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mahd/implementation/SCARA/07_marker_height/arm_model.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\07_marker_height\arm_model.emx</LibraryPath>

  11.   <TimeStamp>2020-7-27 16:14:10</TimeStamp>

  12. <AllowLibraryUpdate>True</AllowLibraryUpdate>

  13.  </Description>

  14. </Information>';

  15.  type 'Mainmodel-v2'

  16.  end;

  17.  implementation bg

  18.   submodels

  19.    Body1 472 336

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

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

  22. <IsMainModel>1</IsMainModel>

  23.  <KeepParameterValues>False</KeepParameterValues>

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

  25.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  26. </Description>';

  27.     type 'Submodel-Equation'

  28.      ports

  29.       signal in input [4,4];

  30.     end;

  31.     implementation eq

  32. parameters

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

  34. variables

  35. 	real position[3];

  36. 	real rotation[3];

  37. 	real R[3,3];

  38. equations

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

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

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

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

  43.    Body2 360 512

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

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

  46. <IsMainModel>1</IsMainModel>

  47.  <KeepParameterValues>False</KeepParameterValues>

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

  49.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  50. </Description>';

  51.     type 'Submodel-Equation'

  52.      ports

  53.       signal in input [4,4];

  54.     end;

  55.     implementation eq

  56. parameters

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

  58. variables

  59. 	real position[3];

  60. 	real rotation[3];

  61. 	real R[3,3];

  62. equations

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

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

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

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

  67.    Body3 104 312

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

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

  70. <IsMainModel>1</IsMainModel>

  71.  <KeepParameterValues>False</KeepParameterValues>

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

  73.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  74. </Description>';

  75.     type 'Submodel-Equation'

  76.      ports

  77.       signal in input [4,4];

  78.     end;

  79.     implementation eq

  80. parameters

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

  82. variables

  83. 	real position[3];

  84. 	real rotation[3];

  85. 	real R[3,3];

  86. equations

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

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

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

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

  91.    Body4 480 64

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

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

  94. <IsMainModel>1</IsMainModel>

  95.  <KeepParameterValues>False</KeepParameterValues>

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

  97.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  98. </Description>';

  99.     type 'Submodel-Equation'

  100.      ports

  101.       signal in input [4,4];

  102.     end;

  103.     implementation eq

  104. parameters

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

  106. variables

  107. 	real position[3];

  108. 	real rotation[3];

  109. 	real R[3,3];

  110. equations

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

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

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

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

  115.    Body5 992 48

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

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

  118. <IsMainModel>1</IsMainModel>

  119.  <KeepParameterValues>False</KeepParameterValues>

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

  121.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  122. </Description>';

  123.     type 'Submodel-Equation'

  124.      ports

  125.       signal in input [4,4];

  126.     end;

  127.     implementation eq

  128. parameters

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

  130. variables

  131. 	real position[3];

  132. 	real rotation[3];

  133. 	real R[3,3];

  134. equations

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

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

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

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

  139.    Body6 1416 184

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

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

  142. <IsMainModel>1</IsMainModel>

  143.  <KeepParameterValues>False</KeepParameterValues>

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

  145.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  146. </Description>';

  147.     type 'Submodel-Equation'

  148.      ports

  149.       signal in input [4,4];

  150.     end;

  151.     implementation eq

  152. parameters

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

  154. variables

  155. 	real position[3];

  156. 	real rotation[3];

  157. 	real R[3,3];

  158. equations

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

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

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

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

  163.    COM_body1 624 352

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

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

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

  167.     type Submodel

  168.      ports

  169.       signal in Hin [4,4];

  170.       signal out Hout [4,4];

  171.       power out p [6,1];

  172.     end;

  173.     icon bg bottom

  174.      figures

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

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

  177.      terminals

  178.       Hin 608 336 fixed;

  179.       p 608 368 fixed;

  180.     end;

  181.     implementation bg

  182.      submodels

  183.       AdHi0 544 400

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

  185.        type MTF

  186.         ports

  187.          power in p1 [6,1];

  188.          power out p2 [6,1];

  189.          signal in H [4,4];

  190.         restrictions

  191.          causality constraint not_equal p1 p2;

  192.        end;

  193.        icon bg left

  194.         figures

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

  196.        end;

  197.        implementation eq

  198. variables

  199.  	real onlyRotH[4,4];

  200. code

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

  202. 	onlyRotH = H;

  203. 	onlyRotH[1,4] = 0;

  204. 	onlyRotH[2,4] = 0;

  205. 	onlyRotH[3,4] = 0;

  206. 						

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

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

  209. implementation_end;

  210.       EJS 616 336

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

  212.        type MGY

  213.         ports

  214.          power in p1 [6,1];

  215.        end;

  216.        icon bg top

  217.         figures

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

  219.        end;

  220.        implementation eq

  221. //EJS / Gyroscopic effects

  222. parameters

  223. 	real global I[3];

  224. 	real global m;

  225. variables

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

  227. 	real Q[6,6];

  228. 	real QI[6,6];

  229. 	real Ia[6];

  230. initialequations

  231. 	Ia[1:3] = I;

  232. 	Ia[4:6] = m;

  233. 	II = diag(Ia);

  234. equations

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

  236. 	QI = Q*II;

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

  238.       Gravity 624 400

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

  240.        type Se

  241.         ports

  242.          power out p [6,1];

  243.         restrictions

  244.          causality fixed out p;

  245.        end;

  246.        icon bg bottom

  247.         figures

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

  249.        end;

  250.        implementation eq

  251. parameters

  252. 	real global m;

  253. variables

  254. 	real effort[6];

  255. equations

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

  257. 	p.e = effort;

  258. implementation_end;

  259.       InertialTensor 544 272

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

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

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

  263. </Description>';

  264.        type 'I-3'

  265.         ports

  266.          power in p [6,1];

  267.          signal out state [6,1];

  268.         restrictions

  269.          causality preferred in p;

  270.        end;

  271.        icon bg bottom

  272.         figures

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

  274.        end;

  275.        implementation eq

  276. parameters

  277. 	real global I[3];

  278. 	real global m;

  279. variables

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

  281. 	real Ia[6];

  282. initialequations

  283. 	Ia[1:3] = I;

  284. 	Ia[4:6] = m;

  285. 	II = diag(Ia);

  286. equations

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

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

  289. implementation_end;

  290.       plug Hin 433.4 496;

  291.       plug Hout 691.2 496;

  292.       plug p 439.4 336;

  293.       Splitter1 544 496

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

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

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

  297. <IsMainModel>1</IsMainModel>

  298.  <KeepParameterValues>False</KeepParameterValues>

  299. </Description>';

  300.        knot Splitter

  301.         ports

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

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

  304.        end;

  305.        icon bg ellipse

  306.         figures

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

  308.          ellipse 539.7 491.7 548.3 500.3 color -1;

  309.         terminals

  310.          input 544 496 fixed;

  311.        end;

  312.        implementation eq

  313. equations

  314.     collect (output) = input;

  315. implementation_end;

  316.       Ta0j 544 336

  317.        description '<Description>

  318.  <Version>4.0</Version>

  319.  <IsMainModel>1</IsMainModel>

  320.  <KeepParameterValues>False</KeepParameterValues>

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

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

  323.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  324.    <Description></Description>

  325. </Description>';

  326.        knot OneJunction

  327.         ports

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

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

  330.         restrictions

  331.          causality constraint one_out p;

  332.        end;

  333.        icon bg bottom

  334.         figures

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

  336.        end;

  337.        implementation eq

  338. equations

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

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

  341. 	flow = first (p.f);

  342. implementation_end;

  343.       ZeroJunction1 504 336

  344.        description '<Information>

  345.  <Description>

  346.     <Version>4.2</Version>

  347. <IsMainModel>1</IsMainModel>

  348.   <KeepParameterValues>False</KeepParameterValues>

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

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

  351. </Description>

  352. </Information>';

  353.        knot ZeroJunction

  354.         ports

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

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

  357.         restrictions

  358.          causality constraint one_in p;

  359.        end;

  360.        icon bg

  361.         figures

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

  363.        end;

  364.        implementation eq

  365. equations

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

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

  368. 	effort = first (p.e);

  369. implementation_end;

  370.      end;

  371.      connections

  372.       AdHi0\p2 => Ta0j\p;

  373.       Gravity\p => AdHi0\p1;

  374.       Hin -> Splitter1\input;

  375.       Splitter1\output -> AdHi0\H;

  376.       Splitter1\output -> Hout;

  377.       Ta0j\p => EJS\p1;

  378.       Ta0j\p => InertialTensor\p;

  379.       ZeroJunction1\p => p;

  380.       ZeroJunction1\p => Ta0j\p;

  381.      end;

  382.     implementation_end;

  383.    COM_body2 344 672

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

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

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

  387. variables

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

  389. 	real m {kg}; 

  390. initialequations

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

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

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

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

  395.     type Submodel

  396.      ports

  397.       signal in Hin [4,4];

  398.       signal out Hout [4,4];

  399.       power out p [6,1];

  400.     end;

  401.     icon bg bottom

  402.      figures

  403.       rectangle 312 656 376 688 color 0 fill 139;

  404.       text 'COM' 344 672 color 0 'Clear Sans' 16;

  405.      terminals

  406.       Hin 360 656 fixed;

  407.       p 328 656 fixed;

  408.     end;

  409.     implementation bg

  410.      submodels

  411.       AdHi0 544 400

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

  413.        type MTF

  414.         ports

  415.          power in p1 [6,1];

  416.          power out p2 [6,1];

  417.          signal in H [4,4];

  418.         restrictions

  419.          causality constraint not_equal p1 p2;

  420.        end;

  421.        icon bg left

  422.         figures

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

  424.        end;

  425.        implementation eq

  426. variables

  427.  	real onlyRotH[4,4];

  428. code

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

  430. 	onlyRotH = H;

  431. 	onlyRotH[1,4] = 0;

  432. 	onlyRotH[2,4] = 0;

  433. 	onlyRotH[3,4] = 0;

  434. 						

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

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

  437. implementation_end;

  438.       EJS 624 336

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

  440.        type MGY

  441.         ports

  442.          power in p1 [6,1];

  443.        end;

  444.        icon bg top

  445.         figures

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

  447.        end;

  448.        implementation eq

  449. //EJS / Gyroscopic effects

  450. variables

  451. 	real global I[3];

  452. 	real global m;

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

  454. 	real Q[6,6];

  455. 	real QI[6,6];

  456. 	real Ia[6];

  457. initialequations

  458. 	Ia[1:3] = I;

  459. 	Ia[4:6] = m;

  460. 	II = diag(Ia);

  461. equations

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

  463. 	QI = Q*II;

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

  465.       Gravity 624 400

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

  467.        type Se

  468.         ports

  469.          power out p [6,1];

  470.         restrictions

  471.          causality fixed out p;

  472.        end;

  473.        icon bg bottom

  474.         figures

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

  476.        end;

  477.        implementation eq

  478. variables

  479. 	real global m;

  480. 	real effort[6];

  481. equations

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

  483. 	p.e = effort;

  484. implementation_end;

  485.       InertialTensor 544 256

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

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

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

  489. </Description>';

  490.        type 'I-3'

  491.         ports

  492.          power in p [6,1];

  493.          signal out state [6,1];

  494.         restrictions

  495.          causality preferred in p;

  496.        end;

  497.        icon bg bottom

  498.         figures

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

  500.        end;

  501.        implementation eq

  502. variables

  503. 	real global I[3];

  504. 	real global m;

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

  506. 	real Ia[6];

  507. initialequations

  508. 	Ia[1:3] = I;

  509. 	Ia[4:6] = m;

  510. 	II = diag(Ia);

  511. equations

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

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

  514. implementation_end;

  515.       plug Hin 433.4 496;

  516.       plug Hout 691.2 496;

  517.       plug p 439.4 336;

  518.       Splitter1 544 496

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

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

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

  522. <IsMainModel>1</IsMainModel>

  523.  <KeepParameterValues>False</KeepParameterValues>

  524. </Description>';

  525.        knot Splitter

  526.         ports

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

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

  529.        end;

  530.        icon bg ellipse

  531.         figures

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

  533.          ellipse 539.7 491.7 548.3 500.3 color -1;

  534.         terminals

  535.          input 544 496 fixed;

  536.        end;

  537.        implementation eq

  538. equations

  539.     collect (output) = input;

  540. implementation_end;

  541.       Ta0j 544 336

  542.        description '<Description>

  543.  <Version>4.0</Version>

  544.  <IsMainModel>1</IsMainModel>

  545.  <KeepParameterValues>False</KeepParameterValues>

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

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

  548.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  549.    <Description></Description>

  550. </Description>';

  551.        knot OneJunction

  552.         ports

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

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

  555.         restrictions

  556.          causality constraint one_out p;

  557.        end;

  558.        icon bg bottom

  559.         figures

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

  561.        end;

  562.        implementation eq

  563. equations

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

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

  566. 	flow = first (p.f);

  567. implementation_end;

  568.       ZeroJunction1 504 336

  569.        description '<Information>

  570.  <Description>

  571.     <Version>4.2</Version>

  572. <IsMainModel>1</IsMainModel>

  573.   <KeepParameterValues>False</KeepParameterValues>

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

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

  576. </Description>

  577. </Information>';

  578.        knot ZeroJunction

  579.         ports

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

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

  582.         restrictions

  583.          causality constraint one_in p;

  584.        end;

  585.        icon bg

  586.         figures

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

  588.        end;

  589.        implementation eq

  590. equations

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

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

  593. 	effort = first (p.e);

  594. implementation_end;

  595.      end;

  596.      connections

  597.       AdHi0\p2 => Ta0j\p;

  598.       Gravity\p => AdHi0\p1;

  599.       Hin -> Splitter1\input;

  600.       Splitter1\output -> AdHi0\H;

  601.       Splitter1\output -> Hout;

  602.       Ta0j\p => EJS\p1;

  603.       Ta0j\p => InertialTensor\p;

  604.       ZeroJunction1\p => p;

  605.       ZeroJunction1\p => Ta0j\p;

  606.      end;

  607.     implementation_end;

  608.    COM_body3 272 328

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

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

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

  612.     type Submodel

  613.      ports

  614.       signal in Hin [4,4];

  615.       signal out Hout [4,4];

  616.       power out p [6,1];

  617.     end;

  618.     icon bg bottom

  619.      figures

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

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

  622.      terminals

  623.       Hin 256 312 fixed;

  624.       p 256 344 fixed;

  625.     end;

  626.     implementation bg

  627.      submodels

  628.       AdHi0 544 400

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

  630.        type MTF

  631.         ports

  632.          power in p1 [6,1];

  633.          power out p2 [6,1];

  634.          signal in H [4,4];

  635.         restrictions

  636.          causality constraint not_equal p1 p2;

  637.        end;

  638.        icon bg left

  639.         figures

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

  641.        end;

  642.        implementation eq

  643. variables

  644.  	real onlyRotH[4,4];

  645. code

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

  647. 	onlyRotH = H;

  648. 	onlyRotH[1,4] = 0;

  649. 	onlyRotH[2,4] = 0;

  650. 	onlyRotH[3,4] = 0;

  651. 						

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

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

  654. implementation_end;

  655.       EJS 616 336

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

  657.        type MGY

  658.         ports

  659.          power in p1 [6,1];

  660.        end;

  661.        icon bg top

  662.         figures

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

  664.        end;

  665.        implementation eq

  666. //EJS / Gyroscopic effects

  667. parameters

  668. 	real global I[3];

  669. 	real global m;

  670. variables

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

  672. 	real Q[6,6];

  673. 	real QI[6,6];

  674. 	real Ia[6];

  675. initialequations

  676. 	Ia[1:3] = I;

  677. 	Ia[4:6] = m;

  678. 	II = diag(Ia);

  679. equations

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

  681. 	QI = Q*II;

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

  683.       Gravity 624 400

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

  685.        type Se

  686.         ports

  687.          power out p [6,1];

  688.         restrictions

  689.          causality fixed out p;

  690.        end;

  691.        icon bg bottom

  692.         figures

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

  694.        end;

  695.        implementation eq

  696. parameters

  697. 	real global m;

  698. variables

  699. 	real effort[6];

  700. equations

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

  702. 	p.e = effort;

  703. implementation_end;

  704.       InertialTensor 544 272

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

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

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

  708. </Description>';

  709.        type 'I-3'

  710.         ports

  711.          power in p [6,1];

  712.          signal out state [6,1];

  713.         restrictions

  714.          causality preferred in p;

  715.        end;

  716.        icon bg bottom

  717.         figures

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

  719.        end;

  720.        implementation eq

  721. parameters

  722. 	real global I[3];

  723. 	real global m;

  724. variables

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

  726. 	real Ia[6];

  727. initialequations

  728. 	Ia[1:3] = I;

  729. 	Ia[4:6] = m;

  730. 	II = diag(Ia);

  731. equations

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

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

  734. implementation_end;

  735.       plug Hin 433.4 496;

  736.       plug Hout 691.2 496;

  737.       plug p 439.4 336;

  738.       Splitter1 544 496

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

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

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

  742. <IsMainModel>1</IsMainModel>

  743.  <KeepParameterValues>False</KeepParameterValues>

  744. </Description>';

  745.        knot Splitter

  746.         ports

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

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

  749.        end;

  750.        icon bg ellipse

  751.         figures

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

  753.          ellipse 539.7 491.7 548.3 500.3 color -1;

  754.         terminals

  755.          input 544 496 fixed;

  756.        end;

  757.        implementation eq

  758. equations

  759.     collect (output) = input;

  760. implementation_end;

  761.       Ta0j 544 336

  762.        description '<Description>

  763.  <Version>4.0</Version>

  764.  <IsMainModel>1</IsMainModel>

  765.  <KeepParameterValues>False</KeepParameterValues>

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

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

  768.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  769.    <Description></Description>

  770. </Description>';

  771.        knot OneJunction

  772.         ports

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

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

  775.         restrictions

  776.          causality constraint one_out p;

  777.        end;

  778.        icon bg bottom

  779.         figures

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

  781.        end;

  782.        implementation eq

  783. equations

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

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

  786. 	flow = first (p.f);

  787. implementation_end;

  788.       ZeroJunction1 504 336

  789.        description '<Information>

  790.  <Description>

  791.     <Version>4.2</Version>

  792. <IsMainModel>1</IsMainModel>

  793.   <KeepParameterValues>False</KeepParameterValues>

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

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

  796. </Description>

  797. </Information>';

  798.        knot ZeroJunction

  799.         ports

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

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

  802.         restrictions

  803.          causality constraint one_in p;

  804.        end;

  805.        icon bg

  806.         figures

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

  808.        end;

  809.        implementation eq

  810. equations

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

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

  813. 	effort = first (p.e);

  814. implementation_end;

  815.      end;

  816.      connections

  817.       AdHi0\p2 => Ta0j\p;

  818.       Gravity\p => AdHi0\p1;

  819.       Hin -> Splitter1\input;

  820.       Splitter1\output -> AdHi0\H;

  821.       Splitter1\output -> Hout;

  822.       Ta0j\p => EJS\p1;

  823.       Ta0j\p => InertialTensor\p;

  824.       ZeroJunction1\p => p;

  825.       ZeroJunction1\p => Ta0j\p;

  826.      end;

  827.     implementation_end;

  828.    COM_body4 712 48

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

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

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

  832. 	real servoweight = 5 {g};

  833. variables

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

  835. 	real m {kg};

  836. 	real mass;

  837. initialequations

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

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

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

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

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

  843.     type Submodel

  844.      ports

  845.       signal in Hin [4,4];

  846.       signal out Hout [4,4];

  847.       power out p [6,1];

  848.     end;

  849.     icon bg bottom

  850.      figures

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

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

  853.      terminals

  854.       Hin 728 64 fixed;

  855.       p 696 64 fixed;

  856.     end;

  857.     implementation bg

  858.      submodels

  859.       AdHi0 544 400

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

  861.        type MTF

  862.         ports

  863.          power in p1 [6,1];

  864.          power out p2 [6,1];

  865.          signal in H [4,4];

  866.         restrictions

  867.          causality constraint not_equal p1 p2;

  868.        end;

  869.        icon bg left

  870.         figures

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

  872.        end;

  873.        implementation eq

  874. variables

  875.  	real onlyRotH[4,4];

  876. code

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

  878. 	onlyRotH = H;

  879. 	onlyRotH[1,4] = 0;

  880. 	onlyRotH[2,4] = 0;

  881. 	onlyRotH[3,4] = 0;

  882. 						

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

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

  885. implementation_end;

  886.       EJS 624 336

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

  888.        type MGY

  889.         ports

  890.          power in p1 [6,1];

  891.        end;

  892.        icon bg top

  893.         figures

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

  895.        end;

  896.        implementation eq

  897. //EJS / Gyroscopic effects

  898. variables

  899. 	real global I[3];

  900. 	real global m;

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

  902. 	real Q[6,6];

  903. 	real QI[6,6];

  904. 	real Ia[6];

  905. initialequations

  906. 	Ia[1:3] = I;

  907. 	Ia[4:6] = m;

  908. 	II = diag(Ia);

  909. equations

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

  911. 	QI = Q*II;

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

  913.       Gravity 624 400

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

  915.        type Se

  916.         ports

  917.          power out p [6,1];

  918.         restrictions

  919.          causality fixed out p;

  920.        end;

  921.        icon bg bottom

  922.         figures

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

  924.        end;

  925.        implementation eq

  926. variables

  927. 	real global m;

  928. 	real effort[6];

  929. equations

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

  931. 	p.e = effort;

  932. implementation_end;

  933.       InertialTensor 544 256

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

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

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

  937. </Description>';

  938.        type 'I-3'

  939.         ports

  940.          power in p [6,1];

  941.          signal out state [6,1];

  942.         restrictions

  943.          causality preferred in p;

  944.        end;

  945.        icon bg bottom

  946.         figures

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

  948.        end;

  949.        implementation eq

  950. variables

  951. 	real global I[3];

  952. 	real global m;

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

  954. 	real Ia[6];

  955. initialequations

  956. 	Ia[1:3] = I;

  957. 	Ia[4:6] = m;

  958. 	II = diag(Ia);

  959. equations

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

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

  962. implementation_end;

  963.       plug Hin 433.4 496;

  964.       plug Hout 691.2 496;

  965.       plug p 439.4 336;

  966.       Splitter1 544 496

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

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

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

  970. <IsMainModel>1</IsMainModel>

  971.  <KeepParameterValues>False</KeepParameterValues>

  972. </Description>';

  973.        knot Splitter

  974.         ports

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

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

  977.        end;

  978.        icon bg ellipse

  979.         figures

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

  981.          ellipse 539.7 491.7 548.3 500.3 color -1;

  982.         terminals

  983.          input 544 496 fixed;

  984.        end;

  985.        implementation eq

  986. equations

  987.     collect (output) = input;

  988. implementation_end;

  989.       Ta0j 544 336

  990.        description '<Description>

  991.  <Version>4.0</Version>

  992.  <IsMainModel>1</IsMainModel>

  993.  <KeepParameterValues>False</KeepParameterValues>

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

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

  996.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  997.    <Description></Description>

  998. </Description>';

  999.        knot OneJunction

  1000.         ports

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

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

  1003.         restrictions

  1004.          causality constraint one_out p;

  1005.        end;

  1006.        icon bg bottom

  1007.         figures

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

  1009.        end;

  1010.        implementation eq

  1011. equations

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

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

  1014. 	flow = first (p.f);

  1015. implementation_end;

  1016.       ZeroJunction1 504 336

  1017.        description '<Information>

  1018.  <Description>

  1019.     <Version>4.2</Version>

  1020. <IsMainModel>1</IsMainModel>

  1021.   <KeepParameterValues>False</KeepParameterValues>

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

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

  1024. </Description>

  1025. </Information>';

  1026.        knot ZeroJunction

  1027.         ports

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

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

  1030.         restrictions

  1031.          causality constraint one_in p;

  1032.        end;

  1033.        icon bg

  1034.         figures

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

  1036.        end;

  1037.        implementation eq

  1038. equations

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

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

  1041. 	effort = first (p.e);

  1042. implementation_end;

  1043.      end;

  1044.      connections

  1045.       AdHi0\p2 => Ta0j\p;

  1046.       Gravity\p => AdHi0\p1;

  1047.       Hin -> Splitter1\input;

  1048.       Splitter1\output -> AdHi0\H;

  1049.       Splitter1\output -> Hout;

  1050.       Ta0j\p => EJS\p1;

  1051.       Ta0j\p => InertialTensor\p;

  1052.       ZeroJunction1\p => p;

  1053.       ZeroJunction1\p => Ta0j\p;

  1054.      end;

  1055.     implementation_end;

  1056.    COM_body5 1472 128

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

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

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

  1060.     type Submodel

  1061.      ports

  1062.       signal in Hin [4,4];

  1063.       signal out Hout [4,4];

  1064.       power out p [6,1];

  1065.     end;

  1066.     icon bg bottom

  1067.      figures

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

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

  1070.      terminals

  1071.       Hin 1456 144 fixed;

  1072.       p 1456 112 fixed;

  1073.     end;

  1074.     implementation bg

  1075.      submodels

  1076.       AdHi0 544 400

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

  1078.        type MTF

  1079.         ports

  1080.          power in p1 [6,1];

  1081.          power out p2 [6,1];

  1082.          signal in H [4,4];

  1083.         restrictions

  1084.          causality constraint not_equal p1 p2;

  1085.        end;

  1086.        icon bg left

  1087.         figures

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

  1089.        end;

  1090.        implementation eq

  1091. variables

  1092.  	real onlyRotH[4,4];

  1093. code

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

  1095. 	onlyRotH = H;

  1096. 	onlyRotH[1,4] = 0;

  1097. 	onlyRotH[2,4] = 0;

  1098. 	onlyRotH[3,4] = 0;

  1099. 						

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

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

  1102. implementation_end;

  1103.       EJS 616 336

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

  1105.        type MGY

  1106.         ports

  1107.          power in p1 [6,1];

  1108.        end;

  1109.        icon bg top

  1110.         figures

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

  1112.        end;

  1113.        implementation eq

  1114. //EJS / Gyroscopic effects

  1115. parameters

  1116. 	real global I[3];

  1117. 	real global m;

  1118. variables

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

  1120. 	real Q[6,6];

  1121. 	real QI[6,6];

  1122. 	real Ia[6];

  1123. initialequations

  1124. 	Ia[1:3] = I;

  1125. 	Ia[4:6] = m;

  1126. 	II = diag(Ia);

  1127. equations

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

  1129. 	QI = Q*II;

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

  1131.       Gravity 624 400

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

  1133.        type Se

  1134.         ports

  1135.          power out p [6,1];

  1136.         restrictions

  1137.          causality fixed out p;

  1138.        end;

  1139.        icon bg bottom

  1140.         figures

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

  1142.        end;

  1143.        implementation eq

  1144. parameters

  1145. 	real global m;

  1146. variables

  1147. 	real effort[6];

  1148. equations

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

  1150. 	p.e = effort;

  1151. implementation_end;

  1152.       InertialTensor 544 272

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

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

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

  1156. </Description>';

  1157.        type 'I-3'

  1158.         ports

  1159.          power in p [6,1];

  1160.          signal out state [6,1];

  1161.         restrictions

  1162.          causality preferred in p;

  1163.        end;

  1164.        icon bg bottom

  1165.         figures

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

  1167.        end;

  1168.        implementation eq

  1169. parameters

  1170. 	real global I[3];

  1171. 	real global m;

  1172. variables

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

  1174. 	real Ia[6];

  1175. initialequations

  1176. 	Ia[1:3] = I;

  1177. 	Ia[4:6] = m;

  1178. 	II = diag(Ia);

  1179. equations

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

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

  1182. implementation_end;

  1183.       plug Hin 433.4 496;

  1184.       plug Hout 691.2 496;

  1185.       plug p 439.4 336;

  1186.       Splitter1 544 496

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

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

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

  1190. <IsMainModel>1</IsMainModel>

  1191.  <KeepParameterValues>False</KeepParameterValues>

  1192. </Description>';

  1193.        knot Splitter

  1194.         ports

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

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

  1197.        end;

  1198.        icon bg ellipse

  1199.         figures

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

  1201.          ellipse 539.7 491.7 548.3 500.3 color -1;

  1202.         terminals

  1203.          input 544 496 fixed;

  1204.        end;

  1205.        implementation eq

  1206. equations

  1207.     collect (output) = input;

  1208. implementation_end;

  1209.       Ta0j 544 336

  1210.        description '<Description>

  1211.  <Version>4.0</Version>

  1212.  <IsMainModel>1</IsMainModel>

  1213.  <KeepParameterValues>False</KeepParameterValues>

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

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

  1216.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1217.    <Description></Description>

  1218. </Description>';

  1219.        knot OneJunction

  1220.         ports

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

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

  1223.         restrictions

  1224.          causality constraint one_out p;

  1225.        end;

  1226.        icon bg bottom

  1227.         figures

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

  1229.        end;

  1230.        implementation eq

  1231. equations

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

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

  1234. 	flow = first (p.f);

  1235. implementation_end;

  1236.       ZeroJunction1 504 336

  1237.        description '<Information>

  1238.  <Description>

  1239.     <Version>4.2</Version>

  1240. <IsMainModel>1</IsMainModel>

  1241.   <KeepParameterValues>False</KeepParameterValues>

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

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

  1244. </Description>

  1245. </Information>';

  1246.        knot ZeroJunction

  1247.         ports

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

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

  1250.         restrictions

  1251.          causality constraint one_in p;

  1252.        end;

  1253.        icon bg

  1254.         figures

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

  1256.        end;

  1257.        implementation eq

  1258. equations

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

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

  1261. 	effort = first (p.e);

  1262. implementation_end;

  1263.      end;

  1264.      connections

  1265.       AdHi0\p2 => Ta0j\p;

  1266.       Gravity\p => AdHi0\p1;

  1267.       Hin -> Splitter1\input;

  1268.       Splitter1\output -> AdHi0\H;

  1269.       Splitter1\output -> Hout;

  1270.       Ta0j\p => EJS\p1;

  1271.       Ta0j\p => InertialTensor\p;

  1272.       ZeroJunction1\p => p;

  1273.       ZeroJunction1\p => Ta0j\p;

  1274.      end;

  1275.     implementation_end;

  1276.    Ground1 564 647.5

  1277.     description '<Information>

  1278.  <Description>

  1279.     <Version>4.8</Version>

  1280. <IsMainModel>1</IsMainModel>

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

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

  1283. </Description>

  1284. </Information>';

  1285.     type Submodel

  1286.      ports

  1287.       power in p [6,1];

  1288.       signal out output [4,4];

  1289.     end;

  1290.     icon bg bottom

  1291.      figures

  1292.       line 528 640 544 656 color 0 fill 15132390;

  1293.       line 536 640 552 656 color 0 fill 15132390;

  1294.       line 520 640 536 656 color 0 fill 15132390;

  1295.       line 560 656 544 640 color 0 fill 15132390;

  1296.       line 568 656 552 640 color 0 fill 15132390;

  1297.       line 576 656 560 640 color 0 fill 15132390;

  1298.       line 592 656 576 640 color 0 fill 15132390;

  1299.       line 584 656 568 640 color 0 fill 15132390;

  1300.       line 600 656 584 640 color 0 fill 15132390;

  1301.       line 608 656 592 640 color 0 fill 15132390;

  1302.       line 520 640 608 640 color 0 fill 15132390 width 2;

  1303.       line 600 640 608 648 color 0 fill 15132390;

  1304.       line 520 648 528 656 color 0 fill 15132390;

  1305.      terminals

  1306.       p 544 640 fixed;

  1307.       output 576 640 fixed;

  1308.     end;

  1309.     implementation bg

  1310.      submodels

  1311.       plug p 240 88;

  1312.       plug output 240 120;

  1313.       OneJunction2 192 88

  1314.        description '<Information>

  1315.  <Description>

  1316.     <Version>4.2</Version>

  1317. <IsMainModel>1</IsMainModel>

  1318.   <KeepParameterValues>False</KeepParameterValues>

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

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

  1321. </Description>

  1322. </Information>';

  1323.        knot OneJunction

  1324.         ports

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

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

  1327.         restrictions

  1328.          causality constraint one_out p;

  1329.        end;

  1330.        icon bg

  1331.         figures

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

  1333.        end;

  1334.        implementation eq

  1335. equations

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

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

  1338. 	flow = first (p.f);

  1339. implementation_end;

  1340.       Sf2 136 88

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

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

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

  1344. </Description>';

  1345.        type 'Sf-2'

  1346.         ports

  1347.          power out p [6,1];

  1348.         restrictions

  1349.          causality fixed in p;

  1350.        end;

  1351.        icon bg bottom

  1352.         figures

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

  1354.        end;

  1355.        implementation eq

  1356. parameters

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

  1358. variables

  1359. 	real effort [6];

  1360. equations

  1361. 	p.f = flow;

  1362. 	effort = p.e;

  1363. implementation_end;

  1364.       Zero 144 120

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

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

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

  1368. </Description>

  1369. ';

  1370.        type Zero

  1371.         ports

  1372.          signal out output [4,4];

  1373.        end;

  1374.        icon bg bottom

  1375.         figures

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

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

  1378.        end;

  1379.        implementation eq

  1380. equations

  1381. 	output = eye(4);implementation_end;

  1382.      end;

  1383.      connections

  1384.       p => OneJunction2\p;

  1385.       Sf2\p => OneJunction2\p;

  1386.       Zero\output -> output;

  1387.      end;

  1388.     implementation_end;

  1389.    inverse_kinematics 712 752

  1390.     description '<Information>

  1391.  <Description>

  1392.     <Version>4.8</Version>

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

  1394. <IsMainModel>1</IsMainModel>

  1395.   <KeepParameterValues>False</KeepParameterValues>

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

  1397. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1398.  </Description>

  1399. </Information>';

  1400.     type 'Submodel-Equation'

  1401.      ports

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

  1403.       signal out angle1 {rad} ;

  1404.       signal out angle2 {rad} ;

  1405.       signal out a {rad} ;

  1406.       signal out b {rad} ;

  1407.       signal out c {rad} ;

  1408.       signal out phi {rad} ;

  1409.     end;

  1410.     implementation eq

  1411. parameters

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

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

  1414. 	real to_rad = 1 {rad};

  1415. variables

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

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

  1418. equations

  1419. 	x = input[1];

  1420. 	y = input[2];

  1421. 	phi = atan2(y, x);

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

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

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

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

  1426. 	angle1 = b + phi;

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

  1428. 	

  1429. 	

  1430. 

  1431.  implementation_end;

  1432.    JointA 560 512

  1433.     description '<Information>

  1434.  <Description>

  1435.     <Version>4.8</Version>

  1436. <IsMainModel>1</IsMainModel>

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

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

  1439. </Description>

  1440. </Information>';

  1441.     type 'Submodel-v3'

  1442.      ports

  1443.       power in Pin [6,1];

  1444.       power in Pdiff [6,1];

  1445.       signal in Hin [4,4];

  1446.       signal out Hout [4,4];

  1447.       signal out Hdiff [4,4];

  1448.       power out Pout [6,1];

  1449.     end;

  1450.     icon bg bottom

  1451.      figures

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

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

  1454.      terminals

  1455.       Pin 544 536 fixed;

  1456.       Hin 576 488 fixed;

  1457.       Hout 576 536 fixed;

  1458.       Pout 544 488 fixed;

  1459.     end;

  1460.     implementation bg

  1461.      submodels

  1462.       AdHji 424 424

  1463.        description '<Description>

  1464.  <Version>4.0</Version>

  1465.  <IsMainModel>1</IsMainModel>

  1466.  <KeepParameterValues>False</KeepParameterValues>

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

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

  1469.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1470. </Description>';

  1471.        type MTF

  1472.         ports

  1473.          power out p1 [6,1];

  1474.          power in p2 [6,1];

  1475.          signal in H [4,4];

  1476.         restrictions

  1477.          causality constraint not_equal p1 p2;

  1478.        end;

  1479.        icon bg bottom

  1480.         figures

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

  1482.        end;

  1483.        implementation eq

  1484. equations					

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

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

  1487.       FlowSensor2 184 311.9

  1488.        description '<Information>

  1489.  <Description>

  1490.     <Version>4.2</Version>

  1491. <IsMainModel>1</IsMainModel>

  1492.   <KeepParameterValues>False</KeepParameterValues>

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

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

  1495. </Description>

  1496. </Information>';

  1497.        knot FlowSensor

  1498.         ports

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

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

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

  1502.         restrictions

  1503.          causality constraint not_equal p1 p2;

  1504.        end;

  1505.        icon bg ellipse

  1506.         figures

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

  1508.          text 'f' 184 311.2 color 0;

  1509.        end;

  1510.        implementation eq

  1511. equations

  1512. 	p2.f = p1.f;

  1513. 	p1.e = p2.e;

  1514. 	flow = p1.f;

  1515. implementation_end;

  1516.       Hmatrix 256 312

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

  1518.        type 'Submodel-Equation'

  1519.         ports

  1520.          signal in flow [6,1];

  1521.          signal out H [4,4];

  1522.        end;

  1523.        icon bg

  1524.         figures

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

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

  1527.        end;

  1528.        implementation eq

  1529. parameters

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

  1531. variables

  1532. 	real q[4];		//quaternions

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

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

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

  1536. 	real dq[4];

  1537. 	real Wb[3,4];

  1538. equations

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

  1540. 	q = int(dq,init);

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

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

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

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

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

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

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

  1548.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  1549. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  1550. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  1551. 	H = homogeneous(R,p);

  1552. 	implementation_end;

  1553.       MatrixMul 320 576

  1554.        description '<Description>

  1555.  <Version>4.0</Version>

  1556.  <IsMainModel>1</IsMainModel>

  1557.  <KeepParameterValues>False</KeepParameterValues>

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

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

  1560.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1561. </Description>';

  1562.        type Gain

  1563.         ports

  1564.          signal in input1 [4,4];

  1565.          signal out output [4,4];

  1566.          signal in input2 [4,4];

  1567.        end;

  1568.        icon bg bottom

  1569.         figures

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

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

  1572.        end;

  1573.        implementation eq

  1574. equations

  1575. 	output = input2*input1;    implementation_end;

  1576.       plug Pin 492.1 424;

  1577.       plug Pdiff 184 225;

  1578.       plug Hin 130.8 576;

  1579.       plug Hout 478.4 576;

  1580.       plug Hdiff 320 222;

  1581.       plug Pout 134.7 424;

  1582.       Splitter2 320 312

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

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

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

  1586. <IsMainModel>1</IsMainModel>

  1587.  <KeepParameterValues>False</KeepParameterValues>

  1588. </Description>';

  1589.        knot Splitter

  1590.         ports

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

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

  1593.        end;

  1594.        icon bg ellipse

  1595.         figures

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

  1597.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1598.         terminals

  1599.          input 320 312 fixed;

  1600.        end;

  1601.        implementation eq

  1602. equations

  1603.     collect (output) = input;

  1604. implementation_end;

  1605.       Wbai 184 424

  1606.        description '<Description>

  1607.  <Version>4.0</Version>

  1608.  <IsMainModel>1</IsMainModel>

  1609.  <KeepParameterValues>False</KeepParameterValues>

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

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

  1612.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1613. </Description>';

  1614.        knot ZeroJunction

  1615.         ports

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

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

  1618.         restrictions

  1619.          causality constraint one_in p;

  1620.        end;

  1621.        icon bg bottom

  1622.         figures

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

  1624.        end;

  1625.        implementation eq

  1626. equations

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

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

  1629. 	effort = first (p.e);

  1630. implementation_end;

  1631.      end;

  1632.      connections

  1633.       FlowSensor2\flow -> Hmatrix\flow;

  1634.       FlowSensor2\p2 => Wbai\p;

  1635.       Hin -> MatrixMul\input2;

  1636.       Hmatrix\H -> Splitter2\input;

  1637.       MatrixMul\output -> Hout;

  1638.       Pdiff => FlowSensor2\p1;

  1639.       Pin => AdHji\p2;

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

  1641.       Splitter2\output -> Hdiff;

  1642.       Splitter2\output -> MatrixMul\input1;

  1643.       Wbai\p <= AdHji\p1;

  1644.       Wbai\p => Pout;

  1645.      end;

  1646.     implementation_end;

  1647.    JointB 560 192

  1648.     description '<Information>

  1649.  <Description>

  1650.     <Version>4.8</Version>

  1651. <IsMainModel>1</IsMainModel>

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

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

  1654. </Description>

  1655. </Information>';

  1656.     type 'Submodel-v3'

  1657.      ports

  1658.       power in Pin [6,1];

  1659.       power in Pdiff [6,1];

  1660.       signal in Hin [4,4];

  1661.       signal out Hout [4,4];

  1662.       signal out Hdiff [4,4];

  1663.       power out Pout [6,1];

  1664.     end;

  1665.     icon bg bottom

  1666.      figures

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

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

  1669.      terminals

  1670.       Pin 544 216 fixed;

  1671.       Hin 576 168 fixed;

  1672.       Hout 576 216 fixed;

  1673.       Pout 544 168 fixed;

  1674.     end;

  1675.     implementation bg

  1676.      submodels

  1677.       AdHji 424 424

  1678.        description '<Description>

  1679.  <Version>4.0</Version>

  1680.  <IsMainModel>1</IsMainModel>

  1681.  <KeepParameterValues>False</KeepParameterValues>

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

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

  1684.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1685. </Description>';

  1686.        type MTF

  1687.         ports

  1688.          power out p1 [6,1];

  1689.          power in p2 [6,1];

  1690.          signal in H [4,4];

  1691.         restrictions

  1692.          causality constraint not_equal p1 p2;

  1693.        end;

  1694.        icon bg bottom

  1695.         figures

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

  1697.        end;

  1698.        implementation eq

  1699. equations					

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

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

  1702.       FlowSensor2 184 311.9

  1703.        description '<Information>

  1704.  <Description>

  1705.     <Version>4.2</Version>

  1706. <IsMainModel>1</IsMainModel>

  1707.   <KeepParameterValues>False</KeepParameterValues>

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

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

  1710. </Description>

  1711. </Information>';

  1712.        knot FlowSensor

  1713.         ports

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

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

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

  1717.         restrictions

  1718.          causality constraint not_equal p1 p2;

  1719.        end;

  1720.        icon bg ellipse

  1721.         figures

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

  1723.          text 'f' 184 311.2 color 0;

  1724.        end;

  1725.        implementation eq

  1726. equations

  1727. 	p2.f = p1.f;

  1728. 	p1.e = p2.e;

  1729. 	flow = p1.f;

  1730. implementation_end;

  1731.       Hmatrix 256 312

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

  1733.        type 'Submodel-Equation'

  1734.         ports

  1735.          signal in flow [6,1];

  1736.          signal out H [4,4];

  1737.        end;

  1738.        icon bg

  1739.         figures

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

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

  1742.        end;

  1743.        implementation eq

  1744. parameters

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

  1746. variables

  1747. 	real q[4];		//quaternions

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

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

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

  1751. 	real dq[4];

  1752. 	real Wb[3,4];

  1753. equations

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

  1755. 	q = int(dq,init);

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

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

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

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

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

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

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

  1763.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  1764. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  1765. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  1766. 	H = homogeneous(R,p);

  1767. 	implementation_end;

  1768.       MatrixMul 320 576

  1769.        description '<Description>

  1770.  <Version>4.0</Version>

  1771.  <IsMainModel>1</IsMainModel>

  1772.  <KeepParameterValues>False</KeepParameterValues>

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

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

  1775.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1776. </Description>';

  1777.        type Gain

  1778.         ports

  1779.          signal in input1 [4,4];

  1780.          signal out output [4,4];

  1781.          signal in input2 [4,4];

  1782.        end;

  1783.        icon bg bottom

  1784.         figures

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

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

  1787.        end;

  1788.        implementation eq

  1789. equations

  1790. 	output = input2*input1;    implementation_end;

  1791.       plug Pin 492.1 424;

  1792.       plug Pdiff 184 225;

  1793.       plug Hin 130.8 576;

  1794.       plug Hout 478.4 576;

  1795.       plug Hdiff 320 222;

  1796.       plug Pout 134.7 424;

  1797.       Splitter2 320 312

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

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

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

  1801. <IsMainModel>1</IsMainModel>

  1802.  <KeepParameterValues>False</KeepParameterValues>

  1803. </Description>';

  1804.        knot Splitter

  1805.         ports

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

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

  1808.        end;

  1809.        icon bg ellipse

  1810.         figures

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

  1812.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1813.         terminals

  1814.          input 320 312 fixed;

  1815.        end;

  1816.        implementation eq

  1817. equations

  1818.     collect (output) = input;

  1819. implementation_end;

  1820.       Wbai 184 424

  1821.        description '<Description>

  1822.  <Version>4.0</Version>

  1823.  <IsMainModel>1</IsMainModel>

  1824.  <KeepParameterValues>False</KeepParameterValues>

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

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

  1827.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1828. </Description>';

  1829.        knot ZeroJunction

  1830.         ports

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

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

  1833.         restrictions

  1834.          causality constraint one_in p;

  1835.        end;

  1836.        icon bg bottom

  1837.         figures

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

  1839.        end;

  1840.        implementation eq

  1841. equations

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

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

  1844. 	effort = first (p.e);

  1845. implementation_end;

  1846.      end;

  1847.      connections

  1848.       FlowSensor2\flow -> Hmatrix\flow;

  1849.       FlowSensor2\p2 => Wbai\p;

  1850.       Hin -> MatrixMul\input2;

  1851.       Hmatrix\H -> Splitter2\input;

  1852.       MatrixMul\output -> Hout;

  1853.       Pdiff => FlowSensor2\p1;

  1854.       Pin => AdHji\p2;

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

  1856.       Splitter2\output -> Hdiff;

  1857.       Splitter2\output -> MatrixMul\input1;

  1858.       Wbai\p <= AdHji\p1;

  1859.       Wbai\p => Pout;

  1860.      end;

  1861.     implementation_end;

  1862.    JointC 480 584

  1863.     description '<Information>

  1864.  <Description>

  1865.     <Version>4.8</Version>

  1866. <IsMainModel>1</IsMainModel>

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

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

  1869. </Description>

  1870. </Information>';

  1871.     type 'Submodel-v3'

  1872.      ports

  1873.       power in Pin [6,1];

  1874.       power in Pdiff [6,1];

  1875.       signal in Hin [4,4];

  1876.       signal out Hout [4,4];

  1877.       signal out Hdiff [4,4];

  1878.       power out Pout [6,1];

  1879.     end;

  1880.     icon bg bottom

  1881.      figures

  1882.       rectangle 456 552 504 616 color 0 fill 14745599;

  1883.       text 'Joint' 480 584 color 0 'Clear Sans' 16;

  1884.      terminals

  1885.       Pin 456 600 fixed;

  1886.       Hin 504 568 fixed;

  1887.       Hout 456 568 fixed;

  1888.       Pout 504 600 fixed;

  1889.     end;

  1890.     implementation bg

  1891.      submodels

  1892.       AdHji 424 424

  1893.        description '<Description>

  1894.  <Version>4.0</Version>

  1895.  <IsMainModel>1</IsMainModel>

  1896.  <KeepParameterValues>False</KeepParameterValues>

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

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

  1899.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1900. </Description>';

  1901.        type MTF

  1902.         ports

  1903.          power out p1 [6,1];

  1904.          power in p2 [6,1];

  1905.          signal in H [4,4];

  1906.         restrictions

  1907.          causality constraint not_equal p1 p2;

  1908.        end;

  1909.        icon bg bottom

  1910.         figures

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

  1912.        end;

  1913.        implementation eq

  1914. equations					

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

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

  1917.       FlowSensor2 184 311.9

  1918.        description '<Information>

  1919.  <Description>

  1920.     <Version>4.2</Version>

  1921. <IsMainModel>1</IsMainModel>

  1922.   <KeepParameterValues>False</KeepParameterValues>

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

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

  1925. </Description>

  1926. </Information>';

  1927.        knot FlowSensor

  1928.         ports

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

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

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

  1932.         restrictions

  1933.          causality constraint not_equal p1 p2;

  1934.        end;

  1935.        icon bg ellipse

  1936.         figures

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

  1938.          text 'f' 184 311.2 color 0;

  1939.        end;

  1940.        implementation eq

  1941. equations

  1942. 	p2.f = p1.f;

  1943. 	p1.e = p2.e;

  1944. 	flow = p1.f;

  1945. implementation_end;

  1946.       Hmatrix 256 312

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

  1948.        type 'Submodel-Equation'

  1949.         ports

  1950.          signal in flow [6,1];

  1951.          signal out H [4,4];

  1952.        end;

  1953.        icon bg

  1954.         figures

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

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

  1957.        end;

  1958.        implementation eq

  1959. parameters

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

  1961. variables

  1962. 	real q[4];		//quaternions

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

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

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

  1966. 	real dq[4];

  1967. 	real Wb[3,4];

  1968. equations

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

  1970. 	q = int(dq,init);

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

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

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

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

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

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

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

  1978.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  1979. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  1980. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  1981. 	H = homogeneous(R,p);

  1982. 	implementation_end;

  1983.       MatrixMul 320 576

  1984.        description '<Description>

  1985.  <Version>4.0</Version>

  1986.  <IsMainModel>1</IsMainModel>

  1987.  <KeepParameterValues>False</KeepParameterValues>

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

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

  1990.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1991. </Description>';

  1992.        type Gain

  1993.         ports

  1994.          signal in input1 [4,4];

  1995.          signal out output [4,4];

  1996.          signal in input2 [4,4];

  1997.        end;

  1998.        icon bg bottom

  1999.         figures

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

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

  2002.        end;

  2003.        implementation eq

  2004. equations

  2005. 	output = input2*input1;    implementation_end;

  2006.       plug Pin 492.1 424;

  2007.       plug Pdiff 184 225;

  2008.       plug Hin 130.8 576;

  2009.       plug Hout 478.4 576;

  2010.       plug Hdiff 320 222;

  2011.       plug Pout 134.7 424;

  2012.       Splitter2 320 312

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

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

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

  2016. <IsMainModel>1</IsMainModel>

  2017.  <KeepParameterValues>False</KeepParameterValues>

  2018. </Description>';

  2019.        knot Splitter

  2020.         ports

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

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

  2023.        end;

  2024.        icon bg ellipse

  2025.         figures

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

  2027.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2028.         terminals

  2029.          input 320 312 fixed;

  2030.        end;

  2031.        implementation eq

  2032. equations

  2033.     collect (output) = input;

  2034. implementation_end;

  2035.       Wbai 184 424

  2036.        description '<Description>

  2037.  <Version>4.0</Version>

  2038.  <IsMainModel>1</IsMainModel>

  2039.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2042.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2043. </Description>';

  2044.        knot ZeroJunction

  2045.         ports

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

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

  2048.         restrictions

  2049.          causality constraint one_in p;

  2050.        end;

  2051.        icon bg bottom

  2052.         figures

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

  2054.        end;

  2055.        implementation eq

  2056. equations

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

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

  2059. 	effort = first (p.e);

  2060. implementation_end;

  2061.      end;

  2062.      connections

  2063.       FlowSensor2\flow -> Hmatrix\flow;

  2064.       FlowSensor2\p2 => Wbai\p;

  2065.       Hin -> MatrixMul\input2;

  2066.       Hmatrix\H -> Splitter2\input;

  2067.       MatrixMul\output -> Hout;

  2068.       Pdiff => FlowSensor2\p1;

  2069.       Pin => AdHji\p2;

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

  2071.       Splitter2\output -> Hdiff;

  2072.       Splitter2\output -> MatrixMul\input1;

  2073.       Wbai\p <= AdHji\p1;

  2074.       Wbai\p => Pout;

  2075.      end;

  2076.     implementation_end;

  2077.    JointD 200 488

  2078.     description '<Information>

  2079.  <Description>

  2080.     <Version>4.8</Version>

  2081. <IsMainModel>1</IsMainModel>

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

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

  2084. </Description>

  2085. </Information>';

  2086.     type 'Submodel-v3'

  2087.      ports

  2088.       power in Pin [6,1];

  2089.       power in Pdiff [6,1];

  2090.       signal in Hin [4,4];

  2091.       signal out Hout [4,4];

  2092.       signal out Hdiff [4,4];

  2093.       power out Pout [6,1];

  2094.     end;

  2095.     icon bg bottom

  2096.      figures

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

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

  2099.      terminals

  2100.       Pin 184 464 fixed;

  2101.       Hin 216 512 fixed;

  2102.       Hout 216 464 fixed;

  2103.       Pout 184 512 fixed;

  2104.     end;

  2105.     implementation bg

  2106.      submodels

  2107.       AdHji 424 424

  2108.        description '<Description>

  2109.  <Version>4.0</Version>

  2110.  <IsMainModel>1</IsMainModel>

  2111.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2114.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2115. </Description>';

  2116.        type MTF

  2117.         ports

  2118.          power out p1 [6,1];

  2119.          power in p2 [6,1];

  2120.          signal in H [4,4];

  2121.         restrictions

  2122.          causality constraint not_equal p1 p2;

  2123.        end;

  2124.        icon bg bottom

  2125.         figures

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

  2127.        end;

  2128.        implementation eq

  2129. equations					

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

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

  2132.       FlowSensor2 184 311.9

  2133.        description '<Information>

  2134.  <Description>

  2135.     <Version>4.2</Version>

  2136. <IsMainModel>1</IsMainModel>

  2137.   <KeepParameterValues>False</KeepParameterValues>

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

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

  2140. </Description>

  2141. </Information>';

  2142.        knot FlowSensor

  2143.         ports

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

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

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

  2147.         restrictions

  2148.          causality constraint not_equal p1 p2;

  2149.        end;

  2150.        icon bg ellipse

  2151.         figures

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

  2153.          text 'f' 184 311.2 color 0;

  2154.        end;

  2155.        implementation eq

  2156. equations

  2157. 	p2.f = p1.f;

  2158. 	p1.e = p2.e;

  2159. 	flow = p1.f;

  2160. implementation_end;

  2161.       Hmatrix 256 312

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

  2163.        type 'Submodel-Equation'

  2164.         ports

  2165.          signal in flow [6,1];

  2166.          signal out H [4,4];

  2167.        end;

  2168.        icon bg

  2169.         figures

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

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

  2172.        end;

  2173.        implementation eq

  2174. parameters

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

  2176. variables

  2177. 	real q[4];		//quaternions

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

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

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

  2181. 	real dq[4];

  2182. 	real Wb[3,4];

  2183. equations

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

  2185. 	q = int(dq,init);

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

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

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

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

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

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

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

  2193.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  2194. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  2195. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  2196. 	H = homogeneous(R,p);

  2197. 	implementation_end;

  2198.       MatrixMul 320 576

  2199.        description '<Description>

  2200.  <Version>4.0</Version>

  2201.  <IsMainModel>1</IsMainModel>

  2202.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2205.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2206. </Description>';

  2207.        type Gain

  2208.         ports

  2209.          signal in input1 [4,4];

  2210.          signal out output [4,4];

  2211.          signal in input2 [4,4];

  2212.        end;

  2213.        icon bg bottom

  2214.         figures

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

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

  2217.        end;

  2218.        implementation eq

  2219. equations

  2220. 	output = input2*input1;    implementation_end;

  2221.       plug Pin 492.1 424;

  2222.       plug Pdiff 184 225;

  2223.       plug Hin 130.8 576;

  2224.       plug Hout 478.4 576;

  2225.       plug Hdiff 320 222;

  2226.       plug Pout 134.7 424;

  2227.       Splitter2 320 312

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

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

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

  2231. <IsMainModel>1</IsMainModel>

  2232.  <KeepParameterValues>False</KeepParameterValues>

  2233. </Description>';

  2234.        knot Splitter

  2235.         ports

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

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

  2238.        end;

  2239.        icon bg ellipse

  2240.         figures

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

  2242.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2243.         terminals

  2244.          input 320 312 fixed;

  2245.        end;

  2246.        implementation eq

  2247. equations

  2248.     collect (output) = input;

  2249. implementation_end;

  2250.       Wbai 184 424

  2251.        description '<Description>

  2252.  <Version>4.0</Version>

  2253.  <IsMainModel>1</IsMainModel>

  2254.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2257.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2258. </Description>';

  2259.        knot ZeroJunction

  2260.         ports

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

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

  2263.         restrictions

  2264.          causality constraint one_in p;

  2265.        end;

  2266.        icon bg bottom

  2267.         figures

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

  2269.        end;

  2270.        implementation eq

  2271. equations

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

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

  2274. 	effort = first (p.e);

  2275. implementation_end;

  2276.      end;

  2277.      connections

  2278.       FlowSensor2\flow -> Hmatrix\flow;

  2279.       FlowSensor2\p2 => Wbai\p;

  2280.       Hin -> MatrixMul\input2;

  2281.       Hmatrix\H -> Splitter2\input;

  2282.       MatrixMul\output -> Hout;

  2283.       Pdiff => FlowSensor2\p1;

  2284.       Pin => AdHji\p2;

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

  2286.       Splitter2\output -> Hdiff;

  2287.       Splitter2\output -> MatrixMul\input1;

  2288.       Wbai\p <= AdHji\p1;

  2289.       Wbai\p => Pout;

  2290.      end;

  2291.     implementation_end;

  2292.    JointE 200 168

  2293.     description '<Information>

  2294.  <Description>

  2295.     <Version>4.8</Version>

  2296. <IsMainModel>1</IsMainModel>

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

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

  2299. </Description>

  2300. </Information>';

  2301.     type 'Submodel-v3'

  2302.      ports

  2303.       power in Pin [6,1];

  2304.       power in Pdiff [6,1];

  2305.       signal in Hin [4,4];

  2306.       signal out Hout [4,4];

  2307.       signal out Hdiff [4,4];

  2308.       power out Pout [6,1];

  2309.     end;

  2310.     icon bg bottom

  2311.      figures

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

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

  2314.      terminals

  2315.       Pin 184 144 fixed;

  2316.       Hin 216 192 fixed;

  2317.       Hout 216 144 fixed;

  2318.       Pout 184 192 fixed;

  2319.     end;

  2320.     implementation bg

  2321.      submodels

  2322.       AdHji 424 424

  2323.        description '<Description>

  2324.  <Version>4.0</Version>

  2325.  <IsMainModel>1</IsMainModel>

  2326.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2329.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2330. </Description>';

  2331.        type MTF

  2332.         ports

  2333.          power out p1 [6,1];

  2334.          power in p2 [6,1];

  2335.          signal in H [4,4];

  2336.         restrictions

  2337.          causality constraint not_equal p1 p2;

  2338.        end;

  2339.        icon bg bottom

  2340.         figures

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

  2342.        end;

  2343.        implementation eq

  2344. equations					

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

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

  2347.       FlowSensor2 184 311.9

  2348.        description '<Information>

  2349.  <Description>

  2350.     <Version>4.2</Version>

  2351. <IsMainModel>1</IsMainModel>

  2352.   <KeepParameterValues>False</KeepParameterValues>

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

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

  2355. </Description>

  2356. </Information>';

  2357.        knot FlowSensor

  2358.         ports

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

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

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

  2362.         restrictions

  2363.          causality constraint not_equal p1 p2;

  2364.        end;

  2365.        icon bg ellipse

  2366.         figures

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

  2368.          text 'f' 184 311.2 color 0;

  2369.        end;

  2370.        implementation eq

  2371. equations

  2372. 	p2.f = p1.f;

  2373. 	p1.e = p2.e;

  2374. 	flow = p1.f;

  2375. implementation_end;

  2376.       Hmatrix 256 312

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

  2378.        type 'Submodel-Equation'

  2379.         ports

  2380.          signal in flow [6,1];

  2381.          signal out H [4,4];

  2382.        end;

  2383.        icon bg

  2384.         figures

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

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

  2387.        end;

  2388.        implementation eq

  2389. parameters

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

  2391. variables

  2392. 	real q[4];		//quaternions

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

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

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

  2396. 	real dq[4];

  2397. 	real Wb[3,4];

  2398. equations

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

  2400. 	q = int(dq,init);

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

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

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

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

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

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

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

  2408.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  2409. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  2410. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  2411. 	H = homogeneous(R,p);

  2412. 	implementation_end;

  2413.       MatrixMul 320 576

  2414.        description '<Description>

  2415.  <Version>4.0</Version>

  2416.  <IsMainModel>1</IsMainModel>

  2417.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2420.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2421. </Description>';

  2422.        type Gain

  2423.         ports

  2424.          signal in input1 [4,4];

  2425.          signal out output [4,4];

  2426.          signal in input2 [4,4];

  2427.        end;

  2428.        icon bg bottom

  2429.         figures

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

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

  2432.        end;

  2433.        implementation eq

  2434. equations

  2435. 	output = input2*input1;    implementation_end;

  2436.       plug Pin 492.1 424;

  2437.       plug Pdiff 184 225;

  2438.       plug Hin 130.8 576;

  2439.       plug Hout 478.4 576;

  2440.       plug Hdiff 320 222;

  2441.       plug Pout 134.7 424;

  2442.       Splitter2 320 312

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

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

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

  2446. <IsMainModel>1</IsMainModel>

  2447.  <KeepParameterValues>False</KeepParameterValues>

  2448. </Description>';

  2449.        knot Splitter

  2450.         ports

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

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

  2453.        end;

  2454.        icon bg ellipse

  2455.         figures

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

  2457.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2458.         terminals

  2459.          input 320 312 fixed;

  2460.        end;

  2461.        implementation eq

  2462. equations

  2463.     collect (output) = input;

  2464. implementation_end;

  2465.       Wbai 184 424

  2466.        description '<Description>

  2467.  <Version>4.0</Version>

  2468.  <IsMainModel>1</IsMainModel>

  2469.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2472.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2473. </Description>';

  2474.        knot ZeroJunction

  2475.         ports

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

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

  2478.         restrictions

  2479.          causality constraint one_in p;

  2480.        end;

  2481.        icon bg bottom

  2482.         figures

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

  2484.        end;

  2485.        implementation eq

  2486. equations

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

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

  2489. 	effort = first (p.e);

  2490. implementation_end;

  2491.      end;

  2492.      connections

  2493.       FlowSensor2\flow -> Hmatrix\flow;

  2494.       FlowSensor2\p2 => Wbai\p;

  2495.       Hin -> MatrixMul\input2;

  2496.       Hmatrix\H -> Splitter2\input;

  2497.       MatrixMul\output -> Hout;

  2498.       Pdiff => FlowSensor2\p1;

  2499.       Pin => AdHji\p2;

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

  2501.       Splitter2\output -> Hdiff;

  2502.       Splitter2\output -> MatrixMul\input1;

  2503.       Wbai\p <= AdHji\p1;

  2504.       Wbai\p => Pout;

  2505.      end;

  2506.     implementation_end;

  2507.    JointF 864 128

  2508.     description '<Information>

  2509.  <Description>

  2510.     <Version>4.8</Version>

  2511. <IsMainModel>1</IsMainModel>

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

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

  2514. </Description>

  2515. </Information>';

  2516.     type 'Submodel-v3'

  2517.      ports

  2518.       power in Pin [6,1];

  2519.       power in Pdiff [6,1];

  2520.       signal in Hin [4,4];

  2521.       signal out Hout [4,4];

  2522.       signal out Hdiff [4,4];

  2523.       power out Pout [6,1];

  2524.     end;

  2525.     icon bg bottom

  2526.      figures

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

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

  2529.      terminals

  2530.       Pin 888 112 fixed;

  2531.       Hin 840 144 fixed;

  2532.       Hout 888 144 fixed;

  2533.       Pout 840 112 fixed;

  2534.     end;

  2535.     implementation bg

  2536.      submodels

  2537.       AdHji 424 424

  2538.        description '<Description>

  2539.  <Version>4.0</Version>

  2540.  <IsMainModel>1</IsMainModel>

  2541.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2544.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2545. </Description>';

  2546.        type MTF

  2547.         ports

  2548.          power out p1 [6,1];

  2549.          power in p2 [6,1];

  2550.          signal in H [4,4];

  2551.         restrictions

  2552.          causality constraint not_equal p1 p2;

  2553.        end;

  2554.        icon bg bottom

  2555.         figures

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

  2557.        end;

  2558.        implementation eq

  2559. equations					

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

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

  2562.       FlowSensor2 184 311.9

  2563.        description '<Information>

  2564.  <Description>

  2565.     <Version>4.2</Version>

  2566. <IsMainModel>1</IsMainModel>

  2567.   <KeepParameterValues>False</KeepParameterValues>

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

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

  2570. </Description>

  2571. </Information>';

  2572.        knot FlowSensor

  2573.         ports

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

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

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

  2577.         restrictions

  2578.          causality constraint not_equal p1 p2;

  2579.        end;

  2580.        icon bg ellipse

  2581.         figures

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

  2583.          text 'f' 184 311.2 color 0;

  2584.        end;

  2585.        implementation eq

  2586. equations

  2587. 	p2.f = p1.f;

  2588. 	p1.e = p2.e;

  2589. 	flow = p1.f;

  2590. implementation_end;

  2591.       Hmatrix 256 312

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

  2593.        type 'Submodel-Equation'

  2594.         ports

  2595.          signal in flow [6,1];

  2596.          signal out H [4,4];

  2597.        end;

  2598.        icon bg

  2599.         figures

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

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

  2602.        end;

  2603.        implementation eq

  2604. parameters

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

  2606. variables

  2607. 	real q[4];		//quaternions

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

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

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

  2611. 	real dq[4];

  2612. 	real Wb[3,4];

  2613. equations

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

  2615. 	q = int(dq,init);

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

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

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

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

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

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

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

  2623.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  2624. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  2625. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  2626. 	H = homogeneous(R,p);

  2627. 	implementation_end;

  2628.       MatrixMul 320 576

  2629.        description '<Description>

  2630.  <Version>4.0</Version>

  2631.  <IsMainModel>1</IsMainModel>

  2632.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2635.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2636. </Description>';

  2637.        type Gain

  2638.         ports

  2639.          signal in input1 [4,4];

  2640.          signal out output [4,4];

  2641.          signal in input2 [4,4];

  2642.        end;

  2643.        icon bg bottom

  2644.         figures

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

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

  2647.        end;

  2648.        implementation eq

  2649. equations

  2650. 	output = input2*input1;    implementation_end;

  2651.       plug Pin 492.1 424;

  2652.       plug Pdiff 184 225;

  2653.       plug Hin 130.8 576;

  2654.       plug Hout 478.4 576;

  2655.       plug Hdiff 320 222;

  2656.       plug Pout 134.7 424;

  2657.       Splitter2 320 312

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

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

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

  2661. <IsMainModel>1</IsMainModel>

  2662.  <KeepParameterValues>False</KeepParameterValues>

  2663. </Description>';

  2664.        knot Splitter

  2665.         ports

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

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

  2668.        end;

  2669.        icon bg ellipse

  2670.         figures

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

  2672.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2673.         terminals

  2674.          input 320 312 fixed;

  2675.        end;

  2676.        implementation eq

  2677. equations

  2678.     collect (output) = input;

  2679. implementation_end;

  2680.       Wbai 184 424

  2681.        description '<Description>

  2682.  <Version>4.0</Version>

  2683.  <IsMainModel>1</IsMainModel>

  2684.  <KeepParameterValues>False</KeepParameterValues>

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

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

  2687.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2688. </Description>';

  2689.        knot ZeroJunction

  2690.         ports

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

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

  2693.         restrictions

  2694.          causality constraint one_in p;

  2695.        end;

  2696.        icon bg bottom

  2697.         figures

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

  2699.        end;

  2700.        implementation eq

  2701. equations

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

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

  2704. 	effort = first (p.e);

  2705. implementation_end;

  2706.      end;

  2707.      connections

  2708.       FlowSensor2\flow -> Hmatrix\flow;

  2709.       FlowSensor2\p2 => Wbai\p;

  2710.       Hin -> MatrixMul\input2;

  2711.       Hmatrix\H -> Splitter2\input;

  2712.       MatrixMul\output -> Hout;

  2713.       Pdiff => FlowSensor2\p1;

  2714.       Pin => AdHji\p2;

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

  2716.       Splitter2\output -> Hdiff;

  2717.       Splitter2\output -> MatrixMul\input1;

  2718.       Wbai\p <= AdHji\p1;

  2719.       Wbai\p => Pout;

  2720.      end;

  2721.     implementation_end;

  2722.    Joint_dynA 712 512

  2723.     description '<Description>

  2724. 	<Version>4.8</Version>

  2725. 	<IsMainModel>1</IsMainModel>

  2726. 	</Description>';

  2727.     type Submodel

  2728.      ports

  2729.       power out output [6,1];

  2730.       signal in angle {rad} ;

  2731.     end;

  2732.     implementation bg

  2733.      submodels

  2734.       C 264 200

  2735.        description '<Information>

  2736.  <Description>

  2737.     <Version>4.2</Version>

  2738. <IsMainModel>1</IsMainModel>

  2739.   <KeepParameterValues>False</KeepParameterValues>

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

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

  2742. </Description>

  2743. </Information>';

  2744.        type C

  2745.         ports

  2746.          power in p;

  2747.          signal out state;

  2748.         restrictions

  2749.          causality preferred out p;

  2750.        end;

  2751.        icon bg bottom

  2752.         figures

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

  2754.        end;

  2755.        implementation eq

  2756. parameters

  2757. 	real c = 0.001;

  2758. equations

  2759. 	state = int(p.f);

  2760. 	p.e = state / c;

  2761. implementation_end;

  2762.       C1 191.8 216.2

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

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

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

  2766. </Description>';

  2767.        type 'C-3'

  2768.         ports

  2769.          power in p [3,1];

  2770.          signal out state [3,1];

  2771.         restrictions

  2772.          causality preferred out p;

  2773.        end;

  2774.        icon bg top

  2775.         figures

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

  2777.        end;

  2778.        implementation eq

  2779. parameters

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

  2781. equations

  2782.     state = int(p.f);

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

  2784. implementation_end;

  2785.       C4 191.8 232.2

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

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

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

  2789. </Description>';

  2790.        type 'C-2'

  2791.         ports

  2792.          power in p [2,1];

  2793.          signal out state [2,1];

  2794.         restrictions

  2795.          causality preferred out p;

  2796.        end;

  2797.        icon bg bottom

  2798.         figures

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

  2800.        end;

  2801.        implementation eq

  2802. parameters

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

  2804. equations

  2805.     state = int(p.f);

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

  2807. implementation_end;

  2808.       plug output 468 216;

  2809.       plug angle 224 80;

  2810.       OneJunction5 239.8 232.2

  2811.        description '<Information>

  2812.  <Description>

  2813.     <Version>4.2</Version>

  2814. <IsMainModel>1</IsMainModel>

  2815.   <KeepParameterValues>False</KeepParameterValues>

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

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

  2818. </Description>

  2819. </Information>';

  2820.        knot OneJunction

  2821.         ports

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

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

  2824.         restrictions

  2825.          causality constraint one_out p;

  2826.        end;

  2827.        icon bg

  2828.         figures

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

  2830.        end;

  2831.        implementation eq

  2832. equations

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

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

  2835. 	flow = first (p.f);

  2836. implementation_end;

  2837.       OneJunction7 239.8 216.2

  2838.        description '<Information>

  2839.  <Description>

  2840.     <Version>4.2</Version>

  2841. <IsMainModel>1</IsMainModel>

  2842.   <KeepParameterValues>False</KeepParameterValues>

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

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

  2845. </Description>

  2846. </Information>';

  2847.        knot OneJunction

  2848.         ports

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

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

  2851.         restrictions

  2852.          causality constraint one_out p;

  2853.        end;

  2854.        icon bg

  2855.         figures

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

  2857.        end;

  2858.        implementation eq

  2859. equations

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

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

  2862. 	flow = first (p.f);

  2863. implementation_end;

  2864.       OneJunction8 312 200

  2865.        description '<Information>

  2866.  <Description>

  2867.     <Version>4.2</Version>

  2868. <IsMainModel>1</IsMainModel>

  2869.   <KeepParameterValues>False</KeepParameterValues>

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

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

  2872. </Description>

  2873. </Information>';

  2874.        knot OneJunction

  2875.         ports

  2876.          rotation knot duplicatable none p [1];

  2877.          signal knot out flow [1];

  2878.         restrictions

  2879.          causality constraint one_out p;

  2880.        end;

  2881.        icon bg

  2882.         figures

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

  2884.        end;

  2885.        implementation eq

  2886. equations

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

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

  2889. 	flow = first (p.f);

  2890. implementation_end;

  2891.       PowerMux 402 216

  2892. 						specifications active 'rot_x'

  2893. 							specification 'rot_x'

  2894.  description '<Information>

  2895.  <Description>

  2896.     <Version>4.8</Version>

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

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

  2899. <IsMainModel>1</IsMainModel>

  2900.   <KeepParameterValues>False</KeepParameterValues>

  2901.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2902.  </Description>

  2903. </Information>';

  2904.  type 'PowerMux-Rotation'

  2905.   ports

  2906.    power in input;

  2907.    power out output [6,1];

  2908.    power in input_rot2 [2,1];

  2909.    power in input_pos3 [3,1];

  2910.   restrictions

  2911.    causality constraint not_equal input output;

  2912.    causality constraint not_equal input_rot2 output;

  2913.    causality constraint not_equal input_pos3 output;

  2914.  end;

  2915.  icon bg bottom

  2916.   figures

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

  2918.    rectangle 396 192 408 240 color -1;

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

  2920.   terminals

  2921.    input 400 200 fixed;

  2922.    output 400 216 fixed;

  2923.    input_rot2 400 232 fixed;

  2924.    input_pos3 400 216 fixed;

  2925.  end;

  2926.  implementation eq

  2927. equations

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

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

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

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

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

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

  2934. specification_end;

  2935. 							specification 'rot_y'

  2936. description '<Description>

  2937.    <Version>4.1</Version>

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

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

  2940. <IsMainModel>1</IsMainModel>

  2941.  <KeepParameterValues>False</KeepParameterValues>

  2942.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2943. </Description>';

  2944.  type PowerMux

  2945.   ports

  2946.    power in input;

  2947.    power out output [6,1];

  2948.    power in input_rot2 [2,1];

  2949.    power in input_pos3 [3,1];

  2950.   restrictions

  2951.    causality constraint not_equal input output;

  2952.    causality constraint not_equal input_rot2 output;

  2953.    causality constraint not_equal input_pos3 output;

  2954.  end;

  2955.  icon bg bottom

  2956.   figures

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

  2958.    rectangle 242 266 290 278 color -1;

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

  2960.   terminals

  2961.    input 250 274 fixed;

  2962.    output 266 274 fixed;

  2963.    input_rot2 282 274 fixed;

  2964.    input_pos3 266 274 fixed;

  2965.  end;

  2966.  implementation eq

  2967. equations

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

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

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

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

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

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

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

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

  2976. specification_end;

  2977. 							specification 'rot_z'

  2978. description '<Information>

  2979.  <Description>

  2980.     <Version>4.8</Version>

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

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

  2983. <IsMainModel>1</IsMainModel>

  2984.   <KeepParameterValues>False</KeepParameterValues>

  2985.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2986.  </Description>

  2987. </Information>';

  2988.  type PowerMux

  2989.   ports

  2990.    power in input;

  2991.    power out output [6,1];

  2992.    power in input_rot2 [2,1];

  2993.    power in input_pos3 [3,1];

  2994.   restrictions

  2995.    causality constraint not_equal input output;

  2996.    causality constraint not_equal input_rot2 output;

  2997.    causality constraint not_equal input_pos3 output;

  2998.  end;

  2999.  icon bg bottom

  3000.   figures

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

  3002.    rectangle 242 266 290 278 color -1;

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

  3004.   terminals

  3005.    input 250 274 fixed;

  3006.    output 266 274 fixed;

  3007.    input_rot2 282 274 fixed;

  3008.    input_pos3 266 274 fixed;

  3009.  end;

  3010.  implementation eq

  3011. equations

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

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

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

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

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

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

  3018. specification_end;

  3019. 						end;

  3020.       R 312 152

  3021.        description '<Information>

  3022.  <Description>

  3023.     <Version>4.2</Version>

  3024. <IsMainModel>1</IsMainModel>

  3025.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3028. </Description>

  3029. </Information>';

  3030.        type R

  3031.         ports

  3032.          power in p;

  3033.        end;

  3034.        icon bg bottom

  3035.         figures

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

  3037.        end;

  3038.        implementation eq

  3039. parameters

  3040. 	real r = 100;

  3041. equations

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

  3043. implementation_end;

  3044.       R4 239.8 288.2

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

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

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

  3048. </Description>';

  3049.        type 'R-2'

  3050.         ports

  3051.          power in p [2,1];

  3052.        end;

  3053.        icon bg bottom

  3054.         figures

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

  3056.        end;

  3057.        implementation eq

  3058. parameters

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

  3060. equations					

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

  3062. implementation_end;

  3063.       R5 239.8 168.2

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

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

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

  3067. </Description>';

  3068.        type 'R-3'

  3069.         ports

  3070.          power in p [3,1];

  3071.        end;

  3072.        icon bg top

  3073.         figures

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

  3075.        end;

  3076.        implementation eq

  3077. parameters

  3078. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  3079. equations					

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

  3081. implementation_end;

  3082.       stepper_model 360 80

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

  3084. 	real I_phase = 3.4 {mH};

  3085. 	real R_phase = 2.9 {ohm};

  3086. 	real u_max = 3.4 {V};

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

  3088. 	real StepperMass = 0.29 {kg};

  3089. 	real angle_step = 1.8 {deg};

  3090. 	real n_phase = 2 {none};

  3091. 	real fluxLinkage = 0.0022 {Wb};

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

  3093. variables

  3094. 	real omega;

  3095. 	real p; // rotor division

  3096. initialequations

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

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

  3099.        type Submodel

  3100.         ports

  3101.          signal in angle;

  3102.          rotation out p;

  3103.        end;

  3104.        implementation bg

  3105.         submodels

  3106.          I 560 104

  3107.           description '<Information>

  3108.  <Description>

  3109.     <Version>4.2</Version>

  3110. <IsMainModel>1</IsMainModel>

  3111.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3114. </Description>

  3115. </Information>';

  3116.           type I

  3117.            ports

  3118.             power in p;

  3119.             signal out state;

  3120.            restrictions

  3121.             causality preferred in p;

  3122.           end;

  3123.           icon bg bottom

  3124.            figures

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

  3126.           end;

  3127.           implementation eq

  3128. parameters

  3129. 	real global I_phase;

  3130. equations

  3131.     state = int(p.e);

  3132.     p.f = state / I_phase;

  3133. implementation_end;

  3134.          I1 608 328

  3135.           description '<Information>

  3136.  <Description>

  3137.     <Version>4.2</Version>

  3138. <IsMainModel>1</IsMainModel>

  3139.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3142. </Description>

  3143. </Information>';

  3144.           type I

  3145.            ports

  3146.             power in p;

  3147.             signal out state;

  3148.            restrictions

  3149.             causality preferred in p;

  3150.           end;

  3151.           icon bg bottom

  3152.            figures

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

  3154.           end;

  3155.           implementation eq

  3156. parameters

  3157. 	real global I_phase;

  3158. equations

  3159.     state = int(p.e);

  3160.     p.f = state / I_phase;

  3161. implementation_end;

  3162.          I2 752 160

  3163.           description '<Information>

  3164.  <Description>

  3165.     <Version>4.2</Version>

  3166. <IsMainModel>1</IsMainModel>

  3167.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3170. </Description>

  3171. </Information>';

  3172.           type I

  3173.            ports

  3174.             power in p;

  3175.             signal out state;

  3176.            restrictions

  3177.             causality preferred in p;

  3178.           end;

  3179.           icon bg bottom

  3180.            figures

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

  3182.           end;

  3183.           implementation eq

  3184. parameters

  3185. 	real global RotorInertia;

  3186. equations

  3187.     state = int(p.e);

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

  3189. implementation_end;

  3190.          MGY_a 656 160

  3191.           description '<Information>

  3192.  <Description>

  3193.     <Version>4.2</Version>

  3194. <IsMainModel>1</IsMainModel>

  3195.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3198. </Description>

  3199. </Information>';

  3200.           type MGY

  3201.            ports

  3202.             power in p1;

  3203.             power out p2;

  3204.             signal in r;

  3205.            restrictions

  3206.             causality constraint equal p1 p2;

  3207.           end;

  3208.           icon bg bottom

  3209.            figures

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

  3211.           end;

  3212.           implementation eq

  3213. equations

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

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

  3216. implementation_end;

  3217.          MGY_b 656 272

  3218.           description '<Information>

  3219.  <Description>

  3220.     <Version>4.2</Version>

  3221. <IsMainModel>1</IsMainModel>

  3222.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3225. </Description>

  3226. </Information>';

  3227.           type MGY

  3228.            ports

  3229.             power in p1;

  3230.             power out p2;

  3231.             signal in r;

  3232.            restrictions

  3233.             causality constraint equal p1 p2;

  3234.           end;

  3235.           icon bg bottom

  3236.            figures

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

  3238.           end;

  3239.           implementation eq

  3240. equations

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

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

  3243. implementation_end;

  3244.          MSe_a 512 160

  3245.           description '<Information>

  3246.  <Description>

  3247.     <Version>4.2</Version>

  3248. <IsMainModel>1</IsMainModel>

  3249.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3252. </Description>

  3253. </Information>';

  3254.           type MSe

  3255.            ports

  3256.             electric out p;

  3257.             signal in effort;

  3258.            restrictions

  3259.             causality fixed out p;

  3260.           end;

  3261.           icon bg bottom

  3262.            figures

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

  3264.           end;

  3265.           implementation eq

  3266. variables

  3267. 	real flow;

  3268. equations

  3269. 	p.e = effort;

  3270. 	flow = p.f;

  3271. implementation_end;

  3272.          MSe_b 512 272

  3273.           description '<Information>

  3274.  <Description>

  3275.     <Version>4.2</Version>

  3276. <IsMainModel>1</IsMainModel>

  3277.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3280. </Description>

  3281. </Information>';

  3282.           type MSe

  3283.            ports

  3284.             electric out p;

  3285.             signal in effort;

  3286.            restrictions

  3287.             causality fixed out p;

  3288.           end;

  3289.           icon bg bottom

  3290.            figures

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

  3292.           end;

  3293.           implementation eq

  3294. variables

  3295. 	real flow;

  3296. equations

  3297. 	p.e = effort;

  3298. 	flow = p.f;

  3299. implementation_end;

  3300.          plug angle 200 216;

  3301.          plug p 1472 216;

  3302.          OneJunction1 840 216

  3303.           description '<Information>

  3304.  <Description>

  3305.     <Version>4.2</Version>

  3306. <IsMainModel>1</IsMainModel>

  3307.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3310. </Description>

  3311. </Information>';

  3312.           knot OneJunction

  3313.            ports

  3314.             rotation knot duplicatable none p [1];

  3315.             signal knot out flow [1];

  3316.            restrictions

  3317.             causality constraint one_out p;

  3318.           end;

  3319.           icon bg

  3320.            figures

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

  3322.           end;

  3323.           implementation eq

  3324. equations

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

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

  3327. 	flow = first (p.f);

  3328. implementation_end;

  3329.          OneJunction2 584 160

  3330.           description '<Information>

  3331.  <Description>

  3332.     <Version>4.2</Version>

  3333. <IsMainModel>1</IsMainModel>

  3334.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3337. </Description>

  3338. </Information>';

  3339.           knot OneJunction

  3340.            ports

  3341.             electric knot duplicatable none p [1];

  3342.             signal knot out flow [1];

  3343.            restrictions

  3344.             causality constraint one_out p;

  3345.           end;

  3346.           icon bg

  3347.            figures

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

  3349.           end;

  3350.           implementation eq

  3351. equations

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

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

  3354. 	flow = first (p.f);

  3355. implementation_end;

  3356.          OneJunction3 584 272

  3357.           description '<Information>

  3358.  <Description>

  3359.     <Version>4.2</Version>

  3360. <IsMainModel>1</IsMainModel>

  3361.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3364. </Description>

  3365. </Information>';

  3366.           knot OneJunction

  3367.            ports

  3368.             electric knot duplicatable none p [1];

  3369.             signal knot out flow [1];

  3370.            restrictions

  3371.             causality constraint one_out p;

  3372.           end;

  3373.           icon bg

  3374.            figures

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

  3376.           end;

  3377.           implementation eq

  3378. equations

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

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

  3381. 	flow = first (p.f);

  3382. implementation_end;

  3383.          OneJunction4 752 216

  3384.           description '<Information>

  3385.  <Description>

  3386.     <Version>4.2</Version>

  3387. <IsMainModel>1</IsMainModel>

  3388.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3391. </Description>

  3392. </Information>';

  3393.           knot OneJunction

  3394.            ports

  3395.             rotation knot duplicatable none p [1];

  3396.             signal knot out flow [1];

  3397.            restrictions

  3398.             causality constraint one_out p;

  3399.           end;

  3400.           icon bg

  3401.            figures

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

  3403.           end;

  3404.           implementation eq

  3405. equations

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

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

  3408. 	flow = first (p.f);

  3409. implementation_end;

  3410.          phase_control 512 216

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

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

  3413. <IsMainModel>1</IsMainModel>

  3414.  <KeepParameterValues>False</KeepParameterValues>

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

  3416.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3417. </Description>';

  3418.           type Submodel

  3419.            ports

  3420.             signal in angle;

  3421.             signal out a;

  3422.             signal out b;

  3423.           end;

  3424.           icon bg

  3425.            figures

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

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

  3428.           end;

  3429.           implementation eq

  3430. parameters

  3431. 	real global u_max {V};

  3432. variables

  3433. 	real global p;

  3434. 	boolean hidden eventa, eventb;

  3435. equations

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

  3437. 	eventa = event(a);

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

  3439. 	eventb = event(b);

  3440. 

  3441. 	

  3442. 	

  3443.  implementation_end;

  3444.          R 608 104

  3445.           description '<Information>

  3446.  <Description>

  3447.     <Version>4.2</Version>

  3448. <IsMainModel>1</IsMainModel>

  3449.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3452. </Description>

  3453. </Information>';

  3454.           type R

  3455.            ports

  3456.             power in p;

  3457.           end;

  3458.           icon bg bottom

  3459.            figures

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

  3461.           end;

  3462.           implementation eq

  3463. parameters

  3464. 	real global R_phase;

  3465. equations

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

  3467. implementation_end;

  3468.          R1 560 328

  3469.           description '<Information>

  3470.  <Description>

  3471.     <Version>4.2</Version>

  3472. <IsMainModel>1</IsMainModel>

  3473.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3476. </Description>

  3477. </Information>';

  3478.           type R

  3479.            ports

  3480.             power in p;

  3481.           end;

  3482.           icon bg bottom

  3483.            figures

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

  3485.           end;

  3486.           implementation eq

  3487. parameters

  3488. 	real global R_phase;

  3489. equations

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

  3491. implementation_end;

  3492.          R2 824 264

  3493.           description '<Information>

  3494.  <Description>

  3495.     <Version>4.2</Version>

  3496. <IsMainModel>1</IsMainModel>

  3497.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3500. </Description>

  3501. </Information>';

  3502.           type R

  3503.            ports

  3504.             power in p;

  3505.           end;

  3506.           icon bg bottom

  3507.            figures

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

  3509.           end;

  3510.           implementation eq

  3511. parameters

  3512. 	real r = 1.0e-3;

  3513. equations

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

  3515. implementation_end;

  3516.          RotorAngle 656 216

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

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

  3519. <IsMainModel>1</IsMainModel>

  3520.  <KeepParameterValues>False</KeepParameterValues>

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

  3522.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3523. </Description>';

  3524.           type Submodel

  3525.            ports

  3526.             signal out output_b;

  3527.             signal out output_a;

  3528.             signal in omega {rad/s} ;

  3529.             signal out output_d;

  3530.           end;

  3531.           icon bg

  3532.            figures

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

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

  3535.           end;

  3536.           implementation eq

  3537. parameters

  3538. 	real global fluxLinkage;

  3539. 	real global detentTorque;

  3540. variables

  3541. 	real global p;

  3542. 	real angle {rad};

  3543. equations

  3544. 	angle = int(omega,1.570796);

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

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

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

  3548.  implementation_end;

  3549.          Se 752 272

  3550.           description '<Information>

  3551.  <Description>

  3552.     <Version>4.2</Version>

  3553. <IsMainModel>1</IsMainModel>

  3554.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3557. </Description>

  3558. </Information>';

  3559.           type MSe

  3560.            ports

  3561.             power out p;

  3562.             signal in effort;

  3563.            restrictions

  3564.             causality fixed out p;

  3565.           end;

  3566.           icon bg bottom

  3567.            figures

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

  3569.           end;

  3570.           implementation eq

  3571. 

  3572. variables

  3573. 	real flow;

  3574. equations

  3575. 	p.e = effort;

  3576. 	flow = p.f;

  3577. implementation_end;

  3578.         end;

  3579.         connections

  3580.          angle -> phase_control\angle;

  3581.          I2\p <= OneJunction4\p;

  3582.          MGY_a\p2 => OneJunction4\p;

  3583.          MGY_b\p2 => OneJunction4\p;

  3584.          MSe_b\p => OneJunction3\p;

  3585.          OneJunction1\p => p;

  3586.          OneJunction2\p <= MSe_a\p;

  3587.          OneJunction2\p => I\p;

  3588.          OneJunction2\p => MGY_a\p1;

  3589.          OneJunction2\p => R\p;

  3590.          OneJunction3\p => I1\p;

  3591.          OneJunction3\p => MGY_b\p1;

  3592.          OneJunction3\p => R1\p;

  3593.          OneJunction4\flow -> RotorAngle\omega;

  3594.          OneJunction4\p => OneJunction1\p;

  3595.          OneJunction4\p => R2\p;

  3596.          phase_control\a -> MSe_a\effort;

  3597.          phase_control\b -> MSe_b\effort;

  3598.          RotorAngle\output_a -> MGY_a\r;

  3599.          RotorAngle\output_b -> MGY_b\r;

  3600.          RotorAngle\output_d -> Se\effort;

  3601.          Se\p => OneJunction4\p;

  3602.         end;

  3603.        implementation_end;

  3604.       ZeroJunction1 360 200

  3605.        description '<Information>

  3606.  <Description>

  3607.     <Version>4.2</Version>

  3608. <IsMainModel>1</IsMainModel>

  3609.   <KeepParameterValues>False</KeepParameterValues>

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

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

  3612. </Description>

  3613. </Information>';

  3614.        knot ZeroJunction

  3615.         ports

  3616.          rotation knot duplicatable none p [1];

  3617.          signal knot out effort [1];

  3618.         restrictions

  3619.          causality constraint one_in p;

  3620.        end;

  3621.        icon bg

  3622.         figures

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

  3624.        end;

  3625.        implementation eq

  3626. equations

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

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

  3629. 	effort = first (p.e);

  3630. implementation_end;

  3631.      end;

  3632.      connections

  3633.       angle -> stepper_model\angle;

  3634.       C\p <= OneJunction8\p;

  3635.       C1\p <= OneJunction7\p;

  3636.       OneJunction5\p => C4\p;

  3637.       OneJunction5\p => PowerMux\input_rot2;

  3638.       OneJunction5\p => R4\p;

  3639.       OneJunction7\p => PowerMux\input_pos3;

  3640.       OneJunction7\p => R5\p;

  3641.       OneJunction8\p => R\p;

  3642.       OneJunction8\p => ZeroJunction1\p;

  3643.       PowerMux\input <= ZeroJunction1\p;

  3644.       PowerMux\output => output;

  3645.       ZeroJunction1\p <= stepper_model\p;

  3646.      end;

  3647.     implementation_end;

  3648.    Joint_dynB 456 192

  3649.     description '<Description>

  3650. 	<Version>4.8</Version>

  3651. 	<IsMainModel>1</IsMainModel>

  3652. 	</Description>';

  3653.     type Submodel

  3654.      ports

  3655.       power out output [6,1];

  3656.     end;

  3657.     icon bg

  3658.      figures

  3659.       rectangle 416 176 496 208 color 0 fill 55295;

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

  3661.     end;

  3662.     implementation bg

  3663.      submodels

  3664.       C1 191.8 216.2

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

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

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

  3668. </Description>';

  3669.        type 'C-3'

  3670.         ports

  3671.          power in p [3,1];

  3672.          signal out state [3,1];

  3673.         restrictions

  3674.          causality preferred out p;

  3675.        end;

  3676.        icon bg top

  3677.         figures

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

  3679.        end;

  3680.        implementation eq

  3681. parameters

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

  3683. equations

  3684.     state = int(p.f);

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

  3686. implementation_end;

  3687.       C4 191.8 232.2

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

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

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

  3691. </Description>';

  3692.        type 'C-2'

  3693.         ports

  3694.          power in p [2,1];

  3695.          signal out state [2,1];

  3696.         restrictions

  3697.          causality preferred out p;

  3698.        end;

  3699.        icon bg bottom

  3700.         figures

  3701.          text 'C' 191.8 232.2 color 0 18 bold;

  3702.        end;

  3703.        implementation eq

  3704. parameters

  3705. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  3706. equations

  3707.     state = int(p.f);

  3708.     p.e = inverse(c) *state;

  3709. implementation_end;

  3710.       plug output 396 216;

  3711.       OneJunction5 239.8 232.2

  3712.        description '<Information>

  3713.  <Description>

  3714.     <Version>4.2</Version>

  3715. <IsMainModel>1</IsMainModel>

  3716.   <KeepParameterValues>False</KeepParameterValues>

  3717.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3718.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3719. </Description>

  3720. </Information>';

  3721.        knot OneJunction

  3722.         ports

  3723.          power knot duplicatable none p [2,1];

  3724.          signal knot out flow [2,1];

  3725.         restrictions

  3726.          causality constraint one_out p;

  3727.        end;

  3728.        icon bg

  3729.         figures

  3730.          text '1' 239.8 232.2 color 0 18 bold;

  3731.        end;

  3732.        implementation eq

  3733. equations

  3734. 	sum (direct (p.e)) = 0;

  3735. 	equal (collect (p.f));

  3736. 	flow = first (p.f);

  3737. implementation_end;

  3738.       OneJunction7 239.8 216.2

  3739.        description '<Information>

  3740.  <Description>

  3741.     <Version>4.2</Version>

  3742. <IsMainModel>1</IsMainModel>

  3743.   <KeepParameterValues>False</KeepParameterValues>

  3744.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3745.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3746. </Description>

  3747. </Information>';

  3748.        knot OneJunction

  3749.         ports

  3750.          power knot duplicatable none p [3,1];

  3751.          signal knot out flow [3,1];

  3752.         restrictions

  3753.          causality constraint one_out p;

  3754.        end;

  3755.        icon bg

  3756.         figures

  3757.          text '1' 239.8 216.2 color 0 18 bold;

  3758.        end;

  3759.        implementation eq

  3760. equations

  3761. 	sum (direct (p.e)) = 0;

  3762. 	equal (collect (p.f));

  3763. 	flow = first (p.f);

  3764. implementation_end;

  3765.       OneJunction8 288 200

  3766.        description '<Information>

  3767.  <Description>

  3768.     <Version>4.2</Version>

  3769. <IsMainModel>1</IsMainModel>

  3770.   <KeepParameterValues>False</KeepParameterValues>

  3771.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3772.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3773. </Description>

  3774. </Information>';

  3775.        knot OneJunction

  3776.         ports

  3777.          power knot duplicatable none p [1];

  3778.          signal knot out flow [1];

  3779.         restrictions

  3780.          causality constraint one_out p;

  3781.        end;

  3782.        icon bg

  3783.         figures

  3784.          text '1' 288 200 color 0 18 bold;

  3785.        end;

  3786.        implementation eq

  3787. equations

  3788. 	sum (direct (p.e)) = 0;

  3789. 	equal (collect (p.f));

  3790. 	flow = first (p.f);

  3791. implementation_end;

  3792.       PowerMux 330 216

  3793. 						specifications active 'rot_x'

  3794. 							specification 'rot_x'

  3795.  description '<Information>

  3796.  <Description>

  3797.     <Version>4.8</Version>

  3798.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3799.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  3800. <IsMainModel>1</IsMainModel>

  3801.   <KeepParameterValues>False</KeepParameterValues>

  3802.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3803.  </Description>

  3804. </Information>';

  3805.  type 'PowerMux-Rotation'

  3806.   ports

  3807.    power in input;

  3808.    power out output [6,1];

  3809.    power in input_rot2 [2,1];

  3810.    power in input_pos3 [3,1];

  3811.   restrictions

  3812.    causality constraint not_equal input output;

  3813.    causality constraint not_equal input_rot2 output;

  3814.    causality constraint not_equal input_pos3 output;

  3815.  end;

  3816.  icon bg bottom

  3817.   figures

  3818.    line 328 192 328 240 color 0 width 2;

  3819.    rectangle 324 192 336 240 color -1;

  3820.    text '1' 333 210 color 8421504 8;

  3821.   terminals

  3822.    input 328 200 fixed;

  3823.    output 328 216 fixed;

  3824.    input_rot2 328 232 fixed;

  3825.    input_pos3 328 216 fixed;

  3826.  end;

  3827.  implementation eq

  3828. equations

  3829. 	output.e[1] = input.e;

  3830. 	output.e[2:3] = input_rot2.e;

  3831. 	output.e[4:6] = input_pos3.e;

  3832. 	output.f[1] = input.f;

  3833. 	output.f[2:3] = input_rot2.f;

  3834. 	output.f[4:6] = input_pos3.f;implementation_end;

  3835. specification_end;

  3836. 							specification 'rot_y'

  3837. description '<Description>

  3838.    <Version>4.1</Version>

  3839.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  3840.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  3841. <IsMainModel>1</IsMainModel>

  3842.  <KeepParameterValues>False</KeepParameterValues>

  3843.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3844. </Description>';

  3845.  type PowerMux

  3846.   ports

  3847.    power in input;

  3848.    power out output [6,1];

  3849.    power in input_rot2 [2,1];

  3850.    power in input_pos3 [3,1];

  3851.   restrictions

  3852.    causality constraint not_equal input output;

  3853.    causality constraint not_equal input_rot2 output;

  3854.    causality constraint not_equal input_pos3 output;

  3855.  end;

  3856.  icon bg bottom

  3857.   figures

  3858.    line 242 274 290 274 color 0 width 2;

  3859.    rectangle 242 266 290 278 color -1;

  3860.    text '1' 260 269 color 8421504 8;

  3861.   terminals

  3862.    input 250 274 fixed;

  3863.    output 266 274 fixed;

  3864.    input_rot2 282 274 fixed;

  3865.    input_pos3 266 274 fixed;

  3866.  end;

  3867.  implementation eq

  3868. equations

  3869. 	output.e[1] = input_rot2.e[1];

  3870. 	output.e[2] = input.e;

  3871. 	output.e[3] = input_rot2.e[2];

  3872. 	output.e[4:6] = input_pos3.e;

  3873. 	output.f[1] = input_rot2.f[1];

  3874. 	output.f[2] = input.f;

  3875. 	output.f[3] = input_rot2.f[2];

  3876. 	output.f[4:6] = input_pos3.f;implementation_end;

  3877. specification_end;

  3878. 							specification 'rot_z'

  3879. description '<Information>

  3880.  <Description>

  3881.     <Version>4.8</Version>

  3882.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3883.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  3884. <IsMainModel>1</IsMainModel>

  3885.   <KeepParameterValues>False</KeepParameterValues>

  3886.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3887.  </Description>

  3888. </Information>';

  3889.  type PowerMux

  3890.   ports

  3891.    power in input;

  3892.    power out output [6,1];

  3893.    power in input_rot2 [2,1];

  3894.    power in input_pos3 [3,1];

  3895.   restrictions

  3896.    causality constraint not_equal input output;

  3897.    causality constraint not_equal input_rot2 output;

  3898.    causality constraint not_equal input_pos3 output;

  3899.  end;

  3900.  icon bg bottom

  3901.   figures

  3902.    line 242 274 290 274 color 0 width 2;

  3903.    rectangle 242 266 290 278 color -1;

  3904.    text '1' 260 269 color 8421504 8;

  3905.   terminals

  3906.    input 250 274 fixed;

  3907.    output 266 274 fixed;

  3908.    input_rot2 282 274 fixed;

  3909.    input_pos3 266 274 fixed;

  3910.  end;

  3911.  implementation eq

  3912. equations

  3913. 	output.e[3] = input.e;

  3914. 	output.e[1:2] = input_rot2.e;

  3915. 	output.e[4:6] = input_pos3.e;

  3916. 	output.f[3] = input.f;

  3917. 	output.f[1:2] = input_rot2.f;

  3918. 	output.f[4:6] = input_pos3.f;implementation_end;

  3919. specification_end;

  3920. 						end;

  3921.       R 288 152

  3922.        description '<Information>

  3923.  <Description>

  3924.     <Version>4.2</Version>

  3925. <IsMainModel>1</IsMainModel>

  3926.   <KeepParameterValues>False</KeepParameterValues>

  3927.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3928.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3929. </Description>

  3930. </Information>';

  3931.        type R

  3932.         ports

  3933.          power in p;

  3934.        end;

  3935.        icon bg top

  3936.         figures

  3937.          text 'R' 288 152 color 0 18 bold;

  3938.        end;

  3939.        implementation eq

  3940. parameters

  3941. 	real r = 0.0001;

  3942. equations

  3943. 	p.e = r * p.f;

  3944. implementation_end;

  3945.       R4 239.8 288.2

  3946.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3947.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3948.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3949. </Description>';

  3950.        type 'R-2'

  3951.         ports

  3952.          power in p [2,1];

  3953.        end;

  3954.        icon bg bottom

  3955.         figures

  3956.          text 'R' 239.8 288.2 color 0 18 bold;

  3957.        end;

  3958.        implementation eq

  3959. parameters

  3960. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3961. equations					

  3962. 	p.e = r * p.f;

  3963. implementation_end;

  3964.       R5 239.8 168.2

  3965.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3966.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3967.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3968. </Description>';

  3969.        type 'R-3'

  3970.         ports

  3971.          power in p [3,1];

  3972.        end;

  3973.        icon bg top

  3974.         figures

  3975.          text 'R' 239.8 168.2 color 0 18 bold;

  3976.        end;

  3977.        implementation eq

  3978. parameters

  3979. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  3980. equations					

  3981. 	p.e = r * p.f;

  3982. implementation_end;

  3983.      end;

  3984.      connections

  3985.       C1\p <= OneJunction7\p;

  3986.       OneJunction5\p => C4\p;

  3987.       OneJunction5\p => PowerMux\input_rot2;

  3988.       OneJunction5\p => R4\p;

  3989.       OneJunction7\p => PowerMux\input_pos3;

  3990.       OneJunction7\p => R5\p;

  3991.       OneJunction8\p => PowerMux\input;

  3992.       PowerMux\output => output;

  3993.       R\p <= OneJunction8\p;

  3994.      end;

  3995.     implementation_end;

  3996.    Joint_dynC 480 696

  3997.     description '<Description>

  3998. 	<Version>4.8</Version>

  3999. 	<IsMainModel>1</IsMainModel>

  4000. 	</Description>';

  4001.     type Submodel

  4002.      ports

  4003.       power out output [6,1];

  4004.       signal in angle {rad} ;

  4005.     end;

  4006.     icon bg

  4007.      figures

  4008.       rectangle 440 680 520 712 color 0 fill 15132390;

  4009.       text 'name' 480 696 color 0 'Clear Sans' 16;

  4010.     end;

  4011.     implementation bg

  4012.      submodels

  4013.       C 264 200

  4014.        description '<Information>

  4015.  <Description>

  4016.     <Version>4.2</Version>

  4017. <IsMainModel>1</IsMainModel>

  4018.   <KeepParameterValues>False</KeepParameterValues>

  4019.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  4020.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  4021. </Description>

  4022. </Information>';

  4023.        type C

  4024.         ports

  4025.          power in p;

  4026.          signal out state;

  4027.         restrictions

  4028.          causality preferred out p;

  4029.        end;

  4030.        icon bg bottom

  4031.         figures

  4032.          text 'C' 264 200 color 0 18 bold;

  4033.        end;

  4034.        implementation eq

  4035. parameters

  4036. 	real c = 0.001;

  4037. equations

  4038. 	state = int(p.f);

  4039. 	p.e = state / c;

  4040. implementation_end;

  4041.       C1 191.8 216.2

  4042.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4043.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4044.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4045. </Description>';

  4046.        type 'C-3'

  4047.         ports

  4048.          power in p [3,1];

  4049.          signal out state [3,1];

  4050.         restrictions

  4051.          causality preferred out p;

  4052.        end;

  4053.        icon bg top

  4054.         figures

  4055.          text 'C' 191.8 216.2 color 0 18 bold;

  4056.        end;

  4057.        implementation eq

  4058. parameters

  4059. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  4060. equations

  4061.     state = int(p.f);

  4062.     p.e = inverse(c) *state;

  4063. implementation_end;

  4064.       C4 191.8 232.2

  4065.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4066.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4067.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4068. </Description>';

  4069.        type 'C-2'

  4070.         ports

  4071.          power in p [2,1];

  4072.          signal out state [2,1];

  4073.         restrictions

  4074.          causality preferred out p;

  4075.        end;

  4076.        icon bg bottom

  4077.         figures

  4078.          text 'C' 191.8 232.2 color 0 18 bold;

  4079.        end;

  4080.        implementation eq

  4081. parameters

  4082. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  4083. equations

  4084.     state = int(p.f);

  4085.     p.e = inverse(c) *state;

  4086. implementation_end;

  4087.       plug output 468 216;

  4088.       plug angle 224 80;

  4089.       OneJunction5 239.8 232.2

  4090.        description '<Information>

  4091.  <Description>

  4092.     <Version>4.2</Version>

  4093. <IsMainModel>1</IsMainModel>

  4094.   <KeepParameterValues>False</KeepParameterValues>

  4095.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4096.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4097. </Description>

  4098. </Information>';

  4099.        knot OneJunction

  4100.         ports

  4101.          power knot duplicatable none p [2,1];

  4102.          signal knot out flow [2,1];

  4103.         restrictions

  4104.          causality constraint one_out p;

  4105.        end;

  4106.        icon bg

  4107.         figures

  4108.          text '1' 239.8 232.2 color 0 18 bold;

  4109.        end;

  4110.        implementation eq

  4111. equations

  4112. 	sum (direct (p.e)) = 0;

  4113. 	equal (collect (p.f));

  4114. 	flow = first (p.f);

  4115. implementation_end;

  4116.       OneJunction7 239.8 216.2

  4117.        description '<Information>

  4118.  <Description>

  4119.     <Version>4.2</Version>

  4120. <IsMainModel>1</IsMainModel>

  4121.   <KeepParameterValues>False</KeepParameterValues>

  4122.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4123.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4124. </Description>

  4125. </Information>';

  4126.        knot OneJunction

  4127.         ports

  4128.          power knot duplicatable none p [3,1];

  4129.          signal knot out flow [3,1];

  4130.         restrictions

  4131.          causality constraint one_out p;

  4132.        end;

  4133.        icon bg

  4134.         figures

  4135.          text '1' 239.8 216.2 color 0 18 bold;

  4136.        end;

  4137.        implementation eq

  4138. equations

  4139. 	sum (direct (p.e)) = 0;

  4140. 	equal (collect (p.f));

  4141. 	flow = first (p.f);

  4142. implementation_end;

  4143.       OneJunction8 312 200

  4144.        description '<Information>

  4145.  <Description>

  4146.     <Version>4.2</Version>

  4147. <IsMainModel>1</IsMainModel>

  4148.   <KeepParameterValues>False</KeepParameterValues>

  4149.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4150.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4151. </Description>

  4152. </Information>';

  4153.        knot OneJunction

  4154.         ports

  4155.          rotation knot duplicatable none p [1];

  4156.          signal knot out flow [1];

  4157.         restrictions

  4158.          causality constraint one_out p;

  4159.        end;

  4160.        icon bg

  4161.         figures

  4162.          text '1' 312 200 color 0 18 bold;

  4163.        end;

  4164.        implementation eq

  4165. equations

  4166. 	sum (direct (p.e)) = 0;

  4167. 	equal (collect (p.f));

  4168. 	flow = first (p.f);

  4169. implementation_end;

  4170.       PowerMux 402 216

  4171. 						specifications active 'rot_x'

  4172. 							specification 'rot_x'

  4173.  description '<Information>

  4174.  <Description>

  4175.     <Version>4.8</Version>

  4176.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4177.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  4178. <IsMainModel>1</IsMainModel>

  4179.   <KeepParameterValues>False</KeepParameterValues>

  4180.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4181.  </Description>

  4182. </Information>';

  4183.  type 'PowerMux-Rotation'

  4184.   ports

  4185.    power in input;

  4186.    power out output [6,1];

  4187.    power in input_rot2 [2,1];

  4188.    power in input_pos3 [3,1];

  4189.   restrictions

  4190.    causality constraint not_equal input output;

  4191.    causality constraint not_equal input_rot2 output;

  4192.    causality constraint not_equal input_pos3 output;

  4193.  end;

  4194.  icon bg bottom

  4195.   figures

  4196.    line 400 192 400 240 color 0 width 2;

  4197.    rectangle 396 192 408 240 color -1;

  4198.    text '1' 405 210 color 8421504 8;

  4199.   terminals

  4200.    input 400 200 fixed;

  4201.    output 400 216 fixed;

  4202.    input_rot2 400 232 fixed;

  4203.    input_pos3 400 216 fixed;

  4204.  end;

  4205.  implementation eq

  4206. equations

  4207. 	output.e[1] = input.e;

  4208. 	output.e[2:3] = input_rot2.e;

  4209. 	output.e[4:6] = input_pos3.e;

  4210. 	output.f[1] = input.f;

  4211. 	output.f[2:3] = input_rot2.f;

  4212. 	output.f[4:6] = input_pos3.f;implementation_end;

  4213. specification_end;

  4214. 							specification 'rot_y'

  4215. description '<Description>

  4216.    <Version>4.1</Version>

  4217.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  4218.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  4219. <IsMainModel>1</IsMainModel>

  4220.  <KeepParameterValues>False</KeepParameterValues>

  4221.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4222. </Description>';

  4223.  type PowerMux

  4224.   ports

  4225.    power in input;

  4226.    power out output [6,1];

  4227.    power in input_rot2 [2,1];

  4228.    power in input_pos3 [3,1];

  4229.   restrictions

  4230.    causality constraint not_equal input output;

  4231.    causality constraint not_equal input_rot2 output;

  4232.    causality constraint not_equal input_pos3 output;

  4233.  end;

  4234.  icon bg bottom

  4235.   figures

  4236.    line 242 274 290 274 color 0 width 2;

  4237.    rectangle 242 266 290 278 color -1;

  4238.    text '1' 260 269 color 8421504 8;

  4239.   terminals

  4240.    input 250 274 fixed;

  4241.    output 266 274 fixed;

  4242.    input_rot2 282 274 fixed;

  4243.    input_pos3 266 274 fixed;

  4244.  end;

  4245.  implementation eq

  4246. equations

  4247. 	output.e[1] = input_rot2.e[1];

  4248. 	output.e[2] = input.e;

  4249. 	output.e[3] = input_rot2.e[2];

  4250. 	output.e[4:6] = input_pos3.e;

  4251. 	output.f[1] = input_rot2.f[1];

  4252. 	output.f[2] = input.f;

  4253. 	output.f[3] = input_rot2.f[2];

  4254. 	output.f[4:6] = input_pos3.f;implementation_end;

  4255. specification_end;

  4256. 							specification 'rot_z'

  4257. description '<Information>

  4258.  <Description>

  4259.     <Version>4.8</Version>

  4260.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4261.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  4262. <IsMainModel>1</IsMainModel>

  4263.   <KeepParameterValues>False</KeepParameterValues>

  4264.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4265.  </Description>

  4266. </Information>';

  4267.  type PowerMux

  4268.   ports

  4269.    power in input;

  4270.    power out output [6,1];

  4271.    power in input_rot2 [2,1];

  4272.    power in input_pos3 [3,1];

  4273.   restrictions

  4274.    causality constraint not_equal input output;

  4275.    causality constraint not_equal input_rot2 output;

  4276.    causality constraint not_equal input_pos3 output;

  4277.  end;

  4278.  icon bg bottom

  4279.   figures

  4280.    line 242 274 290 274 color 0 width 2;

  4281.    rectangle 242 266 290 278 color -1;

  4282.    text '1' 260 269 color 8421504 8;

  4283.   terminals

  4284.    input 250 274 fixed;

  4285.    output 266 274 fixed;

  4286.    input_rot2 282 274 fixed;

  4287.    input_pos3 266 274 fixed;

  4288.  end;

  4289.  implementation eq

  4290. equations

  4291. 	output.e[3] = input.e;

  4292. 	output.e[1:2] = input_rot2.e;

  4293. 	output.e[4:6] = input_pos3.e;

  4294. 	output.f[3] = input.f;

  4295. 	output.f[1:2] = input_rot2.f;

  4296. 	output.f[4:6] = input_pos3.f;implementation_end;

  4297. specification_end;

  4298. 						end;

  4299.       R 312 152

  4300.        description '<Information>

  4301.  <Description>

  4302.     <Version>4.2</Version>

  4303. <IsMainModel>1</IsMainModel>

  4304.   <KeepParameterValues>False</KeepParameterValues>

  4305.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4306.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4307. </Description>

  4308. </Information>';

  4309.        type R

  4310.         ports

  4311.          power in p;

  4312.        end;

  4313.        icon bg bottom

  4314.         figures

  4315.          text 'R' 312 152 color 0 18 bold;

  4316.        end;

  4317.        implementation eq

  4318. parameters

  4319. 	real r = 100;

  4320. equations

  4321. 	p.e = r * p.f;

  4322. implementation_end;

  4323.       R4 239.8 288.2

  4324.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4325.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  4326.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  4327. </Description>';

  4328.        type 'R-2'

  4329.         ports

  4330.          power in p [2,1];

  4331.        end;

  4332.        icon bg bottom

  4333.         figures

  4334.          text 'R' 239.8 288.2 color 0 18 bold;

  4335.        end;

  4336.        implementation eq

  4337. parameters

  4338. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  4339. equations					

  4340. 	p.e = r * p.f;

  4341. implementation_end;

  4342.       R5 239.8 168.2

  4343.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4344.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  4345.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  4346. </Description>';

  4347.        type 'R-3'

  4348.         ports

  4349.          power in p [3,1];

  4350.        end;

  4351.        icon bg top

  4352.         figures

  4353.          text 'R' 239.8 168.2 color 0 18 bold;

  4354.        end;

  4355.        implementation eq

  4356. parameters

  4357. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  4358. equations					

  4359. 	p.e = r * p.f;

  4360. implementation_end;

  4361.       stepper_model 360 80

  4362.        description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Motor\stepper_model.emx</LibraryPath><TimeStamp>2020-7-23 10:54:47</TimeStamp></Description><Attributes><GlobalRelations>parameters 

  4363. 	real I_phase = 3.4 {mH};

  4364. 	real R_phase = 2.9 {ohm};

  4365. 	real u_max = 3.4 {V};

  4366. 	real RotorInertia = 5.6e-6 {kg.m2};

  4367. 	real StepperMass = 0.29 {kg};

  4368. 	real angle_step = 1.8 {deg};

  4369. 	real n_phase = 2 {none};

  4370. 	real fluxLinkage = 0.0022 {Wb};

  4371. 	real detentTorque = 0.01 {N.m};

  4372. variables

  4373. 	real omega;

  4374. 	real p; // rotor division

  4375. initialequations

  4376. 	p = 2 * pi / (2 * n_phase * angle_step);

  4377. 	omega = 200;</GlobalRelations></Attributes></Information>';

  4378.        type Submodel

  4379.         ports

  4380.          signal in angle;

  4381.          rotation out p;

  4382.        end;

  4383.        implementation bg

  4384.         submodels

  4385.          I 560 104

  4386.           description '<Information>

  4387.  <Description>

  4388.     <Version>4.2</Version>

  4389. <IsMainModel>1</IsMainModel>

  4390.   <KeepParameterValues>False</KeepParameterValues>

  4391.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4392.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4393. </Description>

  4394. </Information>';

  4395.           type I

  4396.            ports

  4397.             power in p;

  4398.             signal out state;

  4399.            restrictions

  4400.             causality preferred in p;

  4401.           end;

  4402.           icon bg bottom

  4403.            figures

  4404.             text 'I' 560 104 color 0 18 bold;

  4405.           end;

  4406.           implementation eq

  4407. parameters

  4408. 	real global I_phase;

  4409. equations

  4410.     state = int(p.e);

  4411.     p.f = state / I_phase;

  4412. implementation_end;

  4413.          I1 608 328

  4414.           description '<Information>

  4415.  <Description>

  4416.     <Version>4.2</Version>

  4417. <IsMainModel>1</IsMainModel>

  4418.   <KeepParameterValues>False</KeepParameterValues>

  4419.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4420.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4421. </Description>

  4422. </Information>';

  4423.           type I

  4424.            ports

  4425.             power in p;

  4426.             signal out state;

  4427.            restrictions

  4428.             causality preferred in p;

  4429.           end;

  4430.           icon bg bottom

  4431.            figures

  4432.             text 'I' 608 328 color 0 18 bold;

  4433.           end;

  4434.           implementation eq

  4435. parameters

  4436. 	real global I_phase;

  4437. equations

  4438.     state = int(p.e);

  4439.     p.f = state / I_phase;

  4440. implementation_end;

  4441.          I2 752 160

  4442.           description '<Information>

  4443.  <Description>

  4444.     <Version>4.2</Version>

  4445. <IsMainModel>1</IsMainModel>

  4446.   <KeepParameterValues>False</KeepParameterValues>

  4447.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4448.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4449. </Description>

  4450. </Information>';

  4451.           type I

  4452.            ports

  4453.             power in p;

  4454.             signal out state;

  4455.            restrictions

  4456.             causality preferred in p;

  4457.           end;

  4458.           icon bg bottom

  4459.            figures

  4460.             text 'I' 752 160 color 0 18 bold;

  4461.           end;

  4462.           implementation eq

  4463. parameters

  4464. 	real global RotorInertia;

  4465. equations

  4466.     state = int(p.e);

  4467.     p.f = state / (RotorInertia);

  4468. implementation_end;

  4469.          MGY_a 656 160

  4470.           description '<Information>

  4471.  <Description>

  4472.     <Version>4.2</Version>

  4473. <IsMainModel>1</IsMainModel>

  4474.   <KeepParameterValues>False</KeepParameterValues>

  4475.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  4476.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  4477. </Description>

  4478. </Information>';

  4479.           type MGY

  4480.            ports

  4481.             power in p1;

  4482.             power out p2;

  4483.             signal in r;

  4484.            restrictions

  4485.             causality constraint equal p1 p2;

  4486.           end;

  4487.           icon bg bottom

  4488.            figures

  4489.             text 'MGY' 656 160 color 0 18 bold;

  4490.           end;

  4491.           implementation eq

  4492. equations

  4493. 	p1.e = r * p2.f;

  4494. 	p2.e = r * p1.f;

  4495. implementation_end;

  4496.          MGY_b 656 272

  4497.           description '<Information>

  4498.  <Description>

  4499.     <Version>4.2</Version>

  4500. <IsMainModel>1</IsMainModel>

  4501.   <KeepParameterValues>False</KeepParameterValues>

  4502.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  4503.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  4504. </Description>

  4505. </Information>';

  4506.           type MGY

  4507.            ports

  4508.             power in p1;

  4509.             power out p2;

  4510.             signal in r;

  4511.            restrictions

  4512.             causality constraint equal p1 p2;

  4513.           end;

  4514.           icon bg bottom

  4515.            figures

  4516.             text 'MGY' 656 272 color 0 18 bold;

  4517.           end;

  4518.           implementation eq

  4519. equations

  4520. 	p1.e = r * p2.f;

  4521. 	p2.e = r * p1.f;

  4522. implementation_end;

  4523.          MSe_a 512 160

  4524.           description '<Information>

  4525.  <Description>

  4526.     <Version>4.2</Version>

  4527. <IsMainModel>1</IsMainModel>

  4528.   <KeepParameterValues>False</KeepParameterValues>

  4529.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4530.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4531. </Description>

  4532. </Information>';

  4533.           type MSe

  4534.            ports

  4535.             electric out p;

  4536.             signal in effort;

  4537.            restrictions

  4538.             causality fixed out p;

  4539.           end;

  4540.           icon bg bottom

  4541.            figures

  4542.             text 'MSe' 512 160 color 0 18 bold;

  4543.           end;

  4544.           implementation eq

  4545. variables

  4546. 	real flow;

  4547. equations

  4548. 	p.e = effort;

  4549. 	flow = p.f;

  4550. implementation_end;

  4551.          MSe_b 512 272

  4552.           description '<Information>

  4553.  <Description>

  4554.     <Version>4.2</Version>

  4555. <IsMainModel>1</IsMainModel>

  4556.   <KeepParameterValues>False</KeepParameterValues>

  4557.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4558.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4559. </Description>

  4560. </Information>';

  4561.           type MSe

  4562.            ports

  4563.             electric out p;

  4564.             signal in effort;

  4565.            restrictions

  4566.             causality fixed out p;

  4567.           end;

  4568.           icon bg bottom

  4569.            figures

  4570.             text 'MSe' 512 272 color 0 18 bold;

  4571.           end;

  4572.           implementation eq

  4573. variables

  4574. 	real flow;

  4575. equations

  4576. 	p.e = effort;

  4577. 	flow = p.f;

  4578. implementation_end;

  4579.          plug angle 200 216;

  4580.          plug p 1472 216;

  4581.          OneJunction1 840 216

  4582.           description '<Information>

  4583.  <Description>

  4584.     <Version>4.2</Version>

  4585. <IsMainModel>1</IsMainModel>

  4586.   <KeepParameterValues>False</KeepParameterValues>

  4587.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4588.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4589. </Description>

  4590. </Information>';

  4591.           knot OneJunction

  4592.            ports

  4593.             rotation knot duplicatable none p [1];

  4594.             signal knot out flow [1];

  4595.            restrictions

  4596.             causality constraint one_out p;

  4597.           end;

  4598.           icon bg

  4599.            figures

  4600.             text '1' 840 216 color 0 18 bold;

  4601.           end;

  4602.           implementation eq

  4603. equations

  4604. 	sum (direct (p.e)) = 0;

  4605. 	equal (collect (p.f));

  4606. 	flow = first (p.f);

  4607. implementation_end;

  4608.          OneJunction2 584 160

  4609.           description '<Information>

  4610.  <Description>

  4611.     <Version>4.2</Version>

  4612. <IsMainModel>1</IsMainModel>

  4613.   <KeepParameterValues>False</KeepParameterValues>

  4614.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4615.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4616. </Description>

  4617. </Information>';

  4618.           knot OneJunction

  4619.            ports

  4620.             electric knot duplicatable none p [1];

  4621.             signal knot out flow [1];

  4622.            restrictions

  4623.             causality constraint one_out p;

  4624.           end;

  4625.           icon bg

  4626.            figures

  4627.             text '1' 584 160 color 0 18 bold;

  4628.           end;

  4629.           implementation eq

  4630. equations

  4631. 	sum (direct (p.e)) = 0;

  4632. 	equal (collect (p.f));

  4633. 	flow = first (p.f);

  4634. implementation_end;

  4635.          OneJunction3 584 272

  4636.           description '<Information>

  4637.  <Description>

  4638.     <Version>4.2</Version>

  4639. <IsMainModel>1</IsMainModel>

  4640.   <KeepParameterValues>False</KeepParameterValues>

  4641.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4642.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4643. </Description>

  4644. </Information>';

  4645.           knot OneJunction

  4646.            ports

  4647.             electric knot duplicatable none p [1];

  4648.             signal knot out flow [1];

  4649.            restrictions

  4650.             causality constraint one_out p;

  4651.           end;

  4652.           icon bg

  4653.            figures

  4654.             text '1' 584 272 color 0 18 bold;

  4655.           end;

  4656.           implementation eq

  4657. equations

  4658. 	sum (direct (p.e)) = 0;

  4659. 	equal (collect (p.f));

  4660. 	flow = first (p.f);

  4661. implementation_end;

  4662.          OneJunction4 752 216

  4663.           description '<Information>

  4664.  <Description>

  4665.     <Version>4.2</Version>

  4666. <IsMainModel>1</IsMainModel>

  4667.   <KeepParameterValues>False</KeepParameterValues>

  4668.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4669.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4670. </Description>

  4671. </Information>';

  4672.           knot OneJunction

  4673.            ports

  4674.             rotation knot duplicatable none p [1];

  4675.             signal knot out flow [1];

  4676.            restrictions

  4677.             causality constraint one_out p;

  4678.           end;

  4679.           icon bg

  4680.            figures

  4681.             text '1' 752 216 color 0 18 bold;

  4682.           end;

  4683.           implementation eq

  4684. equations

  4685. 	sum (direct (p.e)) = 0;

  4686. 	equal (collect (p.f));

  4687. 	flow = first (p.f);

  4688. implementation_end;

  4689.          phase_control 512 216

  4690.           description '<Description><Version>4.0</Version>

  4691.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  4692. <IsMainModel>1</IsMainModel>

  4693.  <KeepParameterValues>False</KeepParameterValues>

  4694.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  4695.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4696. </Description>';

  4697.           type Submodel

  4698.            ports

  4699.             signal in angle;

  4700.             signal out a;

  4701.             signal out b;

  4702.           end;

  4703.           icon bg

  4704.            figures

  4705.             rectangle 472 200 552 232 color 0 fill 15132390;

  4706.             text 'name' 512 216 color 0 'Clear Sans' 16;

  4707.           end;

  4708.           implementation eq

  4709. parameters

  4710. 	real global u_max {V};

  4711. variables

  4712. 	real global p;

  4713. 	boolean hidden eventa, eventb;

  4714. equations

  4715. 	a = u_max * (cos (p*angle));

  4716. 	eventa = event(a);

  4717. 	b = u_max * -(sin (p*angle));

  4718. 	eventb = event(b);

  4719. 

  4720. 	

  4721. 	

  4722.  implementation_end;

  4723.          R 608 104

  4724.           description '<Information>

  4725.  <Description>

  4726.     <Version>4.2</Version>

  4727. <IsMainModel>1</IsMainModel>

  4728.   <KeepParameterValues>False</KeepParameterValues>

  4729.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4730.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4731. </Description>

  4732. </Information>';

  4733.           type R

  4734.            ports

  4735.             power in p;

  4736.           end;

  4737.           icon bg bottom

  4738.            figures

  4739.             text 'R' 608 104 color 0 18 bold;

  4740.           end;

  4741.           implementation eq

  4742. parameters

  4743. 	real global R_phase;

  4744. equations

  4745. 	p.e = R_phase * p.f;

  4746. implementation_end;

  4747.          R1 560 328

  4748.           description '<Information>

  4749.  <Description>

  4750.     <Version>4.2</Version>

  4751. <IsMainModel>1</IsMainModel>

  4752.   <KeepParameterValues>False</KeepParameterValues>

  4753.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4754.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4755. </Description>

  4756. </Information>';

  4757.           type R

  4758.            ports

  4759.             power in p;

  4760.           end;

  4761.           icon bg bottom

  4762.            figures

  4763.             text 'R' 560 328 color 0 18 bold;

  4764.           end;

  4765.           implementation eq

  4766. parameters

  4767. 	real global R_phase;

  4768. equations

  4769. 	p.e = R_phase * p.f;

  4770. implementation_end;

  4771.          R2 824 264

  4772.           description '<Information>

  4773.  <Description>

  4774.     <Version>4.2</Version>

  4775. <IsMainModel>1</IsMainModel>

  4776.   <KeepParameterValues>False</KeepParameterValues>

  4777.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4778.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4779. </Description>

  4780. </Information>';

  4781.           type R

  4782.            ports

  4783.             power in p;

  4784.           end;

  4785.           icon bg bottom

  4786.            figures

  4787.             text 'R' 824 264 color 0 18 bold;

  4788.           end;

  4789.           implementation eq

  4790. parameters

  4791. 	real r = 1.0e-3;

  4792. equations

  4793. 	p.e = r * p.f;

  4794. implementation_end;

  4795.          RotorAngle 656 216

  4796.           description '<Description><Version>4.0</Version>

  4797.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  4798. <IsMainModel>1</IsMainModel>

  4799.  <KeepParameterValues>False</KeepParameterValues>

  4800.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  4801.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4802. </Description>';

  4803.           type Submodel

  4804.            ports

  4805.             signal out output_b;

  4806.             signal out output_a;

  4807.             signal in omega {rad/s} ;

  4808.             signal out output_d;

  4809.           end;

  4810.           icon bg

  4811.            figures

  4812.             rectangle 616 200 696 232 color 0 fill 15132390;

  4813.             text 'name' 656 216 color 0 'Clear Sans' 16;

  4814.           end;

  4815.           implementation eq

  4816. parameters

  4817. 	real global fluxLinkage;

  4818. 	real global detentTorque;

  4819. variables

  4820. 	real global p;

  4821. 	real angle {rad};

  4822. equations

  4823. 	angle = int(omega);

  4824. 	output_a = -p * fluxLinkage * sin(p * angle);

  4825. 	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);

  4826. 	output_d =  detentTorque * sin(2 * p * angle);

  4827.  implementation_end;

  4828.          Se 752 272

  4829.           description '<Information>

  4830.  <Description>

  4831.     <Version>4.2</Version>

  4832. <IsMainModel>1</IsMainModel>

  4833.   <KeepParameterValues>False</KeepParameterValues>

  4834.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4835.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4836. </Description>

  4837. </Information>';

  4838.           type MSe

  4839.            ports

  4840.             power out p;

  4841.             signal in effort;

  4842.            restrictions

  4843.             causality fixed out p;

  4844.           end;

  4845.           icon bg bottom

  4846.            figures

  4847.             text 'MSe' 752 272 color 0 18 bold;

  4848.           end;

  4849.           implementation eq

  4850. 

  4851. variables

  4852. 	real flow;

  4853. equations

  4854. 	p.e = effort;

  4855. 	flow = p.f;

  4856. implementation_end;

  4857.         end;

  4858.         connections

  4859.          angle -> phase_control\angle;

  4860.          I2\p <= OneJunction4\p;

  4861.          MGY_a\p2 => OneJunction4\p;

  4862.          MGY_b\p2 => OneJunction4\p;

  4863.          MSe_b\p => OneJunction3\p;

  4864.          OneJunction1\p => p;

  4865.          OneJunction2\p <= MSe_a\p;

  4866.          OneJunction2\p => I\p;

  4867.          OneJunction2\p => MGY_a\p1;

  4868.          OneJunction2\p => R\p;

  4869.          OneJunction3\p => I1\p;

  4870.          OneJunction3\p => MGY_b\p1;

  4871.          OneJunction3\p => R1\p;

  4872.          OneJunction4\flow -> RotorAngle\omega;

  4873.          OneJunction4\p => OneJunction1\p;

  4874.          OneJunction4\p => R2\p;

  4875.          phase_control\a -> MSe_a\effort;

  4876.          phase_control\b -> MSe_b\effort;

  4877.          RotorAngle\output_a -> MGY_a\r;

  4878.          RotorAngle\output_b -> MGY_b\r;

  4879.          RotorAngle\output_d -> Se\effort;

  4880.          Se\p => OneJunction4\p;

  4881.         end;

  4882.        implementation_end;

  4883.       ZeroJunction1 360 200

  4884.        description '<Information>

  4885.  <Description>

  4886.     <Version>4.2</Version>

  4887. <IsMainModel>1</IsMainModel>

  4888.   <KeepParameterValues>False</KeepParameterValues>

  4889.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  4890.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  4891. </Description>

  4892. </Information>';

  4893.        knot ZeroJunction

  4894.         ports

  4895.          rotation knot duplicatable none p [1];

  4896.          signal knot out effort [1];

  4897.         restrictions

  4898.          causality constraint one_in p;

  4899.        end;

  4900.        icon bg

  4901.         figures

  4902.          text '0' 360 200 color 0 18 bold;

  4903.        end;

  4904.        implementation eq

  4905. equations

  4906. 	sum (direct (p.f)) = 0;

  4907. 	equal (collect (p.e));

  4908. 	effort = first (p.e);

  4909. implementation_end;

  4910.      end;

  4911.      connections

  4912.       angle -> stepper_model\angle;

  4913.       C\p <= OneJunction8\p;

  4914.       C1\p <= OneJunction7\p;

  4915.       OneJunction5\p => C4\p;

  4916.       OneJunction5\p => PowerMux\input_rot2;

  4917.       OneJunction5\p => R4\p;

  4918.       OneJunction7\p => PowerMux\input_pos3;

  4919.       OneJunction7\p => R5\p;

  4920.       OneJunction8\p => R\p;

  4921.       OneJunction8\p => ZeroJunction1\p;

  4922.       PowerMux\output => output;

  4923.       stepper_model\p => ZeroJunction1\p;

  4924.       ZeroJunction1\p => PowerMux\input;

  4925.      end;

  4926.     implementation_end;

  4927.    Joint_dynD 88 488

  4928.     description '<Description>

  4929. 	<Version>4.8</Version>

  4930. 	<IsMainModel>1</IsMainModel>

  4931. 	</Description>';

  4932.     type Submodel

  4933.      ports

  4934.       power out output [6,1];

  4935.     end;

  4936.     icon bg

  4937.      figures

  4938.       rectangle 48 472 128 504 color 0 fill 55295;

  4939.       text 'name' 88 488 color 0 'Clear Sans' 16;

  4940.     end;

  4941.     implementation bg

  4942.      submodels

  4943.       C1 191.8 216.2

  4944.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4945.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4946.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4947. </Description>';

  4948.        type 'C-3'

  4949.         ports

  4950.          power in p [3,1];

  4951.          signal out state [3,1];

  4952.         restrictions

  4953.          causality preferred out p;

  4954.        end;

  4955.        icon bg top

  4956.         figures

  4957.          text 'C' 191.8 216.2 color 0 18 bold;

  4958.        end;

  4959.        implementation eq

  4960. parameters

  4961. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  4962. equations

  4963.     state = int(p.f);

  4964.     p.e = inverse(c) *state;

  4965. implementation_end;

  4966.       C4 191.8 232.2

  4967.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4968.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4969.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4970. </Description>';

  4971.        type 'C-2'

  4972.         ports

  4973.          power in p [2,1];

  4974.          signal out state [2,1];

  4975.         restrictions

  4976.          causality preferred out p;

  4977.        end;

  4978.        icon bg bottom

  4979.         figures

  4980.          text 'C' 191.8 232.2 color 0 18 bold;

  4981.        end;

  4982.        implementation eq

  4983. parameters

  4984. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  4985. equations

  4986.     state = int(p.f);

  4987.     p.e = inverse(c) *state;

  4988. implementation_end;

  4989.       plug output 396 216;

  4990.       OneJunction5 239.8 232.2

  4991.        description '<Information>

  4992.  <Description>

  4993.     <Version>4.2</Version>

  4994. <IsMainModel>1</IsMainModel>

  4995.   <KeepParameterValues>False</KeepParameterValues>

  4996.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4997.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4998. </Description>

  4999. </Information>';

  5000.        knot OneJunction

  5001.         ports

  5002.          power knot duplicatable none p [2,1];

  5003.          signal knot out flow [2,1];

  5004.         restrictions

  5005.          causality constraint one_out p;

  5006.        end;

  5007.        icon bg

  5008.         figures

  5009.          text '1' 239.8 232.2 color 0 18 bold;

  5010.        end;

  5011.        implementation eq

  5012. equations

  5013. 	sum (direct (p.e)) = 0;

  5014. 	equal (collect (p.f));

  5015. 	flow = first (p.f);

  5016. implementation_end;

  5017.       OneJunction7 239.8 216.2

  5018.        description '<Information>

  5019.  <Description>

  5020.     <Version>4.2</Version>

  5021. <IsMainModel>1</IsMainModel>

  5022.   <KeepParameterValues>False</KeepParameterValues>

  5023.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5024.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5025. </Description>

  5026. </Information>';

  5027.        knot OneJunction

  5028.         ports

  5029.          power knot duplicatable none p [3,1];

  5030.          signal knot out flow [3,1];

  5031.         restrictions

  5032.          causality constraint one_out p;

  5033.        end;

  5034.        icon bg

  5035.         figures

  5036.          text '1' 239.8 216.2 color 0 18 bold;

  5037.        end;

  5038.        implementation eq

  5039. equations

  5040. 	sum (direct (p.e)) = 0;

  5041. 	equal (collect (p.f));

  5042. 	flow = first (p.f);

  5043. implementation_end;

  5044.       OneJunction8 288 200

  5045.        description '<Information>

  5046.  <Description>

  5047.     <Version>4.2</Version>

  5048. <IsMainModel>1</IsMainModel>

  5049.   <KeepParameterValues>False</KeepParameterValues>

  5050.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5051.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5052. </Description>

  5053. </Information>';

  5054.        knot OneJunction

  5055.         ports

  5056.          power knot duplicatable none p [1];

  5057.          signal knot out flow [1];

  5058.         restrictions

  5059.          causality constraint one_out p;

  5060.        end;

  5061.        icon bg

  5062.         figures

  5063.          text '1' 288 200 color 0 18 bold;

  5064.        end;

  5065.        implementation eq

  5066. equations

  5067. 	sum (direct (p.e)) = 0;

  5068. 	equal (collect (p.f));

  5069. 	flow = first (p.f);

  5070. implementation_end;

  5071.       PowerMux 330 216

  5072. 						specifications active 'rot_x'

  5073. 							specification 'rot_x'

  5074.  description '<Information>

  5075.  <Description>

  5076.     <Version>4.8</Version>

  5077.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5078.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5079. <IsMainModel>1</IsMainModel>

  5080.   <KeepParameterValues>False</KeepParameterValues>

  5081.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5082.  </Description>

  5083. </Information>';

  5084.  type 'PowerMux-Rotation'

  5085.   ports

  5086.    power in input;

  5087.    power out output [6,1];

  5088.    power in input_rot2 [2,1];

  5089.    power in input_pos3 [3,1];

  5090.   restrictions

  5091.    causality constraint not_equal input output;

  5092.    causality constraint not_equal input_rot2 output;

  5093.    causality constraint not_equal input_pos3 output;

  5094.  end;

  5095.  icon bg bottom

  5096.   figures

  5097.    line 328 192 328 240 color 0 width 2;

  5098.    rectangle 324 192 336 240 color -1;

  5099.    text '1' 333 210 color 8421504 8;

  5100.   terminals

  5101.    input 328 200 fixed;

  5102.    output 328 216 fixed;

  5103.    input_rot2 328 232 fixed;

  5104.    input_pos3 328 216 fixed;

  5105.  end;

  5106.  implementation eq

  5107. equations

  5108. 	output.e[1] = input.e;

  5109. 	output.e[2:3] = input_rot2.e;

  5110. 	output.e[4:6] = input_pos3.e;

  5111. 	output.f[1] = input.f;

  5112. 	output.f[2:3] = input_rot2.f;

  5113. 	output.f[4:6] = input_pos3.f;implementation_end;

  5114. specification_end;

  5115. 							specification 'rot_y'

  5116. description '<Description>

  5117.    <Version>4.1</Version>

  5118.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5119.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5120. <IsMainModel>1</IsMainModel>

  5121.  <KeepParameterValues>False</KeepParameterValues>

  5122.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5123. </Description>';

  5124.  type PowerMux

  5125.   ports

  5126.    power in input;

  5127.    power out output [6,1];

  5128.    power in input_rot2 [2,1];

  5129.    power in input_pos3 [3,1];

  5130.   restrictions

  5131.    causality constraint not_equal input output;

  5132.    causality constraint not_equal input_rot2 output;

  5133.    causality constraint not_equal input_pos3 output;

  5134.  end;

  5135.  icon bg bottom

  5136.   figures

  5137.    line 242 274 290 274 color 0 width 2;

  5138.    rectangle 242 266 290 278 color -1;

  5139.    text '1' 260 269 color 8421504 8;

  5140.   terminals

  5141.    input 250 274 fixed;

  5142.    output 266 274 fixed;

  5143.    input_rot2 282 274 fixed;

  5144.    input_pos3 266 274 fixed;

  5145.  end;

  5146.  implementation eq

  5147. equations

  5148. 	output.e[1] = input_rot2.e[1];

  5149. 	output.e[2] = input.e;

  5150. 	output.e[3] = input_rot2.e[2];

  5151. 	output.e[4:6] = input_pos3.e;

  5152. 	output.f[1] = input_rot2.f[1];

  5153. 	output.f[2] = input.f;

  5154. 	output.f[3] = input_rot2.f[2];

  5155. 	output.f[4:6] = input_pos3.f;implementation_end;

  5156. specification_end;

  5157. 							specification 'rot_z'

  5158. description '<Information>

  5159.  <Description>

  5160.     <Version>4.8</Version>

  5161.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5162.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5163. <IsMainModel>1</IsMainModel>

  5164.   <KeepParameterValues>False</KeepParameterValues>

  5165.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5166.  </Description>

  5167. </Information>';

  5168.  type PowerMux

  5169.   ports

  5170.    power in input;

  5171.    power out output [6,1];

  5172.    power in input_rot2 [2,1];

  5173.    power in input_pos3 [3,1];

  5174.   restrictions

  5175.    causality constraint not_equal input output;

  5176.    causality constraint not_equal input_rot2 output;

  5177.    causality constraint not_equal input_pos3 output;

  5178.  end;

  5179.  icon bg bottom

  5180.   figures

  5181.    line 242 274 290 274 color 0 width 2;

  5182.    rectangle 242 266 290 278 color -1;

  5183.    text '1' 260 269 color 8421504 8;

  5184.   terminals

  5185.    input 250 274 fixed;

  5186.    output 266 274 fixed;

  5187.    input_rot2 282 274 fixed;

  5188.    input_pos3 266 274 fixed;

  5189.  end;

  5190.  implementation eq

  5191. equations

  5192. 	output.e[3] = input.e;

  5193. 	output.e[1:2] = input_rot2.e;

  5194. 	output.e[4:6] = input_pos3.e;

  5195. 	output.f[3] = input.f;

  5196. 	output.f[1:2] = input_rot2.f;

  5197. 	output.f[4:6] = input_pos3.f;implementation_end;

  5198. specification_end;

  5199. 						end;

  5200.       R 288 152

  5201.        description '<Information>

  5202.  <Description>

  5203.     <Version>4.2</Version>

  5204. <IsMainModel>1</IsMainModel>

  5205.   <KeepParameterValues>False</KeepParameterValues>

  5206.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5207.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5208. </Description>

  5209. </Information>';

  5210.        type R

  5211.         ports

  5212.          power in p;

  5213.        end;

  5214.        icon bg top

  5215.         figures

  5216.          text 'R' 288 152 color 0 18 bold;

  5217.        end;

  5218.        implementation eq

  5219. parameters

  5220. 	real r = 0.0001;

  5221. equations

  5222. 	p.e = r * p.f;

  5223. implementation_end;

  5224.       R4 239.8 288.2

  5225.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5226.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5227.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5228. </Description>';

  5229.        type 'R-2'

  5230.         ports

  5231.          power in p [2,1];

  5232.        end;

  5233.        icon bg bottom

  5234.         figures

  5235.          text 'R' 239.8 288.2 color 0 18 bold;

  5236.        end;

  5237.        implementation eq

  5238. parameters

  5239. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5240. equations					

  5241. 	p.e = r * p.f;

  5242. implementation_end;

  5243.       R5 239.8 168.2

  5244.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5245.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5246.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5247. </Description>';

  5248.        type 'R-3'

  5249.         ports

  5250.          power in p [3,1];

  5251.        end;

  5252.        icon bg top

  5253.         figures

  5254.          text 'R' 239.8 168.2 color 0 18 bold;

  5255.        end;

  5256.        implementation eq

  5257. parameters

  5258. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  5259. equations					

  5260. 	p.e = r * p.f;

  5261. implementation_end;

  5262.      end;

  5263.      connections

  5264.       C1\p <= OneJunction7\p;

  5265.       OneJunction5\p => C4\p;

  5266.       OneJunction5\p => PowerMux\input_rot2;

  5267.       OneJunction5\p => R4\p;

  5268.       OneJunction7\p => PowerMux\input_pos3;

  5269.       OneJunction7\p => R5\p;

  5270.       OneJunction8\p => PowerMux\input;

  5271.       PowerMux\output => output;

  5272.       R\p <= OneJunction8\p;

  5273.      end;

  5274.     implementation_end;

  5275.    Joint_dynE 88 168

  5276.     description '<Description>

  5277. 	<Version>4.8</Version>

  5278. 	<IsMainModel>1</IsMainModel>

  5279. 	</Description>';

  5280.     type Submodel

  5281.      ports

  5282.       power out output [6,1];

  5283.     end;

  5284.     icon bg

  5285.      figures

  5286.       rectangle 48 152 128 184 color 0 fill 55295;

  5287.       text 'name' 88 168 color 0 'Clear Sans' 16;

  5288.     end;

  5289.     implementation bg

  5290.      submodels

  5291.       C1 191.8 216.2

  5292.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5293.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  5294.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  5295. </Description>';

  5296.        type 'C-3'

  5297.         ports

  5298.          power in p [3,1];

  5299.          signal out state [3,1];

  5300.         restrictions

  5301.          causality preferred out p;

  5302.        end;

  5303.        icon bg top

  5304.         figures

  5305.          text 'C' 191.8 216.2 color 0 18 bold;

  5306.        end;

  5307.        implementation eq

  5308. parameters

  5309. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  5310. equations

  5311.     state = int(p.f);

  5312.     p.e = inverse(c) *state;

  5313. implementation_end;

  5314.       C4 191.8 232.2

  5315.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5316.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  5317.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  5318. </Description>';

  5319.        type 'C-2'

  5320.         ports

  5321.          power in p [2,1];

  5322.          signal out state [2,1];

  5323.         restrictions

  5324.          causality preferred out p;

  5325.        end;

  5326.        icon bg bottom

  5327.         figures

  5328.          text 'C' 191.8 232.2 color 0 18 bold;

  5329.        end;

  5330.        implementation eq

  5331. parameters

  5332. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  5333. equations

  5334.     state = int(p.f);

  5335.     p.e = inverse(c) *state;

  5336. implementation_end;

  5337.       plug output 396 216;

  5338.       OneJunction5 239.8 232.2

  5339.        description '<Information>

  5340.  <Description>

  5341.     <Version>4.2</Version>

  5342. <IsMainModel>1</IsMainModel>

  5343.   <KeepParameterValues>False</KeepParameterValues>

  5344.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5345.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5346. </Description>

  5347. </Information>';

  5348.        knot OneJunction

  5349.         ports

  5350.          power knot duplicatable none p [2,1];

  5351.          signal knot out flow [2,1];

  5352.         restrictions

  5353.          causality constraint one_out p;

  5354.        end;

  5355.        icon bg

  5356.         figures

  5357.          text '1' 239.8 232.2 color 0 18 bold;

  5358.        end;

  5359.        implementation eq

  5360. equations

  5361. 	sum (direct (p.e)) = 0;

  5362. 	equal (collect (p.f));

  5363. 	flow = first (p.f);

  5364. implementation_end;

  5365.       OneJunction7 239.8 216.2

  5366.        description '<Information>

  5367.  <Description>

  5368.     <Version>4.2</Version>

  5369. <IsMainModel>1</IsMainModel>

  5370.   <KeepParameterValues>False</KeepParameterValues>

  5371.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5372.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5373. </Description>

  5374. </Information>';

  5375.        knot OneJunction

  5376.         ports

  5377.          power knot duplicatable none p [3,1];

  5378.          signal knot out flow [3,1];

  5379.         restrictions

  5380.          causality constraint one_out p;

  5381.        end;

  5382.        icon bg

  5383.         figures

  5384.          text '1' 239.8 216.2 color 0 18 bold;

  5385.        end;

  5386.        implementation eq

  5387. equations

  5388. 	sum (direct (p.e)) = 0;

  5389. 	equal (collect (p.f));

  5390. 	flow = first (p.f);

  5391. implementation_end;

  5392.       OneJunction8 288 200

  5393.        description '<Information>

  5394.  <Description>

  5395.     <Version>4.2</Version>

  5396. <IsMainModel>1</IsMainModel>

  5397.   <KeepParameterValues>False</KeepParameterValues>

  5398.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5399.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5400. </Description>

  5401. </Information>';

  5402.        knot OneJunction

  5403.         ports

  5404.          power knot duplicatable none p [1];

  5405.          signal knot out flow [1];

  5406.         restrictions

  5407.          causality constraint one_out p;

  5408.        end;

  5409.        icon bg

  5410.         figures

  5411.          text '1' 288 200 color 0 18 bold;

  5412.        end;

  5413.        implementation eq

  5414. equations

  5415. 	sum (direct (p.e)) = 0;

  5416. 	equal (collect (p.f));

  5417. 	flow = first (p.f);

  5418. implementation_end;

  5419.       PowerMux 330 216

  5420. 						specifications active 'rot_x'

  5421. 							specification 'rot_x'

  5422.  description '<Information>

  5423.  <Description>

  5424.     <Version>4.8</Version>

  5425.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5426.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5427. <IsMainModel>1</IsMainModel>

  5428.   <KeepParameterValues>False</KeepParameterValues>

  5429.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5430.  </Description>

  5431. </Information>';

  5432.  type 'PowerMux-Rotation'

  5433.   ports

  5434.    power in input;

  5435.    power out output [6,1];

  5436.    power in input_rot2 [2,1];

  5437.    power in input_pos3 [3,1];

  5438.   restrictions

  5439.    causality constraint not_equal input output;

  5440.    causality constraint not_equal input_rot2 output;

  5441.    causality constraint not_equal input_pos3 output;

  5442.  end;

  5443.  icon bg bottom

  5444.   figures

  5445.    line 328 192 328 240 color 0 width 2;

  5446.    rectangle 324 192 336 240 color -1;

  5447.    text '1' 333 210 color 8421504 8;

  5448.   terminals

  5449.    input 328 200 fixed;

  5450.    output 328 216 fixed;

  5451.    input_rot2 328 232 fixed;

  5452.    input_pos3 328 216 fixed;

  5453.  end;

  5454.  implementation eq

  5455. equations

  5456. 	output.e[1] = input.e;

  5457. 	output.e[2:3] = input_rot2.e;

  5458. 	output.e[4:6] = input_pos3.e;

  5459. 	output.f[1] = input.f;

  5460. 	output.f[2:3] = input_rot2.f;

  5461. 	output.f[4:6] = input_pos3.f;implementation_end;

  5462. specification_end;

  5463. 							specification 'rot_y'

  5464. description '<Description>

  5465.    <Version>4.1</Version>

  5466.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5467.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5468. <IsMainModel>1</IsMainModel>

  5469.  <KeepParameterValues>False</KeepParameterValues>

  5470.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5471. </Description>';

  5472.  type PowerMux

  5473.   ports

  5474.    power in input;

  5475.    power out output [6,1];

  5476.    power in input_rot2 [2,1];

  5477.    power in input_pos3 [3,1];

  5478.   restrictions

  5479.    causality constraint not_equal input output;

  5480.    causality constraint not_equal input_rot2 output;

  5481.    causality constraint not_equal input_pos3 output;

  5482.  end;

  5483.  icon bg bottom

  5484.   figures

  5485.    line 242 274 290 274 color 0 width 2;

  5486.    rectangle 242 266 290 278 color -1;

  5487.    text '1' 260 269 color 8421504 8;

  5488.   terminals

  5489.    input 250 274 fixed;

  5490.    output 266 274 fixed;

  5491.    input_rot2 282 274 fixed;

  5492.    input_pos3 266 274 fixed;

  5493.  end;

  5494.  implementation eq

  5495. equations

  5496. 	output.e[1] = input_rot2.e[1];

  5497. 	output.e[2] = input.e;

  5498. 	output.e[3] = input_rot2.e[2];

  5499. 	output.e[4:6] = input_pos3.e;

  5500. 	output.f[1] = input_rot2.f[1];

  5501. 	output.f[2] = input.f;

  5502. 	output.f[3] = input_rot2.f[2];

  5503. 	output.f[4:6] = input_pos3.f;implementation_end;

  5504. specification_end;

  5505. 							specification 'rot_z'

  5506. description '<Information>

  5507.  <Description>

  5508.     <Version>4.8</Version>

  5509.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5510.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5511. <IsMainModel>1</IsMainModel>

  5512.   <KeepParameterValues>False</KeepParameterValues>

  5513.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5514.  </Description>

  5515. </Information>';

  5516.  type PowerMux

  5517.   ports

  5518.    power in input;

  5519.    power out output [6,1];

  5520.    power in input_rot2 [2,1];

  5521.    power in input_pos3 [3,1];

  5522.   restrictions

  5523.    causality constraint not_equal input output;

  5524.    causality constraint not_equal input_rot2 output;

  5525.    causality constraint not_equal input_pos3 output;

  5526.  end;

  5527.  icon bg bottom

  5528.   figures

  5529.    line 242 274 290 274 color 0 width 2;

  5530.    rectangle 242 266 290 278 color -1;

  5531.    text '1' 260 269 color 8421504 8;

  5532.   terminals

  5533.    input 250 274 fixed;

  5534.    output 266 274 fixed;

  5535.    input_rot2 282 274 fixed;

  5536.    input_pos3 266 274 fixed;

  5537.  end;

  5538.  implementation eq

  5539. equations

  5540. 	output.e[3] = input.e;

  5541. 	output.e[1:2] = input_rot2.e;

  5542. 	output.e[4:6] = input_pos3.e;

  5543. 	output.f[3] = input.f;

  5544. 	output.f[1:2] = input_rot2.f;

  5545. 	output.f[4:6] = input_pos3.f;implementation_end;

  5546. specification_end;

  5547. 						end;

  5548.       R 288 152

  5549.        description '<Information>

  5550.  <Description>

  5551.     <Version>4.2</Version>

  5552. <IsMainModel>1</IsMainModel>

  5553.   <KeepParameterValues>False</KeepParameterValues>

  5554.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5555.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5556. </Description>

  5557. </Information>';

  5558.        type R

  5559.         ports

  5560.          power in p;

  5561.        end;

  5562.        icon bg top

  5563.         figures

  5564.          text 'R' 288 152 color 0 18 bold;

  5565.        end;

  5566.        implementation eq

  5567. parameters

  5568. 	real r = 0.0001;

  5569. equations

  5570. 	p.e = r * p.f;

  5571. implementation_end;

  5572.       R4 239.8 288.2

  5573.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5574.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5575.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5576. </Description>';

  5577.        type 'R-2'

  5578.         ports

  5579.          power in p [2,1];

  5580.        end;

  5581.        icon bg bottom

  5582.         figures

  5583.          text 'R' 239.8 288.2 color 0 18 bold;

  5584.        end;

  5585.        implementation eq

  5586. parameters

  5587. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5588. equations					

  5589. 	p.e = r * p.f;

  5590. implementation_end;

  5591.       R5 239.8 168.2

  5592.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5593.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5594.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5595. </Description>';

  5596.        type 'R-3'

  5597.         ports

  5598.          power in p [3,1];

  5599.        end;

  5600.        icon bg top

  5601.         figures

  5602.          text 'R' 239.8 168.2 color 0 18 bold;

  5603.        end;

  5604.        implementation eq

  5605. parameters

  5606. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  5607. equations					

  5608. 	p.e = r * p.f;

  5609. implementation_end;

  5610.      end;

  5611.      connections

  5612.       C1\p <= OneJunction7\p;

  5613.       OneJunction5\p => C4\p;

  5614.       OneJunction5\p => PowerMux\input_rot2;

  5615.       OneJunction5\p => R4\p;

  5616.       OneJunction7\p => PowerMux\input_pos3;

  5617.       OneJunction7\p => R5\p;

  5618.       OneJunction8\p => PowerMux\input;

  5619.       PowerMux\output => output;

  5620.       R\p <= OneJunction8\p;

  5621.      end;

  5622.     implementation_end;

  5623.    Joint_dynF 864 48

  5624.     description '<Description>

  5625. 	<Version>4.8</Version>

  5626. 	<IsMainModel>1</IsMainModel>

  5627. 	</Description>';

  5628.     type Submodel

  5629.      ports

  5630.       power out output [6,1];

  5631.     end;

  5632.     icon bg

  5633.      figures

  5634.       rectangle 824 32 904 64 color 0 fill 55295;

  5635.       text 'name' 864 48 color 0 'Clear Sans' 16;

  5636.     end;

  5637.     implementation bg

  5638.      submodels

  5639.       C1 191.8 216.2

  5640.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5641.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  5642.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  5643. </Description>';

  5644.        type 'C-3'

  5645.         ports

  5646.          power in p [3,1];

  5647.          signal out state [3,1];

  5648.         restrictions

  5649.          causality preferred out p;

  5650.        end;

  5651.        icon bg top

  5652.         figures

  5653.          text 'C' 191.8 216.2 color 0 18 bold;

  5654.        end;

  5655.        implementation eq

  5656. parameters

  5657. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  5658. equations

  5659.     state = int(p.f);

  5660.     p.e = inverse(c) *state;

  5661. implementation_end;

  5662.       C4 191.8 232.2

  5663.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5664.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  5665.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  5666. </Description>';

  5667.        type 'C-2'

  5668.         ports

  5669.          power in p [2,1];

  5670.          signal out state [2,1];

  5671.         restrictions

  5672.          causality preferred out p;

  5673.        end;

  5674.        icon bg bottom

  5675.         figures

  5676.          text 'C' 191.8 232.2 color 0 18 bold;

  5677.        end;

  5678.        implementation eq

  5679. parameters

  5680. 	real c[2,2] = [1, 0.0; 0.0, 1]  {uN.m/rad};

  5681. equations

  5682.     state = int(p.f);

  5683.     p.e = inverse(c) *state;

  5684. implementation_end;

  5685.       plug output 396 216;

  5686.       OneJunction5 239.8 232.2

  5687.        description '<Information>

  5688.  <Description>

  5689.     <Version>4.2</Version>

  5690. <IsMainModel>1</IsMainModel>

  5691.   <KeepParameterValues>False</KeepParameterValues>

  5692.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5693.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5694. </Description>

  5695. </Information>';

  5696.        knot OneJunction

  5697.         ports

  5698.          power knot duplicatable none p [2,1];

  5699.          signal knot out flow [2,1];

  5700.         restrictions

  5701.          causality constraint one_out p;

  5702.        end;

  5703.        icon bg

  5704.         figures

  5705.          text '1' 239.8 232.2 color 0 18 bold;

  5706.        end;

  5707.        implementation eq

  5708. equations

  5709. 	sum (direct (p.e)) = 0;

  5710. 	equal (collect (p.f));

  5711. 	flow = first (p.f);

  5712. implementation_end;

  5713.       OneJunction7 239.8 216.2

  5714.        description '<Information>

  5715.  <Description>

  5716.     <Version>4.2</Version>

  5717. <IsMainModel>1</IsMainModel>

  5718.   <KeepParameterValues>False</KeepParameterValues>

  5719.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5720.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5721. </Description>

  5722. </Information>';

  5723.        knot OneJunction

  5724.         ports

  5725.          power knot duplicatable none p [3,1];

  5726.          signal knot out flow [3,1];

  5727.         restrictions

  5728.          causality constraint one_out p;

  5729.        end;

  5730.        icon bg

  5731.         figures

  5732.          text '1' 239.8 216.2 color 0 18 bold;

  5733.        end;

  5734.        implementation eq

  5735. equations

  5736. 	sum (direct (p.e)) = 0;

  5737. 	equal (collect (p.f));

  5738. 	flow = first (p.f);

  5739. implementation_end;

  5740.       OneJunction8 304 200

  5741.        description '<Information>

  5742.  <Description>

  5743.     <Version>4.2</Version>

  5744. <IsMainModel>1</IsMainModel>

  5745.   <KeepParameterValues>False</KeepParameterValues>

  5746.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5747.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5748. </Description>

  5749. </Information>';

  5750.        knot OneJunction

  5751.         ports

  5752.          power knot duplicatable none p [1];

  5753.          signal knot out flow [1];

  5754.         restrictions

  5755.          causality constraint one_out p;

  5756.        end;

  5757.        icon bg

  5758.         figures

  5759.          text '1' 304 200 color 0 18 bold;

  5760.        end;

  5761.        implementation eq

  5762. equations

  5763. 	sum (direct (p.e)) = 0;

  5764. 	equal (collect (p.f));

  5765. 	flow = first (p.f);

  5766. implementation_end;

  5767.       PowerMux 330 216

  5768. 						specifications active 'rot_z'

  5769. 							specification 'rot_x'

  5770. description '<Information>

  5771.  <Description>

  5772.     <Version>4.8</Version>

  5773.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5774.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5775. <IsMainModel>1</IsMainModel>

  5776.   <KeepParameterValues>False</KeepParameterValues>

  5777.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5778.  </Description>

  5779. </Information>';

  5780.  type 'PowerMux-Rotation'

  5781.   ports

  5782.    power in input;

  5783.    power out output [6,1];

  5784.    power in input_rot2 [2,1];

  5785.    power in input_pos3 [3,1];

  5786.   restrictions

  5787.    causality constraint not_equal input output;

  5788.    causality constraint not_equal input_rot2 output;

  5789.    causality constraint not_equal input_pos3 output;

  5790.  end;

  5791.  icon bg bottom

  5792.   figures

  5793.    line 328 192 328 240 color 0 width 2;

  5794.    rectangle 324 192 336 240 color -1;

  5795.    text '1' 333 210 color 8421504 8;

  5796.   terminals

  5797.    input 328 200 fixed;

  5798.    output 328 216 fixed;

  5799.    input_rot2 328 232 fixed;

  5800.    input_pos3 328 216 fixed;

  5801.  end;

  5802.  implementation eq

  5803. equations

  5804. 	output.e[1] = input.e;

  5805. 	output.e[2:3] = input_rot2.e;

  5806. 	output.e[4:6] = input_pos3.e;

  5807. 	output.f[1] = input.f;

  5808. 	output.f[2:3] = input_rot2.f;

  5809. 	output.f[4:6] = input_pos3.f;implementation_end;

  5810. specification_end;

  5811. 							specification 'rot_y'

  5812. description '<Description>

  5813.    <Version>4.1</Version>

  5814.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5815.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5816. <IsMainModel>1</IsMainModel>

  5817.  <KeepParameterValues>False</KeepParameterValues>

  5818.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5819. </Description>';

  5820.  type PowerMux

  5821.   ports

  5822.    power in input;

  5823.    power out output [6,1];

  5824.    power in input_rot2 [2,1];

  5825.    power in input_pos3 [3,1];

  5826.   restrictions

  5827.    causality constraint not_equal input output;

  5828.    causality constraint not_equal input_rot2 output;

  5829.    causality constraint not_equal input_pos3 output;

  5830.  end;

  5831.  icon bg bottom

  5832.   figures

  5833.    line 242 274 290 274 color 0 width 2;

  5834.    rectangle 242 266 290 278 color -1;

  5835.    text '1' 260 269 color 8421504 8;

  5836.   terminals

  5837.    input 250 274 fixed;

  5838.    output 266 274 fixed;

  5839.    input_rot2 282 274 fixed;

  5840.    input_pos3 266 274 fixed;

  5841.  end;

  5842.  implementation eq

  5843. equations

  5844. 	output.e[1] = input_rot2.e[1];

  5845. 	output.e[2] = input.e;

  5846. 	output.e[3] = input_rot2.e[2];

  5847. 	output.e[4:6] = input_pos3.e;

  5848. 	output.f[1] = input_rot2.f[1];

  5849. 	output.f[2] = input.f;

  5850. 	output.f[3] = input_rot2.f[2];

  5851. 	output.f[4:6] = input_pos3.f;implementation_end;

  5852. specification_end;

  5853. 							specification 'rot_z'

  5854.  description '<Information>

  5855.  <Description>

  5856.     <Version>4.8</Version>

  5857.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5858.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5859. <IsMainModel>1</IsMainModel>

  5860.   <KeepParameterValues>False</KeepParameterValues>

  5861.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5862.  </Description>

  5863. </Information>';

  5864.  type PowerMux

  5865.   ports

  5866.    power in input;

  5867.    power out output [6,1];

  5868.    power in input_rot2 [2,1];

  5869.    power in input_pos3 [3,1];

  5870.   restrictions

  5871.    causality constraint not_equal input output;

  5872.    causality constraint not_equal input_rot2 output;

  5873.    causality constraint not_equal input_pos3 output;

  5874.  end;

  5875.  icon bg bottom

  5876.   figures

  5877.    line 328 192 328 240 color 0 width 2;

  5878.    rectangle 324 192 336 240 color -1;

  5879.    text '1' 333 210 color 8421504 8;

  5880.   terminals

  5881.    input 328 200 fixed;

  5882.    output 328 216 fixed;

  5883.    input_rot2 328 232 fixed;

  5884.    input_pos3 328 216 fixed;

  5885.  end;

  5886.  implementation eq

  5887. equations

  5888. 	output.e[3] = input.e;

  5889. 	output.e[1:2] = input_rot2.e;

  5890. 	output.e[4:6] = input_pos3.e;

  5891. 	output.f[3] = input.f;

  5892. 	output.f[1:2] = input_rot2.f;

  5893. 	output.f[4:6] = input_pos3.f;implementation_end;

  5894. specification_end;

  5895. 						end;

  5896.       R 304 152

  5897.        description '<Information>

  5898.  <Description>

  5899.     <Version>4.2</Version>

  5900. <IsMainModel>1</IsMainModel>

  5901.   <KeepParameterValues>False</KeepParameterValues>

  5902.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5903.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5904. </Description>

  5905. </Information>';

  5906.        type R

  5907.         ports

  5908.          power in p;

  5909.        end;

  5910.        icon bg top

  5911.         figures

  5912.          text 'R' 304 152 color 0 18 bold;

  5913.        end;

  5914.        implementation eq

  5915. parameters

  5916. 	real r = 0.001;

  5917. equations

  5918. 	p.e = r * p.f;

  5919. implementation_end;

  5920.       R4 239.8 288.2

  5921.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5922.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5923.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5924. </Description>';

  5925.        type 'R-2'

  5926.         ports

  5927.          power in p [2,1];

  5928.        end;

  5929.        icon bg bottom

  5930.         figures

  5931.          text 'R' 239.8 288.2 color 0 18 bold;

  5932.        end;

  5933.        implementation eq

  5934. parameters

  5935. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5936. equations					

  5937. 	p.e = r * p.f;

  5938. implementation_end;

  5939.       R5 239.8 168.2

  5940.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5941.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5942.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5943. </Description>';

  5944.        type 'R-3'

  5945.         ports

  5946.          power in p [3,1];

  5947.        end;

  5948.        icon bg top

  5949.         figures

  5950.          text 'R' 239.8 168.2 color 0 18 bold;

  5951.        end;

  5952.        implementation eq

  5953. parameters

  5954. 	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};

  5955. equations					

  5956. 	p.e = r * p.f;

  5957. implementation_end;

  5958.      end;

  5959.      connections

  5960.       C1\p <= OneJunction7\p;

  5961.       OneJunction5\p => C4\p;

  5962.       OneJunction5\p => PowerMux\input_rot2;

  5963.       OneJunction5\p => R4\p;

  5964.       OneJunction7\p => PowerMux\input_pos3;

  5965.       OneJunction7\p => R5\p;

  5966.       OneJunction8\p => PowerMux\input;

  5967.       PowerMux\output => output;

  5968.       R\p <= OneJunction8\p;

  5969.      end;

  5970.     implementation_end;

  5971.    LiftingArm 912 240

  5972.     description '<Description>

  5973. 	<Version>4.8</Version>

  5974. 	<IsMainModel>1</IsMainModel>

  5975. 	</Description>';

  5976.     type Submodel

  5977.      ports

  5978.       signal in Hin [4,4];

  5979.       power in Pin [6,1];

  5980.       power out Pout [6,1];

  5981.     end;

  5982.     icon bg bottom

  5983.      figures

  5984.       rectangle 840 208 984 272 color 0 fill 6008319;

  5985.       text 'name' 880 232 color 0 'Clear Sans' 16;

  5986.      terminals

  5987.       Hin 840 256 fixed;

  5988.       Pin 984 224 fixed;

  5989.       Pout 840 224 fixed;

  5990.     end;

  5991.     implementation bg

  5992.      submodels

  5993.       Body_Lift1 208 272

  5994.        description '<Description><Version>4.0</Version>

  5995.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  5996. <IsMainModel>1</IsMainModel>

  5997.  <KeepParameterValues>False</KeepParameterValues>

  5998.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  5999.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6000. </Description>';

  6001.        type 'Submodel-Equation'

  6002.         ports

  6003.          signal in input [4,4];

  6004.        end;

  6005.        implementation eq

  6006. parameters

  6007. 	real dimension[3] = [0.02;0.02;0.02] {m};

  6008. variables

  6009. 	real position[3];

  6010. 	real rotation[3];

  6011. 	real R[3,3];

  6012. equations

  6013. 	position = input[1:3,4];

  6014. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  6015. 	//[input[3,2];input[1,3];input[2,1]];

  6016. 	R = input[1:3,1:3];implementation_end;

  6017.       Body_Lift2 488 272

  6018.        description '<Description><Version>4.0</Version>

  6019.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  6020. <IsMainModel>1</IsMainModel>

  6021.  <KeepParameterValues>False</KeepParameterValues>

  6022.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  6023.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6024. </Description>';

  6025.        type 'Submodel-Equation'

  6026.         ports

  6027.          signal in input [4,4];

  6028.        end;

  6029.        implementation eq

  6030. parameters

  6031. 	real dimension[3] = [0.01;0.003;0.002] {m};

  6032. variables

  6033. 	real position[3];

  6034. 	real rotation[3];

  6035. 	real R[3,3];

  6036. equations

  6037. 	position = input[1:3,4];

  6038. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  6039. 	//[input[3,2];input[1,3];input[2,1]];

  6040. 	R = input[1:3,1:3];implementation_end;

  6041.       Body_Lift3 872 272

  6042.        description '<Description><Version>4.0</Version>

  6043.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  6044. <IsMainModel>1</IsMainModel>

  6045.  <KeepParameterValues>False</KeepParameterValues>

  6046.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  6047.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6048. </Description>';

  6049.        type 'Submodel-Equation'

  6050.         ports

  6051.          signal in input [4,4];

  6052.        end;

  6053.        implementation eq

  6054. parameters

  6055. 	real dimension[3] = [0.003;0.025;0.001] {m};

  6056. variables

  6057. 	real position[3];

  6058. 	real rotation[3];

  6059. 	real R[3,3];

  6060. equations

  6061. 	position = input[1:3,4];

  6062. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  6063. 	//[input[3,2];input[1,3];input[2,1]];

  6064. 	R = input[1:3,1:3];implementation_end;

  6065.       Body_Lift4 1232 272

  6066.        description '<Description><Version>4.0</Version>

  6067.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  6068. <IsMainModel>1</IsMainModel>

  6069.  <KeepParameterValues>False</KeepParameterValues>

  6070.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  6071.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6072. </Description>';

  6073.        type 'Submodel-Equation'

  6074.         ports

  6075.          signal in input [4,4];

  6076.        end;

  6077.        implementation eq

  6078. parameters

  6079. 	real dimension[3] = [0.0159;0.003;0.002] {m};

  6080. variables

  6081. 	real position[3];

  6082. 	real rotation[3];

  6083. 	real R[3,3];

  6084. equations

  6085. 	position = input[1:3,4];

  6086. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  6087. 	//[input[3,2];input[1,3];input[2,1]];

  6088. 	R = input[1:3,1:3];implementation_end;

  6089.       COM 504 112

  6090.        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

  6091. 	real density = 1400 {kg/m3};

  6092. 	real dimension[3] = [0.01;0.003;0.002] {m};

  6093. variables

  6094. 	real I[3,1] {N.m.s};

  6095. 	real m {kg};

  6096. initialequations

  6097. 	m = dimension[1] *  dimension[2] * dimension[3] * density;

  6098. 	I[1] = m/12 * ( dimension[2]^2 + dimension[3]^2);

  6099. 	I[2] = m/12 * ( dimension[1]^2 + dimension[3]^2);

  6100. 	I[3] = m/12 * ( dimension[1]^2 + dimension[2]^2);</GlobalRelations></Attributes></Information>';

  6101.        type Submodel

  6102.         ports

  6103.          signal in Hin [4,4];

  6104.          signal out Hout [4,4];

  6105.          power out p [6,1];

  6106.        end;

  6107.        icon bg bottom

  6108.         figures

  6109.          rectangle 472 96 536 128 color 0 fill 139;

  6110.          text 'COM' 504 112 color 0 'Clear Sans' 16;

  6111.         terminals

  6112.          Hin 488 128 fixed;

  6113.          p 520 128 fixed;

  6114.        end;

  6115.        implementation bg

  6116.         submodels

  6117.          AdHi0 544 400

  6118.           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>';

  6119.           type MTF

  6120.            ports

  6121.             power in p1 [6,1];

  6122.             power out p2 [6,1];

  6123.             signal in H [4,4];

  6124.            restrictions

  6125.             causality constraint not_equal p1 p2;

  6126.           end;

  6127.           icon bg left

  6128.            figures

  6129.             text 'MTF' 544 400 color 0 18 bold;

  6130.           end;

  6131.           implementation eq

  6132. variables

  6133.  	real onlyRotH[4,4];

  6134. code

  6135. 	//Only rotations with respect to the inertial system matter!

  6136. 	onlyRotH = H;

  6137. 	onlyRotH[1,4] = 0;

  6138. 	onlyRotH[2,4] = 0;

  6139. 	onlyRotH[3,4] = 0;

  6140. 						

  6141. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  6142. 	p1.f = Adjoint(onlyRotH) * p2.f;

  6143. implementation_end;

  6144.          EJS 624 336

  6145.           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>';

  6146.           type MGY

  6147.            ports

  6148.             power in p1 [6,1];

  6149.           end;

  6150.           icon bg top

  6151.            figures

  6152.             text 'MGY' 624 336 color 0 18 bold;

  6153.           end;

  6154.           implementation eq

  6155. //EJS / Gyroscopic effects

  6156. variables

  6157. 	real global I[3];

  6158. 	real global m;

  6159. 	real II[6,6]; //Inertial tensor

  6160. 	real Q[6,6];

  6161. 	real QI[6,6];

  6162. 	real Ia[6];

  6163. initialequations

  6164. 	Ia[1:3] = I;

  6165. 	Ia[4:6] = m;

  6166. 	II = diag(Ia);

  6167. equations

  6168. 	Q = transpose(adjoint(p1.f));

  6169. 	QI = Q*II;

  6170. 	p1.e = QI*p1.f;implementation_end;

  6171.          Gravity 624 400

  6172.           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>';

  6173.           type Se

  6174.            ports

  6175.             power out p [6,1];

  6176.            restrictions

  6177.             causality fixed out p;

  6178.           end;

  6179.           icon bg bottom

  6180.            figures

  6181.             text 'Se' 624 400 color 0 18 bold;

  6182.           end;

  6183.           implementation eq

  6184. variables

  6185. 	real global m;

  6186. 	real effort[6];

  6187. equations

  6188. 	effort = [0;0;0;0;0;-g_n*m];

  6189. 	p.e = effort;

  6190. implementation_end;

  6191.          InertialTensor 544 256

  6192.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6193.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  6194.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  6195. </Description>';

  6196.           type 'I-3'

  6197.            ports

  6198.             power in p [6,1];

  6199.             signal out state [6,1];

  6200.            restrictions

  6201.             causality preferred in p;

  6202.           end;

  6203.           icon bg bottom

  6204.            figures

  6205.             text 'I' 544 256 color 0 18 bold;

  6206.           end;

  6207.           implementation eq

  6208. variables

  6209. 	real global I[3];

  6210. 	real global m;

  6211. 	real II[6,6]; //Inertial tensor

  6212. 	real Ia[6];

  6213. initialequations

  6214. 	Ia[1:3] = I;

  6215. 	Ia[4:6] = m;

  6216. 	II = diag(Ia);

  6217. equations

  6218.     state = int(p.e); //state = generalized momentum

  6219.     p.f = inverse(II)*state;

  6220. implementation_end;

  6221.          plug Hin 433.4 496;

  6222.          plug Hout 691.2 496;

  6223.          plug p 439.4 336;

  6224.          Splitter1 544 496

  6225.           description '<Description><Version>4.0</Version>

  6226.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6227.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6228. <IsMainModel>1</IsMainModel>

  6229.  <KeepParameterValues>False</KeepParameterValues>

  6230. </Description>';

  6231.           knot Splitter

  6232.            ports

  6233.             signal knot duplicatable out output [4,4];

  6234.             signal knot in input [4,4];

  6235.           end;

  6236.           icon bg ellipse

  6237.            figures

  6238.             ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  6239.             ellipse 539.7 491.7 548.3 500.3 color -1;

  6240.            terminals

  6241.             input 544 496 fixed;

  6242.           end;

  6243.           implementation eq

  6244. equations

  6245.     collect (output) = input;

  6246. implementation_end;

  6247.          Ta0j 544 336

  6248.           description '<Description>

  6249.  <Version>4.0</Version>

  6250.  <IsMainModel>1</IsMainModel>

  6251.  <KeepParameterValues>False</KeepParameterValues>

  6252.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6253.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  6254.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6255.    <Description></Description>

  6256. </Description>';

  6257.           knot OneJunction

  6258.            ports

  6259.             power knot duplicatable none p [6,1];

  6260.             signal knot out flow [6,1];

  6261.            restrictions

  6262.             causality constraint one_out p;

  6263.           end;

  6264.           icon bg bottom

  6265.            figures

  6266.             text '1' 544 336 color 0 18 bold;

  6267.           end;

  6268.           implementation eq

  6269. equations

  6270. 	sum (direct (p.e)) = 0;

  6271. 	equal (collect (p.f));

  6272. 	flow = first (p.f);

  6273. implementation_end;

  6274.          ZeroJunction1 504 336

  6275.           description '<Information>

  6276.  <Description>

  6277.     <Version>4.2</Version>

  6278. <IsMainModel>1</IsMainModel>

  6279.   <KeepParameterValues>False</KeepParameterValues>

  6280.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  6281.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  6282. </Description>

  6283. </Information>';

  6284.           knot ZeroJunction

  6285.            ports

  6286.             power knot duplicatable none p [6,1];

  6287.             signal knot out effort [6,1];

  6288.            restrictions

  6289.             causality constraint one_in p;

  6290.           end;

  6291.           icon bg

  6292.            figures

  6293.             text '0' 504 336 color 0 18 bold;

  6294.           end;

  6295.           implementation eq

  6296. equations

  6297. 	sum (direct (p.f)) = 0;

  6298. 	equal (collect (p.e));

  6299. 	effort = first (p.e);

  6300. implementation_end;

  6301.         end;

  6302.         connections

  6303.          AdHi0\p2 => Ta0j\p;

  6304.          Gravity\p => AdHi0\p1;

  6305.          Hin -> Splitter1\input;

  6306.          Splitter1\output -> AdHi0\H;

  6307.          Splitter1\output -> Hout;

  6308.          Ta0j\p => EJS\p1;

  6309.          Ta0j\p => InertialTensor\p;

  6310.          ZeroJunction1\p => p;

  6311.          ZeroJunction1\p => Ta0j\p;

  6312.         end;

  6313.        implementation_end;

  6314.       COM1 888 112

  6315.        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

  6316. 	real density = 1400 {kg/m3};

  6317. 	real dimension[3] = [0.003;0.025;0.001] {m};

  6318. variables

  6319. 	real I[3,1] {N.m.s};

  6320. 	real m {kg};

  6321. initialequations

  6322. 	m = dimension[1] *  dimension[2] * dimension[3] * density;

  6323. 	I[1] = m/12 * ( dimension[2]^2 + dimension[3]^2);

  6324. 	I[2] = m/12 * ( dimension[1]^2 + dimension[3]^2);

  6325. 	I[3] = m/12 * ( dimension[1]^2 + dimension[2]^2);</GlobalRelations></Attributes></Information>';

  6326.        type Submodel

  6327.         ports

  6328.          signal in Hin [4,4];

  6329.          signal out Hout [4,4];

  6330.          power out p [6,1];

  6331.        end;

  6332.        icon bg bottom

  6333.         figures

  6334.          rectangle 856 96 920 128 color 0 fill 139;

  6335.          text 'COM' 888 112 color 0 'Clear Sans' 16;

  6336.         terminals

  6337.          Hin 872 128 fixed;

  6338.          p 904 128 fixed;

  6339.        end;

  6340.        implementation bg

  6341.         submodels

  6342.          AdHi0 544 400

  6343.           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>';

  6344.           type MTF

  6345.            ports

  6346.             power in p1 [6,1];

  6347.             power out p2 [6,1];

  6348.             signal in H [4,4];

  6349.            restrictions

  6350.             causality constraint not_equal p1 p2;

  6351.           end;

  6352.           icon bg left

  6353.            figures

  6354.             text 'MTF' 544 400 color 0 18 bold;

  6355.           end;

  6356.           implementation eq

  6357. variables

  6358.  	real onlyRotH[4,4];

  6359. code

  6360. 	//Only rotations with respect to the inertial system matter!

  6361. 	onlyRotH = H;

  6362. 	onlyRotH[1,4] = 0;

  6363. 	onlyRotH[2,4] = 0;

  6364. 	onlyRotH[3,4] = 0;

  6365. 						

  6366. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  6367. 	p1.f = Adjoint(onlyRotH) * p2.f;

  6368. implementation_end;

  6369.          EJS 624 336

  6370.           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>';

  6371.           type MGY

  6372.            ports

  6373.             power in p1 [6,1];

  6374.           end;

  6375.           icon bg top

  6376.            figures

  6377.             text 'MGY' 624 336 color 0 18 bold;

  6378.           end;

  6379.           implementation eq

  6380. //EJS / Gyroscopic effects

  6381. variables

  6382. 	real global I[3];

  6383. 	real global m;

  6384. 	real II[6,6]; //Inertial tensor

  6385. 	real Q[6,6];

  6386. 	real QI[6,6];

  6387. 	real Ia[6];

  6388. initialequations

  6389. 	Ia[1:3] = I;

  6390. 	Ia[4:6] = m;

  6391. 	II = diag(Ia);

  6392. equations

  6393. 	Q = transpose(adjoint(p1.f));

  6394. 	QI = Q*II;

  6395. 	p1.e = QI*p1.f;implementation_end;

  6396.          Gravity 624 400

  6397.           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>';

  6398.           type Se

  6399.            ports

  6400.             power out p [6,1];

  6401.            restrictions

  6402.             causality fixed out p;

  6403.           end;

  6404.           icon bg bottom

  6405.            figures

  6406.             text 'Se' 624 400 color 0 18 bold;

  6407.           end;

  6408.           implementation eq

  6409. variables

  6410. 	real global m;

  6411. 	real effort[6];

  6412. equations

  6413. 	effort = [0;0;0;0;0;-g_n*m];

  6414. 	p.e = effort;

  6415. implementation_end;

  6416.          InertialTensor 544 256

  6417.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6418.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  6419.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  6420. </Description>';

  6421.           type 'I-3'

  6422.            ports

  6423.             power in p [6,1];

  6424.             signal out state [6,1];

  6425.            restrictions

  6426.             causality preferred in p;

  6427.           end;

  6428.           icon bg bottom

  6429.            figures

  6430.             text 'I' 544 256 color 0 18 bold;

  6431.           end;

  6432.           implementation eq

  6433. variables

  6434. 	real global I[3];

  6435. 	real global m;

  6436. 	real II[6,6]; //Inertial tensor

  6437. 	real Ia[6];

  6438. initialequations

  6439. 	Ia[1:3] = I;

  6440. 	Ia[4:6] = m;

  6441. 	II = diag(Ia);

  6442. equations

  6443.     state = int(p.e); //state = generalized momentum

  6444.     p.f = inverse(II)*state;

  6445. implementation_end;

  6446.          plug Hin 433.4 496;

  6447.          plug Hout 691.2 496;

  6448.          plug p 439.4 336;

  6449.          Splitter1 544 496

  6450.           description '<Description><Version>4.0</Version>

  6451.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6452.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6453. <IsMainModel>1</IsMainModel>

  6454.  <KeepParameterValues>False</KeepParameterValues>

  6455. </Description>';

  6456.           knot Splitter

  6457.            ports

  6458.             signal knot duplicatable out output [4,4];

  6459.             signal knot in input [4,4];

  6460.           end;

  6461.           icon bg ellipse

  6462.            figures

  6463.             ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  6464.             ellipse 539.7 491.7 548.3 500.3 color -1;

  6465.            terminals

  6466.             input 544 496 fixed;

  6467.           end;

  6468.           implementation eq

  6469. equations

  6470.     collect (output) = input;

  6471. implementation_end;

  6472.          Ta0j 544 336

  6473.           description '<Description>

  6474.  <Version>4.0</Version>

  6475.  <IsMainModel>1</IsMainModel>

  6476.  <KeepParameterValues>False</KeepParameterValues>

  6477.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6478.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  6479.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6480.    <Description></Description>

  6481. </Description>';

  6482.           knot OneJunction

  6483.            ports

  6484.             power knot duplicatable none p [6,1];

  6485.             signal knot out flow [6,1];

  6486.            restrictions

  6487.             causality constraint one_out p;

  6488.           end;

  6489.           icon bg bottom

  6490.            figures

  6491.             text '1' 544 336 color 0 18 bold;

  6492.           end;

  6493.           implementation eq

  6494. equations

  6495. 	sum (direct (p.e)) = 0;

  6496. 	equal (collect (p.f));

  6497. 	flow = first (p.f);

  6498. implementation_end;

  6499.          ZeroJunction1 504 336

  6500.           description '<Information>

  6501.  <Description>

  6502.     <Version>4.2</Version>

  6503. <IsMainModel>1</IsMainModel>

  6504.   <KeepParameterValues>False</KeepParameterValues>

  6505.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  6506.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  6507. </Description>

  6508. </Information>';

  6509.           knot ZeroJunction

  6510.            ports

  6511.             power knot duplicatable none p [6,1];

  6512.             signal knot out effort [6,1];

  6513.            restrictions

  6514.             causality constraint one_in p;

  6515.           end;

  6516.           icon bg

  6517.            figures

  6518.             text '0' 504 336 color 0 18 bold;

  6519.           end;

  6520.           implementation eq

  6521. equations

  6522. 	sum (direct (p.f)) = 0;

  6523. 	equal (collect (p.e));

  6524. 	effort = first (p.e);

  6525. implementation_end;

  6526.         end;

  6527.         connections

  6528.          AdHi0\p2 => Ta0j\p;

  6529.          Gravity\p => AdHi0\p1;

  6530.          Hin -> Splitter1\input;

  6531.          Splitter1\output -> AdHi0\H;

  6532.          Splitter1\output -> Hout;

  6533.          Ta0j\p => EJS\p1;

  6534.          Ta0j\p => InertialTensor\p;

  6535.          ZeroJunction1\p => p;

  6536.          ZeroJunction1\p => Ta0j\p;

  6537.         end;

  6538.        implementation_end;

  6539.       Joint 296 184

  6540.        description '<Information>

  6541.  <Description>

  6542.     <Version>4.8</Version>

  6543. <IsMainModel>1</IsMainModel>

  6544.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  6545.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  6546. </Description>

  6547. </Information>';

  6548.        type 'Submodel-v3'

  6549.         ports

  6550.          power in Pin [6,1];

  6551.          power in Pdiff [6,1];

  6552.          signal in Hin [4,4];

  6553.          signal out Hout [4,4];

  6554.          signal out Hdiff [4,4];

  6555.          power out Pout [6,1];

  6556.        end;

  6557.        icon bg bottom

  6558.         figures

  6559.          rectangle 272 152 320 216 color 0 fill 14745599;

  6560.          text 'Joint' 296 184 color 0 'Clear Sans' 16;

  6561.         terminals

  6562.          Pin 320 168 fixed;

  6563.          Hin 272 200 fixed;

  6564.          Hout 320 200 fixed;

  6565.          Pout 272 168 fixed;

  6566.        end;

  6567.        implementation bg

  6568.         submodels

  6569.          AdHji 424 424

  6570.           description '<Description>

  6571.  <Version>4.0</Version>

  6572.  <IsMainModel>1</IsMainModel>

  6573.  <KeepParameterValues>False</KeepParameterValues>

  6574.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  6575.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  6576.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6577. </Description>';

  6578.           type MTF

  6579.            ports

  6580.             power out p1 [6,1];

  6581.             power in p2 [6,1];

  6582.             signal in H [4,4];

  6583.            restrictions

  6584.             causality constraint not_equal p1 p2;

  6585.           end;

  6586.           icon bg bottom

  6587.            figures

  6588.             text 'MTF' 424 424 color 0 18 bold;

  6589.           end;

  6590.           implementation eq

  6591. equations					

  6592. 	p2.e = transpose(Adjoint(H)) * p1.e;

  6593. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  6594.          FlowSensor2 184 311.9

  6595.           description '<Information>

  6596.  <Description>

  6597.     <Version>4.2</Version>

  6598. <IsMainModel>1</IsMainModel>

  6599.   <KeepParameterValues>False</KeepParameterValues>

  6600.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  6601.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  6602. </Description>

  6603. </Information>';

  6604.           knot FlowSensor

  6605.            ports

  6606.             power knot in p1 [6,1];

  6607.             power knot out p2 [6,1];

  6608.             signal knot out flow [6,1];

  6609.            restrictions

  6610.             causality constraint not_equal p1 p2;

  6611.           end;

  6612.           icon bg ellipse

  6613.            figures

  6614.             ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  6615.             text 'f' 184 311.2 color 0;

  6616.           end;

  6617.           implementation eq

  6618. equations

  6619. 	p2.f = p1.f;

  6620. 	p1.e = p2.e;

  6621. 	flow = p1.f;

  6622. implementation_end;

  6623.          Hmatrix 256 312

  6624.           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>';

  6625.           type 'Submodel-Equation'

  6626.            ports

  6627.             signal in flow [6,1];

  6628.             signal out H [4,4];

  6629.           end;

  6630.           icon bg

  6631.            figures

  6632.             rectangle 224 296 288 328 color 0 fill 15132390;

  6633.             text 'name' 256 312 color 0 'Clear Sans' 16;

  6634.           end;

  6635.           implementation eq

  6636. parameters

  6637. 	real init[4] = [1;0;0;0];

  6638. variables

  6639. 	real q[4];		//quaternions

  6640. 	real W[3,4];	//Quaternion Rates Matrix

  6641. 	real R[3,3];	//Rotation Matrix

  6642. 	real p[3];		//Position Vector

  6643. 	real dq[4];

  6644. 	real Wb[3,4];

  6645. equations

  6646. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  6647. 	q = int(dq,init);

  6648. 	p = int(flow[4:6]);

  6649. 	W = [-q[2],	q[1],	-q[4],	q[3];

  6650. 		 -q[3],	q[4],	q[1],	-q[2];

  6651. 		 -q[4],	-q[3],	q[2],	q[1]];

  6652. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  6653. 	   		-q[3], -q[4],  q[1],  q[2];

  6654. 	   		-q[4],  q[3], -q[2],  q[1]];

  6655.  	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]);

  6656. 		  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]);

  6657. 		  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];

  6658. 	H = homogeneous(R,p);

  6659. 	implementation_end;

  6660.          MatrixMul 320 576

  6661.           description '<Description>

  6662.  <Version>4.0</Version>

  6663.  <IsMainModel>1</IsMainModel>

  6664.  <KeepParameterValues>False</KeepParameterValues>

  6665.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  6666.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  6667.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6668. </Description>';

  6669.           type Gain

  6670.            ports

  6671.             signal in input1 [4,4];

  6672.             signal out output [4,4];

  6673.             signal in input2 [4,4];

  6674.           end;

  6675.           icon bg bottom

  6676.            figures

  6677.             rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  6678.             text 'X' 320 576 color 16711680 16 bold;

  6679.           end;

  6680.           implementation eq

  6681. equations

  6682. 	output = input2*input1;    implementation_end;

  6683.          plug Pin 492.1 424;

  6684.          plug Pdiff 184 225;

  6685.          plug Hin 130.8 576;

  6686.          plug Hout 478.4 576;

  6687.          plug Hdiff 320 222;

  6688.          plug Pout 134.7 424;

  6689.          Splitter2 320 312

  6690.           description '<Description><Version>4.0</Version>

  6691.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6692.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6693. <IsMainModel>1</IsMainModel>

  6694.  <KeepParameterValues>False</KeepParameterValues>

  6695. </Description>';

  6696.           knot Splitter

  6697.            ports

  6698.             signal knot duplicatable out output [4,4];

  6699.             signal knot in input [4,4];

  6700.           end;

  6701.           icon bg ellipse

  6702.            figures

  6703.             ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  6704.             ellipse 315.7 307.7 324.3 316.3 color -1;

  6705.            terminals

  6706.             input 320 312 fixed;

  6707.           end;

  6708.           implementation eq

  6709. equations

  6710.     collect (output) = input;

  6711. implementation_end;

  6712.          Wbai 184 424

  6713.           description '<Description>

  6714.  <Version>4.0</Version>

  6715.  <IsMainModel>1</IsMainModel>

  6716.  <KeepParameterValues>False</KeepParameterValues>

  6717.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  6718.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  6719.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6720. </Description>';

  6721.           knot ZeroJunction

  6722.            ports

  6723.             power knot duplicatable none p [6,1];

  6724.             signal knot out effort [6,1];

  6725.            restrictions

  6726.             causality constraint one_in p;

  6727.           end;

  6728.           icon bg bottom

  6729.            figures

  6730.             text '0' 184 424 color 0 18 bold;

  6731.           end;

  6732.           implementation eq

  6733. equations

  6734. 	sum (direct (p.f)) = 0;

  6735. 	equal (collect (p.e));

  6736. 	effort = first (p.e);

  6737. implementation_end;

  6738.         end;

  6739.         connections

  6740.          FlowSensor2\flow -> Hmatrix\flow;

  6741.          FlowSensor2\p2 => Wbai\p;

  6742.          Hin -> MatrixMul\input2;

  6743.          Hmatrix\H -> Splitter2\input;

  6744.          MatrixMul\output -> Hout;

  6745.          Pdiff => FlowSensor2\p1;

  6746.          Pin => AdHji\p2;

  6747.          Splitter2\output -> AdHji\H 424 312;

  6748.          Splitter2\output -> Hdiff;

  6749.          Splitter2\output -> MatrixMul\input1;

  6750.          Wbai\p <= AdHji\p1;

  6751.          Wbai\p => Pout;

  6752.         end;

  6753.        implementation_end;

  6754.       Joint1 712 184

  6755.        description '<Information>

  6756.  <Description>

  6757.     <Version>4.8</Version>

  6758. <IsMainModel>1</IsMainModel>

  6759.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  6760.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  6761. </Description>

  6762. </Information>';

  6763.        type 'Submodel-v3'

  6764.         ports

  6765.          power in Pin [6,1];

  6766.          power in Pdiff [6,1];

  6767.          signal in Hin [4,4];

  6768.          signal out Hout [4,4];

  6769.          signal out Hdiff [4,4];

  6770.          power out Pout [6,1];

  6771.        end;

  6772.        icon bg bottom

  6773.         figures

  6774.          rectangle 688 152 736 216 color 0 fill 14745599;

  6775.          text 'Joint' 712 184 color 0 'Clear Sans' 16;

  6776.         terminals

  6777.          Pin 736 168 fixed;

  6778.          Hin 688 200 fixed;

  6779.          Hout 736 200 fixed;

  6780.          Pout 688 168 fixed;

  6781.        end;

  6782.        implementation bg

  6783.         submodels

  6784.          AdHji 424 424

  6785.           description '<Description>

  6786.  <Version>4.0</Version>

  6787.  <IsMainModel>1</IsMainModel>

  6788.  <KeepParameterValues>False</KeepParameterValues>

  6789.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  6790.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  6791.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6792. </Description>';

  6793.           type MTF

  6794.            ports

  6795.             power out p1 [6,1];

  6796.             power in p2 [6,1];

  6797.             signal in H [4,4];

  6798.            restrictions

  6799.             causality constraint not_equal p1 p2;

  6800.           end;

  6801.           icon bg bottom

  6802.            figures

  6803.             text 'MTF' 424 424 color 0 18 bold;

  6804.           end;

  6805.           implementation eq

  6806. equations					

  6807. 	p2.e = transpose(Adjoint(H)) * p1.e;

  6808. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  6809.          FlowSensor2 184 311.9

  6810.           description '<Information>

  6811.  <Description>

  6812.     <Version>4.2</Version>

  6813. <IsMainModel>1</IsMainModel>

  6814.   <KeepParameterValues>False</KeepParameterValues>

  6815.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  6816.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  6817. </Description>

  6818. </Information>';

  6819.           knot FlowSensor

  6820.            ports

  6821.             power knot in p1 [6,1];

  6822.             power knot out p2 [6,1];

  6823.             signal knot out flow [6,1];

  6824.            restrictions

  6825.             causality constraint not_equal p1 p2;

  6826.           end;

  6827.           icon bg ellipse

  6828.            figures

  6829.             ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  6830.             text 'f' 184 311.2 color 0;

  6831.           end;

  6832.           implementation eq

  6833. equations

  6834. 	p2.f = p1.f;

  6835. 	p1.e = p2.e;

  6836. 	flow = p1.f;

  6837. implementation_end;

  6838.          Hmatrix 256 312

  6839.           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>';

  6840.           type 'Submodel-Equation'

  6841.            ports

  6842.             signal in flow [6,1];

  6843.             signal out H [4,4];

  6844.           end;

  6845.           icon bg

  6846.            figures

  6847.             rectangle 224 296 288 328 color 0 fill 15132390;

  6848.             text 'name' 256 312 color 0 'Clear Sans' 16;

  6849.           end;

  6850.           implementation eq

  6851. parameters

  6852. 	real init[4] = [1;0;0;0];

  6853. variables

  6854. 	real q[4];		//quaternions

  6855. 	real W[3,4];	//Quaternion Rates Matrix

  6856. 	real R[3,3];	//Rotation Matrix

  6857. 	real p[3];		//Position Vector

  6858. 	real dq[4];

  6859. 	real Wb[3,4];

  6860. equations

  6861. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  6862. 	q = int(dq,init);

  6863. 	p = int(flow[4:6]);

  6864. 	W = [-q[2],	q[1],	-q[4],	q[3];

  6865. 		 -q[3],	q[4],	q[1],	-q[2];

  6866. 		 -q[4],	-q[3],	q[2],	q[1]];

  6867. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  6868. 	   		-q[3], -q[4],  q[1],  q[2];

  6869. 	   		-q[4],  q[3], -q[2],  q[1]];

  6870.  	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]);

  6871. 		  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]);

  6872. 		  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];

  6873. 	H = homogeneous(R,p);

  6874. 	implementation_end;

  6875.          MatrixMul 320 576

  6876.           description '<Description>

  6877.  <Version>4.0</Version>

  6878.  <IsMainModel>1</IsMainModel>

  6879.  <KeepParameterValues>False</KeepParameterValues>

  6880.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  6881.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  6882.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6883. </Description>';

  6884.           type Gain

  6885.            ports

  6886.             signal in input1 [4,4];

  6887.             signal out output [4,4];

  6888.             signal in input2 [4,4];

  6889.           end;

  6890.           icon bg bottom

  6891.            figures

  6892.             rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  6893.             text 'X' 320 576 color 16711680 16 bold;

  6894.           end;

  6895.           implementation eq

  6896. equations

  6897. 	output = input2*input1;    implementation_end;

  6898.          plug Pin 492.1 424;

  6899.          plug Pdiff 184 225;

  6900.          plug Hin 130.8 576;

  6901.          plug Hout 478.4 576;

  6902.          plug Hdiff 320 222;

  6903.          plug Pout 134.7 424;

  6904.          Splitter2 320 312

  6905.           description '<Description><Version>4.0</Version>

  6906.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6907.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6908. <IsMainModel>1</IsMainModel>

  6909.  <KeepParameterValues>False</KeepParameterValues>

  6910. </Description>';

  6911.           knot Splitter

  6912.            ports

  6913.             signal knot duplicatable out output [4,4];

  6914.             signal knot in input [4,4];

  6915.           end;

  6916.           icon bg ellipse

  6917.            figures

  6918.             ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  6919.             ellipse 315.7 307.7 324.3 316.3 color -1;

  6920.            terminals

  6921.             input 320 312 fixed;

  6922.           end;

  6923.           implementation eq

  6924. equations

  6925.     collect (output) = input;

  6926. implementation_end;

  6927.          Wbai 184 424

  6928.           description '<Description>

  6929.  <Version>4.0</Version>

  6930.  <IsMainModel>1</IsMainModel>

  6931.  <KeepParameterValues>False</KeepParameterValues>

  6932.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  6933.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  6934.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  6935. </Description>';

  6936.           knot ZeroJunction

  6937.            ports

  6938.             power knot duplicatable none p [6,1];

  6939.             signal knot out effort [6,1];

  6940.            restrictions

  6941.             causality constraint one_in p;

  6942.           end;

  6943.           icon bg bottom

  6944.            figures

  6945.             text '0' 184 424 color 0 18 bold;

  6946.           end;

  6947.           implementation eq

  6948. equations

  6949. 	sum (direct (p.f)) = 0;

  6950. 	equal (collect (p.e));

  6951. 	effort = first (p.e);

  6952. implementation_end;

  6953.         end;

  6954.         connections

  6955.          FlowSensor2\flow -> Hmatrix\flow;

  6956.          FlowSensor2\p2 => Wbai\p;

  6957.          Hin -> MatrixMul\input2;

  6958.          Hmatrix\H -> Splitter2\input;

  6959.          MatrixMul\output -> Hout;

  6960.          Pdiff => FlowSensor2\p1;

  6961.          Pin => AdHji\p2;

  6962.          Splitter2\output -> AdHji\H 424 312;

  6963.          Splitter2\output -> Hdiff;

  6964.          Splitter2\output -> MatrixMul\input1;

  6965.          Wbai\p <= AdHji\p1;

  6966.          Wbai\p => Pout;

  6967.         end;

  6968.        implementation_end;

  6969.       Joint2 1064 184

  6970.        description '<Information>

  6971.  <Description>

  6972.     <Version>4.8</Version>

  6973. <IsMainModel>1</IsMainModel>

  6974.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  6975.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  6976. </Description>

  6977. </Information>';

  6978.        type 'Submodel-v3'

  6979.         ports

  6980.          power in Pin [6,1];

  6981.          power in Pdiff [6,1];

  6982.          signal in Hin [4,4];

  6983.          signal out Hout [4,4];

  6984.          signal out Hdiff [4,4];

  6985.          power out Pout [6,1];

  6986.        end;

  6987.        icon bg bottom

  6988.         figures

  6989.          rectangle 1040 152 1088 216 color 0 fill 14745599;

  6990.          text 'Joint' 1064 184 color 0 'Clear Sans' 16;

  6991.         terminals

  6992.          Pin 1088 168 fixed;

  6993.          Hin 1040 200 fixed;

  6994.          Hout 1088 200 fixed;

  6995.          Pout 1040 168 fixed;

  6996.        end;

  6997.        implementation bg

  6998.         submodels

  6999.          AdHji 424 424

  7000.           description '<Description>

  7001.  <Version>4.0</Version>

  7002.  <IsMainModel>1</IsMainModel>

  7003.  <KeepParameterValues>False</KeepParameterValues>

  7004.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  7005.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  7006.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7007. </Description>';

  7008.           type MTF

  7009.            ports

  7010.             power out p1 [6,1];

  7011.             power in p2 [6,1];

  7012.             signal in H [4,4];

  7013.            restrictions

  7014.             causality constraint not_equal p1 p2;

  7015.           end;

  7016.           icon bg bottom

  7017.            figures

  7018.             text 'MTF' 424 424 color 0 18 bold;

  7019.           end;

  7020.           implementation eq

  7021. equations					

  7022. 	p2.e = transpose(Adjoint(H)) * p1.e;

  7023. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  7024.          FlowSensor2 184 311.9

  7025.           description '<Information>

  7026.  <Description>

  7027.     <Version>4.2</Version>

  7028. <IsMainModel>1</IsMainModel>

  7029.   <KeepParameterValues>False</KeepParameterValues>

  7030.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  7031.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  7032. </Description>

  7033. </Information>';

  7034.           knot FlowSensor

  7035.            ports

  7036.             power knot in p1 [6,1];

  7037.             power knot out p2 [6,1];

  7038.             signal knot out flow [6,1];

  7039.            restrictions

  7040.             causality constraint not_equal p1 p2;

  7041.           end;

  7042.           icon bg ellipse

  7043.            figures

  7044.             ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  7045.             text 'f' 184 311.2 color 0;

  7046.           end;

  7047.           implementation eq

  7048. equations

  7049. 	p2.f = p1.f;

  7050. 	p1.e = p2.e;

  7051. 	flow = p1.f;

  7052. implementation_end;

  7053.          Hmatrix 256 312

  7054.           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>';

  7055.           type 'Submodel-Equation'

  7056.            ports

  7057.             signal in flow [6,1];

  7058.             signal out H [4,4];

  7059.           end;

  7060.           icon bg

  7061.            figures

  7062.             rectangle 224 296 288 328 color 0 fill 15132390;

  7063.             text 'name' 256 312 color 0 'Clear Sans' 16;

  7064.           end;

  7065.           implementation eq

  7066. parameters

  7067. 	real init[4] = [1;0;0;0];

  7068. variables

  7069. 	real q[4];		//quaternions

  7070. 	real W[3,4];	//Quaternion Rates Matrix

  7071. 	real R[3,3];	//Rotation Matrix

  7072. 	real p[3];		//Position Vector

  7073. 	real dq[4];

  7074. 	real Wb[3,4];

  7075. equations

  7076. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  7077. 	q = int(dq,init);

  7078. 	p = int(flow[4:6]);

  7079. 	W = [-q[2],	q[1],	-q[4],	q[3];

  7080. 		 -q[3],	q[4],	q[1],	-q[2];

  7081. 		 -q[4],	-q[3],	q[2],	q[1]];

  7082. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  7083. 	   		-q[3], -q[4],  q[1],  q[2];

  7084. 	   		-q[4],  q[3], -q[2],  q[1]];

  7085.  	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]);

  7086. 		  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]);

  7087. 		  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];

  7088. 	H = homogeneous(R,p);

  7089. 	implementation_end;

  7090.          MatrixMul 320 576

  7091.           description '<Description>

  7092.  <Version>4.0</Version>

  7093.  <IsMainModel>1</IsMainModel>

  7094.  <KeepParameterValues>False</KeepParameterValues>

  7095.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  7096.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  7097.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7098. </Description>';

  7099.           type Gain

  7100.            ports

  7101.             signal in input1 [4,4];

  7102.             signal out output [4,4];

  7103.             signal in input2 [4,4];

  7104.           end;

  7105.           icon bg bottom

  7106.            figures

  7107.             rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  7108.             text 'X' 320 576 color 16711680 16 bold;

  7109.           end;

  7110.           implementation eq

  7111. equations

  7112. 	output = input2*input1;    implementation_end;

  7113.          plug Pin 492.1 424;

  7114.          plug Pdiff 184 225;

  7115.          plug Hin 130.8 576;

  7116.          plug Hout 478.4 576;

  7117.          plug Hdiff 320 222;

  7118.          plug Pout 134.7 424;

  7119.          Splitter2 320 312

  7120.           description '<Description><Version>4.0</Version>

  7121.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7122.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7123. <IsMainModel>1</IsMainModel>

  7124.  <KeepParameterValues>False</KeepParameterValues>

  7125. </Description>';

  7126.           knot Splitter

  7127.            ports

  7128.             signal knot duplicatable out output [4,4];

  7129.             signal knot in input [4,4];

  7130.           end;

  7131.           icon bg ellipse

  7132.            figures

  7133.             ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  7134.             ellipse 315.7 307.7 324.3 316.3 color -1;

  7135.            terminals

  7136.             input 320 312 fixed;

  7137.           end;

  7138.           implementation eq

  7139. equations

  7140.     collect (output) = input;

  7141. implementation_end;

  7142.          Wbai 184 424

  7143.           description '<Description>

  7144.  <Version>4.0</Version>

  7145.  <IsMainModel>1</IsMainModel>

  7146.  <KeepParameterValues>False</KeepParameterValues>

  7147.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  7148.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  7149.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7150. </Description>';

  7151.           knot ZeroJunction

  7152.            ports

  7153.             power knot duplicatable none p [6,1];

  7154.             signal knot out effort [6,1];

  7155.            restrictions

  7156.             causality constraint one_in p;

  7157.           end;

  7158.           icon bg bottom

  7159.            figures

  7160.             text '0' 184 424 color 0 18 bold;

  7161.           end;

  7162.           implementation eq

  7163. equations

  7164. 	sum (direct (p.f)) = 0;

  7165. 	equal (collect (p.e));

  7166. 	effort = first (p.e);

  7167. implementation_end;

  7168.         end;

  7169.         connections

  7170.          FlowSensor2\flow -> Hmatrix\flow;

  7171.          FlowSensor2\p2 => Wbai\p;

  7172.          Hin -> MatrixMul\input2;

  7173.          Hmatrix\H -> Splitter2\input;

  7174.          MatrixMul\output -> Hout;

  7175.          Pdiff => FlowSensor2\p1;

  7176.          Pin => AdHji\p2;

  7177.          Splitter2\output -> AdHji\H 424 312;

  7178.          Splitter2\output -> Hdiff;

  7179.          Splitter2\output -> MatrixMul\input1;

  7180.          Wbai\p <= AdHji\p1;

  7181.          Wbai\p => Pout;

  7182.         end;

  7183.        implementation_end;

  7184.       Joint_dynF1 296 80

  7185.        description '<Description>

  7186. 	<Version>4.8</Version>

  7187. 	<IsMainModel>1</IsMainModel>

  7188. 	</Description>';

  7189.        type Submodel

  7190.         ports

  7191.          power out output [6,1];

  7192.        end;

  7193.        icon bg

  7194.         figures

  7195.          rectangle 256 64 336 96 color 0 fill 15132390;

  7196.          text 'name' 296 80 color 0 'Clear Sans' 16;

  7197.        end;

  7198.        implementation bg

  7199.         submodels

  7200.          C 344 160

  7201.           description '<Information>

  7202.  <Description>

  7203.     <Version>4.2</Version>

  7204. <IsMainModel>1</IsMainModel>

  7205.   <KeepParameterValues>False</KeepParameterValues>

  7206.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  7207.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  7208. </Description>

  7209. </Information>';

  7210.           type C

  7211.            ports

  7212.             power in p;

  7213.             signal out state;

  7214.            restrictions

  7215.             causality preferred out p;

  7216.           end;

  7217.           icon bg bottom

  7218.            figures

  7219.             text 'C' 344 160 color 0 18 bold;

  7220.           end;

  7221.           implementation eq

  7222. parameters

  7223. 	real c = 0.001;

  7224. equations

  7225. 	state = int(p.f);

  7226. 	p.e = state / c;

  7227. implementation_end;

  7228.          C1 191.8 216.2

  7229.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7230.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  7231.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  7232. </Description>';

  7233.           type 'C-3'

  7234.            ports

  7235.             power in p [3,1];

  7236.             signal out state [3,1];

  7237.            restrictions

  7238.             causality preferred out p;

  7239.           end;

  7240.           icon bg top

  7241.            figures

  7242.             text 'C' 191.8 216.2 color 0 18 bold;

  7243.           end;

  7244.           implementation eq

  7245. parameters

  7246. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {mN/m};

  7247. equations

  7248.     state = int(p.f);

  7249.     p.e = inverse(c) *state;

  7250. implementation_end;

  7251.          C4 191.8 232.2

  7252.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7253.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  7254.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  7255. </Description>';

  7256.           type 'C-2'

  7257.            ports

  7258.             power in p [2,1];

  7259.             signal out state [2,1];

  7260.            restrictions

  7261.             causality preferred out p;

  7262.           end;

  7263.           icon bg bottom

  7264.            figures

  7265.             text 'C' 191.8 232.2 color 0 18 bold;

  7266.           end;

  7267.           implementation eq

  7268. parameters

  7269. 	real c[2,2] = [1, 0.0; 0.0, 1]  {mN.m/rad};

  7270. equations

  7271.     state = int(p.f);

  7272.     p.e = inverse(c) *state;

  7273. implementation_end;

  7274.          plug output 444 216;

  7275.          OneJunction3 288 160

  7276.           description '<Information>

  7277.  <Description>

  7278.     <Version>4.2</Version>

  7279. <IsMainModel>1</IsMainModel>

  7280.   <KeepParameterValues>False</KeepParameterValues>

  7281.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7282.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7283. </Description>

  7284. </Information>';

  7285.           knot OneJunction

  7286.            ports

  7287.             power knot duplicatable none p [1];

  7288.             signal knot out flow [1];

  7289.            restrictions

  7290.             causality constraint one_out p;

  7291.           end;

  7292.           icon bg

  7293.            figures

  7294.             text '1' 288 160 color 0 18 bold;

  7295.           end;

  7296.           implementation eq

  7297. equations

  7298. 	sum (direct (p.e)) = 0;

  7299. 	equal (collect (p.f));

  7300. 	flow = first (p.f);

  7301. implementation_end;

  7302.          OneJunction5 239.8 232.2

  7303.           description '<Information>

  7304.  <Description>

  7305.     <Version>4.2</Version>

  7306. <IsMainModel>1</IsMainModel>

  7307.   <KeepParameterValues>False</KeepParameterValues>

  7308.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7309.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7310. </Description>

  7311. </Information>';

  7312.           knot OneJunction

  7313.            ports

  7314.             power knot duplicatable none p [2,1];

  7315.             signal knot out flow [2,1];

  7316.            restrictions

  7317.             causality constraint one_out p;

  7318.           end;

  7319.           icon bg

  7320.            figures

  7321.             text '1' 239.8 232.2 color 0 18 bold;

  7322.           end;

  7323.           implementation eq

  7324. equations

  7325. 	sum (direct (p.e)) = 0;

  7326. 	equal (collect (p.f));

  7327. 	flow = first (p.f);

  7328. implementation_end;

  7329.          OneJunction7 239.8 216.2

  7330.           description '<Information>

  7331.  <Description>

  7332.     <Version>4.2</Version>

  7333. <IsMainModel>1</IsMainModel>

  7334.   <KeepParameterValues>False</KeepParameterValues>

  7335.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7336.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7337. </Description>

  7338. </Information>';

  7339.           knot OneJunction

  7340.            ports

  7341.             power knot duplicatable none p [3,1];

  7342.             signal knot out flow [3,1];

  7343.            restrictions

  7344.             causality constraint one_out p;

  7345.           end;

  7346.           icon bg

  7347.            figures

  7348.             text '1' 239.8 216.2 color 0 18 bold;

  7349.           end;

  7350.           implementation eq

  7351. equations

  7352. 	sum (direct (p.e)) = 0;

  7353. 	equal (collect (p.f));

  7354. 	flow = first (p.f);

  7355. implementation_end;

  7356.          OneJunction8 288 200

  7357.           description '<Information>

  7358.  <Description>

  7359.     <Version>4.2</Version>

  7360. <IsMainModel>1</IsMainModel>

  7361.   <KeepParameterValues>False</KeepParameterValues>

  7362.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  7363.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  7364. </Description>

  7365. </Information>';

  7366.           knot ZeroJunction

  7367.            ports

  7368.             power knot duplicatable none p [1];

  7369.             signal knot out effort [1];

  7370.            restrictions

  7371.             causality constraint one_in p;

  7372.           end;

  7373.           icon bg

  7374.            figures

  7375.             text '0' 288 200 color 0 18 bold;

  7376.           end;

  7377.           implementation eq

  7378. equations

  7379. 	sum (direct (p.f)) = 0;

  7380. 	equal (collect (p.e));

  7381. 	effort = first (p.e);

  7382. implementation_end;

  7383.          PowerMux 378 216

  7384. 									specifications active 'rot_z'

  7385. 										specification 'rot_x'

  7386. description '<Information>

  7387.  <Description>

  7388.     <Version>4.8</Version>

  7389.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  7390.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  7391. <IsMainModel>1</IsMainModel>

  7392.   <KeepParameterValues>False</KeepParameterValues>

  7393.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7394.  </Description>

  7395. </Information>';

  7396.  type 'PowerMux-Rotation'

  7397.   ports

  7398.    power in input;

  7399.    power out output [6,1];

  7400.    power in input_rot2 [2,1];

  7401.    power in input_pos3 [3,1];

  7402.   restrictions

  7403.    causality constraint not_equal input output;

  7404.    causality constraint not_equal input_rot2 output;

  7405.    causality constraint not_equal input_pos3 output;

  7406.  end;

  7407.  icon bg bottom

  7408.   figures

  7409.    line 328 192 328 240 color 0 width 2;

  7410.    rectangle 324 192 336 240 color -1;

  7411.    text '1' 333 210 color 8421504 8;

  7412.   terminals

  7413.    input 328 200 fixed;

  7414.    output 328 216 fixed;

  7415.    input_rot2 328 232 fixed;

  7416.    input_pos3 328 216 fixed;

  7417.  end;

  7418.  implementation eq

  7419. equations

  7420. 	output.e[1] = input.e;

  7421. 	output.e[2:3] = input_rot2.e;

  7422. 	output.e[4:6] = input_pos3.e;

  7423. 	output.f[1] = input.f;

  7424. 	output.f[2:3] = input_rot2.f;

  7425. 	output.f[4:6] = input_pos3.f;implementation_end;

  7426. specification_end;

  7427. 										specification 'rot_y'

  7428. description '<Description>

  7429.    <Version>4.1</Version>

  7430.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  7431.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  7432. <IsMainModel>1</IsMainModel>

  7433.  <KeepParameterValues>False</KeepParameterValues>

  7434.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7435. </Description>';

  7436.  type PowerMux

  7437.   ports

  7438.    power in input;

  7439.    power out output [6,1];

  7440.    power in input_rot2 [2,1];

  7441.    power in input_pos3 [3,1];

  7442.   restrictions

  7443.    causality constraint not_equal input output;

  7444.    causality constraint not_equal input_rot2 output;

  7445.    causality constraint not_equal input_pos3 output;

  7446.  end;

  7447.  icon bg bottom

  7448.   figures

  7449.    line 328 192 328 240 color 0 width 2;

  7450.    rectangle 324 192 336 240 color -1;

  7451.    text '1' 333 210 color 8421504 8;

  7452.   terminals

  7453.    input 328 200 fixed;

  7454.    output 328 216 fixed;

  7455.    input_rot2 328 232 fixed;

  7456.    input_pos3 328 216 fixed;

  7457.  end;

  7458.  implementation eq

  7459. equations

  7460. 	output.e[1] = input_rot2.e[1];

  7461. 	output.e[2] = input.e;

  7462. 	output.e[3] = input_rot2.e[2];

  7463. 	output.e[4:6] = input_pos3.e;

  7464. 	output.f[1] = input_rot2.f[1];

  7465. 	output.f[2] = input.f;

  7466. 	output.f[3] = input_rot2.f[2];

  7467. 	output.f[4:6] = input_pos3.f;implementation_end;

  7468. specification_end;

  7469. 										specification 'rot_z'

  7470.  description '<Information>

  7471.  <Description>

  7472.     <Version>4.8</Version>

  7473.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  7474.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  7475. <IsMainModel>1</IsMainModel>

  7476.   <KeepParameterValues>False</KeepParameterValues>

  7477.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  7478.  </Description>

  7479. </Information>';

  7480.  type PowerMux

  7481.   ports

  7482.    power in input;

  7483.    power out output [6,1];

  7484.    power in input_rot2 [2,1];

  7485.    power in input_pos3 [3,1];

  7486.   restrictions

  7487.    causality constraint not_equal input output;

  7488.    causality constraint not_equal input_rot2 output;

  7489.    causality constraint not_equal input_pos3 output;

  7490.  end;

  7491.  icon bg bottom

  7492.   figures

  7493.    line 376 192 376 240 color 0 width 2;

  7494.    rectangle 372 192 384 240 color -1;

  7495.    text '1' 381 210 color 8421504 8;

  7496.   terminals

  7497.    input 376 200 fixed;

  7498.    output 376 216 fixed;

  7499.    input_rot2 376 232 fixed;

  7500.    input_pos3 376 216 fixed;

  7501.  end;

  7502.  implementation eq

  7503. equations

  7504. 	output.e[3] = input.e;

  7505. 	output.e[1:2] = input_rot2.e;

  7506. 	output.e[4:6] = input_pos3.e;

  7507. 	output.f[3] = input.f;

  7508. 	output.f[1:2] = input_rot2.f;

  7509. 	output.f[4:6] = input_pos3.f;implementation_end;

  7510. specification_end;

  7511. 									end;

  7512.          R 288 112

  7513.           description '<Information>

  7514.  <Description>

  7515.     <Version>4.2</Version>

  7516. <IsMainModel>1</IsMainModel>

  7517.   <KeepParameterValues>False</KeepParameterValues>

  7518.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  7519.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  7520. </Description>

  7521. </Information>';

  7522.           type R

  7523.            ports

  7524.             power in p;

  7525.           end;

  7526.           icon bg top

  7527.            figures

  7528.             text 'R' 288 112 color 0 18 bold;

  7529.           end;

  7530.           implementation eq

  7531. parameters

  7532. 	real r = 10;

  7533. equations

  7534. 	p.e = r * p.f;

  7535. implementation_end;

  7536.          R4 239.8 288.2

  7537.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7538.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  7539.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  7540. </Description>';

  7541.           type 'R-2'

  7542.            ports

  7543.             power in p [2,1];

  7544.           end;

  7545.           icon bg bottom

  7546.            figures

  7547.             text 'R' 239.8 288.2 color 0 18 bold;

  7548.           end;

  7549.           implementation eq

  7550. parameters

  7551. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  7552. equations					

  7553. 	p.e = r * p.f;

  7554. implementation_end;

  7555.          R5 239.8 168.2

  7556.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7557.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  7558.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  7559. </Description>';

  7560.           type 'R-3'

  7561.            ports

  7562.             power in p [3,1];

  7563.           end;

  7564.           icon bg top

  7565.            figures

  7566.             text 'R' 239.8 168.2 color 0 18 bold;

  7567.           end;

  7568.           implementation eq

  7569. parameters

  7570. 	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};

  7571. equations					

  7572. 	p.e = r * p.f;

  7573. implementation_end;

  7574.          SG90 288 368

  7575.           description '<Information>

  7576.  <Description>

  7577.     <Version>4.8</Version>

  7578. <IsMainModel>1</IsMainModel>

  7579.     <LibraryPath>Motor\SG90.emx</LibraryPath>

  7580.   <TimeStamp>2020-7-27 10:46:51</TimeStamp>

  7581. </Description>

  7582. </Information>';

  7583.           type Submodel

  7584.            ports

  7585.             signal in effort;

  7586.             power out p;

  7587.           end;

  7588.           implementation bg

  7589.            submodels

  7590.             C 784 96

  7591.              description '<Information>

  7592.  <Description>

  7593.     <Version>4.2</Version>

  7594. <IsMainModel>1</IsMainModel>

  7595.   <KeepParameterValues>False</KeepParameterValues>

  7596.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  7597.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  7598. </Description>

  7599. </Information>';

  7600.              type C

  7601.               ports

  7602.                power in p;

  7603.                signal out state;

  7604.               restrictions

  7605.                causality preferred out p;

  7606.              end;

  7607.              icon bg bottom

  7608.               figures

  7609.                text 'C' 784 96 color 0 18 bold;

  7610.              end;

  7611.              implementation eq

  7612. parameters

  7613. 	real c = 0.001;

  7614. equations

  7615. 	state = int(p.f);

  7616. 	p.e = state / c;

  7617. implementation_end;

  7618.             Gain1 456 448

  7619.              description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7620.    <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  7621.   <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  7622. </Description>';

  7623.              type Gain

  7624.               ports

  7625.                signal in input;

  7626.                signal out output;

  7627.              end;

  7628.              icon bg bottom

  7629.               figures

  7630.                rectangle 440.1 432 471.9 464 color 0 fill 15132390;

  7631.                text 'K' 456 448 color 16711680 16 bold;

  7632.              end;

  7633.              implementation eq

  7634. parameters

  7635. 	real K = 5;		// gain

  7636. equations

  7637. 	output = K * input;

  7638.     implementation_end;

  7639.             GY1 592 296

  7640.              description '<Information>

  7641.  <Description>

  7642.     <Version>4.2</Version>

  7643. <IsMainModel>1</IsMainModel>

  7644.   <KeepParameterValues>False</KeepParameterValues>

  7645.     <LibraryPath>Bond Graph\GY.emx</LibraryPath>

  7646.   <TimeStamp>2011-11-29 15:53:45</TimeStamp>

  7647. </Description>

  7648. </Information>';

  7649.              type GY

  7650.               ports

  7651.                power in p1;

  7652.                power out p2;

  7653.               restrictions

  7654.                causality constraint equal p1 p2;

  7655.              end;

  7656.              icon bg bottom

  7657.               figures

  7658.                text 'GY' 592 296 color 0 18 bold;

  7659.              end;

  7660.              implementation eq

  7661. parameters

  7662. 	real r = 0.4;

  7663. equations

  7664. 	p1.e = r * p2.f;

  7665. 	p2.e = r * p1.f;

  7666. implementation_end;

  7667.             I 536 352

  7668.              description '<Information>

  7669.  <Description>

  7670.     <Version>4.2</Version>

  7671. <IsMainModel>1</IsMainModel>

  7672.   <KeepParameterValues>False</KeepParameterValues>

  7673.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  7674.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  7675. </Description>

  7676. </Information>';

  7677.              type I

  7678.               ports

  7679.                power in p;

  7680.                signal out state;

  7681.               restrictions

  7682.                causality preferred in p;

  7683.              end;

  7684.              icon bg bottom

  7685.               figures

  7686.                text 'I' 536 352 color 0 18 bold;

  7687.              end;

  7688.              implementation eq

  7689. parameters

  7690. 	real i = 0.1 {mH};

  7691. equations

  7692.     state = int(p.e);

  7693.     p.f = state / i;

  7694. implementation_end;

  7695.             Integrate 728 448

  7696.              description '<Information>

  7697.  <Description>

  7698.     <Version>4.3</Version>

  7699. <IsMainModel>1</IsMainModel>

  7700.   <KeepParameterValues>False</KeepParameterValues>

  7701.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7702.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7703. </Description>

  7704. </Information>';

  7705.              type Integrate

  7706.               ports

  7707.                signal in input;

  7708.                signal out output;

  7709.              end;

  7710.              icon bg bottom

  7711.               figures

  7712.                rectangle 712 432 744 464 color 0 fill 15132390;

  7713.                text '∫' 728 448.3 color 16711680 'Lucida Sans' 21 italic;

  7714.              end;

  7715.              implementation eq

  7716. parameters

  7717. 	real initial = 0;		// initial value

  7718. equations

  7719. 	output = int (input, initial);

  7720.      implementation_end;

  7721.             MSe 456 296

  7722.              description '<Information>

  7723.  <Description>

  7724.     <Version>4.2</Version>

  7725. <IsMainModel>1</IsMainModel>

  7726.   <KeepParameterValues>False</KeepParameterValues>

  7727.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  7728.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  7729. </Description>

  7730. </Information>';

  7731.              type MSe

  7732.               ports

  7733.                power out p;

  7734.                signal in effort;

  7735.               restrictions

  7736.                causality fixed out p;

  7737.              end;

  7738.              icon bg bottom

  7739.               figures

  7740.                text 'MSe' 456 296 color 0 18 bold;

  7741.              end;

  7742.              implementation eq

  7743. variables

  7744. 	real flow;

  7745. equations

  7746. 	p.e = effort;

  7747. 	flow = p.f;

  7748. implementation_end;

  7749.             plug effort 656 536;

  7750.             plug p 768 296;

  7751.             OneJunction 728 96

  7752.              description '<Information>

  7753.  <Description>

  7754.     <Version>4.2</Version>

  7755. <IsMainModel>1</IsMainModel>

  7756.   <KeepParameterValues>False</KeepParameterValues>

  7757.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7758.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7759. </Description>

  7760. </Information>';

  7761.              knot OneJunction

  7762.               ports

  7763.                power knot duplicatable none p [1];

  7764.                signal knot out flow [1];

  7765.               restrictions

  7766.                causality constraint one_out p;

  7767.              end;

  7768.              icon bg

  7769.               figures

  7770.                text '1' 728 96 color 0 18 bold;

  7771.              end;

  7772.              implementation eq

  7773. equations

  7774. 	sum (direct (p.e)) = 0;

  7775. 	equal (collect (p.f));

  7776. 	flow = first (p.f);

  7777. implementation_end;

  7778.             OneJunction1 536 296

  7779.              description '<Information>

  7780.  <Description>

  7781.     <Version>4.2</Version>

  7782. <IsMainModel>1</IsMainModel>

  7783.   <KeepParameterValues>False</KeepParameterValues>

  7784.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7785.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7786. </Description>

  7787. </Information>';

  7788.              knot OneJunction

  7789.               ports

  7790.                power knot duplicatable none p [1];

  7791.                signal knot out flow [1];

  7792.               restrictions

  7793.                causality constraint one_out p;

  7794.              end;

  7795.              icon bg

  7796.               figures

  7797.                text '1' 536 296 color 0 18 bold;

  7798.              end;

  7799.              implementation eq

  7800. equations

  7801. 	sum (direct (p.e)) = 0;

  7802. 	equal (collect (p.f));

  7803. 	flow = first (p.f);

  7804. implementation_end;

  7805.             OneJunction2 728 296

  7806.              description '<Information>

  7807.  <Description>

  7808.     <Version>4.2</Version>

  7809. <IsMainModel>1</IsMainModel>

  7810.   <KeepParameterValues>False</KeepParameterValues>

  7811.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7812.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7813. </Description>

  7814. </Information>';

  7815.              knot OneJunction

  7816.               ports

  7817.                power knot duplicatable none p [1];

  7818.                signal knot out flow [1];

  7819.               restrictions

  7820.                causality constraint one_out p;

  7821.              end;

  7822.              icon bg

  7823.               figures

  7824.                text '1' 728 296 color 0 18 bold;

  7825.              end;

  7826.              implementation eq

  7827. equations

  7828. 	sum (direct (p.e)) = 0;

  7829. 	equal (collect (p.f));

  7830. 	flow = first (p.f);

  7831. implementation_end;

  7832.             OneJunction4 680 160

  7833.              description '<Information>

  7834.  <Description>

  7835.     <Version>4.2</Version>

  7836. <IsMainModel>1</IsMainModel>

  7837.   <KeepParameterValues>False</KeepParameterValues>

  7838.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  7839.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  7840. </Description>

  7841. </Information>';

  7842.              knot OneJunction

  7843.               ports

  7844.                power knot duplicatable none p [1];

  7845.                signal knot out flow [1];

  7846.               restrictions

  7847.                causality constraint one_out p;

  7848.              end;

  7849.              icon bg

  7850.               figures

  7851.                text '1' 680 160 color 0 18 bold;

  7852.              end;

  7853.              implementation eq

  7854. equations

  7855. 	sum (direct (p.e)) = 0;

  7856. 	equal (collect (p.f));

  7857. 	flow = first (p.f);

  7858. implementation_end;

  7859.             PD 608 448

  7860.              description '<Description>

  7861.  <Version>4.0</Version>

  7862.  <IsMainModel>1</IsMainModel>

  7863.  <KeepParameterValues>False</KeepParameterValues>

  7864.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  7865.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  7866. </Description>';

  7867.              type PD

  7868.               ports

  7869.                signal in error;

  7870.                signal out output;

  7871.              end;

  7872.              icon bg bottom

  7873.               figures

  7874.                rectangle 592 432 624 464 color 0 fill 15132390;

  7875.                text 'PD' 608.5 448.1 color 16711680 18 bold;

  7876.              end;

  7877.              implementation eq

  7878. parameters

  7879. 	real kp = 2.0 {};			// Proportional gain

  7880. 	real tauD = 1.0 {s};		// Derivative time constant: tauD > 0

  7881. 	real beta = 0.1 {};		// Tameness constant: 0 < beta << 1

  7882. variables

  7883. 	real state, rate;

  7884. equations

  7885. 	rate = (kp * error - output) / (beta * tauD);

  7886. 	state = int (rate);

  7887. 	output = state + kp * error /  beta;

  7888.       implementation_end;

  7889.             PlusMinus1 656 448

  7890.              description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7891.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7892.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7893. </Description>';

  7894.              knot PlusMinus

  7895.               ports

  7896.                signal knot duplicatable in plus [1];

  7897.                signal knot duplicatable in minus [1];

  7898.                signal knot out output [1];

  7899.              end;

  7900.              icon bg ellipse

  7901.               figures

  7902.                ellipse 648 440 664 456 color 0 fill 16777215;

  7903.              end;

  7904.              implementation eq

  7905. equations

  7906.     output = sum (collect (plus)) - sum (collect (minus));

  7907.     implementation_end;

  7908.             R 536 240

  7909.              description '<Information>

  7910.  <Description>

  7911.     <Version>4.2</Version>

  7912. <IsMainModel>1</IsMainModel>

  7913.   <KeepParameterValues>False</KeepParameterValues>

  7914.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  7915.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  7916. </Description>

  7917. </Information>';

  7918.              type R

  7919.               ports

  7920.                power in p;

  7921.              end;

  7922.              icon bg bottom

  7923.               figures

  7924.                text 'R' 536 240 color 0 18 bold;

  7925.              end;

  7926.              implementation eq

  7927. parameters

  7928. 	real r = 7.84 {ohm};

  7929. equations

  7930. 	p.e = r * p.f;

  7931. implementation_end;

  7932.             R1 728 40

  7933.              description '<Information>

  7934.  <Description>

  7935.     <Version>4.2</Version>

  7936. <IsMainModel>1</IsMainModel>

  7937.   <KeepParameterValues>False</KeepParameterValues>

  7938.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  7939.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  7940. </Description>

  7941. </Information>';

  7942.              type R

  7943.               ports

  7944.                power in p;

  7945.              end;

  7946.              icon bg bottom

  7947.               figures

  7948.                text 'R' 728 40 color 0 18 bold;

  7949.              end;

  7950.              implementation eq

  7951. parameters

  7952. 	real r = 10;

  7953. equations

  7954. 	p.e = r * p.f;

  7955. implementation_end;

  7956.             Sf 632 160

  7957.              description '<Information>

  7958.  <Description>

  7959.     <Version>4.2</Version>

  7960. <IsMainModel>1</IsMainModel>

  7961.   <KeepParameterValues>False</KeepParameterValues>

  7962.     <LibraryPath>Bond Graph\Sf.emx</LibraryPath>

  7963.   <TimeStamp>2011-11-29 16:38:03</TimeStamp>

  7964. </Description>

  7965. </Information>';

  7966.              type Sf

  7967.               ports

  7968.                power out p;

  7969.               restrictions

  7970.                causality fixed in p;

  7971.              end;

  7972.              icon bg bottom

  7973.               figures

  7974.                text 'Sf' 632 160 color 0 18 bold;

  7975.              end;

  7976.              implementation eq

  7977. parameters

  7978. 	real flow = 1;

  7979. variables

  7980. 	real effort;

  7981. equations

  7982. 	p.f = flow;

  7983. 	effort = p.e;

  7984. implementation_end;

  7985.             SignalLimiter1 536 448

  7986.              description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7987.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7988.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7989. </Description>';

  7990.              type 'SignalLimiter-Limit'

  7991.               ports

  7992.                signal in input;

  7993.                signal out output;

  7994.              end;

  7995.              icon bg bottom

  7996.               figures

  7997.                group

  7998.                 rectangle 520 432 552 464 color 0 fill 15132390;

  7999.                 line 535.9 436.5 535.9 461 color 0 fill 15132390;

  8000.                 line 523 448.2 548.7 448.2 color 0 fill 15132390;

  8001.                 spline 529.9 455.1 541.9 441.4 color 16711680 fill 15132390 width 2;

  8002.                 spline 541.3 442.2 549.9 441.8 color 16711680 fill 15132390 width 2;

  8003.                 spline 523 455.6 529.9 455.1 color 16711680 fill 15132390 width 2;

  8004.                end;

  8005.              end;

  8006.              implementation eq

  8007. parameters

  8008. 	real maximum = 1;

  8009. 	real minimum = -1;

  8010. equations

  8011. 	output = limit (input, minimum, maximum);

  8012.   implementation_end;

  8013.             Splitter2 680 448

  8014.              description '<Description><Version>4.0</Version>

  8015.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  8016.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  8017. <IsMainModel>1</IsMainModel>

  8018.  <KeepParameterValues>False</KeepParameterValues>

  8019. </Description>';

  8020.              knot Splitter

  8021.               ports

  8022.                signal knot duplicatable out output [1];

  8023.                signal knot in input [1];

  8024.              end;

  8025.              icon bg ellipse

  8026.               figures

  8027.                ellipse 676.8 444.8 683.2 451.2 color -1 fill 0;

  8028.                ellipse 675.7 443.7 684.3 452.3 color -1;

  8029.               terminals

  8030.                input 680 448 fixed;

  8031.              end;

  8032.              implementation eq

  8033. equations

  8034.     collect (output) = input;

  8035. implementation_end;

  8036.             Submodel1 680 248

  8037.              description '<Description><Version>4.0</Version>

  8038.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  8039. <IsMainModel>1</IsMainModel>

  8040.  <KeepParameterValues>False</KeepParameterValues>

  8041.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  8042.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8043. </Description>';

  8044.              type 'Submodel-Equation'

  8045.               ports

  8046.                signal in input;

  8047.                signal out output;

  8048.              end;

  8049.              implementation eq

  8050. parameters

  8051. 	real angle = 90 {deg};

  8052. equations

  8053. 	// start typing here

  8054. 	output = abs(input) > angle;

  8055.  implementation_end;

  8056.             TF1 648 296

  8057.              description '<Information>

  8058.  <Description>

  8059.     <Version>4.2</Version>

  8060. <IsMainModel>1</IsMainModel>

  8061.   <KeepParameterValues>False</KeepParameterValues>

  8062.     <LibraryPath>Bond Graph\TF.emx</LibraryPath>

  8063.   <TimeStamp>2011-11-29 16:43:47</TimeStamp>

  8064. </Description>

  8065. </Information>';

  8066.              type TF

  8067.               ports

  8068.                power in p1;

  8069.                power out p2;

  8070.               restrictions

  8071.                causality constraint not_equal p1 p2;

  8072.              end;

  8073.              icon bg bottom

  8074.               figures

  8075.                text 'TF' 648 296 color 0 18 bold;

  8076.              end;

  8077.              implementation eq

  8078. parameters

  8079. 	real r = 0.008333;

  8080. equations

  8081. 	p1.e = r * p2.e;

  8082. 	p2.f = r * p1.f;

  8083. implementation_end;

  8084.             X0 728 160

  8085.              description '<Information>

  8086.  <Description>

  8087.   <IsMainModel>1</IsMainModel>

  8088.   <KeepParameterValues>False</KeepParameterValues>

  8089.     <LibraryPath>Bond Graph\SwitchingZeroJunction.emx</LibraryPath>

  8090.   <TimeStamp>2012-12-21 14:27:32</TimeStamp>

  8091.   <Version>4.3</Version>

  8092. </Description>

  8093. </Information>';

  8094.              type X0

  8095.               ports

  8096.                power in p1;

  8097.                power out p2;

  8098.                power out p12;

  8099.                signal boolean in condition;

  8100.               restrictions

  8101.                causality fixed out p1;

  8102.                causality fixed out p2;

  8103.                causality fixed in p12;

  8104.              end;

  8105.              icon bg bottom

  8106.               figures

  8107.                text 'X0' 728 160 color 8388608 18 bold;

  8108.              end;

  8109.              implementation eq

  8110. equations

  8111. 	p1.e = if condition then p12.e else 0 end;

  8112. 	p2.e = p1.e;

  8113. 	p12.f = if condition then p1.f-p2.f else 0 end;

  8114.  implementation_end;

  8115.            end;

  8116.            connections

  8117.             effort -> PlusMinus1\plus;

  8118.             Gain1\output -> MSe\effort;

  8119.             GY1\p2 => TF1\p1;

  8120.             Integrate\output -> Splitter2\input;

  8121.             MSe\p => OneJunction1\p;

  8122.             OneJunction\p => C\p;

  8123.             OneJunction\p => R1\p;

  8124.             OneJunction1\p => GY1\p1;

  8125.             OneJunction1\p => I\p;

  8126.             OneJunction1\p => R\p;

  8127.             OneJunction2\flow -> Integrate\input;

  8128.             OneJunction2\p => p;

  8129.             OneJunction4\p <= Sf\p;

  8130.             PD\output -> SignalLimiter1\input;

  8131.             PlusMinus1\output -> PD\error;

  8132.             SignalLimiter1\output -> Gain1\input;

  8133.             Splitter2\output -> PlusMinus1\minus;

  8134.             Splitter2\output -> Submodel1\input;

  8135.             Submodel1\output -> X0\condition 680 200;

  8136.             TF1\p2 => OneJunction2\p;

  8137.             X0\p1 <= OneJunction2\p;

  8138.             X0\p12 => OneJunction\p;

  8139.             X0\p2 => OneJunction4\p;

  8140.            end;

  8141.           implementation_end;

  8142.          Square 288 544

  8143.           description '<Description>

  8144.    <Version>4.0</Version>

  8145. <IsMainModel>1</IsMainModel>

  8146.  <KeepParameterValues>False</KeepParameterValues>

  8147.    <LibraryPath>Signal\Sources\WaveGenerator-Square.emx</LibraryPath>

  8148.   <TimeStamp>2009-3-5 16:05:33</TimeStamp>

  8149. </Description>';

  8150.           type 'WaveGenerator-Square'

  8151.            ports

  8152.             signal out output;

  8153.           end;

  8154.           icon bg bottom

  8155.            figures

  8156.             rectangle 272.1 528 303.9 560 color 0 fill 15132390;

  8157.             line 276.1 531.9 275.9 558.2 color 0 fill 0;

  8158.             line 273.9 556.1 299.9 556.1 color 0 fill 0;

  8159.             line 276.1 556.1 280 556.1 280 544 color 16711680 fill 0;

  8160.             line 288 544 280 544 288 544 color 16711680 fill 0;

  8161.             line 288 556.1 288 544 288 556.1 color 16711680 fill 0;

  8162.             line 296 544 296 556.1 296 544 color 16711680 fill 0;

  8163.             line 299.9 544.1 295.7 544.1 color 16711680 fill 0;

  8164.             line 288 556.1 296 556.1 color 16711680 fill 0;

  8165.           end;

  8166.           implementation eq

  8167. parameters

  8168. 	real amplitude = 45 {deg};			// amplitude of the wave

  8169. 	real omega = 0.31415926535898 {rad/s};		// angular frequency of the wave

  8170. variables					

  8171. 	real hidden s, half;

  8172. 	boolean hidden change;

  8173. equations

  8174. 	"calculate at least 2 points per period 

  8175. 	(just after the change in sign)"

  8176. 	half = pi / omega;

  8177. 	change = frequencyevent (half, 1e-14);

  8178. 

  8179. 	"calculate the square wave"

  8180. 	s = sign (sin (omega * time));

  8181. 	output = if( s == 0 ) then

  8182. 		amplitude

  8183. 	else

  8184. 		(amplitude / 2) * (s + 1)

  8185. 	end;

  8186. implementation_end;

  8187.         end;

  8188.         connections

  8189.          C\p <= OneJunction3\p;

  8190.          C1\p <= OneJunction7\p;

  8191.          OneJunction3\p <= OneJunction8\p;

  8192.          OneJunction5\p => C4\p;

  8193.          OneJunction5\p => PowerMux\input_rot2;

  8194.          OneJunction5\p => R4\p;

  8195.          OneJunction7\p => PowerMux\input_pos3;

  8196.          OneJunction7\p => R5\p;

  8197.          OneJunction8\p <= SG90\p;

  8198.          OneJunction8\p => PowerMux\input;

  8199.          PowerMux\output => output;

  8200.          R\p <= OneJunction3\p;

  8201.          Square\output -> SG90\effort;

  8202.         end;

  8203.        implementation_end;

  8204.       Joint_dynF2 712 80

  8205.        description '<Description>

  8206. 	<Version>4.8</Version>

  8207. 	<IsMainModel>1</IsMainModel>

  8208. 	</Description>';

  8209.        type Submodel

  8210.         ports

  8211.          power out output [6,1];

  8212.        end;

  8213.        icon bg

  8214.         figures

  8215.          rectangle 672 64 752 96 color 0 fill 15132390;

  8216.          text 'name' 712 80 color 0 'Clear Sans' 16;

  8217.        end;

  8218.        implementation bg

  8219.         submodels

  8220.          C1 191.8 216.2

  8221.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8222.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  8223.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  8224. </Description>';

  8225.           type 'C-3'

  8226.            ports

  8227.             power in p [3,1];

  8228.             signal out state [3,1];

  8229.            restrictions

  8230.             causality preferred out p;

  8231.           end;

  8232.           icon bg top

  8233.            figures

  8234.             text 'C' 191.8 216.2 color 0 18 bold;

  8235.           end;

  8236.           implementation eq

  8237. parameters

  8238. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {mN/m};

  8239. equations

  8240.     state = int(p.f);

  8241.     p.e = inverse(c) *state;

  8242. implementation_end;

  8243.          C4 191.8 232.2

  8244.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8245.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  8246.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  8247. </Description>';

  8248.           type 'C-2'

  8249.            ports

  8250.             power in p [2,1];

  8251.             signal out state [2,1];

  8252.            restrictions

  8253.             causality preferred out p;

  8254.           end;

  8255.           icon bg bottom

  8256.            figures

  8257.             text 'C' 191.8 232.2 color 0 18 bold;

  8258.           end;

  8259.           implementation eq

  8260. parameters

  8261. 	real c[2,2] = [1, 0.0; 0.0, 1]  {mN.m/rad};

  8262. equations

  8263.     state = int(p.f);

  8264.     p.e = inverse(c) *state;

  8265. implementation_end;

  8266.          plug output 396 216;

  8267.          OneJunction5 239.8 232.2

  8268.           description '<Information>

  8269.  <Description>

  8270.     <Version>4.2</Version>

  8271. <IsMainModel>1</IsMainModel>

  8272.   <KeepParameterValues>False</KeepParameterValues>

  8273.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  8274.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  8275. </Description>

  8276. </Information>';

  8277.           knot OneJunction

  8278.            ports

  8279.             power knot duplicatable none p [2,1];

  8280.             signal knot out flow [2,1];

  8281.            restrictions

  8282.             causality constraint one_out p;

  8283.           end;

  8284.           icon bg

  8285.            figures

  8286.             text '1' 239.8 232.2 color 0 18 bold;

  8287.           end;

  8288.           implementation eq

  8289. equations

  8290. 	sum (direct (p.e)) = 0;

  8291. 	equal (collect (p.f));

  8292. 	flow = first (p.f);

  8293. implementation_end;

  8294.          OneJunction7 239.8 216.2

  8295.           description '<Information>

  8296.  <Description>

  8297.     <Version>4.2</Version>

  8298. <IsMainModel>1</IsMainModel>

  8299.   <KeepParameterValues>False</KeepParameterValues>

  8300.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  8301.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  8302. </Description>

  8303. </Information>';

  8304.           knot OneJunction

  8305.            ports

  8306.             power knot duplicatable none p [3,1];

  8307.             signal knot out flow [3,1];

  8308.            restrictions

  8309.             causality constraint one_out p;

  8310.           end;

  8311.           icon bg

  8312.            figures

  8313.             text '1' 239.8 216.2 color 0 18 bold;

  8314.           end;

  8315.           implementation eq

  8316. equations

  8317. 	sum (direct (p.e)) = 0;

  8318. 	equal (collect (p.f));

  8319. 	flow = first (p.f);

  8320. implementation_end;

  8321.          OneJunction8 288 200

  8322.           description '<Information>

  8323.  <Description>

  8324.     <Version>4.2</Version>

  8325. <IsMainModel>1</IsMainModel>

  8326.   <KeepParameterValues>False</KeepParameterValues>

  8327.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  8328.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  8329. </Description>

  8330. </Information>';

  8331.           knot OneJunction

  8332.            ports

  8333.             power knot duplicatable none p [1];

  8334.             signal knot out flow [1];

  8335.            restrictions

  8336.             causality constraint one_out p;

  8337.           end;

  8338.           icon bg

  8339.            figures

  8340.             text '1' 288 200 color 0 18 bold;

  8341.           end;

  8342.           implementation eq

  8343. equations

  8344. 	sum (direct (p.e)) = 0;

  8345. 	equal (collect (p.f));

  8346. 	flow = first (p.f);

  8347. implementation_end;

  8348.          PowerMux 330 216

  8349. 									specifications active 'rot_z'

  8350. 										specification 'rot_x'

  8351. description '<Information>

  8352.  <Description>

  8353.     <Version>4.8</Version>

  8354.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  8355.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  8356. <IsMainModel>1</IsMainModel>

  8357.   <KeepParameterValues>False</KeepParameterValues>

  8358.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  8359.  </Description>

  8360. </Information>';

  8361.  type 'PowerMux-Rotation'

  8362.   ports

  8363.    power in input;

  8364.    power out output [6,1];

  8365.    power in input_rot2 [2,1];

  8366.    power in input_pos3 [3,1];

  8367.   restrictions

  8368.    causality constraint not_equal input output;

  8369.    causality constraint not_equal input_rot2 output;

  8370.    causality constraint not_equal input_pos3 output;

  8371.  end;

  8372.  icon bg bottom

  8373.   figures

  8374.    line 328 192 328 240 color 0 width 2;

  8375.    rectangle 324 192 336 240 color -1;

  8376.    text '1' 333 210 color 8421504 8;

  8377.   terminals

  8378.    input 328 200 fixed;

  8379.    output 328 216 fixed;

  8380.    input_rot2 328 232 fixed;

  8381.    input_pos3 328 216 fixed;

  8382.  end;

  8383.  implementation eq

  8384. equations

  8385. 	output.e[1] = input.e;

  8386. 	output.e[2:3] = input_rot2.e;

  8387. 	output.e[4:6] = input_pos3.e;

  8388. 	output.f[1] = input.f;

  8389. 	output.f[2:3] = input_rot2.f;

  8390. 	output.f[4:6] = input_pos3.f;implementation_end;

  8391. specification_end;

  8392. 										specification 'rot_y'

  8393. description '<Description>

  8394.    <Version>4.1</Version>

  8395.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  8396.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  8397. <IsMainModel>1</IsMainModel>

  8398.  <KeepParameterValues>False</KeepParameterValues>

  8399.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  8400. </Description>';

  8401.  type PowerMux

  8402.   ports

  8403.    power in input;

  8404.    power out output [6,1];

  8405.    power in input_rot2 [2,1];

  8406.    power in input_pos3 [3,1];

  8407.   restrictions

  8408.    causality constraint not_equal input output;

  8409.    causality constraint not_equal input_rot2 output;

  8410.    causality constraint not_equal input_pos3 output;

  8411.  end;

  8412.  icon bg bottom

  8413.   figures

  8414.    line 242 274 290 274 color 0 width 2;

  8415.    rectangle 242 266 290 278 color -1;

  8416.    text '1' 260 269 color 8421504 8;

  8417.   terminals

  8418.    input 250 274 fixed;

  8419.    output 266 274 fixed;

  8420.    input_rot2 282 274 fixed;

  8421.    input_pos3 266 274 fixed;

  8422.  end;

  8423.  implementation eq

  8424. equations

  8425. 	output.e[1] = input_rot2.e[1];

  8426. 	output.e[2] = input.e;

  8427. 	output.e[3] = input_rot2.e[2];

  8428. 	output.e[4:6] = input_pos3.e;

  8429. 	output.f[1] = input_rot2.f[1];

  8430. 	output.f[2] = input.f;

  8431. 	output.f[3] = input_rot2.f[2];

  8432. 	output.f[4:6] = input_pos3.f;implementation_end;

  8433. specification_end;

  8434. 										specification 'rot_z'

  8435.  description '<Information>

  8436.  <Description>

  8437.     <Version>4.8</Version>

  8438.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  8439.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  8440. <IsMainModel>1</IsMainModel>

  8441.   <KeepParameterValues>False</KeepParameterValues>

  8442.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  8443.  </Description>

  8444. </Information>';

  8445.  type PowerMux

  8446.   ports

  8447.    power in input;

  8448.    power out output [6,1];

  8449.    power in input_rot2 [2,1];

  8450.    power in input_pos3 [3,1];

  8451.   restrictions

  8452.    causality constraint not_equal input output;

  8453.    causality constraint not_equal input_rot2 output;

  8454.    causality constraint not_equal input_pos3 output;

  8455.  end;

  8456.  icon bg bottom

  8457.   figures

  8458.    line 328 192 328 240 color 0 width 2;

  8459.    rectangle 324 192 336 240 color -1;

  8460.    text '1' 333 210 color 8421504 8;

  8461.   terminals

  8462.    input 328 200 fixed;

  8463.    output 328 216 fixed;

  8464.    input_rot2 328 232 fixed;

  8465.    input_pos3 328 216 fixed;

  8466.  end;

  8467.  implementation eq

  8468. equations

  8469. 	output.e[3] = input.e;

  8470. 	output.e[1:2] = input_rot2.e;

  8471. 	output.e[4:6] = input_pos3.e;

  8472. 	output.f[3] = input.f;

  8473. 	output.f[1:2] = input_rot2.f;

  8474. 	output.f[4:6] = input_pos3.f;implementation_end;

  8475. specification_end;

  8476. 									end;

  8477.          R 288 152

  8478.           description '<Information>

  8479.  <Description>

  8480.     <Version>4.2</Version>

  8481. <IsMainModel>1</IsMainModel>

  8482.   <KeepParameterValues>False</KeepParameterValues>

  8483.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  8484.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  8485. </Description>

  8486. </Information>';

  8487.           type R

  8488.            ports

  8489.             power in p;

  8490.           end;

  8491.           icon bg top

  8492.            figures

  8493.             text 'R' 288 152 color 0 18 bold;

  8494.           end;

  8495.           implementation eq

  8496. parameters

  8497. 	real r = 0.0001;

  8498. equations

  8499. 	p.e = r * p.f;

  8500. implementation_end;

  8501.          R4 239.8 288.2

  8502.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8503.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  8504.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  8505. </Description>';

  8506.           type 'R-2'

  8507.            ports

  8508.             power in p [2,1];

  8509.           end;

  8510.           icon bg bottom

  8511.            figures

  8512.             text 'R' 239.8 288.2 color 0 18 bold;

  8513.           end;

  8514.           implementation eq

  8515. parameters

  8516. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  8517. equations					

  8518. 	p.e = r * p.f;

  8519. implementation_end;

  8520.          R5 239.8 168.2

  8521.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8522.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  8523.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  8524. </Description>';

  8525.           type 'R-3'

  8526.            ports

  8527.             power in p [3,1];

  8528.           end;

  8529.           icon bg top

  8530.            figures

  8531.             text 'R' 239.8 168.2 color 0 18 bold;

  8532.           end;

  8533.           implementation eq

  8534. parameters

  8535. 	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};

  8536. equations					

  8537. 	p.e = r * p.f;

  8538. implementation_end;

  8539.         end;

  8540.         connections

  8541.          C1\p <= OneJunction7\p;

  8542.          OneJunction5\p => C4\p;

  8543.          OneJunction5\p => PowerMux\input_rot2;

  8544.          OneJunction5\p => R4\p;

  8545.          OneJunction7\p => PowerMux\input_pos3;

  8546.          OneJunction7\p => R5\p;

  8547.          OneJunction8\p => PowerMux\input;

  8548.          PowerMux\output => output;

  8549.          R\p <= OneJunction8\p;

  8550.         end;

  8551.        implementation_end;

  8552.       Joint_dynF3 1064 80

  8553.        description '<Description>

  8554. 	<Version>4.8</Version>

  8555. 	<IsMainModel>1</IsMainModel>

  8556. 	</Description>';

  8557.        type Submodel

  8558.         ports

  8559.          power out output [6,1];

  8560.        end;

  8561.        icon bg

  8562.         figures

  8563.          rectangle 1024 64 1104 96 color 0 fill 15132390;

  8564.          text 'name' 1064 80 color 0 'Clear Sans' 16;

  8565.        end;

  8566.        implementation bg

  8567.         submodels

  8568.          C1 191.8 216.2

  8569.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8570.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  8571.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  8572. </Description>';

  8573.           type 'C-3'

  8574.            ports

  8575.             power in p [3,1];

  8576.             signal out state [3,1];

  8577.            restrictions

  8578.             causality preferred out p;

  8579.           end;

  8580.           icon bg top

  8581.            figures

  8582.             text 'C' 191.8 216.2 color 0 18 bold;

  8583.           end;

  8584.           implementation eq

  8585. parameters

  8586. 	real c[3,3] = [1, 0.0, 0.0; 0.0, 1, 0.0; 0.0, 0.0, 1] {mN/m};

  8587. equations

  8588.     state = int(p.f);

  8589.     p.e = inverse(c) *state;

  8590. implementation_end;

  8591.          C4 191.8 232.2

  8592.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8593.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  8594.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  8595. </Description>';

  8596.           type 'C-2'

  8597.            ports

  8598.             power in p [2,1];

  8599.             signal out state [2,1];

  8600.            restrictions

  8601.             causality preferred out p;

  8602.           end;

  8603.           icon bg bottom

  8604.            figures

  8605.             text 'C' 191.8 232.2 color 0 18 bold;

  8606.           end;

  8607.           implementation eq

  8608. parameters

  8609. 	real c[2,2] = [1, 0.0; 0.0, 1]  {mN.m/rad};

  8610. equations

  8611.     state = int(p.f);

  8612.     p.e = inverse(c) *state;

  8613. implementation_end;

  8614.          plug output 396 216;

  8615.          OneJunction5 239.8 232.2

  8616.           description '<Information>

  8617.  <Description>

  8618.     <Version>4.2</Version>

  8619. <IsMainModel>1</IsMainModel>

  8620.   <KeepParameterValues>False</KeepParameterValues>

  8621.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  8622.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  8623. </Description>

  8624. </Information>';

  8625.           knot OneJunction

  8626.            ports

  8627.             power knot duplicatable none p [2,1];

  8628.             signal knot out flow [2,1];

  8629.            restrictions

  8630.             causality constraint one_out p;

  8631.           end;

  8632.           icon bg

  8633.            figures

  8634.             text '1' 239.8 232.2 color 0 18 bold;

  8635.           end;

  8636.           implementation eq

  8637. equations

  8638. 	sum (direct (p.e)) = 0;

  8639. 	equal (collect (p.f));

  8640. 	flow = first (p.f);

  8641. implementation_end;

  8642.          OneJunction7 239.8 216.2

  8643.           description '<Information>

  8644.  <Description>

  8645.     <Version>4.2</Version>

  8646. <IsMainModel>1</IsMainModel>

  8647.   <KeepParameterValues>False</KeepParameterValues>

  8648.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  8649.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  8650. </Description>

  8651. </Information>';

  8652.           knot OneJunction

  8653.            ports

  8654.             power knot duplicatable none p [3,1];

  8655.             signal knot out flow [3,1];

  8656.            restrictions

  8657.             causality constraint one_out p;

  8658.           end;

  8659.           icon bg

  8660.            figures

  8661.             text '1' 239.8 216.2 color 0 18 bold;

  8662.           end;

  8663.           implementation eq

  8664. equations

  8665. 	sum (direct (p.e)) = 0;

  8666. 	equal (collect (p.f));

  8667. 	flow = first (p.f);

  8668. implementation_end;

  8669.          OneJunction8 288 200

  8670.           description '<Information>

  8671.  <Description>

  8672.     <Version>4.2</Version>

  8673. <IsMainModel>1</IsMainModel>

  8674.   <KeepParameterValues>False</KeepParameterValues>

  8675.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  8676.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  8677. </Description>

  8678. </Information>';

  8679.           knot OneJunction

  8680.            ports

  8681.             power knot duplicatable none p [1];

  8682.             signal knot out flow [1];

  8683.            restrictions

  8684.             causality constraint one_out p;

  8685.           end;

  8686.           icon bg

  8687.            figures

  8688.             text '1' 288 200 color 0 18 bold;

  8689.           end;

  8690.           implementation eq

  8691. equations

  8692. 	sum (direct (p.e)) = 0;

  8693. 	equal (collect (p.f));

  8694. 	flow = first (p.f);

  8695. implementation_end;

  8696.          PowerMux 330 216

  8697. 									specifications active 'rot_z'

  8698. 										specification 'rot_x'

  8699. description '<Information>

  8700.  <Description>

  8701.     <Version>4.8</Version>

  8702.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  8703.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  8704. <IsMainModel>1</IsMainModel>

  8705.   <KeepParameterValues>False</KeepParameterValues>

  8706.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  8707.  </Description>

  8708. </Information>';

  8709.  type 'PowerMux-Rotation'

  8710.   ports

  8711.    power in input;

  8712.    power out output [6,1];

  8713.    power in input_rot2 [2,1];

  8714.    power in input_pos3 [3,1];

  8715.   restrictions

  8716.    causality constraint not_equal input output;

  8717.    causality constraint not_equal input_rot2 output;

  8718.    causality constraint not_equal input_pos3 output;

  8719.  end;

  8720.  icon bg bottom

  8721.   figures

  8722.    line 328 192 328 240 color 0 width 2;

  8723.    rectangle 324 192 336 240 color -1;

  8724.    text '1' 333 210 color 8421504 8;

  8725.   terminals

  8726.    input 328 200 fixed;

  8727.    output 328 216 fixed;

  8728.    input_rot2 328 232 fixed;

  8729.    input_pos3 328 216 fixed;

  8730.  end;

  8731.  implementation eq

  8732. equations

  8733. 	output.e[1] = input.e;

  8734. 	output.e[2:3] = input_rot2.e;

  8735. 	output.e[4:6] = input_pos3.e;

  8736. 	output.f[1] = input.f;

  8737. 	output.f[2:3] = input_rot2.f;

  8738. 	output.f[4:6] = input_pos3.f;implementation_end;

  8739. specification_end;

  8740. 										specification 'rot_y'

  8741. description '<Description>

  8742.    <Version>4.1</Version>

  8743.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  8744.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  8745. <IsMainModel>1</IsMainModel>

  8746.  <KeepParameterValues>False</KeepParameterValues>

  8747.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  8748. </Description>';

  8749.  type PowerMux

  8750.   ports

  8751.    power in input;

  8752.    power out output [6,1];

  8753.    power in input_rot2 [2,1];

  8754.    power in input_pos3 [3,1];

  8755.   restrictions

  8756.    causality constraint not_equal input output;

  8757.    causality constraint not_equal input_rot2 output;

  8758.    causality constraint not_equal input_pos3 output;

  8759.  end;

  8760.  icon bg bottom

  8761.   figures

  8762.    line 242 274 290 274 color 0 width 2;

  8763.    rectangle 242 266 290 278 color -1;

  8764.    text '1' 260 269 color 8421504 8;

  8765.   terminals

  8766.    input 250 274 fixed;

  8767.    output 266 274 fixed;

  8768.    input_rot2 282 274 fixed;

  8769.    input_pos3 266 274 fixed;

  8770.  end;

  8771.  implementation eq

  8772. equations

  8773. 	output.e[1] = input_rot2.e[1];

  8774. 	output.e[2] = input.e;

  8775. 	output.e[3] = input_rot2.e[2];

  8776. 	output.e[4:6] = input_pos3.e;

  8777. 	output.f[1] = input_rot2.f[1];

  8778. 	output.f[2] = input.f;

  8779. 	output.f[3] = input_rot2.f[2];

  8780. 	output.f[4:6] = input_pos3.f;implementation_end;

  8781. specification_end;

  8782. 										specification 'rot_z'

  8783.  description '<Information>

  8784.  <Description>

  8785.     <Version>4.8</Version>

  8786.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  8787.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  8788. <IsMainModel>1</IsMainModel>

  8789.   <KeepParameterValues>False</KeepParameterValues>

  8790.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  8791.  </Description>

  8792. </Information>';

  8793.  type PowerMux

  8794.   ports

  8795.    power in input;

  8796.    power out output [6,1];

  8797.    power in input_rot2 [2,1];

  8798.    power in input_pos3 [3,1];

  8799.   restrictions

  8800.    causality constraint not_equal input output;

  8801.    causality constraint not_equal input_rot2 output;

  8802.    causality constraint not_equal input_pos3 output;

  8803.  end;

  8804.  icon bg bottom

  8805.   figures

  8806.    line 328 192 328 240 color 0 width 2;

  8807.    rectangle 324 192 336 240 color -1;

  8808.    text '1' 333 210 color 8421504 8;

  8809.   terminals

  8810.    input 328 200 fixed;

  8811.    output 328 216 fixed;

  8812.    input_rot2 328 232 fixed;

  8813.    input_pos3 328 216 fixed;

  8814.  end;

  8815.  implementation eq

  8816. equations

  8817. 	output.e[3] = input.e;

  8818. 	output.e[1:2] = input_rot2.e;

  8819. 	output.e[4:6] = input_pos3.e;

  8820. 	output.f[3] = input.f;

  8821. 	output.f[1:2] = input_rot2.f;

  8822. 	output.f[4:6] = input_pos3.f;implementation_end;

  8823. specification_end;

  8824. 									end;

  8825.          R 288 152

  8826.           description '<Information>

  8827.  <Description>

  8828.     <Version>4.2</Version>

  8829. <IsMainModel>1</IsMainModel>

  8830.   <KeepParameterValues>False</KeepParameterValues>

  8831.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  8832.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  8833. </Description>

  8834. </Information>';

  8835.           type R

  8836.            ports

  8837.             power in p;

  8838.           end;

  8839.           icon bg top

  8840.            figures

  8841.             text 'R' 288 152 color 0 18 bold;

  8842.           end;

  8843.           implementation eq

  8844. parameters

  8845. 	real r = 0.0001;

  8846. equations

  8847. 	p.e = r * p.f;

  8848. implementation_end;

  8849.          R4 239.8 288.2

  8850.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8851.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  8852.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  8853. </Description>';

  8854.           type 'R-2'

  8855.            ports

  8856.             power in p [2,1];

  8857.           end;

  8858.           icon bg bottom

  8859.            figures

  8860.             text 'R' 239.8 288.2 color 0 18 bold;

  8861.           end;

  8862.           implementation eq

  8863. parameters

  8864. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  8865. equations					

  8866. 	p.e = r * p.f;

  8867. implementation_end;

  8868.          R5 239.8 168.2

  8869.           description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  8870.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  8871.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  8872. </Description>';

  8873.           type 'R-3'

  8874.            ports

  8875.             power in p [3,1];

  8876.           end;

  8877.           icon bg top

  8878.            figures

  8879.             text 'R' 239.8 168.2 color 0 18 bold;

  8880.           end;

  8881.           implementation eq

  8882. parameters

  8883. 	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};

  8884. equations					

  8885. 	p.e = r * p.f;

  8886. implementation_end;

  8887.         end;

  8888.         connections

  8889.          C1\p <= OneJunction7\p;

  8890.          OneJunction5\p => C4\p;

  8891.          OneJunction5\p => PowerMux\input_rot2;

  8892.          OneJunction5\p => R4\p;

  8893.          OneJunction7\p => PowerMux\input_pos3;

  8894.          OneJunction7\p => R5\p;

  8895.          OneJunction8\p => PowerMux\input;

  8896.          PowerMux\output => output;

  8897.          R\p <= OneJunction8\p;

  8898.         end;

  8899.        implementation_end;

  8900.       Link1 608 184

  8901.        description '<Information>

  8902.  <Description>

  8903.     <Version>4.8</Version>

  8904.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8905. <IsMainModel>1</IsMainModel>

  8906.   <KeepParameterValues>False</KeepParameterValues>

  8907.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8908. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8909.  </Description>

  8910. </Information>';

  8911.        type 'Submodel-Equation'

  8912.         ports

  8913.          signal in Hin [4,4];

  8914.          signal out Hout [4,4];

  8915.          power in Pin [6,1];

  8916.          power out Pout [6,1];

  8917.         restrictions

  8918.          causality constraint not_equal Pin Pout;

  8919.        end;

  8920.        icon bg bottom

  8921.         figures

  8922.          rectangle 576 160 640 208 color 0 fill 8454041;

  8923.          text 'Link' 608 184 color 0 'Clear Sans' 16;

  8924.         terminals

  8925.          Hin 576 200 fixed;

  8926.          Hout 640 200 fixed;

  8927.          Pin 640 168 fixed;

  8928.          Pout 576 168 fixed;

  8929.        end;

  8930.        implementation eq

  8931. parameters

  8932. 	real offset[6]= [0;0;0;0.005;0;0]; //coordinates of joint_1

  8933. variables

  8934. 	real Hab[4,4];

  8935. 	real AdHab[6,6];

  8936. 	real R[3,3];

  8937. 	real omega[3];

  8938. initialequations

  8939. 	omega = offset[1:3];

  8940. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8941. 	Hab = homogeneous(R,offset[4:6]);

  8942. 	AdHab = Adjoint(Hab);

  8943. equations

  8944. 	Hout = Hin * Hab;

  8945. 	Pout.e = transpose(AdHab) * Pin.e;

  8946. 	Pin.f = AdHab * Pout.f;

  8947. 

  8948.     implementation_end;

  8949.       Link12 152 184

  8950.        description '<Information>

  8951.  <Description>

  8952.     <Version>4.8</Version>

  8953.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  8954. <IsMainModel>1</IsMainModel>

  8955.   <KeepParameterValues>False</KeepParameterValues>

  8956.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  8957. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  8958.  </Description>

  8959. </Information>';

  8960.        type 'Submodel-Equation'

  8961.         ports

  8962.          signal in Hin [4,4];

  8963.          signal out Hout [4,4];

  8964.          power in Pin [6,1];

  8965.          power out Pout [6,1];

  8966.         restrictions

  8967.          causality constraint not_equal Pin Pout;

  8968.        end;

  8969.        icon bg bottom

  8970.         figures

  8971.          rectangle 120 160 184 208 color 0 fill 8454041;

  8972.          text 'Link' 152 184 color 0 'Clear Sans' 16;

  8973.         terminals

  8974.          Hin 120 200 fixed;

  8975.          Hout 184 200 fixed;

  8976.          Pin 184 168 fixed;

  8977.          Pout 120 168 fixed;

  8978.        end;

  8979.        implementation eq

  8980. parameters

  8981. 	real offset[6]= [0;0;0;0.0059;0;0]; //coordinates of joint_1

  8982. variables

  8983. 	real Hab[4,4];

  8984. 	real AdHab[6,6];

  8985. 	real R[3,3];

  8986. 	real omega[3];

  8987. initialequations

  8988. 	omega = offset[1:3];

  8989. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  8990. 	Hab = homogeneous(R,offset[4:6]);

  8991. 	AdHab = Adjoint(Hab);

  8992. equations

  8993. 	Hout = Hin * Hab;

  8994. 	Pout.e = transpose(AdHab) * Pin.e;

  8995. 	Pin.f = AdHab * Pout.f;implementation_end;

  8996.       Link13 400 184

  8997.        description '<Information>

  8998.  <Description>

  8999.     <Version>4.8</Version>

  9000.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9001. <IsMainModel>1</IsMainModel>

  9002.   <KeepParameterValues>False</KeepParameterValues>

  9003.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9004. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9005.  </Description>

  9006. </Information>';

  9007.        type 'Submodel-Equation'

  9008.         ports

  9009.          signal in Hin [4,4];

  9010.          signal out Hout [4,4];

  9011.          power in Pin [6,1];

  9012.          power out Pout [6,1];

  9013.         restrictions

  9014.          causality constraint not_equal Pin Pout;

  9015.        end;

  9016.        icon bg bottom

  9017.         figures

  9018.          rectangle 368 160 432 208 color 0 fill 8454041;

  9019.          text 'Link' 400 184 color 0 'Clear Sans' 16;

  9020.         terminals

  9021.          Hin 368 200 fixed;

  9022.          Hout 432 200 fixed;

  9023.          Pin 432 168 fixed;

  9024.          Pout 368 168 fixed;

  9025.        end;

  9026.        implementation eq

  9027. parameters

  9028. 	real offset[6]= [0;0;0;0.005;0;0]; //coordinates of joint_1

  9029. variables

  9030. 	real Hab[4,4];

  9031. 	real AdHab[6,6];

  9032. 	real R[3,3];

  9033. 	real omega[3];

  9034. initialequations

  9035. 	omega = offset[1:3];

  9036. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9037. 	Hab = homogeneous(R,offset[4:6]);

  9038. 	AdHab = Adjoint(Hab);

  9039. equations

  9040. 	Hout = Hin * Hab;

  9041. 	Pout.e = transpose(AdHab) * Pin.e;

  9042. 	Pin.f = AdHab * Pout.f;

  9043. 

  9044.     implementation_end;

  9045.       Link14 816 184

  9046.        description '<Information>

  9047.  <Description>

  9048.     <Version>4.8</Version>

  9049.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9050. <IsMainModel>1</IsMainModel>

  9051.   <KeepParameterValues>False</KeepParameterValues>

  9052.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9053. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9054.  </Description>

  9055. </Information>';

  9056.        type 'Submodel-Equation'

  9057.         ports

  9058.          signal in Hin [4,4];

  9059.          signal out Hout [4,4];

  9060.          power in Pin [6,1];

  9061.          power out Pout [6,1];

  9062.         restrictions

  9063.          causality constraint not_equal Pin Pout;

  9064.        end;

  9065.        icon bg bottom

  9066.         figures

  9067.          rectangle 784 160 848 208 color 0 fill 8454041;

  9068.          text 'Link' 816 184 color 0 'Clear Sans' 16;

  9069.         terminals

  9070.          Hin 784 200 fixed;

  9071.          Hout 848 200 fixed;

  9072.          Pin 848 168 fixed;

  9073.          Pout 784 168 fixed;

  9074.        end;

  9075.        implementation eq

  9076. parameters

  9077. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  9078. variables

  9079. 	real Hab[4,4];

  9080. 	real AdHab[6,6];

  9081. 	real R[3,3];

  9082. 	real omega[3];

  9083. initialequations

  9084. 	omega = offset[1:3];

  9085. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9086. 	Hab = homogeneous(R,offset[4:6]);

  9087. 	AdHab = Adjoint(Hab);

  9088. equations

  9089. 	Hout = Hin * Hab;

  9090. 	Pout.e = transpose(AdHab) * Pin.e;

  9091. 	Pin.f = AdHab * Pout.f;

  9092. 

  9093.     implementation_end;

  9094.       Link15 1168 184

  9095.        description '<Information>

  9096.  <Description>

  9097.     <Version>4.8</Version>

  9098.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9099. <IsMainModel>1</IsMainModel>

  9100.   <KeepParameterValues>False</KeepParameterValues>

  9101.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9102. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9103.  </Description>

  9104. </Information>';

  9105.        type 'Submodel-Equation'

  9106.         ports

  9107.          signal in Hin [4,4];

  9108.          signal out Hout [4,4];

  9109.          power in Pin [6,1];

  9110.          power out Pout [6,1];

  9111.         restrictions

  9112.          causality constraint not_equal Pin Pout;

  9113.        end;

  9114.        icon bg bottom

  9115.         figures

  9116.          rectangle 1136 160 1200 208 color 0 fill 8454041;

  9117.          text 'Link' 1168 184 color 0 'Clear Sans' 16;

  9118.         terminals

  9119.          Hin 1136 200 fixed;

  9120.          Hout 1200 200 fixed;

  9121.          Pin 1200 168 fixed;

  9122.          Pout 1136 168 fixed;

  9123.        end;

  9124.        implementation eq

  9125. parameters

  9126. 	real offset[6]= [0;0;0;-0.00795;0;0]; //coordinates of joint_1

  9127. variables

  9128. 	real Hab[4,4];

  9129. 	real AdHab[6,6];

  9130. 	real R[3,3];

  9131. 	real omega[3];

  9132. initialequations

  9133. 	omega = offset[1:3];

  9134. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9135. 	Hab = homogeneous(R,offset[4:6]);

  9136. 	AdHab = Adjoint(Hab);

  9137. equations

  9138. 	Hout = Hin * Hab;

  9139. 	Pout.e = transpose(AdHab) * Pin.e;

  9140. 	Pin.f = AdHab * Pout.f;

  9141. 

  9142.     implementation_end;

  9143.       Link2 976 184

  9144.        description '<Information>

  9145.  <Description>

  9146.     <Version>4.8</Version>

  9147.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9148. <IsMainModel>1</IsMainModel>

  9149.   <KeepParameterValues>False</KeepParameterValues>

  9150.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9151. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9152.  </Description>

  9153. </Information>';

  9154.        type 'Submodel-Equation'

  9155.         ports

  9156.          signal in Hin [4,4];

  9157.          signal out Hout [4,4];

  9158.          power in Pin [6,1];

  9159.          power out Pout [6,1];

  9160.         restrictions

  9161.          causality constraint not_equal Pin Pout;

  9162.        end;

  9163.        icon bg bottom

  9164.         figures

  9165.          rectangle 944 160 1008 208 color 0 fill 8454041;

  9166.          text 'Link' 976 184 color 0 'Clear Sans' 16;

  9167.         terminals

  9168.          Hin 944 200 fixed;

  9169.          Hout 1008 200 fixed;

  9170.          Pin 1008 168 fixed;

  9171.          Pout 944 168 fixed;

  9172.        end;

  9173.        implementation eq

  9174. parameters

  9175. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  9176. variables

  9177. 	real Hab[4,4];

  9178. 	real AdHab[6,6];

  9179. 	real R[3,3];

  9180. 	real omega[3];

  9181. initialequations

  9182. 	omega = offset[1:3];

  9183. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9184. 	Hab = homogeneous(R,offset[4:6]);

  9185. 	AdHab = Adjoint(Hab);

  9186. equations

  9187. 	Hout = Hin * Hab;

  9188. 	Pout.e = transpose(AdHab) * Pin.e;

  9189. 	Pin.f = AdHab * Pout.f;

  9190. 

  9191.     implementation_end;

  9192.       Link3 1304 184

  9193.        description '<Information>

  9194.  <Description>

  9195.     <Version>4.8</Version>

  9196.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9197. <IsMainModel>1</IsMainModel>

  9198.   <KeepParameterValues>False</KeepParameterValues>

  9199.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9200. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9201.  </Description>

  9202. </Information>';

  9203.        type 'Submodel-Equation'

  9204.         ports

  9205.          signal in Hin [4,4];

  9206.          signal out Hout [4,4];

  9207.          power in Pin [6,1];

  9208.          power out Pout [6,1];

  9209.         restrictions

  9210.          causality constraint not_equal Pin Pout;

  9211.        end;

  9212.        icon bg bottom

  9213.         figures

  9214.          rectangle 1272 160 1336 208 color 0 fill 8454041;

  9215.          text 'Link' 1304 184 color 0 'Clear Sans' 16;

  9216.         terminals

  9217.          Hin 1272 200 fixed;

  9218.          Hout 1336 200 fixed;

  9219.          Pin 1336 168 fixed;

  9220.          Pout 1272 168 fixed;

  9221.        end;

  9222.        implementation eq

  9223. parameters

  9224. 	real offset[6]= [0;0;0;-0.00795;0;0]; //coordinates of joint_1

  9225. variables

  9226. 	real Hab[4,4];

  9227. 	real AdHab[6,6];

  9228. 	real R[3,3];

  9229. 	real omega[3];

  9230. initialequations

  9231. 	omega = offset[1:3];

  9232. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9233. 	Hab = homogeneous(R,offset[4:6]);

  9234. 	AdHab = Adjoint(Hab);

  9235. equations

  9236. 	Hout = Hin * Hab;

  9237. 	Pout.e = transpose(AdHab) * Pin.e;

  9238. 	Pin.f = AdHab * Pout.f;

  9239. 

  9240.     implementation_end;

  9241.       plug Hin 72 200;

  9242.       plug Pin 1392 168;

  9243.       plug Pout 72 168;

  9244.       OneJunction1 520 168

  9245.        description '<Information>

  9246.  <Description>

  9247.     <Version>4.2</Version>

  9248. <IsMainModel>1</IsMainModel>

  9249.   <KeepParameterValues>False</KeepParameterValues>

  9250.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  9251.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  9252. </Description>

  9253. </Information>';

  9254.        knot OneJunction

  9255.         ports

  9256.          power knot duplicatable none p [6,1];

  9257.          signal knot out flow [6,1];

  9258.         restrictions

  9259.          causality constraint one_out p;

  9260.        end;

  9261.        icon bg

  9262.         figures

  9263.          text '1' 520 168 color 0 18 bold;

  9264.        end;

  9265.        implementation eq

  9266. equations

  9267. 	sum (direct (p.e)) = 0;

  9268. 	equal (collect (p.f));

  9269. 	flow = first (p.f);

  9270. implementation_end;

  9271.       OneJunction2 904 168

  9272.        description '<Information>

  9273.  <Description>

  9274.     <Version>4.2</Version>

  9275. <IsMainModel>1</IsMainModel>

  9276.   <KeepParameterValues>False</KeepParameterValues>

  9277.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  9278.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  9279. </Description>

  9280. </Information>';

  9281.        knot OneJunction

  9282.         ports

  9283.          power knot duplicatable none p [6,1];

  9284.          signal knot out flow [6,1];

  9285.         restrictions

  9286.          causality constraint one_out p;

  9287.        end;

  9288.        icon bg

  9289.         figures

  9290.          text '1' 904 168 color 0 18 bold;

  9291.        end;

  9292.        implementation eq

  9293. equations

  9294. 	sum (direct (p.e)) = 0;

  9295. 	equal (collect (p.f));

  9296. 	flow = first (p.f);

  9297. implementation_end;

  9298.       Splitter1 488 200

  9299.        description '<Description><Version>4.0</Version>

  9300.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9301.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9302. <IsMainModel>1</IsMainModel>

  9303.  <KeepParameterValues>False</KeepParameterValues>

  9304. </Description>';

  9305.        knot Splitter

  9306.         ports

  9307.          signal knot duplicatable out output [4,4];

  9308.          signal knot in input [4,4];

  9309.        end;

  9310.        icon bg ellipse

  9311.         figures

  9312.          ellipse 484.8 196.8 491.2 203.2 color -1 fill 0;

  9313.          ellipse 483.7 195.7 492.3 204.3 color -1;

  9314.         terminals

  9315.          input 488 200 fixed;

  9316.        end;

  9317.        implementation eq

  9318. equations

  9319.     collect (output) = input;

  9320. implementation_end;

  9321.       Splitter2 208 200

  9322.        description '<Description><Version>4.0</Version>

  9323.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9324.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9325. <IsMainModel>1</IsMainModel>

  9326.  <KeepParameterValues>False</KeepParameterValues>

  9327. </Description>';

  9328.        knot Splitter

  9329.         ports

  9330.          signal knot duplicatable out output [4,4];

  9331.          signal knot in input [4,4];

  9332.        end;

  9333.        icon bg ellipse

  9334.         figures

  9335.          ellipse 204.8 196.8 211.2 203.2 color -1 fill 0;

  9336.          ellipse 203.7 195.7 212.3 204.3 color -1;

  9337.         terminals

  9338.          input 208 200 fixed;

  9339.        end;

  9340.        implementation eq

  9341. equations

  9342.     collect (output) = input;

  9343. implementation_end;

  9344.       Splitter3 872 200

  9345.        description '<Description><Version>4.0</Version>

  9346.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9347.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9348. <IsMainModel>1</IsMainModel>

  9349.  <KeepParameterValues>False</KeepParameterValues>

  9350. </Description>';

  9351.        knot Splitter

  9352.         ports

  9353.          signal knot duplicatable out output [4,4];

  9354.          signal knot in input [4,4];

  9355.        end;

  9356.        icon bg ellipse

  9357.         figures

  9358.          ellipse 868.8 196.8 875.2 203.2 color -1 fill 0;

  9359.          ellipse 867.7 195.7 876.3 204.3 color -1;

  9360.         terminals

  9361.          input 872 200 fixed;

  9362.        end;

  9363.        implementation eq

  9364. equations

  9365.     collect (output) = input;

  9366. implementation_end;

  9367.       Splitter4 1232 200

  9368.        description '<Description><Version>4.0</Version>

  9369.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  9370.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  9371. <IsMainModel>1</IsMainModel>

  9372.  <KeepParameterValues>False</KeepParameterValues>

  9373. </Description>';

  9374.        knot Splitter

  9375.         ports

  9376.          signal knot duplicatable out output [4,4];

  9377.          signal knot in input [4,4];

  9378.        end;

  9379.        icon bg ellipse

  9380.         figures

  9381.          ellipse 1228.8 196.8 1235.2 203.2 color -1 fill 0;

  9382.          ellipse 1227.7 195.7 1236.3 204.3 color -1;

  9383.         terminals

  9384.          input 1232 200 fixed;

  9385.        end;

  9386.        implementation eq

  9387. equations

  9388.     collect (output) = input;

  9389. implementation_end;

  9390.      end;

  9391.      connections

  9392.       COM1\Hin <- Splitter3\output;

  9393.       COM1\p => OneJunction2\p;

  9394.       Hin -> Link12\Hin;

  9395.       Joint_dynF1\output => Joint\Pdiff;

  9396.       Joint_dynF2\output => Joint1\Pdiff;

  9397.       Joint_dynF3\output => Joint2\Pdiff;

  9398.       Joint\Hout -> Link13\Hin;

  9399.       Joint\Pin <= Link13\Pout;

  9400.       Joint1\Hout -> Link14\Hin;

  9401.       Joint1\Pin <= Link14\Pout;

  9402.       Joint2\Hout -> Link15\Hin;

  9403.       Joint2\Pin <= Link15\Pout;

  9404.       Link1\Hout -> Joint1\Hin;

  9405.       Link1\Pin <= Joint1\Pout;

  9406.       Link12\Hout -> Splitter2\input;

  9407.       Link12\Pin <= Joint\Pout;

  9408.       Link12\Pout => Pout;

  9409.       Link13\Hout -> Splitter1\input;

  9410.       Link13\Pin <= OneJunction1\p;

  9411.       Link14\Hout -> Splitter3\input;

  9412.       Link14\Pin <= OneJunction2\p;

  9413.       Link15\Hout -> Splitter4\input;

  9414.       Link15\Pin <= Link3\Pout;

  9415.       Link2\Hout -> Joint2\Hin;

  9416.       Link2\Pin <= Joint2\Pout;

  9417.       Link3\Pin <= Pin;

  9418.       OneJunction1\p <= COM\p;

  9419.       OneJunction1\p <= Link1\Pout;

  9420.       OneJunction2\p <= Link2\Pout;

  9421.       Splitter1\output -> Body_Lift2\input;

  9422.       Splitter1\output -> COM\Hin;

  9423.       Splitter1\output -> Link1\Hin;

  9424.       Splitter2\output -> Body_Lift1\input;

  9425.       Splitter2\output -> Joint\Hin;

  9426.       Splitter3\output -> Body_Lift3\input;

  9427.       Splitter3\output -> Link2\Hin;

  9428.       Splitter4\output -> Body_Lift4\input;

  9429.       Splitter4\output -> Link3\Hin;

  9430.      end;

  9431.     implementation_end;

  9432.    Link1 632 128

  9433.     description '<Information>

  9434.  <Description>

  9435.     <Version>4.8</Version>

  9436.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9437. <IsMainModel>1</IsMainModel>

  9438.   <KeepParameterValues>False</KeepParameterValues>

  9439.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9440. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9441.  </Description>

  9442. </Information>';

  9443.     type 'Submodel-Equation'

  9444.      ports

  9445.       signal in Hin [4,4];

  9446.       signal out Hout [4,4];

  9447.       power in Pin [6,1];

  9448.       power out Pout [6,1];

  9449.      restrictions

  9450.       causality constraint not_equal Pin Pout;

  9451.     end;

  9452.     icon bg bottom

  9453.      figures

  9454.       rectangle 600 104 664 152 color 0 fill 8454041;

  9455.       text 'Link' 632 128 color 0 'Clear Sans' 16;

  9456.      terminals

  9457.       Hin 600 144 fixed;

  9458.       Hout 664 144 fixed;

  9459.       Pin 664 112 fixed;

  9460.       Pout 600 112 fixed;

  9461.     end;

  9462.     implementation eq

  9463. parameters

  9464. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  9465. variables

  9466. 	real Hab[4,4];

  9467. 	real AdHab[6,6];

  9468. 	real R[3,3];

  9469. 	real omega[3];

  9470. initialequations

  9471. 	omega = offset[1:3];

  9472. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9473. 	Hab = homogeneous(R,offset[4:6]);

  9474. 	AdHab = Adjoint(Hab);

  9475. equations

  9476. 	Hout = Hin * Hab;

  9477. 	Pout.e = transpose(AdHab) * Pin.e;

  9478. 	Pin.f = AdHab * Pout.f;

  9479. 

  9480.     implementation_end;

  9481.    Link10 944 128

  9482.     description '<Information>

  9483.  <Description>

  9484.     <Version>4.8</Version>

  9485.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9486. <IsMainModel>1</IsMainModel>

  9487.   <KeepParameterValues>False</KeepParameterValues>

  9488.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9489. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9490.  </Description>

  9491. </Information>';

  9492.     type 'Submodel-Equation'

  9493.      ports

  9494.       signal in Hin [4,4];

  9495.       signal out Hout [4,4];

  9496.       power in Pin [6,1];

  9497.       power out Pout [6,1];

  9498.      restrictions

  9499.       causality constraint not_equal Pin Pout;

  9500.     end;

  9501.     icon bg bottom

  9502.      figures

  9503.       rectangle 912 104 976 152 color 0 fill 8454041;

  9504.       text 'Link' 944 128 color 0 'Clear Sans' 16;

  9505.      terminals

  9506.       Hin 912 144 fixed;

  9507.       Hout 976 144 fixed;

  9508.       Pin 976 112 fixed;

  9509.       Pout 912 112 fixed;

  9510.     end;

  9511.     implementation eq

  9512. parameters

  9513. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  9514. variables

  9515. 	real Hab[4,4];

  9516. 	real AdHab[6,6];

  9517. 	real R[3,3];

  9518. 	real omega[3];

  9519. initialequations

  9520. 	omega = offset[1:3];

  9521. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9522. 	Hab = homogeneous(R,offset[4:6]);

  9523. 	AdHab = Adjoint(Hab);

  9524. equations

  9525. 	Hout = Hin * Hab;

  9526. 	Pout.e = transpose(AdHab) * Pin.e;

  9527. 	Pin.f = AdHab * Pout.f;

  9528. 

  9529.     implementation_end;

  9530.    Link11 784 128

  9531.     description '<Information>

  9532.  <Description>

  9533.     <Version>4.8</Version>

  9534.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9535. <IsMainModel>1</IsMainModel>

  9536.   <KeepParameterValues>False</KeepParameterValues>

  9537.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9538. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9539.  </Description>

  9540. </Information>';

  9541.     type 'Submodel-Equation'

  9542.      ports

  9543.       signal in Hin [4,4];

  9544.       signal out Hout [4,4];

  9545.       power in Pin [6,1];

  9546.       power out Pout [6,1];

  9547.      restrictions

  9548.       causality constraint not_equal Pin Pout;

  9549.     end;

  9550.     icon bg bottom

  9551.      figures

  9552.       rectangle 752 104 816 152 color 0 fill 8454041;

  9553.       text 'Link' 784 128 color 0 'Clear Sans' 16;

  9554.      terminals

  9555.       Hin 752 144 fixed;

  9556.       Hout 816 144 fixed;

  9557.       Pin 816 112 fixed;

  9558.       Pout 752 112 fixed;

  9559.     end;

  9560.     implementation eq

  9561. parameters

  9562. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  9563. variables

  9564. 	real Hab[4,4];

  9565. 	real AdHab[6,6];

  9566. 	real R[3,3];

  9567. 	real omega[3];

  9568. initialequations

  9569. 	omega = offset[1:3];

  9570. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9571. 	Hab = homogeneous(R,offset[4:6]);

  9572. 	AdHab = Adjoint(Hab);

  9573. equations

  9574. 	Hout = Hin * Hab;

  9575. 	Pout.e = transpose(AdHab) * Pin.e;

  9576. 	Pin.f = AdHab * Pout.f;

  9577. 

  9578.     implementation_end;

  9579.    Link2 384 128

  9580.     description '<Information>

  9581.  <Description>

  9582.     <Version>4.8</Version>

  9583.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9584. <IsMainModel>1</IsMainModel>

  9585.   <KeepParameterValues>False</KeepParameterValues>

  9586.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9587. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9588.  </Description>

  9589. </Information>';

  9590.     type 'Submodel-Equation'

  9591.      ports

  9592.       signal in Hin [4,4];

  9593.       signal out Hout [4,4];

  9594.       power in Pin [6,1];

  9595.       power out Pout [6,1];

  9596.      restrictions

  9597.       causality constraint not_equal Pin Pout;

  9598.     end;

  9599.     icon bg bottom

  9600.      figures

  9601.       rectangle 352 104 416 152 color 0 fill 8454041;

  9602.       text 'Link' 384 128 color 0 'Clear Sans' 16;

  9603.      terminals

  9604.       Hin 352 144 fixed;

  9605.       Hout 416 144 fixed;

  9606.       Pin 416 112 fixed;

  9607.       Pout 352 112 fixed;

  9608.     end;

  9609.     implementation eq

  9610. parameters

  9611. 	real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1

  9612. variables

  9613. 	real Hab[4,4];

  9614. 	real AdHab[6,6];

  9615. 	real R[3,3];

  9616. 	real omega[3];

  9617. initialequations

  9618. 	omega = offset[1:3];

  9619. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9620. 	Hab = homogeneous(R,offset[4:6]);

  9621. 	AdHab = Adjoint(Hab);

  9622. equations

  9623. 	Hout = Hin * Hab;

  9624. 	Pout.e = transpose(AdHab) * Pin.e;

  9625. 	Pin.f = AdHab * Pout.f;

  9626. 

  9627.     implementation_end;

  9628.    Link3 560 424

  9629.     description '<Information>

  9630.  <Description>

  9631.     <Version>4.8</Version>

  9632.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9633. <IsMainModel>1</IsMainModel>

  9634.   <KeepParameterValues>False</KeepParameterValues>

  9635.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9636. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9637.  </Description>

  9638. </Information>';

  9639.     type 'Submodel-Equation'

  9640.      ports

  9641.       signal in Hin [4,4];

  9642.       signal out Hout [4,4];

  9643.       power in Pin [6,1];

  9644.       power out Pout [6,1];

  9645.      restrictions

  9646.       causality constraint not_equal Pin Pout;

  9647.     end;

  9648.     icon bg bottom

  9649.      figures

  9650.       rectangle 536 392 584 456 color 0 fill 8454041;

  9651.       text 'Link' 560 424 color 0 'Clear Sans' 16;

  9652.      terminals

  9653.       Hin 576 392 fixed;

  9654.       Hout 576 456 fixed;

  9655.       Pin 544 456 fixed;

  9656.       Pout 544 392 fixed;

  9657.     end;

  9658.     implementation eq

  9659. parameters

  9660. 	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1

  9661. variables

  9662. 	real Hab[4,4];

  9663. 	real AdHab[6,6];

  9664. 	real R[3,3];

  9665. 	real omega[3];

  9666. initialequations

  9667. 	omega = offset[1:3];

  9668. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9669. 	Hab = homogeneous(R,offset[4:6]);

  9670. 	AdHab = Adjoint(Hab);

  9671. equations

  9672. 	Hout = Hin * Hab;

  9673. 	Pout.e = transpose(AdHab) * Pin.e;

  9674. 	Pin.f = AdHab * Pout.f;

  9675. 

  9676.     implementation_end;

  9677.    Link4 200 256

  9678.     description '<Information>

  9679.  <Description>

  9680.     <Version>4.8</Version>

  9681.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9682. <IsMainModel>1</IsMainModel>

  9683.   <KeepParameterValues>False</KeepParameterValues>

  9684.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9685. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9686.  </Description>

  9687. </Information>';

  9688.     type 'Submodel-Equation'

  9689.      ports

  9690.       signal in Hin [4,4];

  9691.       signal out Hout [4,4];

  9692.       power in Pin [6,1];

  9693.       power out Pout [6,1];

  9694.      restrictions

  9695.       causality constraint not_equal Pin Pout;

  9696.     end;

  9697.     icon bg bottom

  9698.      figures

  9699.       rectangle 176 224 224 288 color 0 fill 8454041;

  9700.       text 'Link' 200 256 color 0 'Clear Sans' 16;

  9701.      terminals

  9702.       Hin 216 288 fixed;

  9703.       Hout 216 224 fixed;

  9704.       Pin 184 224 fixed;

  9705.       Pout 184 288 fixed;

  9706.     end;

  9707.     implementation eq

  9708. parameters

  9709. 	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1

  9710. variables

  9711. 	real Hab[4,4];

  9712. 	real AdHab[6,6];

  9713. 	real R[3,3];

  9714. 	real omega[3];

  9715. initialequations

  9716. 	omega = offset[1:3];

  9717. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9718. 	Hab = homogeneous(R,offset[4:6]);

  9719. 	AdHab = Adjoint(Hab);

  9720. equations

  9721. 	Hout = Hin * Hab;

  9722. 	Pout.e = transpose(AdHab) * Pin.e;

  9723. 	Pin.f = AdHab * Pout.f;

  9724. 

  9725.     implementation_end;

  9726.    Link5 408 584

  9727.     description '<Information>

  9728.  <Description>

  9729.     <Version>4.8</Version>

  9730.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9731. <IsMainModel>1</IsMainModel>

  9732.   <KeepParameterValues>False</KeepParameterValues>

  9733.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9734. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9735.  </Description>

  9736. </Information>';

  9737.     type 'Submodel-Equation'

  9738.      ports

  9739.       signal in Hin [4,4];

  9740.       signal out Hout [4,4];

  9741.       power in Pin [6,1];

  9742.       power out Pout [6,1];

  9743.      restrictions

  9744.       causality constraint not_equal Pin Pout;

  9745.     end;

  9746.     icon bg bottom

  9747.      figures

  9748.       rectangle 376 560 440 608 color 0 fill 8454041;

  9749.       text 'Link' 408 584 color 0 'Clear Sans' 16;

  9750.      terminals

  9751.       Hin 440 568 fixed;

  9752.       Hout 376 568 fixed;

  9753.       Pin 376 600 fixed;

  9754.       Pout 440 600 fixed;

  9755.     end;

  9756.     implementation eq

  9757. parameters

  9758. 	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1

  9759. variables

  9760. 	real Hab[4,4];

  9761. 	real AdHab[6,6];

  9762. 	real R[3,3];

  9763. 	real omega[3];

  9764. initialequations

  9765. 	omega = offset[1:3];

  9766. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9767. 	Hab = homogeneous(R,offset[4:6]);

  9768. 	AdHab = Adjoint(Hab);

  9769. equations

  9770. 	Hout = Hin * Hab;

  9771. 	Pout.e = transpose(AdHab) * Pin.e;

  9772. 	Pin.f = AdHab * Pout.f;

  9773. 

  9774.     implementation_end;

  9775.    Link6 560 280

  9776.     description '<Information>

  9777.  <Description>

  9778.     <Version>4.8</Version>

  9779.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9780. <IsMainModel>1</IsMainModel>

  9781.   <KeepParameterValues>False</KeepParameterValues>

  9782.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9783. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9784.  </Description>

  9785. </Information>';

  9786.     type 'Submodel-Equation'

  9787.      ports

  9788.       signal in Hin [4,4];

  9789.       signal out Hout [4,4];

  9790.       power in Pin [6,1];

  9791.       power out Pout [6,1];

  9792.      restrictions

  9793.       causality constraint not_equal Pin Pout;

  9794.     end;

  9795.     icon bg bottom

  9796.      figures

  9797.       rectangle 536 248 584 312 color 0 fill 8454041;

  9798.       text 'Link' 560 280 color 0 'Clear Sans' 16;

  9799.      terminals

  9800.       Hin 576 248 fixed;

  9801.       Hout 576 312 fixed;

  9802.       Pin 544 312 fixed;

  9803.       Pout 544 248 fixed;

  9804.     end;

  9805.     implementation eq

  9806. parameters

  9807. 	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1

  9808. variables

  9809. 	real Hab[4,4];

  9810. 	real AdHab[6,6];

  9811. 	real R[3,3];

  9812. 	real omega[3];

  9813. initialequations

  9814. 	omega = offset[1:3];

  9815. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9816. 	Hab = homogeneous(R,offset[4:6]);

  9817. 	AdHab = Adjoint(Hab);

  9818. equations

  9819. 	Hout = Hin * Hab;

  9820. 	Pout.e = transpose(AdHab) * Pin.e;

  9821. 	Pin.f = AdHab * Pout.f;

  9822. 

  9823.     implementation_end;

  9824.    Link7 272 584

  9825.     description '<Information>

  9826.  <Description>

  9827.     <Version>4.8</Version>

  9828.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9829. <IsMainModel>1</IsMainModel>

  9830.   <KeepParameterValues>False</KeepParameterValues>

  9831.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9832. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9833.  </Description>

  9834. </Information>';

  9835.     type 'Submodel-Equation'

  9836.      ports

  9837.       signal in Hin [4,4];

  9838.       signal out Hout [4,4];

  9839.       power in Pin [6,1];

  9840.       power out Pout [6,1];

  9841.      restrictions

  9842.       causality constraint not_equal Pin Pout;

  9843.     end;

  9844.     icon bg bottom

  9845.      figures

  9846.       rectangle 240 560 304 608 color 0 fill 8454041;

  9847.       text 'Link' 272 584 color 0 'Clear Sans' 16;

  9848.      terminals

  9849.       Hin 304 568 fixed;

  9850.       Hout 240 568 fixed;

  9851.       Pin 240 600 fixed;

  9852.       Pout 304 600 fixed;

  9853.     end;

  9854.     implementation eq

  9855. parameters

  9856. 	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1

  9857. variables

  9858. 	real Hab[4,4];

  9859. 	real AdHab[6,6];

  9860. 	real R[3,3];

  9861. 	real omega[3];

  9862. initialequations

  9863. 	omega = offset[1:3];

  9864. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9865. 	Hab = homogeneous(R,offset[4:6]);

  9866. 	AdHab = Adjoint(Hab);

  9867. equations

  9868. 	Hout = Hin * Hab;

  9869. 	Pout.e = transpose(AdHab) * Pin.e;

  9870. 	Pin.f = AdHab * Pout.f;

  9871. 

  9872.     implementation_end;

  9873.    Link8 1360 128

  9874.     description '<Information>

  9875.  <Description>

  9876.     <Version>4.8</Version>

  9877.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9878. <IsMainModel>1</IsMainModel>

  9879.   <KeepParameterValues>False</KeepParameterValues>

  9880.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9881. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9882.  </Description>

  9883. </Information>';

  9884.     type 'Submodel-Equation'

  9885.      ports

  9886.       signal in Hin [4,4];

  9887.       signal out Hout [4,4];

  9888.       power in Pin [6,1];

  9889.       power out Pout [6,1];

  9890.      restrictions

  9891.       causality constraint not_equal Pin Pout;

  9892.     end;

  9893.     icon bg bottom

  9894.      figures

  9895.       rectangle 1328 104 1392 152 color 0 fill 8454041;

  9896.       text 'Link' 1360 128 color 0 'Clear Sans' 16;

  9897.      terminals

  9898.       Hin 1328 144 fixed;

  9899.       Hout 1392 144 fixed;

  9900.       Pin 1392 112 fixed;

  9901.       Pout 1328 112 fixed;

  9902.     end;

  9903.     implementation eq

  9904. parameters

  9905. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  9906. variables

  9907. 	real Hab[4,4];

  9908. 	real AdHab[6,6];

  9909. 	real R[3,3];

  9910. 	real omega[3];

  9911. initialequations

  9912. 	omega = offset[1:3];

  9913. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9914. 	Hab = homogeneous(R,offset[4:6]);

  9915. 	AdHab = Adjoint(Hab);

  9916. equations

  9917. 	Hout = Hin * Hab;

  9918. 	Pout.e = transpose(AdHab) * Pin.e;

  9919. 	Pin.f = AdHab * Pout.f;

  9920. 

  9921.     implementation_end;

  9922.    Link9 200 400

  9923.     description '<Information>

  9924.  <Description>

  9925.     <Version>4.8</Version>

  9926.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  9927. <IsMainModel>1</IsMainModel>

  9928.   <KeepParameterValues>False</KeepParameterValues>

  9929.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  9930. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  9931.  </Description>

  9932. </Information>';

  9933.     type 'Submodel-Equation'

  9934.      ports

  9935.       signal in Hin [4,4];

  9936.       signal out Hout [4,4];

  9937.       power in Pin [6,1];

  9938.       power out Pout [6,1];

  9939.      restrictions

  9940.       causality constraint not_equal Pin Pout;

  9941.     end;

  9942.     icon bg bottom

  9943.      figures

  9944.       rectangle 176 368 224 432 color 0 fill 8454041;

  9945.       text 'Link' 200 400 color 0 'Clear Sans' 16;

  9946.      terminals

  9947.       Hin 216 432 fixed;

  9948.       Hout 216 368 fixed;

  9949.       Pin 184 368 fixed;

  9950.       Pout 184 432 fixed;

  9951.     end;

  9952.     implementation eq

  9953. parameters

  9954. 	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1

  9955. variables

  9956. 	real Hab[4,4];

  9957. 	real AdHab[6,6];

  9958. 	real R[3,3];

  9959. 	real omega[3];

  9960. initialequations

  9961. 	omega = offset[1:3];

  9962. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  9963. 	Hab = homogeneous(R,offset[4:6]);

  9964. 	AdHab = Adjoint(Hab);

  9965. equations

  9966. 	Hout = Hin * Hab;

  9967. 	Pout.e = transpose(AdHab) * Pin.e;

  9968. 	Pin.f = AdHab * Pout.f;

  9969. 

  9970.     implementation_end;

  9971.    Negate2 608 752

  9972.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  9973.    <LibraryPath>Signal\Block Diagram\Negate.emx</LibraryPath>

  9974.   <TimeStamp>2007-9-26 12:14:11</TimeStamp>

  9975. </Description>';

  9976.     type Negate

  9977.      ports

  9978.       signal in input;

  9979.       signal out output;

  9980.     end;

  9981.     icon bg bottom

  9982.      figures

  9983.       rectangle 592 736 624 768 color 0 fill 15132390;

  9984.       text '-1' 608 752 color 16711680 16 bold;

  9985.     end;

  9986.     implementation eq

  9987. equations

  9988. 	output = - input;

  9989.      implementation_end;

  9990.    OneJunction1 328 600

  9991.     description '<Information>

  9992.  <Description>

  9993.     <Version>4.2</Version>

  9994. <IsMainModel>1</IsMainModel>

  9995.   <KeepParameterValues>False</KeepParameterValues>

  9996.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  9997.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  9998. </Description>

  9999. </Information>';

  10000.     knot OneJunction

  10001.      ports

  10002.       power knot duplicatable none p [6,1];

  10003.       signal knot out flow [6,1];

  10004.      restrictions

  10005.       causality constraint one_out p;

  10006.     end;

  10007.     icon bg

  10008.      figures

  10009.       text '1' 328 600 color 0 18 bold;

  10010.     end;

  10011.     implementation eq

  10012. equations

  10013. 	sum (direct (p.e)) = 0;

  10014. 	equal (collect (p.f));

  10015. 	flow = first (p.f);

  10016. implementation_end;

  10017.    OneJunction2 544 368

  10018.     description '<Information>

  10019.  <Description>

  10020.     <Version>4.2</Version>

  10021. <IsMainModel>1</IsMainModel>

  10022.   <KeepParameterValues>False</KeepParameterValues>

  10023.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  10024.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  10025. </Description>

  10026. </Information>';

  10027.     knot OneJunction

  10028.      ports

  10029.       power knot duplicatable none p [6,1];

  10030.       signal knot out flow [6,1];

  10031.      restrictions

  10032.       causality constraint one_out p;

  10033.     end;

  10034.     icon bg

  10035.      figures

  10036.       text '1' 544 368 color 0 18 bold;

  10037.     end;

  10038.     implementation eq

  10039. equations

  10040. 	sum (direct (p.e)) = 0;

  10041. 	equal (collect (p.f));

  10042. 	flow = first (p.f);

  10043. implementation_end;

  10044.    OneJunction3 544 112

  10045.     description '<Information>

  10046.  <Description>

  10047.     <Version>4.2</Version>

  10048. <IsMainModel>1</IsMainModel>

  10049.   <KeepParameterValues>False</KeepParameterValues>

  10050.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  10051.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  10052. </Description>

  10053. </Information>';

  10054.     knot OneJunction

  10055.      ports

  10056.       power knot duplicatable none p [6,1];

  10057.       signal knot out flow [6,1];

  10058.      restrictions

  10059.       causality constraint one_out p;

  10060.     end;

  10061.     icon bg

  10062.      figures

  10063.       text '1' 544 112 color 0 18 bold;

  10064.     end;

  10065.     implementation eq

  10066. equations

  10067. 	sum (direct (p.e)) = 0;

  10068. 	equal (collect (p.f));

  10069. 	flow = first (p.f);

  10070. implementation_end;

  10071.    OneJunction4 184 344

  10072.     description '<Information>

  10073.  <Description>

  10074.     <Version>4.2</Version>

  10075. <IsMainModel>1</IsMainModel>

  10076.   <KeepParameterValues>False</KeepParameterValues>

  10077.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  10078.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  10079. </Description>

  10080. </Information>';

  10081.     knot OneJunction

  10082.      ports

  10083.       power knot duplicatable none p [6,1];

  10084.       signal knot out flow [6,1];

  10085.      restrictions

  10086.       causality constraint one_out p;

  10087.     end;

  10088.     icon bg

  10089.      figures

  10090.       text '1' 184 344 color 0 18 bold;

  10091.     end;

  10092.     implementation eq

  10093. equations

  10094. 	sum (direct (p.e)) = 0;

  10095. 	equal (collect (p.f));

  10096. 	flow = first (p.f);

  10097. implementation_end;

  10098.    OneJunction5 544 600

  10099.     description '<Information>

  10100.  <Description>

  10101.     <Version>4.2</Version>

  10102. <IsMainModel>1</IsMainModel>

  10103.   <KeepParameterValues>False</KeepParameterValues>

  10104.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  10105.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  10106. </Description>

  10107. </Information>';

  10108.     knot OneJunction

  10109.      ports

  10110.       power knot duplicatable none p [6,1];

  10111.       signal knot out flow [6,1];

  10112.      restrictions

  10113.       causality constraint one_out p;

  10114.     end;

  10115.     icon bg

  10116.      figures

  10117.       text '1' 544 600 color 0 18 bold;

  10118.     end;

  10119.     implementation eq

  10120. equations

  10121. 	sum (direct (p.e)) = 0;

  10122. 	equal (collect (p.f));

  10123. 	flow = first (p.f);

  10124. implementation_end;

  10125.    OneJunction6 696 112

  10126.     description '<Information>

  10127.  <Description>

  10128.     <Version>4.2</Version>

  10129. <IsMainModel>1</IsMainModel>

  10130.   <KeepParameterValues>False</KeepParameterValues>

  10131.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  10132.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  10133. </Description>

  10134. </Information>';

  10135.     knot OneJunction

  10136.      ports

  10137.       power knot duplicatable none p [6,1];

  10138.       signal knot out flow [6,1];

  10139.      restrictions

  10140.       causality constraint one_out p;

  10141.     end;

  10142.     icon bg

  10143.      figures

  10144.       text '1' 696 112 color 0 18 bold;

  10145.     end;

  10146.     implementation eq

  10147. equations

  10148. 	sum (direct (p.e)) = 0;

  10149. 	equal (collect (p.f));

  10150. 	flow = first (p.f);

  10151. implementation_end;

  10152.    OneJunction7 1264 112

  10153.     description '<Information>

  10154.  <Description>

  10155.     <Version>4.2</Version>

  10156. <IsMainModel>1</IsMainModel>

  10157.   <KeepParameterValues>False</KeepParameterValues>

  10158.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  10159.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  10160. </Description>

  10161. </Information>';

  10162.     knot OneJunction

  10163.      ports

  10164.       power knot duplicatable none p [6,1];

  10165.       signal knot out flow [6,1];

  10166.      restrictions

  10167.       causality constraint one_out p;

  10168.     end;

  10169.     icon bg

  10170.      figures

  10171.       text '1' 1264 112 color 0 18 bold;

  10172.     end;

  10173.     implementation eq

  10174. equations

  10175. 	sum (direct (p.e)) = 0;

  10176. 	equal (collect (p.f));

  10177. 	flow = first (p.f);

  10178. implementation_end;

  10179.    rectanglepath 864 752

  10180.     description '<Information>

  10181.  <Description>

  10182.     <Version>4.8</Version>

  10183.   <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>

  10184. <IsMainModel>1</IsMainModel>

  10185.   <KeepParameterValues>False</KeepParameterValues>

  10186.     <TimeStamp>2020-7-10 12:30:38</TimeStamp>

  10187. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  10188.  </Description>

  10189. </Information>';

  10190.     type 'Submodel-Equation'

  10191.      ports

  10192.       signal out output [2,1];

  10193.     end;

  10194.     icon bg

  10195.      figures

  10196.       rectangle 808 736 920 768 color 0 fill 15132390;

  10197.       text 'name' 864 752 color 0 'Clear Sans' 16;

  10198.     end;

  10199.     implementation eq

  10200. /* 

  10201. This will generate coordinates for the box that has to be drawn

  10202. */

  10203. parameters

  10204. 	real w = 0.07 {m} ;

  10205. 	real h = 0.05 {m};

  10206. 	real t  = 1 {s};

  10207. 	real origin[2] = [0.01;0.03] {m};

  10208. variables

  10209. 	real v {m/s};

  10210. 	real t_w {s};

  10211. 	real t_h {s};

  10212. 	real period {s};

  10213. 	boolean y;

  10214. initialequations

  10215. 	v = (2*w + 2*h)/t;

  10216. 	t_w = w / v;

  10217. 	t_h = h / v;

  10218. code

  10219. y = frequencyevent (t,0);

  10220. period = (time - floor(time / t) * t);

  10221. 

  10222. if period < t_w or time < t then

  10223. 	output = origin;

  10224. else

  10225. 	if period < t_w + t_h then

  10226. 		output = origin + [w;0];

  10227. 	else	

  10228. 		if period < 2 * t_w + t_h then

  10229. 			output = origin + [w;h];

  10230. 		else

  10231. 			output = origin + [0;h];

  10232. 		end;

  10233. 	end;

  10234. end;

  10235. 

  10236. 

  10237. 

  10238. 	//output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];

  10239. 	//output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];

  10240. implementation_end;

  10241.    Splitter1 360 568

  10242.     description '<Description><Version>4.0</Version>

  10243.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10244.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10245. <IsMainModel>1</IsMainModel>

  10246.  <KeepParameterValues>False</KeepParameterValues>

  10247. </Description>';

  10248.     knot Splitter

  10249.      ports

  10250.       signal knot duplicatable out output [4,4];

  10251.       signal knot in input [4,4];

  10252.     end;

  10253.     icon bg ellipse

  10254.      figures

  10255.       ellipse 356.8 564.8 363.2 571.2 color -1 fill 0;

  10256.       ellipse 355.7 563.7 364.3 572.3 color -1;

  10257.      terminals

  10258.       input 360 568 fixed;

  10259.     end;

  10260.     implementation eq

  10261. equations

  10262.     collect (output) = input;

  10263. implementation_end;

  10264.    Splitter10 1416 144

  10265.     description '<Description><Version>4.0</Version>

  10266.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10267.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10268. <IsMainModel>1</IsMainModel>

  10269.  <KeepParameterValues>False</KeepParameterValues>

  10270. </Description>';

  10271.     knot Splitter

  10272.      ports

  10273.       signal knot duplicatable out output [4,4];

  10274.       signal knot in input [4,4];

  10275.     end;

  10276.     icon bg ellipse

  10277.      figures

  10278.       ellipse 1412.8 140.8 1419.2 147.2 color -1 fill 0;

  10279.       ellipse 1411.7 139.7 1420.3 148.3 color -1;

  10280.      terminals

  10281.       input 1416 144 fixed;

  10282.     end;

  10283.     implementation eq

  10284. equations

  10285.     collect (output) = input;

  10286. implementation_end;

  10287.    Splitter11 480 144

  10288.     description '<Description><Version>4.0</Version>

  10289.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10290.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10291. <IsMainModel>1</IsMainModel>

  10292.  <KeepParameterValues>False</KeepParameterValues>

  10293. </Description>';

  10294.     knot Splitter

  10295.      ports

  10296.       signal knot duplicatable out output [4,4];

  10297.       signal knot in input [4,4];

  10298.     end;

  10299.     icon bg ellipse

  10300.      figures

  10301.       ellipse 476.8 140.8 483.2 147.2 color -1 fill 0;

  10302.       ellipse 475.7 139.7 484.3 148.3 color -1;

  10303.      terminals

  10304.       input 480 144 fixed;

  10305.     end;

  10306.     implementation eq

  10307. equations

  10308.     collect (output) = input;

  10309. implementation_end;

  10310.    Splitter2 576 336

  10311.     description '<Description><Version>4.0</Version>

  10312.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10313.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10314. <IsMainModel>1</IsMainModel>

  10315.  <KeepParameterValues>False</KeepParameterValues>

  10316. </Description>';

  10317.     knot Splitter

  10318.      ports

  10319.       signal knot duplicatable out output [4,4];

  10320.       signal knot in input [4,4];

  10321.     end;

  10322.     icon bg ellipse

  10323.      figures

  10324.       ellipse 572.8 332.8 579.2 339.2 color -1 fill 0;

  10325.       ellipse 571.7 331.7 580.3 340.3 color -1;

  10326.      terminals

  10327.       input 576 336 fixed;

  10328.     end;

  10329.     implementation eq

  10330. equations

  10331.     collect (output) = input;

  10332. implementation_end;

  10333.    Splitter3 216 312

  10334.     description '<Description><Version>4.0</Version>

  10335.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10336.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10337. <IsMainModel>1</IsMainModel>

  10338.  <KeepParameterValues>False</KeepParameterValues>

  10339. </Description>';

  10340.     knot Splitter

  10341.      ports

  10342.       signal knot duplicatable out output [4,4];

  10343.       signal knot in input [4,4];

  10344.     end;

  10345.     icon bg ellipse

  10346.      figures

  10347.       ellipse 212.8 308.8 219.2 315.2 color -1 fill 0;

  10348.       ellipse 211.7 307.7 220.3 316.3 color -1;

  10349.      terminals

  10350.       input 216 312 fixed;

  10351.     end;

  10352.     implementation eq

  10353. equations

  10354.     collect (output) = input;

  10355. implementation_end;

  10356.    Splitter4 576 144

  10357.     description '<Description><Version>4.0</Version>

  10358.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10359.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10360. <IsMainModel>1</IsMainModel>

  10361.  <KeepParameterValues>False</KeepParameterValues>

  10362. </Description>';

  10363.     knot Splitter

  10364.      ports

  10365.       signal knot duplicatable out output [4,4];

  10366.       signal knot in input [4,4];

  10367.     end;

  10368.     icon bg ellipse

  10369.      figures

  10370.       ellipse 572.8 140.8 579.2 147.2 color -1 fill 0;

  10371.       ellipse 571.7 139.7 580.3 148.3 color -1;

  10372.      terminals

  10373.       input 576 144 fixed;

  10374.     end;

  10375.     implementation eq

  10376. equations

  10377.     collect (output) = input;

  10378. implementation_end;

  10379.    Splitter6 728 144

  10380.     description '<Description><Version>4.0</Version>

  10381.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10382.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10383. <IsMainModel>1</IsMainModel>

  10384.  <KeepParameterValues>False</KeepParameterValues>

  10385. </Description>';

  10386.     knot Splitter

  10387.      ports

  10388.       signal knot duplicatable out output [4,4];

  10389.       signal knot in input [4,4];

  10390.     end;

  10391.     icon bg ellipse

  10392.      figures

  10393.       ellipse 724.8 140.8 731.2 147.2 color -1 fill 0;

  10394.       ellipse 723.7 139.7 732.3 148.3 color -1;

  10395.      terminals

  10396.       input 728 144 fixed;

  10397.     end;

  10398.     implementation eq

  10399. equations

  10400.     collect (output) = input;

  10401. implementation_end;

  10402.    Splitter9 992 144

  10403.     description '<Description><Version>4.0</Version>

  10404.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10405.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10406. <IsMainModel>1</IsMainModel>

  10407.  <KeepParameterValues>False</KeepParameterValues>

  10408. </Description>';

  10409.     knot Splitter

  10410.      ports

  10411.       signal knot duplicatable out output [4,4];

  10412.       signal knot in input [4,4];

  10413.     end;

  10414.     icon bg ellipse

  10415.      figures

  10416.       ellipse 988.8 140.8 995.2 147.2 color -1 fill 0;

  10417.       ellipse 987.7 139.7 996.3 148.3 color -1;

  10418.      terminals

  10419.       input 992 144 fixed;

  10420.     end;

  10421.     implementation eq

  10422. equations

  10423.     collect (output) = input;

  10424. implementation_end;

  10425.    stepper_control 712 592

  10426. 			specifications active 'P_only'

  10427. 				specification 'default'

  10428. 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

  10429. 	real max_acceleration = 250 {rad/s2};

  10430. 	real max_velocity = 25 {rad/s};

  10431. 	real initial_velocity = 0 {rad/s};

  10432. 	real initial_angle = -1.570796 {rad};</GlobalRelations></Attributes></Information>';

  10433.  type Submodel

  10434.   ports

  10435.    signal in setpoint {rad} ;

  10436.    signal out output {rad} ;

  10437.  end;

  10438.  icon bg bottom

  10439.   figures

  10440.    rectangle 648 576 760 608 color 0 fill 15132390;

  10441.    text 'name' 704 592 color 0 'Clear Sans' 16;

  10442.  end;

  10443.  implementation bg

  10444.   submodels

  10445.    Acceleration_int 648 336

  10446.     description '<Information>

  10447.  <Description>

  10448.     <Version>4.3</Version>

  10449. <IsMainModel>1</IsMainModel>

  10450.   <KeepParameterValues>False</KeepParameterValues>

  10451.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  10452.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  10453. </Description>

  10454. </Information>';

  10455.     type Integrate

  10456.      ports

  10457.       signal in input;

  10458.       signal out output;

  10459.     end;

  10460.     icon bg bottom

  10461.      figures

  10462.       rectangle 632 320 664 352 color 0 fill 15132390;

  10463.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  10464.     end;

  10465.     implementation eq

  10466. parameters

  10467. 	real global initial_velocity;		// initial value

  10468. equations

  10469. 	output = int (input, initial_velocity);

  10470.      implementation_end;

  10471.    Acceleration_limit 568 336

  10472.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10473.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  10474.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  10475. </Description>';

  10476.     type 'SignalLimiter-Limit'

  10477.      ports

  10478.       signal in input;

  10479.       signal out output;

  10480.     end;

  10481.     icon bg bottom

  10482.      figures

  10483.       group

  10484.        rectangle 552 320 584 352 color 0 fill 15132390;

  10485.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  10486.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  10487.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  10488.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  10489.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  10490.       end;

  10491.     end;

  10492.     implementation eq

  10493. parameters

  10494. 	real global max_acceleration {rad/s2};

  10495. equations

  10496. 	output = limit (input, -max_acceleration, max_acceleration);

  10497.   implementation_end;

  10498.    plug setpoint 136 336;

  10499.    plug output 791 336;

  10500.    PlusMinus1 240 336

  10501.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10502.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  10503.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  10504. </Description>';

  10505.     knot PlusMinus

  10506.      ports

  10507.       signal knot duplicatable in plus [1];

  10508.       signal knot duplicatable in minus [1];

  10509.       signal knot out output [1];

  10510.     end;

  10511.     icon bg ellipse

  10512.      figures

  10513.       ellipse 232 328 248 344 color 0 fill 16777215;

  10514.     end;

  10515.     implementation eq

  10516. equations

  10517.     output = sum (collect (plus)) - sum (collect (minus));

  10518.     implementation_end;

  10519.    PlusMinus2 432 336

  10520.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10521.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  10522.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  10523. </Description>';

  10524.     knot PlusMinus

  10525.      ports

  10526.       signal knot duplicatable in plus [1];

  10527.       signal knot duplicatable in minus [1];

  10528.       signal knot out output [1];

  10529.     end;

  10530.     icon bg ellipse

  10531.      figures

  10532.       ellipse 424 328 440 344 color 0 fill 16777215;

  10533.     end;

  10534.     implementation eq

  10535. equations

  10536.     output = sum (collect (plus)) - sum (collect (minus));

  10537.     implementation_end;

  10538.    Position_control 296 336

  10539.     description '<Description>

  10540.  <Version>4.0</Version>

  10541.  <IsMainModel>1</IsMainModel>

  10542.  <KeepParameterValues>False</KeepParameterValues>

  10543.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  10544.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  10545. </Description>';

  10546.     type PD

  10547.      ports

  10548.       signal in error;

  10549.       signal out output;

  10550.     end;

  10551.     icon bg bottom

  10552.      figures

  10553.       rectangle 280 320 312 352 color 0 fill 15132390;

  10554.       text 'PD' 296.5 336.1 color 16711680 18 bold;

  10555.     end;

  10556.     implementation eq

  10557. parameters

  10558. 	real kp = 4 {};			// Proportional gain

  10559. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  10560. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  10561. variables

  10562. 	real state, rate;

  10563. equations

  10564. 	rate = (kp * error - output) / (beta * tauD);

  10565. 	state = int (rate);

  10566. 	output = state + kp * error /  beta;

  10567.       implementation_end;

  10568.    Splitter3 688 336

  10569.     description '<Description><Version>4.0</Version>

  10570.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10571.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10572. <IsMainModel>1</IsMainModel>

  10573.  <KeepParameterValues>False</KeepParameterValues>

  10574. </Description>';

  10575.     knot Splitter

  10576.      ports

  10577.       signal knot duplicatable out output [1];

  10578.       signal knot in input [1];

  10579.     end;

  10580.     icon bg ellipse

  10581.      figures

  10582.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  10583.       ellipse 683.7 331.7 692.3 340.3 color -1;

  10584.      terminals

  10585.       input 688 336 fixed;

  10586.     end;

  10587.     implementation eq

  10588. equations

  10589.     collect (output) = input;

  10590. implementation_end;

  10591.    Splitter4 752 336

  10592.     description '<Description><Version>4.0</Version>

  10593.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10594.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10595. <IsMainModel>1</IsMainModel>

  10596.  <KeepParameterValues>False</KeepParameterValues>

  10597. </Description>';

  10598.     knot Splitter

  10599.      ports

  10600.       signal knot duplicatable out output [1];

  10601.       signal knot in input [1];

  10602.     end;

  10603.     icon bg ellipse

  10604.      figures

  10605.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  10606.       ellipse 747.7 331.7 756.3 340.3 color -1;

  10607.      terminals

  10608.       input 752 336 fixed;

  10609.     end;

  10610.     implementation eq

  10611. equations

  10612.     collect (output) = input;

  10613. implementation_end;

  10614.    Velocity_control 480 336

  10615.     description '<Description>

  10616.  <Version>4.0</Version>

  10617.  <IsMainModel>1</IsMainModel>

  10618.  <KeepParameterValues>False</KeepParameterValues>

  10619.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  10620.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  10621. </Description>';

  10622.     type PD

  10623.      ports

  10624.       signal in error;

  10625.       signal out output;

  10626.     end;

  10627.     icon bg bottom

  10628.      figures

  10629.       rectangle 464 320 496 352 color 0 fill 15132390;

  10630.       text 'PD' 480.5 336.1 color 16711680 18 bold;

  10631.     end;

  10632.     implementation eq

  10633. parameters

  10634. 	real kp = 12 {};			// Proportional gain

  10635. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  10636. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  10637. variables

  10638. 	real state, rate;

  10639. equations

  10640. 	rate = (kp * error - output) / (beta * tauD);

  10641. 	state = int (rate);

  10642. 	output = state + kp * error /  beta;

  10643.       implementation_end;

  10644.    Velocity_int 720 336

  10645.     description '<Information>

  10646.  <Description>

  10647.     <Version>4.3</Version>

  10648. <IsMainModel>1</IsMainModel>

  10649.   <KeepParameterValues>False</KeepParameterValues>

  10650.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  10651.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  10652. </Description>

  10653. </Information>';

  10654.     type Integrate

  10655.      ports

  10656.       signal in input;

  10657.       signal out output;

  10658.     end;

  10659.     icon bg bottom

  10660.      figures

  10661.       rectangle 704 320 736 352 color 0 fill 15132390;

  10662.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  10663.     end;

  10664.     implementation eq

  10665. parameters

  10666. 	real global initial_angle;		// initial value

  10667. equations

  10668. 	output = int (input, initial_angle);

  10669.      implementation_end;

  10670.    Velocity_limit 376 336

  10671.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10672.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  10673.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  10674. </Description>';

  10675.     type 'SignalLimiter-Limit'

  10676.      ports

  10677.       signal in input;

  10678.       signal out output;

  10679.     end;

  10680.     icon bg bottom

  10681.      figures

  10682.       group

  10683.        rectangle 360 320 392 352 color 0 fill 15132390;

  10684.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  10685.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  10686.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  10687.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  10688.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  10689.       end;

  10690.     end;

  10691.     implementation eq

  10692. parameters

  10693. 	real global max_velocity {rad/s};

  10694. equations

  10695. 	output = limit (input, -max_velocity, max_velocity);

  10696.   implementation_end;

  10697.   end;

  10698.   connections

  10699.    Acceleration_int\output -> Splitter3\input;

  10700.    Acceleration_limit\output -> Acceleration_int\input;

  10701.    PlusMinus1\output -> Position_control\error;

  10702.    PlusMinus2\output -> Velocity_control\error;

  10703.    Position_control\output -> Velocity_limit\input;

  10704.    setpoint -> PlusMinus1\plus;

  10705.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  10706.    Splitter3\output -> Velocity_int\input;

  10707.    Splitter4\output -> output;

  10708.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  10709.    Velocity_control\output -> Acceleration_limit\input;

  10710.    Velocity_int\output -> Splitter4\input;

  10711.    Velocity_limit\output -> PlusMinus2\plus;

  10712.   end;

  10713.  implementation_end;

  10714. specification_end;

  10715. 				specification 'P_only'

  10716.  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

  10717. 	real max_acceleration = 200 {rad/s2};

  10718. 	real max_velocity = 25 {rad/s};

  10719. 	real initial_velocity = 0 {rad/s};

  10720. 	real initial_angle = 1.570796 {rad};</GlobalRelations></Attributes></Information>';

  10721.  type Submodel

  10722.   ports

  10723.    signal in setpoint {rad} ;

  10724.    signal out output {rad} ;

  10725.  end;

  10726.  icon bg bottom

  10727.   figures

  10728.    rectangle 656 576 768 608 color 0 fill 15132390;

  10729.    text 'name' 712 592 color 0 'Clear Sans' 16;

  10730.  end;

  10731.  implementation bg

  10732.   submodels

  10733.    Acceleration_int 648 336

  10734.     description '<Information>

  10735.  <Description>

  10736.     <Version>4.3</Version>

  10737. <IsMainModel>1</IsMainModel>

  10738.   <KeepParameterValues>False</KeepParameterValues>

  10739.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  10740.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  10741. </Description>

  10742. </Information>';

  10743.     type Integrate

  10744.      ports

  10745.       signal in input;

  10746.       signal out output;

  10747.     end;

  10748.     icon bg bottom

  10749.      figures

  10750.       rectangle 632 320 664 352 color 0 fill 15132390;

  10751.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  10752.     end;

  10753.     implementation eq

  10754. parameters

  10755. 	real global initial_velocity;		// initial value

  10756. equations

  10757. 	output = int (input, initial_velocity);

  10758.      implementation_end;

  10759.    Acceleration_limit 568 336

  10760.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10761.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  10762.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  10763. </Description>';

  10764.     type 'SignalLimiter-Limit'

  10765.      ports

  10766.       signal in input;

  10767.       signal out output;

  10768.     end;

  10769.     icon bg bottom

  10770.      figures

  10771.       group

  10772.        rectangle 552 320 584 352 color 0 fill 15132390;

  10773.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  10774.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  10775.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  10776.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  10777.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  10778.       end;

  10779.     end;

  10780.     implementation eq

  10781. parameters

  10782. 	real global max_acceleration {rad/s2};

  10783. equations

  10784. 	output = limit (input, -max_acceleration, max_acceleration);

  10785.   implementation_end;

  10786.    plug setpoint 136 336;

  10787.    plug output 791 336;

  10788.    PlusMinus1 240 336

  10789.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10790.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  10791.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  10792. </Description>';

  10793.     knot PlusMinus

  10794.      ports

  10795.       signal knot duplicatable in plus [1];

  10796.       signal knot duplicatable in minus [1];

  10797.       signal knot out output [1];

  10798.     end;

  10799.     icon bg ellipse

  10800.      figures

  10801.       ellipse 232 328 248 344 color 0 fill 16777215;

  10802.     end;

  10803.     implementation eq

  10804. equations

  10805.     output = sum (collect (plus)) - sum (collect (minus));

  10806.     implementation_end;

  10807.    PlusMinus2 432 336

  10808.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10809.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  10810.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  10811. </Description>';

  10812.     knot PlusMinus

  10813.      ports

  10814.       signal knot duplicatable in plus [1];

  10815.       signal knot duplicatable in minus [1];

  10816.       signal knot out output [1];

  10817.     end;

  10818.     icon bg ellipse

  10819.      figures

  10820.       ellipse 424 328 440 344 color 0 fill 16777215;

  10821.     end;

  10822.     implementation eq

  10823. equations

  10824.     output = sum (collect (plus)) - sum (collect (minus));

  10825.     implementation_end;

  10826.    Position_control 296 336

  10827.     description '<Description>

  10828.  <Version>4.0</Version>

  10829.  <IsMainModel>1</IsMainModel>

  10830.  <KeepParameterValues>False</KeepParameterValues>

  10831.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  10832.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  10833. </Description>';

  10834.     type P

  10835.      ports

  10836.       signal in error;

  10837.       signal out output;

  10838.     end;

  10839.     icon bg bottom

  10840.      figures

  10841.       rectangle 280 320 312 352 color 0 fill 15132390;

  10842.       text 'P' 296.5 336.1 color 16711680 18 bold;

  10843.     end;

  10844.     implementation eq

  10845. parameters

  10846. 	real kp = 26.0 {};			// Proportional gain

  10847. equations

  10848. 	output = kp * error;

  10849.     implementation_end;

  10850.    Splitter3 688 336

  10851.     description '<Description><Version>4.0</Version>

  10852.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10853.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10854. <IsMainModel>1</IsMainModel>

  10855.  <KeepParameterValues>False</KeepParameterValues>

  10856. </Description>';

  10857.     knot Splitter

  10858.      ports

  10859.       signal knot duplicatable out output [1];

  10860.       signal knot in input [1];

  10861.     end;

  10862.     icon bg ellipse

  10863.      figures

  10864.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  10865.       ellipse 683.7 331.7 692.3 340.3 color -1;

  10866.      terminals

  10867.       input 688 336 fixed;

  10868.     end;

  10869.     implementation eq

  10870. equations

  10871.     collect (output) = input;

  10872. implementation_end;

  10873.    Splitter4 752 336

  10874.     description '<Description><Version>4.0</Version>

  10875.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  10876.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  10877. <IsMainModel>1</IsMainModel>

  10878.  <KeepParameterValues>False</KeepParameterValues>

  10879. </Description>';

  10880.     knot Splitter

  10881.      ports

  10882.       signal knot duplicatable out output [1];

  10883.       signal knot in input [1];

  10884.     end;

  10885.     icon bg ellipse

  10886.      figures

  10887.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  10888.       ellipse 747.7 331.7 756.3 340.3 color -1;

  10889.      terminals

  10890.       input 752 336 fixed;

  10891.     end;

  10892.     implementation eq

  10893. equations

  10894.     collect (output) = input;

  10895. implementation_end;

  10896.    Velocity_control 480 336

  10897.     description '<Description>

  10898.  <Version>4.0</Version>

  10899.  <IsMainModel>1</IsMainModel>

  10900.  <KeepParameterValues>False</KeepParameterValues>

  10901.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  10902.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  10903. </Description>';

  10904.     type P

  10905.      ports

  10906.       signal in error;

  10907.       signal out output;

  10908.     end;

  10909.     icon bg bottom

  10910.      figures

  10911.       rectangle 464 320 496 352 color 0 fill 15132390;

  10912.       text 'P' 480.5 336.1 color 16711680 18 bold;

  10913.     end;

  10914.     implementation eq

  10915. parameters

  10916. 	real kp = 66.0 {};			// Proportional gain

  10917. equations

  10918. 	output = kp * error;

  10919.     implementation_end;

  10920.    Velocity_int 720 336

  10921.     description '<Information>

  10922.  <Description>

  10923.     <Version>4.3</Version>

  10924. <IsMainModel>1</IsMainModel>

  10925.   <KeepParameterValues>False</KeepParameterValues>

  10926.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  10927.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  10928. </Description>

  10929. </Information>';

  10930.     type Integrate

  10931.      ports

  10932.       signal in input;

  10933.       signal out output;

  10934.     end;

  10935.     icon bg bottom

  10936.      figures

  10937.       rectangle 704 320 736 352 color 0 fill 15132390;

  10938.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  10939.     end;

  10940.     implementation eq

  10941. parameters

  10942. 	real global initial_angle;		// initial value

  10943. equations

  10944. 	output = int (input, initial_angle);

  10945.      implementation_end;

  10946.    Velocity_limit 376 336

  10947.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  10948.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  10949.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  10950. </Description>';

  10951.     type 'SignalLimiter-Limit'

  10952.      ports

  10953.       signal in input;

  10954.       signal out output;

  10955.     end;

  10956.     icon bg bottom

  10957.      figures

  10958.       group

  10959.        rectangle 360 320 392 352 color 0 fill 15132390;

  10960.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  10961.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  10962.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  10963.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  10964.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  10965.       end;

  10966.     end;

  10967.     implementation eq

  10968. parameters

  10969. 	real global max_velocity {rad/s};

  10970. equations

  10971. 	output = limit (input, -max_velocity, max_velocity);

  10972.   implementation_end;

  10973.   end;

  10974.   connections

  10975.    Acceleration_int\output -> Splitter3\input;

  10976.    Acceleration_limit\output -> Acceleration_int\input;

  10977.    PlusMinus1\output -> Position_control\error;

  10978.    PlusMinus2\output -> Velocity_control\error;

  10979.    Position_control\output -> Velocity_limit\input;

  10980.    setpoint -> PlusMinus1\plus;

  10981.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  10982.    Splitter3\output -> Velocity_int\input;

  10983.    Splitter4\output -> output;

  10984.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  10985.    Velocity_control\output -> Acceleration_limit\input;

  10986.    Velocity_int\output -> Splitter4\input;

  10987.    Velocity_limit\output -> PlusMinus2\plus;

  10988.   end;

  10989.  implementation_end;

  10990. specification_end;

  10991. 			end;

  10992.    stepper_control1 480 752

  10993. 			specifications active 'P_only'

  10994. 				specification 'default'

  10995. 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

  10996. 	real max_acceleration = 250 {rad/s2};

  10997. 	real max_velocity = 25 {rad/s};

  10998. 	real initial_velocity = 0 {rad/s};

  10999. 	real initial_angle = -1.570796 {rad};</GlobalRelations></Attributes></Information>';

  11000.  type Submodel

  11001.   ports

  11002.    signal in setpoint {rad} ;

  11003.    signal out output {rad} ;

  11004.  end;

  11005.  icon bg bottom

  11006.   figures

  11007.    rectangle 648 576 760 608 color 0 fill 15132390;

  11008.    text 'name' 704 592 color 0 'Clear Sans' 16;

  11009.  end;

  11010.  implementation bg

  11011.   submodels

  11012.    Acceleration_int 648 336

  11013.     description '<Information>

  11014.  <Description>

  11015.     <Version>4.3</Version>

  11016. <IsMainModel>1</IsMainModel>

  11017.   <KeepParameterValues>False</KeepParameterValues>

  11018.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  11019.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  11020. </Description>

  11021. </Information>';

  11022.     type Integrate

  11023.      ports

  11024.       signal in input;

  11025.       signal out output;

  11026.     end;

  11027.     icon bg bottom

  11028.      figures

  11029.       rectangle 632 320 664 352 color 0 fill 15132390;

  11030.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  11031.     end;

  11032.     implementation eq

  11033. parameters

  11034. 	real global initial_velocity;		// initial value

  11035. equations

  11036. 	output = int (input, initial_velocity);

  11037.      implementation_end;

  11038.    Acceleration_limit 568 336

  11039.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  11040.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  11041.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  11042. </Description>';

  11043.     type 'SignalLimiter-Limit'

  11044.      ports

  11045.       signal in input;

  11046.       signal out output;

  11047.     end;

  11048.     icon bg bottom

  11049.      figures

  11050.       group

  11051.        rectangle 552 320 584 352 color 0 fill 15132390;

  11052.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  11053.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  11054.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  11055.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  11056.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  11057.       end;

  11058.     end;

  11059.     implementation eq

  11060. parameters

  11061. 	real global max_acceleration {rad/s2};

  11062. equations

  11063. 	output = limit (input, -max_acceleration, max_acceleration);

  11064.   implementation_end;

  11065.    plug setpoint 136 336;

  11066.    plug output 791 336;

  11067.    PlusMinus1 240 336

  11068.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  11069.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  11070.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  11071. </Description>';

  11072.     knot PlusMinus

  11073.      ports

  11074.       signal knot duplicatable in plus [1];

  11075.       signal knot duplicatable in minus [1];

  11076.       signal knot out output [1];

  11077.     end;

  11078.     icon bg ellipse

  11079.      figures

  11080.       ellipse 232 328 248 344 color 0 fill 16777215;

  11081.     end;

  11082.     implementation eq

  11083. equations

  11084.     output = sum (collect (plus)) - sum (collect (minus));

  11085.     implementation_end;

  11086.    PlusMinus2 432 336

  11087.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  11088.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  11089.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  11090. </Description>';

  11091.     knot PlusMinus

  11092.      ports

  11093.       signal knot duplicatable in plus [1];

  11094.       signal knot duplicatable in minus [1];

  11095.       signal knot out output [1];

  11096.     end;

  11097.     icon bg ellipse

  11098.      figures

  11099.       ellipse 424 328 440 344 color 0 fill 16777215;

  11100.     end;

  11101.     implementation eq

  11102. equations

  11103.     output = sum (collect (plus)) - sum (collect (minus));

  11104.     implementation_end;

  11105.    Position_control 296 336

  11106.     description '<Description>

  11107.  <Version>4.0</Version>

  11108.  <IsMainModel>1</IsMainModel>

  11109.  <KeepParameterValues>False</KeepParameterValues>

  11110.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  11111.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  11112. </Description>';

  11113.     type PD

  11114.      ports

  11115.       signal in error;

  11116.       signal out output;

  11117.     end;

  11118.     icon bg bottom

  11119.      figures

  11120.       rectangle 280 320 312 352 color 0 fill 15132390;

  11121.       text 'PD' 296.5 336.1 color 16711680 18 bold;

  11122.     end;

  11123.     implementation eq

  11124. parameters

  11125. 	real kp = 4 {};			// Proportional gain

  11126. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  11127. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  11128. variables

  11129. 	real state, rate;

  11130. equations

  11131. 	rate = (kp * error - output) / (beta * tauD);

  11132. 	state = int (rate);

  11133. 	output = state + kp * error /  beta;

  11134.       implementation_end;

  11135.    Splitter3 688 336

  11136.     description '<Description><Version>4.0</Version>

  11137.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  11138.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  11139. <IsMainModel>1</IsMainModel>

  11140.  <KeepParameterValues>False</KeepParameterValues>

  11141. </Description>';

  11142.     knot Splitter

  11143.      ports

  11144.       signal knot duplicatable out output [1];

  11145.       signal knot in input [1];

  11146.     end;

  11147.     icon bg ellipse

  11148.      figures

  11149.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  11150.       ellipse 683.7 331.7 692.3 340.3 color -1;

  11151.      terminals

  11152.       input 688 336 fixed;

  11153.     end;

  11154.     implementation eq

  11155. equations

  11156.     collect (output) = input;

  11157. implementation_end;

  11158.    Splitter4 752 336

  11159.     description '<Description><Version>4.0</Version>

  11160.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  11161.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  11162. <IsMainModel>1</IsMainModel>

  11163.  <KeepParameterValues>False</KeepParameterValues>

  11164. </Description>';

  11165.     knot Splitter

  11166.      ports

  11167.       signal knot duplicatable out output [1];

  11168.       signal knot in input [1];

  11169.     end;

  11170.     icon bg ellipse

  11171.      figures

  11172.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  11173.       ellipse 747.7 331.7 756.3 340.3 color -1;

  11174.      terminals

  11175.       input 752 336 fixed;

  11176.     end;

  11177.     implementation eq

  11178. equations

  11179.     collect (output) = input;

  11180. implementation_end;

  11181.    Velocity_control 480 336

  11182.     description '<Description>

  11183.  <Version>4.0</Version>

  11184.  <IsMainModel>1</IsMainModel>

  11185.  <KeepParameterValues>False</KeepParameterValues>

  11186.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  11187.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  11188. </Description>';

  11189.     type PD

  11190.      ports

  11191.       signal in error;

  11192.       signal out output;

  11193.     end;

  11194.     icon bg bottom

  11195.      figures

  11196.       rectangle 464 320 496 352 color 0 fill 15132390;

  11197.       text 'PD' 480.5 336.1 color 16711680 18 bold;

  11198.     end;

  11199.     implementation eq

  11200. parameters

  11201. 	real kp = 12 {};			// Proportional gain

  11202. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  11203. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  11204. variables

  11205. 	real state, rate;

  11206. equations

  11207. 	rate = (kp * error - output) / (beta * tauD);

  11208. 	state = int (rate);

  11209. 	output = state + kp * error /  beta;

  11210.       implementation_end;

  11211.    Velocity_int 720 336

  11212.     description '<Information>

  11213.  <Description>

  11214.     <Version>4.3</Version>

  11215. <IsMainModel>1</IsMainModel>

  11216.   <KeepParameterValues>False</KeepParameterValues>

  11217.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  11218.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  11219. </Description>

  11220. </Information>';

  11221.     type Integrate

  11222.      ports

  11223.       signal in input;

  11224.       signal out output;

  11225.     end;

  11226.     icon bg bottom

  11227.      figures

  11228.       rectangle 704 320 736 352 color 0 fill 15132390;

  11229.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  11230.     end;

  11231.     implementation eq

  11232. parameters

  11233. 	real global initial_angle;		// initial value

  11234. equations

  11235. 	output = int (input, initial_angle);

  11236.      implementation_end;

  11237.    Velocity_limit 376 336

  11238.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  11239.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  11240.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  11241. </Description>';

  11242.     type 'SignalLimiter-Limit'

  11243.      ports

  11244.       signal in input;

  11245.       signal out output;

  11246.     end;

  11247.     icon bg bottom

  11248.      figures

  11249.       group

  11250.        rectangle 360 320 392 352 color 0 fill 15132390;

  11251.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  11252.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  11253.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  11254.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  11255.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  11256.       end;

  11257.     end;

  11258.     implementation eq

  11259. parameters

  11260. 	real global max_velocity {rad/s};

  11261. equations

  11262. 	output = limit (input, -max_velocity, max_velocity);

  11263.   implementation_end;

  11264.   end;

  11265.   connections

  11266.    Acceleration_int\output -> Splitter3\input;

  11267.    Acceleration_limit\output -> Acceleration_int\input;

  11268.    PlusMinus1\output -> Position_control\error;

  11269.    PlusMinus2\output -> Velocity_control\error;

  11270.    Position_control\output -> Velocity_limit\input;

  11271.    setpoint -> PlusMinus1\plus;

  11272.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  11273.    Splitter3\output -> Velocity_int\input;

  11274.    Splitter4\output -> output;

  11275.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  11276.    Velocity_control\output -> Acceleration_limit\input;

  11277.    Velocity_int\output -> Splitter4\input;

  11278.    Velocity_limit\output -> PlusMinus2\plus;

  11279.   end;

  11280.  implementation_end;

  11281. specification_end;

  11282. 				specification 'P_only'

  11283.  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

  11284. 	real max_acceleration = 200 {rad/s2};

  11285. 	real max_velocity = 25 {rad/s};

  11286. 	real initial_velocity = 0 {rad/s};

  11287. 	real initial_angle = 0 {rad};</GlobalRelations></Attributes></Information>';

  11288.  type Submodel

  11289.   ports

  11290.    signal in setpoint {rad} ;

  11291.    signal out output {rad} ;

  11292.  end;

  11293.  icon bg

  11294.   figures

  11295.    rectangle 424 736 536 768 color 0 fill 15132390;

  11296.    text 'name' 480 752 color 0 'Clear Sans' 16;

  11297.  end;

  11298.  implementation bg

  11299.   submodels

  11300.    Acceleration_int 648 336

  11301.     description '<Information>

  11302.  <Description>

  11303.     <Version>4.3</Version>

  11304. <IsMainModel>1</IsMainModel>

  11305.   <KeepParameterValues>False</KeepParameterValues>

  11306.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  11307.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  11308. </Description>

  11309. </Information>';

  11310.     type Integrate

  11311.      ports

  11312.       signal in input;

  11313.       signal out output;

  11314.     end;

  11315.     icon bg bottom

  11316.      figures

  11317.       rectangle 632 320 664 352 color 0 fill 15132390;

  11318.       text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  11319.     end;

  11320.     implementation eq

  11321. parameters

  11322. 	real global initial_velocity;		// initial value

  11323. equations

  11324. 	output = int (input, initial_velocity);

  11325.      implementation_end;

  11326.    Acceleration_limit 568 336

  11327.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  11328.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  11329.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  11330. </Description>';

  11331.     type 'SignalLimiter-Limit'

  11332.      ports

  11333.       signal in input;

  11334.       signal out output;

  11335.     end;

  11336.     icon bg bottom

  11337.      figures

  11338.       group

  11339.        rectangle 552 320 584 352 color 0 fill 15132390;

  11340.        line 567.9 324.5 567.9 349 color 0 fill 15132390;

  11341.        line 555 336.2 580.7 336.2 color 0 fill 15132390;

  11342.        spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  11343.        spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  11344.        spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  11345.       end;

  11346.     end;

  11347.     implementation eq

  11348. parameters

  11349. 	real global max_acceleration {rad/s2};

  11350. equations

  11351. 	output = limit (input, -max_acceleration, max_acceleration);

  11352.   implementation_end;

  11353.    plug setpoint 136 336;

  11354.    plug output 791 336;

  11355.    PlusMinus1 240 336

  11356.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  11357.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  11358.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  11359. </Description>';

  11360.     knot PlusMinus

  11361.      ports

  11362.       signal knot duplicatable in plus [1];

  11363.       signal knot duplicatable in minus [1];

  11364.       signal knot out output [1];

  11365.     end;

  11366.     icon bg ellipse

  11367.      figures

  11368.       ellipse 232 328 248 344 color 0 fill 16777215;

  11369.     end;

  11370.     implementation eq

  11371. equations

  11372.     output = sum (collect (plus)) - sum (collect (minus));

  11373.     implementation_end;

  11374.    PlusMinus2 432 336

  11375.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  11376.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  11377.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  11378. </Description>';

  11379.     knot PlusMinus

  11380.      ports

  11381.       signal knot duplicatable in plus [1];

  11382.       signal knot duplicatable in minus [1];

  11383.       signal knot out output [1];

  11384.     end;

  11385.     icon bg ellipse

  11386.      figures

  11387.       ellipse 424 328 440 344 color 0 fill 16777215;

  11388.     end;

  11389.     implementation eq

  11390. equations

  11391.     output = sum (collect (plus)) - sum (collect (minus));

  11392.     implementation_end;

  11393.    Position_control 296 336

  11394.     description '<Description>

  11395.  <Version>4.0</Version>

  11396.  <IsMainModel>1</IsMainModel>

  11397.  <KeepParameterValues>False</KeepParameterValues>

  11398.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  11399.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  11400. </Description>';

  11401.     type P

  11402.      ports

  11403.       signal in error;

  11404.       signal out output;

  11405.     end;

  11406.     icon bg bottom

  11407.      figures

  11408.       rectangle 280 320 312 352 color 0 fill 15132390;

  11409.       text 'P' 296.5 336.1 color 16711680 18 bold;

  11410.     end;

  11411.     implementation eq

  11412. parameters

  11413. 	real kp = 31.0 {};			// Proportional gain

  11414. equations

  11415. 	output = kp * error;

  11416.     implementation_end;

  11417.    Splitter3 688 336

  11418.     description '<Description><Version>4.0</Version>

  11419.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  11420.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  11421. <IsMainModel>1</IsMainModel>

  11422.  <KeepParameterValues>False</KeepParameterValues>

  11423. </Description>';

  11424.     knot Splitter

  11425.      ports

  11426.       signal knot duplicatable out output [1];

  11427.       signal knot in input [1];

  11428.     end;

  11429.     icon bg ellipse

  11430.      figures

  11431.       ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  11432.       ellipse 683.7 331.7 692.3 340.3 color -1;

  11433.      terminals

  11434.       input 688 336 fixed;

  11435.     end;

  11436.     implementation eq

  11437. equations

  11438.     collect (output) = input;

  11439. implementation_end;

  11440.    Splitter4 752 336

  11441.     description '<Description><Version>4.0</Version>

  11442.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  11443.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  11444. <IsMainModel>1</IsMainModel>

  11445.  <KeepParameterValues>False</KeepParameterValues>

  11446. </Description>';

  11447.     knot Splitter

  11448.      ports

  11449.       signal knot duplicatable out output [1];

  11450.       signal knot in input [1];

  11451.     end;

  11452.     icon bg ellipse

  11453.      figures

  11454.       ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  11455.       ellipse 747.7 331.7 756.3 340.3 color -1;

  11456.      terminals

  11457.       input 752 336 fixed;

  11458.     end;

  11459.     implementation eq

  11460. equations

  11461.     collect (output) = input;

  11462. implementation_end;

  11463.    Velocity_control 480 336

  11464.     description '<Description>

  11465.  <Version>4.0</Version>

  11466.  <IsMainModel>1</IsMainModel>

  11467.  <KeepParameterValues>False</KeepParameterValues>

  11468.    <LibraryPath>Signal\Control\PID Control\Continuous\P.emx</LibraryPath>

  11469.   <TimeStamp>2008-1-17 10:48:8</TimeStamp>

  11470. </Description>';

  11471.     type P

  11472.      ports

  11473.       signal in error;

  11474.       signal out output;

  11475.     end;

  11476.     icon bg bottom

  11477.      figures

  11478.       rectangle 464 320 496 352 color 0 fill 15132390;

  11479.       text 'P' 480.5 336.1 color 16711680 18 bold;

  11480.     end;

  11481.     implementation eq

  11482. parameters

  11483. 	real kp = 69.0 {};			// Proportional gain

  11484. equations

  11485. 	output = kp * error;

  11486.     implementation_end;

  11487.    Velocity_int 720 336

  11488.     description '<Information>

  11489.  <Description>

  11490.     <Version>4.3</Version>

  11491. <IsMainModel>1</IsMainModel>

  11492.   <KeepParameterValues>False</KeepParameterValues>

  11493.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  11494.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  11495. </Description>

  11496. </Information>';

  11497.     type Integrate

  11498.      ports

  11499.       signal in input;

  11500.       signal out output;

  11501.     end;

  11502.     icon bg bottom

  11503.      figures

  11504.       rectangle 704 320 736 352 color 0 fill 15132390;

  11505.       text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  11506.     end;

  11507.     implementation eq

  11508. parameters

  11509. 	real global initial_angle;		// initial value

  11510. equations

  11511. 	output = int (input, initial_angle);

  11512.      implementation_end;

  11513.    Velocity_limit 376 336

  11514.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  11515.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  11516.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  11517. </Description>';

  11518.     type 'SignalLimiter-Limit'

  11519.      ports

  11520.       signal in input;

  11521.       signal out output;

  11522.     end;

  11523.     icon bg bottom

  11524.      figures

  11525.       group

  11526.        rectangle 360 320 392 352 color 0 fill 15132390;

  11527.        line 375.9 324.5 375.9 349 color 0 fill 15132390;

  11528.        line 363 336.2 388.7 336.2 color 0 fill 15132390;

  11529.        spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  11530.        spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  11531.        spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  11532.       end;

  11533.     end;

  11534.     implementation eq

  11535. parameters

  11536. 	real global max_velocity {rad/s};

  11537. equations

  11538. 	output = limit (input, -max_velocity, max_velocity);

  11539.   implementation_end;

  11540.   end;

  11541.   connections

  11542.    Acceleration_int\output -> Splitter3\input;

  11543.    Acceleration_limit\output -> Acceleration_int\input;

  11544.    PlusMinus1\output -> Position_control\error;

  11545.    PlusMinus2\output -> Velocity_control\error;

  11546.    Position_control\output -> Velocity_limit\input;

  11547.    setpoint -> PlusMinus1\plus;

  11548.    Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  11549.    Splitter3\output -> Velocity_int\input;

  11550.    Splitter4\output -> output;

  11551.    Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  11552.    Velocity_control\output -> Acceleration_limit\input;

  11553.    Velocity_int\output -> Splitter4\input;

  11554.    Velocity_limit\output -> PlusMinus2\plus;

  11555.   end;

  11556.  implementation_end;

  11557. specification_end;

  11558. 			end;

  11559.   end;

  11560.   connections

  11561.    Body1\input <- Splitter2\output;

  11562.    Body3\input <- Splitter3\output;

  11563.    COM_body3\p => OneJunction4\p;

  11564.    COM_body4\p => OneJunction6\p;

  11565.    COM_body5\p => Link8\Pin;

  11566.    Ground1\output -> JointC\Hin 576 568;

  11567.    Ground1\p <= OneJunction5\p;

  11568.    inverse_kinematics\angle1 -> stepper_control\setpoint;

  11569.    inverse_kinematics\angle2 -> Negate2\input;

  11570.    inverse_kinematics\input <- rectanglepath\output;

  11571.    Joint_dynB\output => JointB\Pdiff;

  11572.    Joint_dynC\output => JointC\Pdiff;

  11573.    Joint_dynD\output => JointD\Pdiff;

  11574.    Joint_dynE\output => JointE\Pdiff;

  11575.    Joint_dynF\output => JointF\Pdiff;

  11576.    JointA\Pdiff <= Joint_dynA\output;

  11577.    JointA\Pout => Link3\Pin;

  11578.    JointB\Hin <- Splitter4\output;

  11579.    JointB\Hout -> Link6\Hin;

  11580.    JointB\Pin <= Link6\Pout;

  11581.    JointB\Pout => OneJunction3\p;

  11582.    JointC\Hout -> Link5\Hin;

  11583.    JointC\Pin <= Link5\Pout;

  11584.    JointD\Hin <- Link7\Hout 216 568;

  11585.    JointD\Hout -> Link9\Hin;

  11586.    JointD\Pin <= Link9\Pout;

  11587.    JointD\Pout => Link7\Pin 184 600;

  11588.    JointE\Pout => Link4\Pin;

  11589.    JointF\Hout -> Link10\Hin;

  11590.    JointF\Pout => Link11\Pin;

  11591.    LiftingArm\Hin <- Splitter6\output 728 256;

  11592.    LiftingArm\Pin <= OneJunction7\p 1264 224;

  11593.    LiftingArm\Pout => OneJunction6\p 696 224;

  11594.    Link1\Hout -> Splitter6\input;

  11595.    Link10\Hout -> Splitter9\input;

  11596.    Link10\Pout => JointF\Pin;

  11597.    Link11\Hout -> JointF\Hin;

  11598.    Link11\Pout => OneJunction6\p;

  11599.    Link2\Hin <- JointE\Hout;

  11600.    Link2\Hout -> Splitter11\input;

  11601.    Link2\Pin <= OneJunction3\p;

  11602.    Link2\Pout => JointE\Pin 184 112;

  11603.    Link3\Hout -> JointA\Hin;

  11604.    Link4\Hout -> JointE\Hin;

  11605.    Link5\Hout -> Splitter1\input;

  11606.    Link5\Pin <= OneJunction1\p;

  11607.    Link6\Hout -> Splitter2\input;

  11608.    Link6\Pin <= OneJunction2\p;

  11609.    Link8\Hout -> Splitter10\input;

  11610.    Link8\Pout => OneJunction7\p;

  11611.    Link9\Hout -> Splitter3\input;

  11612.    Link9\Pin <= OneJunction4\p;

  11613.    Negate2\output -> stepper_control1\setpoint;

  11614.    OneJunction1\p <= COM_body2\p;

  11615.    OneJunction1\p <= Link7\Pout;

  11616.    OneJunction2\p <= COM_body1\p;

  11617.    OneJunction2\p <= Link3\Pout;

  11618.    OneJunction3\p <= Link1\Pout;

  11619.    OneJunction4\p <= Link4\Pout;

  11620.    OneJunction5\p <= JointC\Pout;

  11621.    OneJunction5\p => JointA\Pin;

  11622.    OneJunction6\p => Link1\Pin;

  11623.    OneJunction7\p => Link10\Pin;

  11624.    Splitter1\output -> Body2\input;

  11625.    Splitter1\output -> COM_body2\Hin;

  11626.    Splitter1\output -> Link7\Hin;

  11627.    Splitter10\output -> Body6\input;

  11628.    Splitter10\output -> COM_body5\Hin;

  11629.    Splitter11\output -> Body4\input;

  11630.    Splitter11\output -> Splitter4\input;

  11631.    Splitter2\output -> COM_body1\Hin;

  11632.    Splitter2\output -> Link3\Hin;

  11633.    Splitter3\output -> COM_body3\Hin;

  11634.    Splitter3\output -> Link4\Hin;

  11635.    Splitter4\output -> Link1\Hin;

  11636.    Splitter6\output -> COM_body4\Hin;

  11637.    Splitter6\output -> Link11\Hin;

  11638.    Splitter9\output -> Body5\input;

  11639.    Splitter9\output -> Link8\Hin;

  11640.    stepper_control\output -> Joint_dynA\angle;

  11641.    stepper_control1\output -> Joint_dynC\angle;

  11642.   end;

  11643.  implementation_end;

  11644. ]]>

  11645. </Sidops>

  11646.  </Model>

  11647.  <Experiments>

  11648.      <DefaultExperiment><![CDATA[Experiment 1]]>

  11649. </DefaultExperiment>

  11650.   <Experiment>

  11651.     <Name>Experiment 1</Name>

  11652.     <CreatedBy></CreatedBy>

  11653.     <Info></Info>

  11654. <ExpData>

  11655.   <VersionNumber>4.8</VersionNumber>

  11656.   <ModelProperties>

  11657.     <ModelProperty section="processing" entry="checkForStaticExpressions" value="1"/>

  11658.     <ModelProperty section="processing" entry="debug_checkForStaticExpressions" value="1"/>

  11659.     <ModelProperty section="processing" entry="checkForDuplicateExpressions" value="1"/>

  11660.     <ModelProperty section="processing" entry="debug_checkForDuplicateExpressions" value="1"/>

  11661.     <ModelProperty section="processing" entry="showresult" value="1"/>

  11662.     <ModelProperty section="processing" entry="debug_showresult" value="1"/>

  11663.   </ModelProperties>

  11664.   <Variables>

  11665.    <Constants>

  11666.    </Constants>

  11667.    <Parameters>

  11668.    </Parameters>

  11669.    <Initials>

  11670.     <Variable>

  11671.      <Name>COM_body1\InertialTensor\state_initial</Name>

  11672.      <Rows>6</Rows>

  11673.      <Columns>1</Columns>

  11674.      <Value>0 0 0 0 0 0</Value>

  11675.     </Variable>

  11676.     <Variable>

  11677.      <Name>COM_body2\InertialTensor\state_initial</Name>

  11678.      <Rows>6</Rows>

  11679.      <Columns>1</Columns>

  11680.      <Value>0 0 0 0 0 0</Value>

  11681.     </Variable>

  11682.     <Variable>

  11683.      <Name>COM_body3\InertialTensor\state_initial</Name>

  11684.      <Rows>6</Rows>

  11685.      <Columns>1</Columns>

  11686.      <Value>0 0 0 0 0 0</Value>

  11687.     </Variable>

  11688.     <Variable>

  11689.      <Name>COM_body4\InertialTensor\state_initial</Name>

  11690.      <Rows>6</Rows>

  11691.      <Columns>1</Columns>

  11692.      <Value>0 0 0 0 0 0</Value>

  11693.     </Variable>

  11694.     <Variable>

  11695.      <Name>COM_body5\InertialTensor\state_initial</Name>

  11696.      <Rows>6</Rows>

  11697.      <Columns>1</Columns>

  11698.      <Value>0 0 0 0 0 0</Value>

  11699.     </Variable>

  11700.     <Variable>

  11701.      <Name>JointA\Hmatrix\p_initial</Name>

  11702.      <Rows>3</Rows>

  11703.      <Columns>1</Columns>

  11704.      <Value>0 0 0</Value>

  11705.     </Variable>

  11706.     <Variable>

  11707.      <Name>JointB\Hmatrix\p_initial</Name>

  11708.      <Rows>3</Rows>

  11709.      <Columns>1</Columns>

  11710.      <Value>0 0 0</Value>

  11711.     </Variable>

  11712.     <Variable>

  11713.      <Name>JointC\Hmatrix\p_initial</Name>

  11714.      <Rows>3</Rows>

  11715.      <Columns>1</Columns>

  11716.      <Value>0 0 0</Value>

  11717.     </Variable>

  11718.     <Variable>

  11719.      <Name>JointD\Hmatrix\p_initial</Name>

  11720.      <Rows>3</Rows>

  11721.      <Columns>1</Columns>

  11722.      <Value>0 0 0</Value>

  11723.     </Variable>

  11724.     <Variable>

  11725.      <Name>JointE\Hmatrix\p_initial</Name>

  11726.      <Rows>3</Rows>

  11727.      <Columns>1</Columns>

  11728.      <Value>0 0 0</Value>

  11729.     </Variable>

  11730.     <Variable>

  11731.      <Name>JointF\Hmatrix\p_initial</Name>

  11732.      <Rows>3</Rows>

  11733.      <Columns>1</Columns>

  11734.      <Value>0 0 0</Value>

  11735.     </Variable>

  11736.     <Variable>

  11737.      <Name>Joint_dynA\C1\state_initial</Name>

  11738.      <Rows>3</Rows>

  11739.      <Columns>1</Columns>

  11740.      <Value>0 0 0</Value>

  11741.     </Variable>

  11742.     <Variable>

  11743.      <Name>Joint_dynA\C4\state_initial</Name>

  11744.      <Rows>2</Rows>

  11745.      <Columns>1</Columns>

  11746.      <Value>0 0</Value>

  11747.     </Variable>

  11748.     <Variable>

  11749.      <Name>Joint_dynA\C\state_initial</Name>

  11750.      <Value>0</Value>

  11751.     </Variable>

  11752.     <Variable>

  11753.      <Name>Joint_dynA\stepper_model\I1\state_initial</Name>

  11754.      <Value>0</Value>

  11755.     </Variable>

  11756.     <Variable>

  11757.      <Name>Joint_dynA\stepper_model\I2\state_initial</Name>

  11758.      <Value>0</Value>

  11759.     </Variable>

  11760.     <Variable>

  11761.      <Name>Joint_dynA\stepper_model\I\state_initial</Name>

  11762.      <Value>0</Value>

  11763.     </Variable>

  11764.     <Variable>

  11765.      <Name>Joint_dynB\C1\state_initial</Name>

  11766.      <Rows>3</Rows>

  11767.      <Columns>1</Columns>

  11768.      <Value>0 0 0</Value>

  11769.     </Variable>

  11770.     <Variable>

  11771.      <Name>Joint_dynB\C4\state_initial</Name>

  11772.      <Rows>2</Rows>

  11773.      <Columns>1</Columns>

  11774.      <Value>0 0</Value>

  11775.     </Variable>

  11776.     <Variable>

  11777.      <Name>Joint_dynC\C1\state_initial</Name>

  11778.      <Rows>3</Rows>

  11779.      <Columns>1</Columns>

  11780.      <Value>0 0 0</Value>

  11781.     </Variable>

  11782.     <Variable>

  11783.      <Name>Joint_dynC\C4\state_initial</Name>

  11784.      <Rows>2</Rows>

  11785.      <Columns>1</Columns>

  11786.      <Value>0 0</Value>

  11787.     </Variable>

  11788.     <Variable>

  11789.      <Name>Joint_dynC\C\state_initial</Name>

  11790.      <Value>0</Value>

  11791.     </Variable>

  11792.     <Variable>

  11793.      <Name>Joint_dynC\stepper_model\I1\state_initial</Name>

  11794.      <Value>0</Value>

  11795.     </Variable>

  11796.     <Variable>

  11797.      <Name>Joint_dynC\stepper_model\I2\state_initial</Name>

  11798.      <Value>0</Value>

  11799.     </Variable>

  11800.     <Variable>

  11801.      <Name>Joint_dynC\stepper_model\I\state_initial</Name>

  11802.      <Value>0</Value>

  11803.     </Variable>

  11804.     <Variable>

  11805.      <Name>Joint_dynC\stepper_model\RotorAngle\angle_initial</Name>

  11806.      <Unit>rad</Unit>

  11807.      <Value>0</Value>

  11808.     </Variable>

  11809.     <Variable>

  11810.      <Name>Joint_dynD\C1\state_initial</Name>

  11811.      <Rows>3</Rows>

  11812.      <Columns>1</Columns>

  11813.      <Value>0 0 0</Value>

  11814.     </Variable>

  11815.     <Variable>

  11816.      <Name>Joint_dynD\C4\state_initial</Name>

  11817.      <Rows>2</Rows>

  11818.      <Columns>1</Columns>

  11819.      <Value>0 0</Value>

  11820.     </Variable>

  11821.     <Variable>

  11822.      <Name>Joint_dynE\C1\state_initial</Name>

  11823.      <Rows>3</Rows>

  11824.      <Columns>1</Columns>

  11825.      <Value>0 0 0</Value>

  11826.     </Variable>

  11827.     <Variable>

  11828.      <Name>Joint_dynE\C4\state_initial</Name>

  11829.      <Rows>2</Rows>

  11830.      <Columns>1</Columns>

  11831.      <Value>0 0</Value>

  11832.     </Variable>

  11833.     <Variable>

  11834.      <Name>Joint_dynF\C1\state_initial</Name>

  11835.      <Rows>3</Rows>

  11836.      <Columns>1</Columns>

  11837.      <Value>0 0 0</Value>

  11838.     </Variable>

  11839.     <Variable>

  11840.      <Name>Joint_dynF\C4\state_initial</Name>

  11841.      <Rows>2</Rows>

  11842.      <Columns>1</Columns>

  11843.      <Value>0 0</Value>

  11844.     </Variable>

  11845.     <Variable>

  11846.      <Name>LiftingArm\COM1\InertialTensor\state_initial</Name>

  11847.      <Rows>6</Rows>

  11848.      <Columns>1</Columns>

  11849.      <Value>0 0 0 0 0 0</Value>

  11850.     </Variable>

  11851.     <Variable>

  11852.      <Name>LiftingArm\COM\InertialTensor\state_initial</Name>

  11853.      <Rows>6</Rows>

  11854.      <Columns>1</Columns>

  11855.      <Value>0 0 0 0 0 0</Value>

  11856.     </Variable>

  11857.     <Variable>

  11858.      <Name>LiftingArm\Joint1\Hmatrix\p_initial</Name>

  11859.      <Rows>3</Rows>

  11860.      <Columns>1</Columns>

  11861.      <Value>0 0 0</Value>

  11862.     </Variable>

  11863.     <Variable>

  11864.      <Name>LiftingArm\Joint2\Hmatrix\p_initial</Name>

  11865.      <Rows>3</Rows>

  11866.      <Columns>1</Columns>

  11867.      <Value>0 0 0</Value>

  11868.     </Variable>

  11869.     <Variable>

  11870.      <Name>LiftingArm\Joint\Hmatrix\p_initial</Name>

  11871.      <Rows>3</Rows>

  11872.      <Columns>1</Columns>

  11873.      <Value>0 0 0</Value>

  11874.     </Variable>

  11875.     <Variable>

  11876.      <Name>LiftingArm\Joint_dynF1\C1\state_initial</Name>

  11877.      <Rows>3</Rows>

  11878.      <Columns>1</Columns>

  11879.      <Value>0 0 0</Value>

  11880.     </Variable>

  11881.     <Variable>

  11882.      <Name>LiftingArm\Joint_dynF1\C4\state_initial</Name>

  11883.      <Rows>2</Rows>

  11884.      <Columns>1</Columns>

  11885.      <Value>0 0</Value>

  11886.     </Variable>

  11887.     <Variable>

  11888.      <Name>LiftingArm\Joint_dynF1\C\state_initial</Name>

  11889.      <Value>0</Value>

  11890.     </Variable>

  11891.     <Variable>

  11892.      <Name>LiftingArm\Joint_dynF1\SG90\C\state_initial</Name>

  11893.      <Value>0</Value>

  11894.     </Variable>

  11895.     <Variable>

  11896.      <Name>LiftingArm\Joint_dynF1\SG90\I\state_initial</Name>

  11897.      <Value>0</Value>

  11898.     </Variable>

  11899.     <Variable>

  11900.      <Name>LiftingArm\Joint_dynF1\SG90\PD\state_initial</Name>

  11901.      <Value>0</Value>

  11902.     </Variable>

  11903.     <Variable>

  11904.      <Name>LiftingArm\Joint_dynF2\C1\state_initial</Name>

  11905.      <Rows>3</Rows>

  11906.      <Columns>1</Columns>

  11907.      <Value>0 0 0</Value>

  11908.     </Variable>

  11909.     <Variable>

  11910.      <Name>LiftingArm\Joint_dynF2\C4\state_initial</Name>

  11911.      <Rows>2</Rows>

  11912.      <Columns>1</Columns>

  11913.      <Value>0 0</Value>

  11914.     </Variable>

  11915.     <Variable>

  11916.      <Name>LiftingArm\Joint_dynF3\C1\state_initial</Name>

  11917.      <Rows>3</Rows>

  11918.      <Columns>1</Columns>

  11919.      <Value>0 0 0</Value>

  11920.     </Variable>

  11921.     <Variable>

  11922.      <Name>LiftingArm\Joint_dynF3\C4\state_initial</Name>

  11923.      <Rows>2</Rows>

  11924.      <Columns>1</Columns>

  11925.      <Value>0 0</Value>

  11926.     </Variable>

  11927.    </Initials>

  11928.   </Variables>

  11929.   <PlotSpecs>

  11930.    <VarNames>

  11931.     <VarName>time</VarName>

  11932.     <VarName>Body2\dimension[1]</VarName>

  11933.     <VarName>Body2\dimension[2]</VarName>

  11934.     <VarName>Body2\dimension[3]</VarName>

  11935.     <VarName>Body2\position[1]</VarName>

  11936.     <VarName>Body2\position[2]</VarName>

  11937.     <VarName>Body2\position[3]</VarName>

  11938.     <VarName>Body2\R[1,3]</VarName>

  11939.     <VarName>Body2\R[2,3]</VarName>

  11940.     <VarName>Body2\R[3,3]</VarName>

  11941.     <VarName>Body2\R[1,2]</VarName>

  11942.     <VarName>Body2\R[2,2]</VarName>

  11943.     <VarName>Body2\R[3,2]</VarName>

  11944.     <VarName>Body3\dimension[1]</VarName>

  11945.     <VarName>Body3\dimension[2]</VarName>

  11946.     <VarName>Body3\dimension[3]</VarName>

  11947.     <VarName>Body3\position[1]</VarName>

  11948.     <VarName>Body3\position[2]</VarName>

  11949.     <VarName>Body3\position[3]</VarName>

  11950.     <VarName>Body3\R[1,3]</VarName>

  11951.     <VarName>Body3\R[2,3]</VarName>

  11952.     <VarName>Body3\R[3,3]</VarName>

  11953.     <VarName>Body3\R[1,2]</VarName>

  11954.     <VarName>Body3\R[2,2]</VarName>

  11955.     <VarName>Body3\R[3,2]</VarName>

  11956.     <VarName>Body4\dimension[1]</VarName>

  11957.     <VarName>Body4\dimension[2]</VarName>

  11958.     <VarName>Body4\dimension[3]</VarName>

  11959.     <VarName>Body4\R[1,3]</VarName>

  11960.     <VarName>Body4\R[2,3]</VarName>

  11961.     <VarName>Body4\R[3,3]</VarName>

  11962.     <VarName>Body4\R[1,2]</VarName>

  11963.     <VarName>Body4\R[2,2]</VarName>

  11964.     <VarName>Body4\R[3,2]</VarName>

  11965.     <VarName>Body4\position[1]</VarName>

  11966.     <VarName>Body4\position[2]</VarName>

  11967.     <VarName>Body4\position[3]</VarName>

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  12475.         <X>

  12476.          <Value>0.5</Value>

  12477.         </X>

  12478.         <Y>

  12479.          <Value>0.5</Value>

  12480.         </Y>

  12481.         <Z>

  12482.          <Value>0.5</Value>

  12483.         </Z>

  12484.        </Color>

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  12487.        <Multipliers>

  12488.         <X>

  12489.          <Value>1</Value>

  12490.         </X>

  12491.         <Y>

  12492.          <Value>1</Value>

  12493.         </Y>

  12494.         <Z>

  12495.          <Value>1</Value>

  12496.         </Z>

  12497.        </Multipliers>

  12498.        <Direct3DColorRange>true</Direct3DColorRange>

  12499.       </DiffuseLight>

  12500.       <SpecularLight>

  12501.        <Color>

  12502.         <X>

  12503.          <Value>0.5</Value>

  12504.         </X>

  12505.         <Y>

  12506.          <Value>0.5</Value>

  12507.         </Y>

  12508.         <Z>

  12509.          <Value>0.5</Value>

  12510.         </Z>

  12511.        </Color>

  12512.        <Offset>

  12513.        </Offset>

  12514.        <Multipliers>

  12515.         <X>

  12516.          <Value>1</Value>

  12517.         </X>

  12518.         <Y>

  12519.          <Value>1</Value>

  12520.         </Y>

  12521.         <Z>

  12522.          <Value>1</Value>

  12523.         </Z>

  12524.        </Multipliers>

  12525.        <Direct3DColorRange>true</Direct3DColorRange>

  12526.       </SpecularLight>

  12527.       <AmbientOn>false</AmbientOn>

  12528.       <DiffuseOn>true</DiffuseOn>

  12529.       <SpecularOn>true</SpecularOn>

  12530.      </Light>

  12531.      <Light>

  12532.       <ShowReferenceFrame>false</ShowReferenceFrame>

  12533.       <Name>Spot Light 1</Name>

  12534.       <Position>

  12535.        <X>

  12536.         <Value>-3</Value>

  12537.        </X>

  12538.        <Y>

  12539.         <Value>-5</Value>

  12540.        </Y>

  12541.        <Z>

  12542.         <Value>1</Value>

  12543.        </Z>

  12544.       </Position>

  12545.       <Orientation>

  12546.        <ZAxis>

  12547.         <X>

  12548.          <Value>0.50709255283711</Value>

  12549.         </X>

  12550.         <Y>

  12551.          <Value>0.845154254728517</Value>

  12552.         </Y>

  12553.         <Z>

  12554.          <Value>-0.169030850945703</Value>

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  12557.        <YAxis>

  12558.         <X>

  12559.          <Value>0.0869656553478673</Value>

  12560.         </X>

  12561.         <Y>

  12562.          <Value>0.144942758913112</Value>

  12563.         </Y>

  12564.         <Z>

  12565.          <Value>0.985610760609162</Value>

  12566.         </Z>

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  12568.        <OrientationType>Direct3D</OrientationType>

  12569.       </Orientation>

  12570.       <LockX>false</LockX>

  12571.       <LockY>false</LockY>

  12572.       <LockZ>false</LockZ>

  12573.       <LockXPitch>false</LockXPitch>

  12574.       <LockYYaw>false</LockYYaw>

  12575.       <LockZRoll>false</LockZRoll>

  12576.       <Childs>

  12577.       </Childs>

  12578.       <LightType>2</LightType>

  12579.       <LightColor>

  12580.        <Color>

  12581.         <X>

  12582.          <Value>0.5</Value>

  12583.         </X>

  12584.         <Y>

  12585.          <Value>0.5</Value>

  12586.         </Y>

  12587.         <Z>

  12588.          <Value>0.5</Value>

  12589.         </Z>

  12590.        </Color>

  12591.        <Offset>

  12592.        </Offset>

  12593.        <Multipliers>

  12594.         <X>

  12595.          <Value>1</Value>

  12596.         </X>

  12597.         <Y>

  12598.          <Value>1</Value>

  12599.         </Y>

  12600.         <Z>

  12601.          <Value>1</Value>

  12602.         </Z>

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  12604.        <Direct3DColorRange>true</Direct3DColorRange>

  12605.       </LightColor>

  12606.       <Attenuation>

  12607.        <Constant>

  12608.         <Value>1.0</Value>

  12609.        </Constant>

  12610.        <Linear>

  12611.         <Value>0.05</Value>

  12612.        </Linear>

  12613.        <Quadratic>

  12614.         <Value>0.05</Value>

  12615.        </Quadratic>

  12616.       </Attenuation>

  12617.       <Umbra>

  12618.        <Value>1.0471975511965976</Value>

  12619.       </Umbra>

  12620.       <Penumbra>

  12621.        <Value>1.0471975511965976</Value>

  12622.       </Penumbra>

  12623.       <SpotExponent>0.0</SpotExponent>

  12624.       <DiffuseLight>

  12625.        <Color>

  12626.         <X>

  12627.          <Value>0.5</Value>

  12628.         </X>

  12629.         <Y>

  12630.          <Value>0.5</Value>

  12631.         </Y>

  12632.         <Z>

  12633.          <Value>0.5</Value>

  12634.         </Z>

  12635.        </Color>

  12636.        <Offset>

  12637.        </Offset>

  12638.        <Multipliers>

  12639.         <X>

  12640.          <Value>1</Value>

  12641.         </X>

  12642.         <Y>

  12643.          <Value>1</Value>

  12644.         </Y>

  12645.         <Z>

  12646.          <Value>1</Value>

  12647.         </Z>

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  12649.        <Direct3DColorRange>true</Direct3DColorRange>

  12650.       </DiffuseLight>

  12651.       <SpecularLight>

  12652.        <Color>

  12653.         <X>

  12654.          <Value>0.5</Value>

  12655.         </X>

  12656.         <Y>

  12657.          <Value>0.5</Value>

  12658.         </Y>

  12659.         <Z>

  12660.          <Value>0.5</Value>

  12661.         </Z>

  12662.        </Color>

  12663.        <Offset>

  12664.        </Offset>

  12665.        <Multipliers>

  12666.         <X>

  12667.          <Value>1</Value>

  12668.         </X>

  12669.         <Y>

  12670.          <Value>1</Value>

  12671.         </Y>

  12672.         <Z>

  12673.          <Value>1</Value>

  12674.         </Z>

  12675.        </Multipliers>

  12676.        <Direct3DColorRange>true</Direct3DColorRange>

  12677.       </SpecularLight>

  12678.       <AmbientOn>false</AmbientOn>

  12679.       <DiffuseOn>true</DiffuseOn>

  12680.       <SpecularOn>true</SpecularOn>

  12681.      </Light>

  12682.      <Light>

  12683.       <ShowReferenceFrame>false</ShowReferenceFrame>

  12684.       <Name>Spot Light 2</Name>

  12685.       <Position>

  12686.        <X>

  12687.         <Value>2</Value>

  12688.        </X>

  12689.        <Y>

  12690.         <Value>-3</Value>

  12691.        </Y>

  12692.        <Z>

  12693.         <Value>-1</Value>

  12694.        </Z>

  12695.       </Position>

  12696.       <Orientation>

  12697.        <ZAxis>

  12698.         <X>

  12699.          <Value>-0.534522483824849</Value>

  12700.         </X>

  12701.         <Y>

  12702.          <Value>0.801783725737273</Value>

  12703.         </Y>

  12704.         <Z>

  12705.          <Value>0.267261241912424</Value>

  12706.         </Z>

  12707.        </ZAxis>

  12708.        <YAxis>

  12709.         <X>

  12710.          <Value>0.14824986333222</Value>

  12711.         </X>

  12712.         <Y>

  12713.          <Value>-0.22237479499833</Value>

  12714.         </Y>

  12715.         <Z>

  12716.          <Value>0.963624111659432</Value>

  12717.         </Z>

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  12719.        <OrientationType>Direct3D</OrientationType>

  12720.       </Orientation>

  12721.       <LockX>false</LockX>

  12722.       <LockY>false</LockY>

  12723.       <LockZ>false</LockZ>

  12724.       <LockXPitch>false</LockXPitch>

  12725.       <LockYYaw>false</LockYYaw>

  12726.       <LockZRoll>false</LockZRoll>

  12727.       <Childs>

  12728.       </Childs>

  12729.       <LightType>2</LightType>

  12730.       <LightColor>

  12731.        <Color>

  12732.         <X>

  12733.          <Value>1</Value>

  12734.         </X>

  12735.         <Y>

  12736.          <Value>1</Value>

  12737.         </Y>

  12738.         <Z>

  12739.          <Value>1</Value>

  12740.         </Z>

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  12742.        <Offset>

  12743.        </Offset>

  12744.        <Multipliers>

  12745.         <X>

  12746.          <Value>1</Value>

  12747.         </X>

  12748.         <Y>

  12749.          <Value>1</Value>

  12750.         </Y>

  12751.         <Z>

  12752.          <Value>1</Value>

  12753.         </Z>

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  12755.        <Direct3DColorRange>true</Direct3DColorRange>

  12756.       </LightColor>

  12757.       <Attenuation>

  12758.        <Constant>

  12759.         <Value>1.0</Value>

  12760.        </Constant>

  12761.        <Linear>

  12762.         <Value>0.05</Value>

  12763.        </Linear>

  12764.        <Quadratic>

  12765.         <Value>0.05</Value>

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  12767.       </Attenuation>

  12768.       <Umbra>

  12769.        <Value>1.5707963267948966</Value>

  12770.       </Umbra>

  12771.       <Penumbra>

  12772.        <Value>1.5707963267948966</Value>

  12773.       </Penumbra>

  12774.       <SpotExponent>0.0</SpotExponent>

  12775.       <DiffuseLight>

  12776.        <Color>

  12777.         <X>

  12778.          <Value>1</Value>

  12779.         </X>

  12780.         <Y>

  12781.          <Value>1</Value>

  12782.         </Y>

  12783.         <Z>

  12784.          <Value>1</Value>

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  12789.        <Multipliers>

  12790.         <X>

  12791.          <Value>1</Value>

  12792.         </X>

  12793.         <Y>

  12794.          <Value>1</Value>

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  12796.         <Z>

  12797.          <Value>1</Value>

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  12800.        <Direct3DColorRange>true</Direct3DColorRange>

  12801.       </DiffuseLight>

  12802.       <SpecularLight>

  12803.        <Color>

  12804.         <X>

  12805.          <Value>0.5</Value>

  12806.         </X>

  12807.         <Y>

  12808.          <Value>0.5</Value>

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  12810.         <Z>

  12811.          <Value>0.5</Value>

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  12813.        </Color>

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  12815.        </Offset>

  12816.        <Multipliers>

  12817.         <X>

  12818.          <Value>1</Value>

  12819.         </X>

  12820.         <Y>

  12821.          <Value>1</Value>

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  12823.         <Z>

  12824.          <Value>1</Value>

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  12827.        <Direct3DColorRange>true</Direct3DColorRange>

  12828.       </SpecularLight>

  12829.       <AmbientOn>false</AmbientOn>

  12830.       <DiffuseOn>true</DiffuseOn>

  12831.       <SpecularOn>true</SpecularOn>

  12832.      </Light>

  12833.      <Camera>

  12834.       <ShowReferenceFrame>false</ShowReferenceFrame>

  12835.       <Name>Camera Looking at Origin</Name>

  12836.       <Position>

  12837.        <X>

  12838.         <Value>0.144494930276406</Value>

  12839.        </X>

  12840.        <Y>

  12841.         <Value>-0.16367032375516</Value>

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  12843.        <Z>

  12844.         <Value>0.165819959065724</Value>

  12845.        </Z>

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  12848.        <ZAxis>

  12849.         <X>

  12850.          <Value>-0.574494337780199</Value>

  12851.         </X>

  12852.         <Y>

  12853.          <Value>0.647932475925021</Value>

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  12855.         <Z>

  12856.          <Value>-0.500139742972065</Value>

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  12859.        <YAxis>

  12860.         <X>

  12861.          <Value>-0.331808079368203</Value>

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  12863.         <Y>

  12864.          <Value>0.374223410499862</Value>

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  12867.          <Value>0.865944708107762</Value>

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  12870.        <OrientationType>Direct3D</OrientationType>

  12871.       </Orientation>

  12872.       <LockX>false</LockX>

  12873.       <LockY>false</LockY>

  12874.       <LockZ>false</LockZ>

  12875.       <LockXPitch>false</LockXPitch>

  12876.       <LockYYaw>false</LockYYaw>

  12877.       <LockZRoll>false</LockZRoll>

  12878.       <Childs>

  12879.       </Childs>

  12880.       <FrontPlane>0.01</FrontPlane>

  12881.       <BackPlane>100.0</BackPlane>

  12882.       <AutoFrontBack>true</AutoFrontBack>

  12883.       <Field>0.003926990816987242</Field>

  12884.       <Fieldy>45.0</Fieldy>

  12885.       <PlaneLeft>-10.0</PlaneLeft>

  12886.       <PlaneRight>10.0</PlaneRight>

  12887.       <PlaneTop>10.0</PlaneTop>

  12888.       <PlaneBottom>-10.0</PlaneBottom>

  12889.       <UseLookatPosition>true</UseLookatPosition>

  12890.       <LookatPosition>

  12891.        <X>

  12892.         <Value>-0.000627364166602552</Value>

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  12894.        <Y>

  12895.         <Value>3.08669776184333e-006</Value>

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  12897.        <Z>

  12898.         <Value>0.0394802856014185</Value>

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  12901.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  12902.       <LookUpVector>

  12903.        <Z>

  12904.         <Value>1</Value>

  12905.        </Z>

  12906.       </LookUpVector>

  12907.       <RightHand>true</RightHand>

  12908.       <Perspective>true</Perspective>

  12909.       <IsSelectedCamera>true</IsSelectedCamera>

  12910.      </Camera>

  12911.      <Camera>

  12912.       <ShowReferenceFrame>false</ShowReferenceFrame>

  12913.       <Name>Front(XY)-Camera</Name>

  12914.       <Position>

  12915.        <Z>

  12916.         <Value>10</Value>

  12917.        </Z>

  12918.       </Position>

  12919.       <Orientation>

  12920.        <ZAxis>

  12921.         <Z>

  12922.          <Value>-1</Value>

  12923.         </Z>

  12924.        </ZAxis>

  12925.        <YAxis>

  12926.         <Y>

  12927.          <Value>1</Value>

  12928.         </Y>

  12929.        </YAxis>

  12930.        <OrientationType>Direct3D</OrientationType>

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  12932.       <LockX>false</LockX>

  12933.       <LockY>false</LockY>

  12934.       <LockZ>false</LockZ>

  12935.       <LockXPitch>false</LockXPitch>

  12936.       <LockYYaw>false</LockYYaw>

  12937.       <LockZRoll>false</LockZRoll>

  12938.       <Childs>

  12939.       </Childs>

  12940.       <FrontPlane>0.01</FrontPlane>

  12941.       <BackPlane>100.0</BackPlane>

  12942.       <AutoFrontBack>true</AutoFrontBack>

  12943.       <Field>9.999999999999998</Field>

  12944.       <Fieldy>45.0</Fieldy>

  12945.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  12946.       <PlaneRight>9.999999999999998</PlaneRight>

  12947.       <PlaneTop>9.999999999999998</PlaneTop>

  12948.       <PlaneBottom>-9.999999999999998</PlaneBottom>

  12949.       <UseLookatPosition>true</UseLookatPosition>

  12950.       <LookatPosition>

  12951.       </LookatPosition>

  12952.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  12953.       <LookUpVector>

  12954.        <Y>

  12955.         <Value>1</Value>

  12956.        </Y>

  12957.       </LookUpVector>

  12958.       <RightHand>true</RightHand>

  12959.       <Perspective>false</Perspective>

  12960.       <IsSelectedCamera>false</IsSelectedCamera>

  12961.      </Camera>

  12962.      <Camera>

  12963.       <ShowReferenceFrame>false</ShowReferenceFrame>

  12964.       <Name>Side(YZ)-Camera</Name>

  12965.       <Position>

  12966.        <X>

  12967.         <Value>10</Value>

  12968.        </X>

  12969.       </Position>

  12970.       <Orientation>

  12971.        <ZAxis>

  12972.         <X>

  12973.          <Value>-1</Value>

  12974.         </X>

  12975.        </ZAxis>

  12976.        <YAxis>

  12977.         <Z>

  12978.          <Value>1</Value>

  12979.         </Z>

  12980.        </YAxis>

  12981.        <OrientationType>Direct3D</OrientationType>

  12982.       </Orientation>

  12983.       <LockX>false</LockX>

  12984.       <LockY>false</LockY>

  12985.       <LockZ>false</LockZ>

  12986.       <LockXPitch>false</LockXPitch>

  12987.       <LockYYaw>false</LockYYaw>

  12988.       <LockZRoll>false</LockZRoll>

  12989.       <Childs>

  12990.       </Childs>

  12991.       <FrontPlane>0.01</FrontPlane>

  12992.       <BackPlane>100.0</BackPlane>

  12993.       <AutoFrontBack>true</AutoFrontBack>

  12994.       <Field>9.999999999999998</Field>

  12995.       <Fieldy>45.0</Fieldy>

  12996.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  12997.       <PlaneRight>9.999999999999998</PlaneRight>

  12998.       <PlaneTop>9.999999999999998</PlaneTop>

  12999.       <PlaneBottom>-9.999999999999998</PlaneBottom>

  13000.       <UseLookatPosition>true</UseLookatPosition>

  13001.       <LookatPosition>

  13002.       </LookatPosition>

  13003.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  13004.       <LookUpVector>

  13005.        <Z>

  13006.         <Value>1</Value>

  13007.        </Z>

  13008.       </LookUpVector>

  13009.       <RightHand>true</RightHand>

  13010.       <Perspective>false</Perspective>

  13011.       <IsSelectedCamera>false</IsSelectedCamera>

  13012.      </Camera>

  13013.      <Camera>

  13014.       <ShowReferenceFrame>false</ShowReferenceFrame>

  13015.       <Name>Top(XZ)-Camera</Name>

  13016.       <Position>

  13017.        <Y>

  13018.         <Value>10</Value>

  13019.        </Y>

  13020.       </Position>

  13021.       <Orientation>

  13022.        <ZAxis>

  13023.         <Y>

  13024.          <Value>-1</Value>

  13025.         </Y>

  13026.        </ZAxis>

  13027.        <YAxis>

  13028.         <X>

  13029.          <Value>1</Value>

  13030.         </X>

  13031.        </YAxis>

  13032.        <OrientationType>Direct3D</OrientationType>

  13033.       </Orientation>

  13034.       <LockX>false</LockX>

  13035.       <LockY>false</LockY>

  13036.       <LockZ>false</LockZ>

  13037.       <LockXPitch>false</LockXPitch>

  13038.       <LockYYaw>false</LockYYaw>

  13039.       <LockZRoll>false</LockZRoll>

  13040.       <Childs>

  13041.       </Childs>

  13042.       <FrontPlane>0.01</FrontPlane>

  13043.       <BackPlane>100.0</BackPlane>

  13044.       <AutoFrontBack>true</AutoFrontBack>

  13045.       <Field>9.999999999999998</Field>

  13046.       <Fieldy>45.0</Fieldy>

  13047.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  13048.       <PlaneRight>9.999999999999998</PlaneRight>

  13049.       <PlaneTop>9.999999999999998</PlaneTop>

  13050.       <PlaneBottom>-9.999999999999998</PlaneBottom>

  13051.       <UseLookatPosition>true</UseLookatPosition>

  13052.       <LookatPosition>

  13053.       </LookatPosition>

  13054.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  13055.       <LookUpVector>

  13056.        <X>

  13057.         <Value>1</Value>

  13058.        </X>

  13059.       </LookUpVector>

  13060.       <RightHand>true</RightHand>

  13061.       <Perspective>false</Perspective>

  13062.       <IsSelectedCamera>false</IsSelectedCamera>

  13063.      </Camera>

  13064.          </Childs>

  13065.         </Frame>

  13066.         <Frame>

  13067.          <ScaleValue>

  13068.      <X>

  13069.       <Value>1</Value>

  13070.      </X>

  13071.      <Y>

  13072.       <Value>1</Value>

  13073.      </Y>

  13074.      <Z>

  13075.       <Value>1</Value>

  13076.      </Z>

  13077.          </ScaleValue>

  13078.          <ShowReferenceFrame>false</ShowReferenceFrame>

  13079.          <Name>Cylinder</Name>

  13080.          <Position>

  13081.          </Position>

  13082.          <Orientation>

  13083.      <Angles>

  13084.      </Angles>

  13085.      <OrientationType>Bryant</OrientationType>

  13086.          </Orientation>

  13087.          <LockX>false</LockX>

  13088.          <LockY>false</LockY>

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  13090.          <LockXPitch>false</LockXPitch>

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