341.       signal knot duplicatable in minus [1];

  7342.       signal knot out output [1];

  7343.     end;

  7344.     icon bg ellipse

  7345.      figures

  7346.       ellipse 424 328 440 344 color 0 fill 16777215;

  7347.     end;

  7348.     implementation eq

  7349. equations

  7350.     output = sum (collect (plus)) - sum (collect (minus));

  7351.     implementation_end;

  7352.    Position_control 296 336

  7353.     description '<Description>

  7354.  <Version>4.0</Version>

  7355.  <IsMainModel>1</IsMainModel>

  7356.  <KeepParameterValues>False</KeepParameterValues>

  7357.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  7358.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  7359. </Description>';

  7360.     type P

  7361.      ports

  7362.       signal in error;

  7363.       signal out output;

  7364.     end;

  7365.     icon bg bottom

  7366.      figures

  7367.       rectangle 280 320 312 352 color 0 fill 15132390;

  7368.       text 'P' 296.5 336.1 color 16711680 18 bold;

  7369.     end;

  7370.     implementation eq

  7371. parameters

  7372. 	real kp = 26.0 {};			// Proportional gain

  7373. equations

  7374. 	output = kp * error;

  7375.     implementation_end;

  7376.    Splitter3 688 336

  7377.     description '<Description><Version>4.0</Version>

  7378.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7379.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7380. <IsMainModel>1</IsMainModel>

  7381.  <KeepParameterValues>False</KeepParameterValues>

  7382. </Description>';

  7383.     knot Splitter

  7384.      ports

  7385.       signal knot duplicatable out output [1];

  7386.       signal knot in input [1];

  7387.     end;

  7388.     icon bg ellipse

  7389.      figures

  7390.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  7391.       ellipse 683.7 331.7 692.3 340.3 color -1;

  7392.      terminals

  7393.       input 688 336 fixed;

  7394.     end;

  7395.     implementation eq

  7396. equations

  7397.     collect (output) = input;

  7398. implementation_end;

  7399.    Splitter4 752 336

  7400.     description '<Description><Version>4.0</Version>

  7401.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7402.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7403. <IsMainModel>1</IsMainModel>

  7404.  <KeepParameterValues>False</KeepParameterValues>

  7405. </Description>';

  7406.     knot Splitter

  7407.      ports

  7408.       signal knot duplicatable out output [1];

  7409.       signal knot in input [1];

  7410.     end;

  7411.     icon bg ellipse

  7412.      figures

  7413.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  7414.       ellipse 747.7 331.7 756.3 340.3 color -1;

  7415.      terminals

  7416.       input 752 336 fixed;

  7417.     end;

  7418.     implementation eq

  7419. equations

  7420.     collect (output) = input;

  7421. implementation_end;

  7422.    Velocity_control 480 336

  7423.     description '<Description>

  7424.  <Version>4.0</Version>

  7425.  <IsMainModel>1</IsMainModel>

  7426.  <KeepParameterValues>False</KeepParameterValues>

  7427.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  7428.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  7429. </Description>';

  7430.     type P

  7431.      ports

  7432.       signal in error;

  7433.       signal out output;

  7434.     end;

  7435.     icon bg bottom

  7436.      figures

  7437.       rectangle 464 320 496 352 color 0 fill 15132390;

  7438.       text 'P' 480.5 336.1 color 16711680 18 bold;

  7439.     end;

  7440.     implementation eq

  7441. parameters

  7442. 	real kp = 66.0 {};			// Proportional gain

  7443. equations

  7444. 	output = kp * error;

  7445.     implementation_end;

  7446.    Velocity_int 720 336

  7447.     description '<Information>

  7448.  <Description>

  7449.     <Version>4.3</Version>

  7450. <IsMainModel>1</IsMainModel>

  7451.   <KeepParameterValues>False</KeepParameterValues>

  7452.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7453.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7454. </Description>

  7455. </Information>';

  7456.     type Integrate

  7457.      ports

  7458.       signal in input;

  7459.       signal out output;

  7460.     end;

  7461.     icon bg bottom

  7462.      figures

  7463.       rectangle 704 320 736 352 color 0 fill 15132390;

  7464.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  7465.     end;

  7466.     implementation eq

  7467. parameters

  7468. 	real global initial_angle;		// initial value

  7469. equations

  7470. 	output = int (input, initial_angle);

  7471.      implementation_end;

  7472.    Velocity_limit 376 336

  7473.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7474.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7475.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7476. </Description>';

  7477.     type 'SignalLimiter-Limit'

  7478.      ports

  7479.       signal in input;

  7480.       signal out output;

  7481.     end;

  7482.     icon bg bottom

  7483.      figures

  7484.       group

  7485.        rectangle 360 320 392 352 color 0 fill 15132390;

  7486.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  7487.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  7488.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  7489.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  7490.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  7491.       end;

  7492.     end;

  7493.     implementation eq

  7494. parameters

  7495. 	real global max_velocity {rad/s};

  7496. equations

  7497. 	output = limit (input, -max_velocity, max_velocity);

  7498.   implementation_end;

  7499.   end;

  7500.   connections

  7501.    Acceleration_int\output -> Splitter3\input;

  7502.    Acceleration_limit\output -> Acceleration_int\input;

  7503.    PlusMinus1\output -> Position_control\error;

  7504.    PlusMinus2\output -> Velocity_control\error;

  7505.    Position_control\output -> Velocity_limit\input;

  7506.    setpoint -> PlusMinus1\plus;

  7507.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  7508.    Splitter3\output -> Velocity_int\input;

  7509.    Splitter4\output -> output;

  7510.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  7511.    Velocity_control\output -> Acceleration_limit\input;

  7512.    Velocity_int\output -> Splitter4\input;

  7513.    Velocity_limit\output -> PlusMinus2\plus;

  7514.   end;

  7515.  implementation_end;

  7516. specification_end;

  7517. 			end;

  7518.    stepper_control1 512 768

  7519. 			specifications active 'P_only'

  7520. 				specification 'default'

  7521. 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

  7522. 	real max_acceleration = 250 {rad/s2};

  7523. 	real max_velocity = 25 {rad/s};

  7524. 	real initial_velocity = 0 {rad/s};

  7525. 	real initial_angle = -1.570796 {rad};</GlobalRelations></Attributes></Information>';

  7526.  type Submodel

  7527.   ports

  7528.    signal in setpoint {rad} ;

  7529.    signal out output {rad} ;

  7530.  end;

  7531.  icon bg bottom

  7532.   figures

  7533.    rectangle 648 576 760 608 color 0 fill 15132390;

  7534.    text 'name' 704 592 color 0 'Clear Sans' 16;

  7535.  end;

  7536.  implementation bg

  7537.   submodels

  7538.    Acceleration_int 648 336

  7539.     description '<Information>

  7540.  <Description>

  7541.     <Version>4.3</Version>

  7542. <IsMainModel>1</IsMainModel>

  7543.   <KeepParameterValues>False</KeepParameterValues>

  7544.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7545.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7546. </Description>

  7547. </Information>';

  7548.     type Integrate

  7549.      ports

  7550.       signal in input;

  7551.       signal out output;

  7552.     end;

  7553.     icon bg bottom

  7554.      figures

  7555.       rectangle 632 320 664 352 color 0 fill 15132390;

  7556.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  7557.     end;

  7558.     implementation eq

  7559. parameters

  7560. 	real global initial_velocity;		// initial value

  7561. equations

  7562. 	output = int (input, initial_velocity);

  7563.      implementation_end;

  7564.    Acceleration_limit 568 336

  7565.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7566.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7567.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7568. </Description>';

  7569.     type 'SignalLimiter-Limit'

  7570.      ports

  7571.       signal in input;

  7572.       signal out output;

  7573.     end;

  7574.     icon bg bottom

  7575.      figures

  7576.       group

  7577.        rectangle 552 320 584 352 color 0 fill 15132390;

  7578.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  7579.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  7580.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  7581.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  7582.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  7583.       end;

  7584.     end;

  7585.     implementation eq

  7586. parameters

  7587. 	real global max_acceleration {rad/s2};

  7588. equations

  7589. 	output = limit (input, -max_acceleration, max_acceleration);

  7590.   implementation_end;

  7591.    plug setpoint 136 336;

  7592.    plug output 791 336;

  7593.    PlusMinus1 240 336

  7594.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7595.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7596.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7597. </Description>';

  7598.     knot PlusMinus

  7599.      ports

  7600.       signal knot duplicatable in plus [1];

  7601.       signal knot duplicatable in minus [1];

  7602.       signal knot out output [1];

  7603.     end;

  7604.     icon bg ellipse

  7605.      figures

  7606.       ellipse 232 328 248 344 color 0 fill 16777215;

  7607.     end;

  7608.     implementation eq

  7609. equations

  7610.     output = sum (collect (plus)) - sum (collect (minus));

  7611.     implementation_end;

  7612.    PlusMinus2 432 336

  7613.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7614.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7615.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7616. </Description>';

  7617.     knot PlusMinus

  7618.      ports

  7619.       signal knot duplicatable in plus [1];

  7620.       signal knot duplicatable in minus [1];

  7621.       signal knot out output [1];

  7622.     end;

  7623.     icon bg ellipse

  7624.      figures

  7625.       ellipse 424 328 440 344 color 0 fill 16777215;

  7626.     end;

  7627.     implementation eq

  7628. equations

  7629.     output = sum (collect (plus)) - sum (collect (minus));

  7630.     implementation_end;

  7631.    Position_control 296 336

  7632.     description '<Description>

  7633.  <Version>4.0</Version>

  7634.  <IsMainModel>1</IsMainModel>

  7635.  <KeepParameterValues>False</KeepParameterValues>

  7636.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  7637.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  7638. </Description>';

  7639.     type PD

  7640.      ports

  7641.       signal in error;

  7642.       signal out output;

  7643.     end;

  7644.     icon bg bottom

  7645.      figures

  7646.       rectangle 280 320 312 352 color 0 fill 15132390;

  7647.       text 'PD' 296.5 336.1 color 16711680 18 bold;

  7648.     end;

  7649.     implementation eq

  7650. parameters

  7651. 	real kp = 4 {};			// Proportional gain

  7652. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  7653. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  7654. variables

  7655. 	real state, rate;

  7656. equations

  7657. 	rate = (kp * error - output) / (beta * tauD);

  7658. 	state = int (rate);

  7659. 	output = state + kp * error /  beta;

  7660.       implementation_end;

  7661.    Splitter3 688 336

  7662.     description '<Description><Version>4.0</Version>

  7663.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7664.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7665. <IsMainModel>1</IsMainModel>

  7666.  <KeepParameterValues>False</KeepParameterValues>

  7667. </Description>';

  7668.     knot Splitter

  7669.      ports

  7670.       signal knot duplicatable out output [1];

  7671.       signal knot in input [1];

  7672.     end;

  7673.     icon bg ellipse

  7674.      figures

  7675.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  7676.       ellipse 683.7 331.7 692.3 340.3 color -1;

  7677.      terminals

  7678.       input 688 336 fixed;

  7679.     end;

  7680.     implementation eq

  7681. equations

  7682.     collect (output) = input;

  7683. implementation_end;

  7684.    Splitter4 752 336

  7685.     description '<Description><Version>4.0</Version>

  7686.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7687.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7688. <IsMainModel>1</IsMainModel>

  7689.  <KeepParameterValues>False</KeepParameterValues>

  7690. </Description>';

  7691.     knot Splitter

  7692.      ports

  7693.       signal knot duplicatable out output [1];

  7694.       signal knot in input [1];

  7695.     end;

  7696.     icon bg ellipse

  7697.      figures

  7698.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  7699.       ellipse 747.7 331.7 756.3 340.3 color -1;

  7700.      terminals

  7701.       input 752 336 fixed;

  7702.     end;

  7703.     implementation eq

  7704. equations

  7705.     collect (output) = input;

  7706. implementation_end;

  7707.    Velocity_control 480 336

  7708.     description '<Description>

  7709.  <Version>4.0</Version>

  7710.  <IsMainModel>1</IsMainModel>

  7711.  <KeepParameterValues>False</KeepParameterValues>

  7712.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  7713.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  7714. </Description>';

  7715.     type PD

  7716.      ports

  7717.       signal in error;

  7718.       signal out output;

  7719.     end;

  7720.     icon bg bottom

  7721.      figures

  7722.       rectangle 464 320 496 352 color 0 fill 15132390;

  7723.       text 'PD' 480.5 336.1 color 16711680 18 bold;

  7724.     end;

  7725.     implementation eq

  7726. parameters

  7727. 	real kp = 12 {};			// Proportional gain

  7728. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  7729. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  7730. variables

  7731. 	real state, rate;

  7732. equations

  7733. 	rate = (kp * error - output) / (beta * tauD);

  7734. 	state = int (rate);

  7735. 	output = state + kp * error /  beta;

  7736.       implementation_end;

  7737.    Velocity_int 720 336

  7738.     description '<Information>

  7739.  <Description>

  7740.     <Version>4.3</Version>

  7741. <IsMainModel>1</IsMainModel>

  7742.   <KeepParameterValues>False</KeepParameterValues>

  7743.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7744.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7745. </Description>

  7746. </Information>';

  7747.     type Integrate

  7748.      ports

  7749.       signal in input;

  7750.       signal out output;

  7751.     end;

  7752.     icon bg bottom

  7753.      figures

  7754.       rectangle 704 320 736 352 color 0 fill 15132390;

  7755.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  7756.     end;

  7757.     implementation eq

  7758. parameters

  7759. 	real global initial_angle;		// initial value

  7760. equations

  7761. 	output = int (input, initial_angle);

  7762.      implementation_end;

  7763.    Velocity_limit 376 336

  7764.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7765.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7766.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7767. </Description>';

  7768.     type 'SignalLimiter-Limit'

  7769.      ports

  7770.       signal in input;

  7771.       signal out output;

  7772.     end;

  7773.     icon bg bottom

  7774.      figures

  7775.       group

  7776.        rectangle 360 320 392 352 color 0 fill 15132390;

  7777.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  7778.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  7779.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  7780.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  7781.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  7782.       end;

  7783.     end;

  7784.     implementation eq

  7785. parameters

  7786. 	real global max_velocity {rad/s};

  7787. equations

  7788. 	output = limit (input, -max_velocity, max_velocity);

  7789.   implementation_end;

  7790.   end;

  7791.   connections

  7792.    Acceleration_int\output -> Splitter3\input;

  7793.    Acceleration_limit\output -> Acceleration_int\input;

  7794.    PlusMinus1\output -> Position_control\error;

  7795.    PlusMinus2\output -> Velocity_control\error;

  7796.    Position_control\output -> Velocity_limit\input;

  7797.    setpoint -> PlusMinus1\plus;

  7798.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  7799.    Splitter3\output -> Velocity_int\input;

  7800.    Splitter4\output -> output;

  7801.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  7802.    Velocity_control\output -> Acceleration_limit\input;

  7803.    Velocity_int\output -> Splitter4\input;

  7804.    Velocity_limit\output -> PlusMinus2\plus;

  7805.   end;

  7806.  implementation_end;

  7807. specification_end;

  7808. 				specification 'P_only'

  7809.  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

  7810. 	real max_acceleration = 350 {rad/s2};

  7811. 	real max_velocity = 25 {rad/s};

  7812. 	real initial_velocity = 0 {rad/s};

  7813. 	real initial_angle = 0 {rad};</GlobalRelations></Attributes></Information>';

  7814.  type Submodel

  7815.   ports

  7816.    signal in setpoint {rad} ;

  7817.    signal out output {rad} ;

  7818.  end;

  7819.  icon bg

  7820.   figures

  7821.    rectangle 456 752 568 784 color 0 fill 15132390;

  7822.    text 'name' 512 768 color 0 'Clear Sans' 16;

  7823.  end;

  7824.  implementation bg

  7825.   submodels

  7826.    Acceleration_int 648 336

  7827.     description '<Information>

  7828.  <Description>

  7829.     <Version>4.3</Version>

  7830. <IsMainModel>1</IsMainModel>

  7831.   <KeepParameterValues>False</KeepParameterValues>

  7832.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7833.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7834. </Description>

  7835. </Information>';

  7836.     type Integrate

  7837.      ports

  7838.       signal in input;

  7839.       signal out output;

  7840.     end;

  7841.     icon bg bottom

  7842.      figures

  7843.       rectangle 632 320 664 352 color 0 fill 15132390;

  7844.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  7845.     end;

  7846.     implementation eq

  7847. parameters

  7848. 	real global initial_velocity;		// initial value

  7849. equations

  7850. 	output = int (input, initial_velocity);

  7851.      implementation_end;

  7852.    Acceleration_limit 568 336

  7853.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7854.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7855.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7856. </Description>';

  7857.     type 'SignalLimiter-Limit'

  7858.      ports

  7859.       signal in input;

  7860.       signal out output;

  7861.     end;

  7862.     icon bg bottom

  7863.      figures

  7864.       group

  7865.        rectangle 552 320 584 352 color 0 fill 15132390;

  7866.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  7867.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  7868.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  7869.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  7870.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  7871.       end;

  7872.     end;

  7873.     implementation eq

  7874. parameters

  7875. 	real global max_acceleration {rad/s2};

  7876. equations

  7877. 	output = limit (input, -max_acceleration, max_acceleration);

  7878.   implementation_end;

  7879.    plug setpoint 136 336;

  7880.    plug output 791 336;

  7881.    PlusMinus1 240 336

  7882.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7883.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7884.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7885. </Description>';

  7886.     knot PlusMinus

  7887.      ports

  7888.       signal knot duplicatable in plus [1];

  7889.       signal knot duplicatable in minus [1];

  7890.       signal knot out output [1];

  7891.     end;

  7892.     icon bg ellipse

  7893.      figures

  7894.       ellipse 232 328 248 344 color 0 fill 16777215;

  7895.     end;

  7896.     implementation eq

  7897. equations

  7898.     output = sum (collect (plus)) - sum (collect (minus));

  7899.     implementation_end;

  7900.    PlusMinus2 432 336

  7901.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7902.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7903.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7904. </Description>';

  7905.     knot PlusMinus

  7906.      ports

  7907.       signal knot duplicatable in plus [1];

  7908.       signal knot duplicatable in minus [1];

  7909.       signal knot out output [1];

  7910.     end;

  7911.     icon bg ellipse

  7912.      figures

  7913.       ellipse 424 328 440 344 color 0 fill 16777215;

  7914.     end;

  7915.     implementation eq

  7916. equations

  7917.     output = sum (collect (plus)) - sum (collect (minus));

  7918.     implementation_end;

  7919.    Position_control 296 336

  7920.     description '<Description>

  7921.  <Version>4.0</Version>

  7922.  <IsMainModel>1</IsMainModel>

  7923.  <KeepParameterValues>False</KeepParameterValues>

  7924.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  7925.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  7926. </Description>';

  7927.     type P

  7928.      ports

  7929.       signal in error;

  7930.       signal out output;

  7931.     end;

  7932.     icon bg bottom

  7933.      figures

  7934.       rectangle 280 320 312 352 color 0 fill 15132390;

  7935.       text 'P' 296.5 336.1 color 16711680 18 bold;

  7936.     end;

  7937.     implementation eq

  7938. parameters

  7939. 	real kp = 31.0 {};			// Proportional gain

  7940. equations

  7941. 	output = kp * error;

  7942.     implementation_end;

  7943.    Splitter3 688 336

  7944.     description '<Description><Version>4.0</Version>

  7945.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7946.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7947. <IsMainModel>1</IsMainModel>

  7948.  <KeepParameterValues>False</KeepParameterValues>

  7949. </Description>';

  7950.     knot Splitter

  7951.      ports

  7952.       signal knot duplicatable out output [1];

  7953.       signal knot in input [1];

  7954.     end;

  7955.     icon bg ellipse

  7956.      figures

  7957.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  7958.       ellipse 683.7 331.7 692.3 340.3 color -1;

  7959.      terminals

  7960.       input 688 336 fixed;

  7961.     end;

  7962.     implementation eq

  7963. equations

  7964.     collect (output) = input;

  7965. implementation_end;

  7966.    Splitter4 752 336

  7967.     description '<Description><Version>4.0</Version>

  7968.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7969.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7970. <IsMainModel>1</IsMainModel>

  7971.  <KeepParameterValues>False</KeepParameterValues>

  7972. </Description>';

  7973.     knot Splitter

  7974.      ports

  7975.       signal knot duplicatable out output [1];

  7976.       signal knot in input [1];

  7977.     end;

  7978.     icon bg ellipse

  7979.      figures

  7980.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  7981.       ellipse 747.7 331.7 756.3 340.3 color -1;

  7982.      terminals

  7983.       input 752 336 fixed;

  7984.     end;

  7985.     implementation eq

  7986. equations

  7987.     collect (output) = input;

  7988. implementation_end;

  7989.    Velocity_control 480 336

  7990.     description '<Description>

  7991.  <Version>4.0</Version>

  7992.  <IsMainModel>1</IsMainModel>

  7993.  <KeepParameterValues>False</KeepParameterValues>

  7994.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  7995.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  7996. </Description>';

  7997.     type P

  7998.      ports

  7999.       signal in error;

  8000.       signal out output;

  8001.     end;

  8002.     icon bg bottom

  8003.      figures

  8004.       rectangle 464 320 496 352 color 0 fill 15132390;

  8005.       text 'P' 480.5 336.1 color 16711680 18 bold;

  8006.     end;

  8007.     implementation eq

  8008. parameters

  8009. 	real kp = 69.0 {};			// Proportional gain

  8010. equations

  8011. 	output = kp * error;

  8012.     implementation_end;

  8013.    Velocity_int 720 336

  8014.     description '<Information>

  8015.  <Description>

  8016.     <Version>4.3</Version>

  8017. <IsMainModel>1</IsMainModel>

  8018.   <KeepParameterValues>False</KeepParameterValues>

  8019.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  8020.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  8021. </Description>

  8022. </Information>';

  8023.     type Integrate

  8024.      ports

  8025.       signal in input;

  8026.       signal out output;

  8027.     end;

  8028.     icon bg bottom

  8029.      figures

  8030.       rectangle 704 320 736 352 color 0 fill 15132390;

  8031.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  8032.     end;

  8033.     implementation eq

  8034. parameters

  8035. 	real global initial_angle;		// initial value

  8036. equations

  8037. 	output = int (input, initial_angle);

  8038.      implementation_end;

  8039.    Velocity_limit 376 336

  8040.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8041.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  8042.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  8043. </Description>';

  8044.     type 'SignalLimiter-Limit'

  8045.      ports

  8046.       signal in input;

  8047.       signal out output;

  8048.     end;

  8049.     icon bg bottom

  8050.      figures

  8051.       group

  8052.        rectangle 360 320 392 352 color 0 fill 15132390;

  8053.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  8054.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  8055.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  8056.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  8057.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  8058.       end;

  8059.     end;

  8060.     implementation eq

  8061. parameters

  8062. 	real global max_velocity {rad/s};

  8063. equations

  8064. 	output = limit (input, -max_velocity, max_velocity);

  8065.   implementation_end;

  8066.   end;

  8067.   connections

  8068.    Acceleration_int\output -> Splitter3\input;

  8069.    Acceleration_limit\output -> Acceleration_int\input;

  8070.    PlusMinus1\output -> Position_control\error;

  8071.    PlusMinus2\output -> Velocity_control\error;

  8072.    Position_control\output -> Velocity_limit\input;

  8073.    setpoint -> PlusMinus1\plus;

  8074.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  8075.    Splitter3\output -> Velocity_int\input;

  8076.    Splitter4\output -> output;

  8077.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  8078.    Velocity_control\output -> Acceleration_limit\input;

  8079.    Velocity_int\output -> Splitter4\input;

  8080.    Velocity_limit\output -> PlusMinus2\plus;

  8081.   end;

  8082.  implementation_end;

  8083. specification_end;

  8084. 			end;

  8085.    Zero 816 592

  8086.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8087.   <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>

  8088.   <TimeStamp>2007-9-27 15:54:36</TimeStamp>

  8089. </Description>

  8090. ';

  8091.     type Zero

  8092.      ports

  8093.       signal out output;

  8094.     end;

  8095.     icon bg bottom

  8096.      figures

  8097.       rectangle 800.1 576 831.9 608 color 0 fill 15132390;

  8098.       text '0' 816 592 color 16711680 18 bold;

  8099.     end;

  8100.     implementation eq

  8101. equations

  8102. 	output = 0;implementation_end;

  8103.   end;

  8104.   connections

  8105.    Body1\input <- Splitter2\output;

  8106.    Body3\input <- Splitter3\output;

  8107.    COM_body3\p => OneJunction4\p;

  8108.    COM_body4\p => OneJunction6\p;

  8109.    COM_body5\p => Link8\Pin;

  8110.    Ground1\output -> JointC\Hin 632 616;

  8111.    Ground1\p <= OneJunction5\p;

  8112.    inverse_kinematics\angle1 -> stepper_control\setpoint;

  8113.    inverse_kinematics\angle2 -> Negate2\input;

  8114.    inverse_kinematics\input <- rectanglepath\output;

  8115.    Joint_dynB\output => JointB\Pdiff;

  8116.    Joint_dynC\output => JointC\Pdiff;

  8117.    Joint_dynD\output => JointD\Pdiff;

  8118.    Joint_dynE\output => JointE\Pdiff;

  8119.    Joint_dynF\output => JointF\Pdiff;

  8120.    JointA\Pdiff <= Joint_dynA\output;

  8121.    JointA\Pout => Link3\Pin;

  8122.    JointB\Hin <- Splitter4\output;

  8123.    JointB\Hout -> Link6\Hin;

  8124.    JointB\Pin <= Link6\Pout;

  8125.    JointB\Pout => OneJunction3\p;

  8126.    JointC\Hout -> Link5\Hin;

  8127.    JointC\Pin <= Link5\Pout;

  8128.    JointD\Hin <- Link7\Hout 216 616;

  8129.    JointD\Hout -> Link9\Hin;

  8130.    JointD\Pin <= Link9\Pout;

  8131.    JointD\Pout => Link7\Pin 184 648;

  8132.    JointE\Pout => Link4\Pin;

  8133.    JointF\Hout -> Link10\Hin;

  8134.    JointF\Pout => Link11\Pin;

  8135.    Link1\Hout -> Splitter6\input;

  8136.    Link10\Hout -> Splitter9\input;

  8137.    Link10\Pout => JointF\Pin;

  8138.    Link11\Hout -> JointF\Hin;

  8139.    Link11\Pout => OneJunction6\p;

  8140.    Link2\Hin <- JointE\Hout;

  8141.    Link2\Hout -> Splitter11\input;

  8142.    Link2\Pin <= OneJunction3\p;

  8143.    Link2\Pout => JointE\Pin 184 112;

  8144.    Link3\Hout -> Splitter8\input;

  8145.    Link4\Hout -> JointE\Hin;

  8146.    Link5\Hout -> Splitter1\input;

  8147.    Link5\Pin <= OneJunction1\p;

  8148.    Link6\Hout -> Splitter2\input;

  8149.    Link6\Pin <= OneJunction2\p;

  8150.    Link8\Hout -> Splitter10\input;

  8151.    Link8\Pout => Link10\Pin;

  8152.    Link9\Hout -> Splitter3\input;

  8153.    Link9\Pin <= OneJunction4\p;

  8154.    Negate2\output -> stepper_control1\setpoint;

  8155.    OneJunction1\p <= COM_body2\p;

  8156.    OneJunction1\p <= Link7\Pout;

  8157.    OneJunction2\p <= COM_body1\p;

  8158.    OneJunction2\p <= Link3\Pout;

  8159.    OneJunction3\p <= Link1\Pout;

  8160.    OneJunction4\p <= Link4\Pout;

  8161.    OneJunction5\p <= JointC\Pout;

  8162.    OneJunction5\p => JointA\Pin;

  8163.    OneJunction6\p => Link1\Pin;

  8164.    Splitter1\output -> Body2\input;

  8165.    Splitter1\output -> COM_body2\Hin;

  8166.    Splitter1\output -> Link7\Hin;

  8167.    Splitter10\output -> Body6\input;

  8168.    Splitter10\output -> COM_body5\Hin;

  8169.    Splitter11\output -> Body4\input;

  8170.    Splitter11\output -> Splitter4\input;

  8171.    Splitter2\output -> COM_body1\Hin;

  8172.    Splitter2\output -> Link3\Hin;

  8173.    Splitter3\output -> COM_body3\Hin;

  8174.    Splitter3\output -> Link4\Hin;

  8175.    Splitter4\output -> Link1\Hin;

  8176.    Splitter6\output -> COM_body4\Hin;

  8177.    Splitter6\output -> Link11\Hin;

  8178.    Splitter8\output -> JointA\Hin;

  8179.    Splitter9\output -> Body5\input;

  8180.    Splitter9\output -> Link8\Hin;

  8181.    stepper_control\output -> Joint_dynA\angle;

  8182.    stepper_control1\output -> Joint_dynC\angle;

  8183.   end;

  8184.  implementation_end;

  8185. ]]>

  8186. </Sidops>

  8187.  </Model>

  8188.  <Experiments>

  8189.      <DefaultExperiment><![CDATA[Experiment 1]]>

  8190. </DefaultExperiment>

  8191.   <Experiment>

  8192.     <Name>Experiment 1</Name>

  8193.     <CreatedBy></CreatedBy>

  8194.     <Info></Info>

  8195. <ExpData>

  8196.   <VersionNumber>4.8</VersionNumber>

  8197.   <ModelProperties>

  8198.   </ModelProperties>

  8199.   <Variables>

  8200.    <Constants>

  8201.    </Constants>

  8202.    <Parameters>

  8203.    </Parameters>

  8204.    <Initials>

  8205.     <Variable>

  8206.      <Name>COM_body1\InertialTensor\state_initial</Name>

  8207.      <Rows>6</Rows>

  8208.      <Columns>1</Columns>

  8209.      <Value>0 0 0 0 0 0</Value>

  8210.     </Variable>

  8211.     <Variable>

  8212.      <Name>COM_body2\InertialTensor\state_initial</Name>

  8213.      <Rows>6</Rows>

  8214.      <Columns>1</Columns>

  8215.      <Value>0 0 0 0 0 0</Value>

  8216.     </Variable>

  8217.     <Variable>

  8218.      <Name>COM_body3\InertialTensor\state_initial</Name>

  8219.      <Rows>6</Rows>

  8220.      <Columns>1</Columns>

  8221.      <Value>0 0 0 0 0 0</Value>

  8222.     </Variable>

  8223.     <Variable>

  8224.      <Name>COM_body4\InertialTensor\state_initial</Name>

  8225.      <Rows>6</Rows>

  8226.      <Columns>1</Columns>

  8227.      <Value>0 0 0 0 0 0</Value>

  8228.     </Variable>

  8229.     <Variable>

  8230.      <Name>COM_body5\InertialTensor\state_initial</Name>

  8231.      <Rows>6</Rows>

  8232.      <Columns>1</Columns>

  8233.      <Value>0 0 0 0 0 0</Value>

  8234.     </Variable>

  8235.     <Variable>

  8236.      <Name>JointA\Hmatrix\p_initial</Name>

  8237.      <Rows>3</Rows>

  8238.      <Columns>1</Columns>

  8239.      <Value>0 0 0</Value>

  8240.     </Variable>

  8241.     <Variable>

  8242.      <Name>JointB\Hmatrix\p_initial</Name>

  8243.      <Rows>3</Rows>

  8244.      <Columns>1</Columns>

  8245.      <Value>0 0 0</Value>

  8246.     </Variable>

  8247.     <Variable>

  8248.      <Name>JointC\Hmatrix\p_initial</Name>

  8249.      <Rows>3</Rows>

  8250.      <Columns>1</Columns>

  8251.      <Value>0 0 0</Value>

  8252.     </Variable>

  8253.     <Variable>

  8254.      <Name>JointD\Hmatrix\p_initial</Name>

  8255.      <Rows>3</Rows>

  8256.      <Columns>1</Columns>

  8257.      <Value>0 0 0</Value>

  8258.     </Variable>

  8259.     <Variable>

  8260.      <Name>JointE\Hmatrix\p_initial</Name>

  8261.      <Rows>3</Rows>

  8262.      <Columns>1</Columns>

  8263.      <Value>0 0 0</Value>

  8264.     </Variable>

  8265.     <Variable>

  8266.      <Name>JointF\Hmatrix\p_initial</Name>

  8267.      <Rows>3</Rows>

  8268.      <Columns>1</Columns>

  8269.      <Value>0 0 0</Value>

  8270.     </Variable>

  8271.     <Variable>

  8272.      <Name>Joint_dynA\C1\state_initial</Name>

  8273.      <Rows>3</Rows>

  8274.      <Columns>1</Columns>

  8275.      <Value>0 0 0</Value>

  8276.     </Variable>

  8277.     <Variable>

  8278.      <Name>Joint_dynA\C4\state_initial</Name>

  8279.      <Rows>2</Rows>

  8280.      <Columns>1</Columns>

  8281.      <Value>0 0</Value>

  8282.     </Variable>

  8283.     <Variable>

  8284.      <Name>Joint_dynA\C\state_initial</Name>

  8285.      <Value>0</Value>

  8286.     </Variable>

  8287.     <Variable>

  8288.      <Name>Joint_dynA\stepper_model\I1\state_initial</Name>

  8289.      <Value>0</Value>

  8290.     </Variable>

  8291.     <Variable>

  8292.      <Name>Joint_dynA\stepper_model\I2\state_initial</Name>

  8293.      <Value>0</Value>

  8294.     </Variable>

  8295.     <Variable>

  8296.      <Name>Joint_dynA\stepper_model\I\state_initial</Name>

  8297.      <Value>0</Value>

  8298.     </Variable>

  8299.     <Variable>

  8300.      <Name>Joint_dynB\C1\state_initial</Name>

  8301.      <Rows>3</Rows>

  8302.      <Columns>1</Columns>

  8303.      <Value>0 0 0</Value>

  8304.     </Variable>

  8305.     <Variable>

  8306.      <Name>Joint_dynB\C4\state_initial</Name>

  8307.      <Rows>2</Rows>

  8308.      <Columns>1</Columns>

  8309.      <Value>0 0</Value>

  8310.     </Variable>

  8311.     <Variable>

  8312.      <Name>Joint_dynC\C1\state_initial</Name>

  8313.      <Rows>3</Rows>

  8314.      <Columns>1</Columns>

  8315.      <Value>0 0 0</Value>

  8316.     </Variable>

  8317.     <Variable>

  8318.      <Name>Joint_dynC\C4\state_initial</Name>

  8319.      <Rows>2</Rows>

  8320.      <Columns>1</Columns>

  8321.      <Value>0 0</Value>

  8322.     </Variable>

  8323.     <Variable>

  8324.      <Name>Joint_dynC\C\state_initial</Name>

  8325.      <Value>0</Value>

  8326.     </Variable>

  8327.     <Variable>

  8328.      <Name>Joint_dynC\stepper_model\I1\state_initial</Name>

  8329.      <Value>0</Value>

  8330.     </Variable>

  8331.     <Variable>

  8332.      <Name>Joint_dynC\stepper_model\I2\state_initial</Name>

  8333.      <Value>0</Value>

  8334.     </Variable>

  8335.     <Variable>

  8336.      <Name>Joint_dynC\stepper_model\I\state_initial</Name>

  8337.      <Value>0</Value>

  8338.     </Variable>

  8339.     <Variable>

  8340.      <Name>Joint_dynC\stepper_model\RotorAngle\angle_initial</Name>

  8341.      <Unit>rad</Unit>

  8342.      <Value>0</Value>

  8343.     </Variable>

  8344.     <Variable>

  8345.      <Name>Joint_dynD\C1\state_initial</Name>

  8346.      <Rows>3</Rows>

  8347.      <Columns>1</Columns>

  8348.      <Value>0 0 0</Value>

  8349.     </Variable>

  8350.     <Variable>

  8351.      <Name>Joint_dynD\C4\state_initial</Name>

  8352.      <Rows>2</Rows>

  8353.      <Columns>1</Columns>

  8354.      <Value>0 0</Value>

  8355.     </Variable>

  8356.     <Variable>

  8357.      <Name>Joint_dynE\C1\state_initial</Name>

  8358.      <Rows>3</Rows>

  8359.      <Columns>1</Columns>

  8360.      <Value>0 0 0</Value>

  8361.     </Variable>

  8362.     <Variable>

  8363.      <Name>Joint_dynE\C4\state_initial</Name>

  8364.      <Rows>2</Rows>

  8365.      <Columns>1</Columns>

  8366.      <Value>0 0</Value>

  8367.     </Variable>

  8368.     <Variable>

  8369.      <Name>Joint_dynF\C1\state_initial</Name>

  8370.      <Rows>3</Rows>

  8371.      <Columns>1</Columns>

  8372.      <Value>0 0 0</Value>

  8373.     </Variable>

  8374.     <Variable>

  8375.      <Name>Joint_dynF\C4\state_initial</Name>

  8376.      <Rows>2</Rows>

  8377.      <Columns>1</Columns>

  8378.      <Value>0 0</Value>

  8379.     </Variable>

  8380.    </Initials>

  8381.   </Variables>

  8382.   <PlotSpecs>

  8383.    <VarNames>

  8384.     <VarName>time</VarName>

  8385.     <VarName>Body1\position[1]</VarName>

  8386.     <VarName>Body1\position[2]</VarName>

  8387.     <VarName>Body1\position[3]</VarName>

  8388.     <VarName>Body1\R[1,3]</VarName>

  8389.     <VarName>Body1\R[2,3]</VarName>

  8390.     <VarName>Body1\R[3,3]</VarName>

  8391.     <VarName>Body1\R[1,2]</VarName>

  8392.     <VarName>Body1\R[2,2]</VarName>

  8393.     <VarName>Body1\R[3,2]</VarName>

  8394.     <VarName>Body1\dimension[1]</VarName>

  8395.     <VarName>Body1\dimension[2]</VarName>

  8396.     <VarName>Body1\dimension[3]</VarName>

  8397.     <VarName>Body2\dimension[1]</VarName>

  8398.     <VarName>Body2\dimension[2]</VarName>

  8399.     <VarName>Body2\dimension[3]</VarName>

  8400.     <VarName>Body2\position[1]</VarName>

  8401.     <VarName>Body2\position[2]</VarName>

  8402.     <VarName>Body2\position[3]</VarName>

  8403.     <VarName>Body2\R[1,3]</VarName>

  8404.     <VarName>Body2\R[2,3]</VarName>

  8405.     <VarName>Body2\R[3,3]</VarName>

  8406.     <VarName>Body2\R[1,2]</VarName>

  8407.     <VarName>Body2\R[2,2]</VarName>

  8408.     <VarName>Body2\R[3,2]</VarName>

  8409.     <VarName>Body3\dimension[1]</VarName>

  8410.     <VarName>Body3\dimension[2]</VarName>

  8411.     <VarName>Body3\dimension[3]</VarName>

  8412.     <VarName>Body3\position[1]</VarName>

  8413.     <VarName>Body3\position[2]</VarName>

  8414.     <VarName>Body3\position[3]</VarName>

  8415.     <VarName>Body3\R[1,3]</VarName>

  8416.     <VarName>Body3\R[2,3]</VarName>

  8417.     <VarName>Body3\R[3,3]</VarName>

  8418.     <VarName>Body3\R[1,2]</VarName>

  8419.     <VarName>Body3\R[2,2]</VarName>

  8420.     <VarName>Body3\R[3,2]</VarName>

  8421.     <VarName>Body4\dimension[1]</VarName>

  8422.     <VarName>Body4\dimension[2]</VarName>

  8423.     <VarName>Body4\dimension[3]</VarName>

  8424.     <VarName>Body4\R[1,3]</VarName>

  8425.     <VarName>Body4\R[2,3]</VarName>

  8426.     <VarName>Body4\R[3,3]</VarName>

  8427.     <VarName>Body4\R[1,2]</VarName>

  8428.     <VarName>Body4\R[2,2]</VarName>

  8429.     <VarName>Body4\R[3,2]</VarName>

  8430.     <VarName>Body4\position[1]</VarName>

  8431.     <VarName>Body4\position[2]</VarName>

  8432.     <VarName>Body4\position[3]</VarName>

  8433.     <VarName>Body5\dimension[1]</VarName>

  8434.     <VarName>Body5\dimension[2]</VarName>

  8435.     <VarName>Body5\dimension[3]</VarName>

  8436.     <VarName>Body5\position[1]</VarName>

  8437.     <VarName>Body5\position[2]</VarName>

  8438.     <VarName>Body5\position[3]</VarName>

  8439.     <VarName>Body5\R[1,3]</VarName>

  8440.     <VarName>Body5\R[2,3]</VarName>

  8441.     <VarName>Body5\R[3,3]</VarName>

  8442.     <VarName>Body5\R[1,2]</VarName>

  8443.     <VarName>Body5\R[2,2]</VarName>

  8444.     <VarName>Body5\R[3,2]</VarName>

  8445.     <VarName>Joint_dynA\stepper_model\RotorAngle\angle</VarName>

  8446.     <VarName>Joint_dynC\stepper_model\RotorAngle\angle</VarName>

  8447.     <VarName>Body6\position[3]</VarName>

  8448.     <VarName>Body6\position[2]</VarName>

  8449.     <VarName>rectanglepath\output[2]</VarName>

  8450.     <VarName>rectanglepath\output[1]</VarName>

  8451.     <VarName>stepper_control\Acceleration_int\input</VarName>

  8452.     <VarName>stepper_control\Velocity_int\output</VarName>

  8453.     <VarName>stepper_control\Velocity_int\input</VarName>

  8454.     <VarName>stepper_control1\Acceleration_int\input</VarName>

  8455.     <VarName>stepper_control1\Velocity_int\output</VarName>

  8456.     <VarName>stepper_control1\Velocity_int\input</VarName>

  8457.     <VarName>Body6\R[1,3]</VarName>

  8458.     <VarName>Body6\R[2,3]</VarName>

  8459.     <VarName>Body6\R[3,3]</VarName>

  8460.     <VarName>Body6\R[1,2]</VarName>

  8461.     <VarName>Body6\R[2,2]</VarName>

  8462.     <VarName>Body6\R[3,2]</VarName>

  8463.     <VarName>Body6\position[1]</VarName>

  8464.     <VarName>stepper_control\setpoint</VarName>

  8465.     <VarName>Joint_dynA\stepper_model\angle</VarName>

  8466.     <VarName>stepper_control1\setpoint</VarName>

  8467.     <VarName>Joint_dynC\angle</VarName>

  8468.    </VarNames>

  8469.    <Plots>

  8470.     <Plot>

  8471.      <PlotType>GraphPlot</PlotType>

  8472.      <BasePlot>

  8473.        <PlotId>1</PlotId>

  8474.        <UseWindowsBGColor>false</UseWindowsBGColor>

  8475.        <BGColor>16777215</BGColor>

  8476.        <PlotIsVisible>true</PlotIsVisible>

  8477.      </BasePlot>

  8478.      <Grid>

  8479.       <DrawGrid>true</DrawGrid>

  8480.       <GridColor>15780518</GridColor>

  8481.       <GridBorderLineColor>12624260</GridBorderLineColor>

  8482.       <GridZeroLineColor>0</GridZeroLineColor>

  8483.       <XTicks>10</XTicks>

  8484.       <YTicks>10</YTicks>

  8485.       <ZTicks>10</ZTicks>

  8486.       <Use3DLook>false</Use3DLook>

  8487.      </Grid>

  8488.      <PlotBGColor>16777215</PlotBGColor>

  8489.      <ShowPlotTitle>true</ShowPlotTitle>

  8490.      <TitlePosition>1</TitlePosition>

  8491.      <PlotTitle>Stepper Motor A</PlotTitle>

  8492.      <ShowXValues>true</ShowXValues>

  8493.      <Fonts>

  8494.       <TitleFont>

  8495.        <Name>Arial</Name>

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  8497.        <PitchFamily>34</PitchFamily>

  8498.        <Weight>400</Weight>

  8499.        <Italic>0</Italic>

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  8508.        <Weight>400</Weight>

  8509.        <Italic>0</Italic>

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  8537.      <SharedZAxis>false</SharedZAxis>

  8538.      <XAxes>

  8539.       <Axis>

  8540.        <Minimum>0.0</Minimum>

  8541.        <Maximum>3.2420091467026997</Maximum>

  8542.        <Linear>true</Linear>

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  8545.       </Axis>

  8546.      </XAxes>

  8547.      <YAxes>

  8548.       <Axis>

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  8550.        <Maximum>2.6000000000000005</Maximum>

  8551.        <Linear>true</Linear>

  8552.        <Scaling>2</Scaling>

  8553.        <Label>Control Setpoint</Label>

  8554.       </Axis>

  8555.       <Axis>

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  8557.        <Maximum>-0.6</Maximum>

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  8560.        <Label>Control Output</Label>

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  8562.       <Axis>

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  8564.        <Maximum>-0.6</Maximum>

  8565.        <Linear>true</Linear>

  8566.        <Scaling>2</Scaling>

  8567.        <Label>Axle Angle</Label>

  8568.       </Axis>

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  8627.         <VarName>Joint_dynA\stepper_model\RotorAngle\angle</VarName>

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  8645.        <UseWindowsBGColor>false</UseWindowsBGColor>

  8646.        <BGColor>16777215</BGColor>

  8647.        <PlotIsVisible>true</PlotIsVisible>

  8648.      </BasePlot>

  8649.      <PlotTitle>3D Animation</PlotTitle>

  8650.      <RenderQuality>137</RenderQuality>

  8651.      <ShowGrid>true</ShowGrid>

  8652.      <ShowFPS>false</ShowFPS>

  8653.      <BackgroundColor>4294967295</BackgroundColor>

  8654.      <SceneBackgroundImage>Gradients\BlueWhite.png</SceneBackgroundImage>

  8655.      <ApplyTextureBackground>true</ApplyTextureBackground>

  8656.      <FrameScale>1.0</FrameScale>

  8657.      <FrameThickness>1.0</FrameThickness>

  8658.      <MainFrame>

  8659.       <Frame>

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  8669.         </Z>

  8670.        </ScaleValue>

  8671.        <ShowReferenceFrame>true</ShowReferenceFrame>

  8672.        <Name>Reference Frame</Name>

  8673.        <Position>

  8674.        </Position>

  8675.        <Orientation>

  8676.         <Angles>

  8677.         </Angles>

  8678.         <OrientationType>Bryant</OrientationType>

  8679.        </Orientation>

  8680.        <LockX>false</LockX>

  8681.        <LockY>false</LockY>

  8682.        <LockZ>false</LockZ>

  8683.        <LockXPitch>false</LockXPitch>

  8684.        <LockYYaw>false</LockYYaw>

  8685.        <LockZRoll>false</LockZRoll>

  8686.        <Childs>

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  8695.      <Z>

  8696.       <Value>1</Value>

  8697.      </Z>

  8698.          </ScaleValue>

  8699.          <ShowReferenceFrame>false</ShowReferenceFrame>

  8700.          <Name>Default Lights and Cameras</Name>

  8701.          <Position>

  8702.          </Position>

  8703.          <Orientation>

  8704.      <Angles>

  8705.      </Angles>

  8706.      <OrientationType>Bryant</OrientationType>

  8707.          </Orientation>

  8708.          <LockX>false</LockX>

  8709.          <LockY>false</LockY>

  8710.          <LockZ>false</LockZ>

  8711.          <LockXPitch>false</LockXPitch>

  8712.          <LockYYaw>false</LockYYaw>

  8713.          <LockZRoll>false</LockZRoll>

  8714.          <Childs>

  8715.      <Light>

  8716.       <ShowReferenceFrame>false</ShowReferenceFrame>

  8717.       <Name>Ambient</Name>

  8718.       <Position>

  8719.       </Position>

  8720.       <Orientation>

  8721.        <ZAxis>

  8722.         <Z>

  8723.          <Value>1</Value>

  8724.         </Z>

  8725.        </ZAxis>

  8726.        <YAxis>

  8727.         <Y>

  8728.          <Value>1</Value>

  8729.         </Y>

  8730.        </YAxis>

  8731.        <OrientationType>Direct3D</OrientationType>

  8732.       </Orientation>

  8733.       <LockX>false</LockX>

  8734.       <LockY>false</LockY>

  8735.       <LockZ>false</LockZ>

  8736.       <LockXPitch>false</LockXPitch>

  8737.       <LockYYaw>false</LockYYaw>

  8738.       <LockZRoll>false</LockZRoll>

  8739.       <Childs>

  8740.       </Childs>

  8741.       <LightType>0</LightType>

  8742.       <LightColor>

  8743.        <Color>

  8744.         <X>

  8745.          <Value>0.3</Value>

  8746.         </X>

  8747.         <Y>

  8748.          <Value>0.3</Value>

  8749.         </Y>

  8750.         <Z>

  8751.          <Value>0.3</Value>

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  8757.         <X>

  8758.          <Value>1</Value>

  8759.         </X>

  8760.         <Y>

  8761.          <Value>1</Value>

  8762.         </Y>

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  8764.          <Value>1</Value>

  8765.         </Z>

  8766.        </Multipliers>

  8767.        <Direct3DColorRange>true</Direct3DColorRange>

  8768.       </LightColor>

  8769.       <AmbientLight>

  8770.        <Color>

  8771.         <X>

  8772.          <Value>0.3</Value>

  8773.         </X>

  8774.         <Y>

  8775.          <Value>0.3</Value>

  8776.         </Y>

  8777.         <Z>

  8778.          <Value>0.3</Value>

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  8782.        </Offset>

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  8784.         <X>

  8785.          <Value>1</Value>

  8786.         </X>

  8787.         <Y>

  8788.          <Value>1</Value>

  8789.         </Y>

  8790.         <Z>

  8791.          <Value>1</Value>

  8792.         </Z>

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  8794.        <Direct3DColorRange>true</Direct3DColorRange>

  8795.       </AmbientLight>

  8796.       <AmbientOn>true</AmbientOn>

  8797.       <DiffuseOn>false</DiffuseOn>

  8798.       <SpecularOn>false</SpecularOn>

  8799.      </Light>

  8800.      <Light>

  8801.       <ShowReferenceFrame>false</ShowReferenceFrame>

  8802.       <Name>Parallel</Name>

  8803.       <Position>

  8804.        <X>

  8805.         <Value>-3</Value>

  8806.        </X>

  8807.        <Y>

  8808.         <Value>5</Value>

  8809.        </Y>

  8810.        <Z>

  8811.         <Value>3</Value>

  8812.        </Z>

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  8814.       <Orientation>

  8815.        <ZAxis>

  8816.         <X>

  8817.          <Value>0.457495710997814</Value>

  8818.         </X>

  8819.         <Y>

  8820.          <Value>-0.762492851663023</Value>

  8821.         </Y>

  8822.         <Z>

  8823.          <Value>-0.457495710997814</Value>

  8824.         </Z>

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  8826.        <YAxis>

  8827.         <X>

  8828.          <Value>0.235379601434674</Value>

  8829.         </X>

  8830.         <Y>

  8831.          <Value>-0.392299335724456</Value>

  8832.         </Y>

  8833.         <Z>

  8834.          <Value>0.889211827642101</Value>

  8835.         </Z>

  8836.        </YAxis>

  8837.        <OrientationType>Direct3D</OrientationType>

  8838.       </Orientation>

  8839.       <LockX>false</LockX>

  8840.       <LockY>false</LockY>

  8841.       <LockZ>false</LockZ>

  8842.       <LockXPitch>false</LockXPitch>

  8843.       <LockYYaw>false</LockYYaw>

  8844.       <LockZRoll>false</LockZRoll>

  8845.       <Childs>

  8846.       </Childs>

  8847.       <LightType>3</LightType>

  8848.       <LightColor>

  8849.        <Color>

  8850.         <X>

  8851.          <Value>0.5</Value>

  8852.         </X>

  8853.         <Y>

  8854.          <Value>0.5</Value>

  8855.         </Y>

  8856.         <Z>

  8857.          <Value>0.5</Value>

  8858.         </Z>

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  8861.        </Offset>

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  8863.         <X>

  8864.          <Value>1</Value>

  8865.         </X>

  8866.         <Y>

  8867.          <Value>1</Value>

  8868.         </Y>

  8869.         <Z>

  8870.          <Value>1</Value>

  8871.         </Z>

  8872.        </Multipliers>

  8873.        <Direct3DColorRange>true</Direct3DColorRange>

  8874.       </LightColor>

  8875.       <Attenuation>

  8876.        <Constant>

  8877.         <Value>1.0</Value>

  8878.        </Constant>

  8879.        <Linear>

  8880.         <Value>0.0</Value>

  8881.        </Linear>

  8882.        <Quadratic>

  8883.         <Value>0.0</Value>

  8884.        </Quadratic>

  8885.       </Attenuation>

  8886.       <DiffuseLight>

  8887.        <Color>

  8888.         <X>

  8889.          <Value>0.5</Value>

  8890.         </X>

  8891.         <Y>

  8892.          <Value>0.5</Value>

  8893.         </Y>

  8894.         <Z>

  8895.          <Value>0.5</Value>

  8896.         </Z>

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  8900.        <Multipliers>

  8901.         <X>

  8902.          <Value>1</Value>

  8903.         </X>

  8904.         <Y>

  8905.          <Value>1</Value>

  8906.         </Y>

  8907.         <Z>

  8908.          <Value>1</Value>

  8909.         </Z>

  8910.        </Multipliers>

  8911.        <Direct3DColorRange>true</Direct3DColorRange>

  8912.       </DiffuseLight>

  8913.       <SpecularLight>

  8914.        <Color>

  8915.         <X>

  8916.          <Value>0.5</Value>

  8917.         </X>

  8918.         <Y>

  8919.          <Value>0.5</Value>

  8920.         </Y>

  8921.         <Z>

  8922.          <Value>0.5</Value>

  8923.         </Z>

  8924.        </Color>

  8925.        <Offset>

  8926.        </Offset>

  8927.        <Multipliers>

  8928.         <X>

  8929.          <Value>1</Value>

  8930.         </X>

  8931.         <Y>

  8932.          <Value>1</Value>

  8933.         </Y>

  8934.         <Z>

  8935.          <Value>1</Value>

  8936.         </Z>

  8937.        </Multipliers>

  8938.        <Direct3DColorRange>true</Direct3DColorRange>

  8939.       </SpecularLight>

  8940.       <AmbientOn>false</AmbientOn>

  8941.       <DiffuseOn>true</DiffuseOn>

  8942.       <SpecularOn>true</SpecularOn>

  8943.      </Light>

  8944.      <Light>

  8945.       <ShowReferenceFrame>false</ShowReferenceFrame>

  8946.       <Name>Spot Light 1</Name>

  8947.       <Position>

  8948.        <X>

  8949.         <Value>-3</Value>

  8950.        </X>

  8951.        <Y>

  8952.         <Value>-5</Value>

  8953.        </Y>

  8954.        <Z>

  8955.         <Value>1</Value>

  8956.        </Z>

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  8958.       <Orientation>

  8959.        <ZAxis>

  8960.         <X>

  8961.          <Value>0.50709255283711</Value>

  8962.         </X>

  8963.         <Y>

  8964.          <Value>0.845154254728517</Value>

  8965.         </Y>

  8966.         <Z>

  8967.          <Value>-0.169030850945703</Value>

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  8970.        <YAxis>

  8971.         <X>

  8972.          <Value>0.0869656553478673</Value>

  8973.         </X>

  8974.         <Y>

  8975.          <Value>0.144942758913112</Value>

  8976.         </Y>

  8977.         <Z>

  8978.          <Value>0.985610760609162</Value>

  8979.         </Z>

  8980.        </YAxis>

  8981.        <OrientationType>Direct3D</OrientationType>

  8982.       </Orientation>

  8983.       <LockX>false</LockX>

  8984.       <LockY>false</LockY>

  8985.       <LockZ>false</LockZ>

  8986.       <LockXPitch>false</LockXPitch>

  8987.       <LockYYaw>false</LockYYaw>

  8988.       <LockZRoll>false</LockZRoll>

  8989.       <Childs>

  8990.       </Childs>

  8991.       <LightType>2</LightType>

  8992.       <LightColor>

  8993.        <Color>

  8994.         <X>

  8995.          <Value>0.5</Value>

  8996.         </X>

  8997.         <Y>

  8998.          <Value>0.5</Value>

  8999.         </Y>

  9000.         <Z>

  9001.          <Value>0.5</Value>

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  9005.        </Offset>

  9006.        <Multipliers>

  9007.         <X>

  9008.          <Value>1</Value>

  9009.         </X>

  9010.         <Y>

  9011.          <Value>1</Value>

  9012.         </Y>

  9013.         <Z>

  9014.          <Value>1</Value>

  9015.         </Z>

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  9017.        <Direct3DColorRange>true</Direct3DColorRange>

  9018.       </LightColor>

  9019.       <Attenuation>

  9020.        <Constant>

  9021.         <Value>1.0</Value>

  9022.        </Constant>

  9023.        <Linear>

  9024.         <Value>0.05</Value>

  9025.        </Linear>

  9026.        <Quadratic>

  9027.         <Value>0.05</Value>

  9028.        </Quadratic>

  9029.       </Attenuation>

  9030.       <Umbra>

  9031.        <Value>1.0471975511965976</Value>

  9032.       </Umbra>

  9033.       <Penumbra>

  9034.        <Value>1.0471975511965976</Value>

  9035.       </Penumbra>

  9036.       <SpotExponent>0.0</SpotExponent>

  9037.       <DiffuseLight>

  9038.        <Color>

  9039.         <X>

  9040.          <Value>0.5</Value>

  9041.         </X>

  9042.         <Y>

  9043.          <Value>0.5</Value>

  9044.         </Y>

  9045.         <Z>

  9046.          <Value>0.5</Value>

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  9050.        </Offset>

  9051.        <Multipliers>

  9052.         <X>

  9053.          <Value>1</Value>

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  9055.         <Y>

  9056.          <Value>1</Value>

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  9059.          <Value>1</Value>

  9060.         </Z>

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  9062.        <Direct3DColorRange>true</Direct3DColorRange>

  9063.       </DiffuseLight>

  9064.       <SpecularLight>

  9065.        <Color>

  9066.         <X>

  9067.          <Value>0.5</Value>

  9068.         </X>

  9069.         <Y>

  9070.          <Value>0.5</Value>

  9071.         </Y>

  9072.         <Z>

  9073.          <Value>0.5</Value>

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  9077.        </Offset>

  9078.        <Multipliers>

  9079.         <X>

  9080.          <Value>1</Value>

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  9082.         <Y>

  9083.          <Value>1</Value>

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  9086.          <Value>1</Value>

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  9089.        <Direct3DColorRange>true</Direct3DColorRange>

  9090.       </SpecularLight>

  9091.       <AmbientOn>false</AmbientOn>

  9092.       <DiffuseOn>true</DiffuseOn>

  9093.       <SpecularOn>true</SpecularOn>

  9094.      </Light>

  9095.      <Light>

  9096.       <ShowReferenceFrame>false</ShowReferenceFrame>

  9097.       <Name>Spot Light 2</Name>

  9098.       <Position>

  9099.        <X>

  9100.         <Value>2</Value>

  9101.        </X>

  9102.        <Y>

  9103.         <Value>-3</Value>

  9104.        </Y>

  9105.        <Z>

  9106.         <Value>-1</Value>

  9107.        </Z>

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  9109.       <Orientation>

  9110.        <ZAxis>

  9111.         <X>

  9112.          <Value>-0.534522483824849</Value>

  9113.         </X>

  9114.         <Y>

  9115.          <Value>0.801783725737273</Value>

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  9117.         <Z>

  9118.          <Value>0.267261241912424</Value>

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  9121.        <YAxis>

  9122.         <X>

  9123.          <Value>0.14824986333222</Value>

  9124.         </X>

  9125.         <Y>

  9126.          <Value>-0.22237479499833</Value>

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  9128.         <Z>

  9129.          <Value>0.963624111659432</Value>

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  9132.        <OrientationType>Direct3D</OrientationType>

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  9134.       <LockX>false</LockX>

  9135.       <LockY>false</LockY>

  9136.       <LockZ>false</LockZ>

  9137.       <LockXPitch>false</LockXPitch>

  9138.       <LockYYaw>false</LockYYaw>

  9139.       <LockZRoll>false</LockZRoll>

  9140.       <Childs>

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  9142.       <LightType>2</LightType>

  9143.       <LightColor>

  9144.        <Color>

  9145.         <X>

  9146.          <Value>1</Value>

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  9148.         <Y>

  9149.          <Value>1</Value>

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  9152.          <Value>1</Value>

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  9158.         <X>

  9159.          <Value>1</Value>

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  9161.         <Y>

  9162.          <Value>1</Value>

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  9165.          <Value>1</Value>

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  9168.        <Direct3DColorRange>true</Direct3DColorRange>

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  9170.       <Attenuation>

  9171.        <Constant>

  9172.         <Value>1.0</Value>

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  9174.        <Linear>

  9175.         <Value>0.05</Value>

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  9177.        <Quadratic>

  9178.         <Value>0.05</Value>

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  9181.       <Umbra>

  9182.        <Value>1.5707963267948966</Value>

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  9184.       <Penumbra>

  9185.        <Value>1.5707963267948966</Value>

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  9187.       <SpotExponent>0.0</SpotExponent>

  9188.       <DiffuseLight>

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  9190.         <X>

  9191.          <Value>1</Value>

  9192.         </X>

  9193.         <Y>

  9194.          <Value>1</Value>

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  9197.          <Value>1</Value>

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  9203.         <X>

  9204.          <Value>1</Value>

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  9210.          <Value>1</Value>

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  9213.        <Direct3DColorRange>true</Direct3DColorRange>

  9214.       </DiffuseLight>

  9215.       <SpecularLight>

  9216.        <Color>

  9217.         <X>

  9218.          <Value>0.5</Value>

  9219.         </X>

  9220.         <Y>

  9221.          <Value>0.5</Value>

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  9224.          <Value>0.5</Value>

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  9230.         <X>

  9231.          <Value>1</Value>

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  9237.          <Value>1</Value>

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  9240.        <Direct3DColorRange>true</Direct3DColorRange>

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  9242.       <AmbientOn>false</AmbientOn>

  9243.       <DiffuseOn>true</DiffuseOn>

  9244.       <SpecularOn>true</SpecularOn>

  9245.      </Light>

  9246.      <Camera>

  9247.       <ShowReferenceFrame>false</ShowReferenceFrame>

  9248.       <Name>Camera Looking at Origin</Name>

  9249.       <Position>

  9250.        <X>

  9251.         <Value>0.245976429808248</Value>

  9252.        </X>

  9253.        <Y>

  9254.         <Value>-0.0388302746466069</Value>

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  9256.        <Z>

  9257.         <Value>0.0780771451714441</Value>

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  9262.         <X>

  9263.          <Value>-0.976228248439824</Value>

  9264.         </X>

  9265.         <Y>

  9266.          <Value>0.15372928256777</Value>

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  9269.          <Value>-0.152793045094702</Value>

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  9273.         <X>

  9274.          <Value>-0.150933112017381</Value>

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  9276.         <Y>

  9277.          <Value>0.0237678422676611</Value>

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  9280.          <Value>0.988258207843825</Value>

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  9283.        <OrientationType>Direct3D</OrientationType>

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  9285.       <LockX>false</LockX>

  9286.       <LockY>false</LockY>

  9287.       <LockZ>false</LockZ>

  9288.       <LockXPitch>false</LockXPitch>

  9289.       <LockYYaw>false</LockYYaw>

  9290.       <LockZRoll>false</LockZRoll>

  9291.       <Childs>

  9292.       </Childs>

  9293.       <FrontPlane>0.01</FrontPlane>

  9294.       <BackPlane>100.0</BackPlane>

  9295.       <AutoFrontBack>true</AutoFrontBack>

  9296.       <Field>0.003926990816987242</Field>

  9297.       <Fieldy>45.0</Fieldy>

  9298.       <PlaneLeft>-10.0</PlaneLeft>

  9299.       <PlaneRight>10.0</PlaneRight>

  9300.       <PlaneTop>10.0</PlaneTop>

  9301.       <PlaneBottom>-10.0</PlaneBottom>

  9302.       <UseLookatPosition>true</UseLookatPosition>

  9303.       <LookatPosition>

  9304.        <X>

  9305.         <Value>-0.000627364166602552</Value>

  9306.        </X>

  9307.        <Y>

  9308.         <Value>3.08669776184333e-006</Value>

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  9310.        <Z>

  9311.         <Value>0.0394802856014185</Value>

  9312.        </Z>

  9313.       </LookatPosition>

  9314.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  9315.       <LookUpVector>

  9316.        <Z>

  9317.         <Value>1</Value>

  9318.        </Z>

  9319.       </LookUpVector>

  9320.       <RightHand>true</RightHand>

  9321.       <Perspective>true</Perspective>

  9322.       <IsSelectedCamera>true</IsSelectedCamera>

  9323.      </Camera>

  9324.      <Camera>

  9325.       <ShowReferenceFrame>false</ShowReferenceFrame>

  9326.       <Name>Front(XY)-Camera</Name>

  9327.       <Position>

  9328.        <Z>

  9329.         <Value>10</Value>

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  9359.       <PlaneRight>9.999999999999998</PlaneRight>

  9360.       <PlaneTop>9.999999999999998</PlaneTop>

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  9380.         <Value>10</Value>

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  9410.       <PlaneRight>9.999999999999998</PlaneRight>

  9411.       <PlaneTop>9.999999999999998</PlaneTop>

  9412.       <PlaneBottom>-9.999999999999998</PlaneBottom>

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  9461.       <PlaneRight>9.999999999999998</PlaneRight>

  9462.       <PlaneTop>9.999999999999998</PlaneTop>

  9463.       <PlaneBottom>-9.999999999999998</PlaneBottom>

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  9555.         <Value>0.5</Value>

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  9621.       <LockYYaw>false</LockYYaw>

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  9633.         <VariableName>Body2\dimension[1]</VariableName>

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  9674.         <Value>0.5</Value>

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  9871.         <VariableName>Body4\dimension[1]</VariableName>

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