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mahd/implementation/SCARA/02_physics/scara_physics.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\02_physics\scara_physics.emx</LibraryPath>

  11.   <TimeStamp>2020-7-14 18:34:19</TimeStamp>

  12. </Description>

  13.  <Attributes>

  14.   <GlobalRelations>parameters

  15. 	real A = 0.05 {m};

  16. 	real B = 0.05 {m};

  17. variables

  18. 	real J0_1_BF1[2];

  19. 	real J1_2_BF1[2];

  20. 	real J1_2_BF2[2];

  21. 	real EE1_BF2[2];

  22. initialequations

  23. 	J0_1_BF1 = [A/2;0];

  24. 	J1_2_BF1 = [-A/2;0];

  25. 	J1_2_BF2 = [B/2;0];

  26. 	EE1_BF2 = [-B/2;0];</GlobalRelations>

  27.  </Attributes>

  28. </Information>';

  29.  type Mainmodel

  30.  end;

  31.  implementation bg

  32.   submodels

  33.    COM1 424 584

  34.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel></Description><Attributes><GlobalRelations>parameters

  35. 	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';

  36.     type Submodel

  37.      ports

  38.       power in p [2,1];

  39.       signal in mass {kg} ;

  40.     end;

  41.     icon bg ellipse bottom

  42.      figures

  43.       ellipse 416 576 432 592 color 0 fill 15132390;

  44.       line 424 576 424 592 color 0 fill 15132390;

  45.       line 416 584 432 584 color 0 fill 15132390;

  46.     end;

  47.     implementation bg

  48.      submodels

  49.       Gain 368 408

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

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

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

  53. </Description>';

  54.        type Gain

  55.         ports

  56.          signal in input;

  57.          signal out output [2,1];

  58.        end;

  59.        icon bg bottom

  60.         figures

  61.          rectangle 352.1 392 383.9 424 color 0 fill 15132390;

  62.          text 'K' 368 408 color 16711680 16 bold;

  63.        end;

  64.        implementation eq

  65. equations

  66. 	output = [0;-g_n] * input;

  67.     implementation_end;

  68.       I 248 520

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

  70.    <LibraryPath>Bond Graph\2D\I-2.emx</LibraryPath>

  71.   <TimeStamp>2007-9-25 12:7:37</TimeStamp>

  72. </Description>';

  73.        type 'I-2'

  74.         ports

  75.          power in p [2,1];

  76.          signal out state [2,1];

  77.          signal in mass {kg} ;

  78.         restrictions

  79.          causality preferred in p;

  80.        end;

  81.        icon bg bottom

  82.         figures

  83.          text 'I' 248 520 color 0 18 bold;

  84.        end;

  85.        implementation eq

  86. equations

  87.     state = int(p.e);

  88.     p.f = inverse ([mass,0;0,mass]) * state;

  89. implementation_end;

  90.       plug p 304 468;

  91.       plug mass 208 408;

  92.       OneJunction2 304 520

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

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

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

  96. </Description>';

  97.        knot OneJunction

  98.         ports

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

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

  101.         restrictions

  102.          causality constraint one_out p;

  103.        end;

  104.        icon bg

  105.         figures

  106.          text '1' 304 520 color 0 18 bold;

  107.        end;

  108.        implementation eq

  109. equations

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

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

  112. 	flow = first (p.f);

  113. implementation_end;

  114.       Sg 368 520

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

  116.    <LibraryPath>Bond Graph\2D\MSe-2.emx</LibraryPath>

  117.   <TimeStamp>2007-9-25 12:7:58</TimeStamp>

  118. </Description>';

  119.        type 'MSe-2'

  120.         ports

  121.          power out p [2,1];

  122.          signal in effort [2,1];

  123.         restrictions

  124.          causality fixed out p;

  125.        end;

  126.        icon bg bottom

  127.         figures

  128.          text 'MSe' 368 520 color 0 18 bold;

  129.        end;

  130.        implementation eq

  131. variables

  132. 	real flow[2];

  133. equations

  134. 	p.e = effort;

  135. 	flow = p.f;

  136. implementation_end;

  137.       Splitter1 248 408

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

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

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

  141. <IsMainModel>1</IsMainModel>

  142.  <KeepParameterValues>False</KeepParameterValues>

  143. </Description>';

  144.        knot Splitter

  145.         ports

  146.          signal knot duplicatable out output [1];

  147.          signal knot in input [1];

  148.        end;

  149.        icon bg ellipse

  150.         figures

  151.          ellipse 244.8 404.8 251.2 411.2 color -1 fill 0;

  152.          ellipse 243.7 403.7 252.3 412.3 color -1;

  153.         terminals

  154.          input 248 408 fixed;

  155.        end;

  156.        implementation eq

  157. equations

  158.     collect (output) = input;

  159. implementation_end;

  160.      end;

  161.      connections

  162.       Gain\output -> Sg\effort;

  163.       I\p <= OneJunction2\p;

  164.       mass -> Splitter1\input;

  165.       p => OneJunction2\p;

  166.       Sg\p => OneJunction2\p;

  167.       Splitter1\output -> Gain\input;

  168.       Splitter1\output -> I\mass;

  169.      end;

  170.     implementation_end;

  171.    COM2 824 584

  172.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel></Description><Attributes><GlobalRelations>parameters

  173. 	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';

  174.     type Submodel

  175.      ports

  176.       power in p [2,1];

  177.       signal in mass {kg} ;

  178.     end;

  179.     icon bg ellipse

  180.      figures

  181.       ellipse 816 576 832 592 color 0 fill 15132390;

  182.       line 824 576 824 592 color 0 fill 15132390;

  183.       line 816 584 832 584 color 0 fill 15132390;

  184.     end;

  185.     implementation bg

  186.      submodels

  187.       Gain 368 408

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

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

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

  191. </Description>';

  192.        type Gain

  193.         ports

  194.          signal in input;

  195.          signal out output [2,1];

  196.        end;

  197.        icon bg bottom

  198.         figures

  199.          rectangle 352.1 392 383.9 424 color 0 fill 15132390;

  200.          text 'K' 368 408 color 16711680 16 bold;

  201.        end;

  202.        implementation eq

  203. equations

  204. 	output = [0;-g_n] * input;

  205.     implementation_end;

  206.       I 248 520

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

  208.    <LibraryPath>Bond Graph\2D\I-2.emx</LibraryPath>

  209.   <TimeStamp>2007-9-25 12:7:37</TimeStamp>

  210. </Description>';

  211.        type 'I-2'

  212.         ports

  213.          power in p [2,1];

  214.          signal out state [2,1];

  215.          signal in mass {kg} ;

  216.         restrictions

  217.          causality preferred in p;

  218.        end;

  219.        icon bg bottom

  220.         figures

  221.          text 'I' 248 520 color 0 18 bold;

  222.        end;

  223.        implementation eq

  224. equations

  225.     state = int(p.e);

  226.     p.f = inverse ([mass,0;0,mass]) * state;

  227. implementation_end;

  228.       plug p 304 468;

  229.       plug mass 208 408;

  230.       OneJunction2 304 520

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

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

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

  234. </Description>';

  235.        knot OneJunction

  236.         ports

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

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

  239.         restrictions

  240.          causality constraint one_out p;

  241.        end;

  242.        icon bg

  243.         figures

  244.          text '1' 304 520 color 0 18 bold;

  245.        end;

  246.        implementation eq

  247. equations

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

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

  250. 	flow = first (p.f);

  251. implementation_end;

  252.       Sg 368 520

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

  254.    <LibraryPath>Bond Graph\2D\MSe-2.emx</LibraryPath>

  255.   <TimeStamp>2007-9-25 12:7:58</TimeStamp>

  256. </Description>';

  257.        type 'MSe-2'

  258.         ports

  259.          power out p [2,1];

  260.          signal in effort [2,1];

  261.         restrictions

  262.          causality fixed out p;

  263.        end;

  264.        icon bg bottom

  265.         figures

  266.          text 'MSe' 368 520 color 0 18 bold;

  267.        end;

  268.        implementation eq

  269. variables

  270. 	real flow[2];

  271. equations

  272. 	p.e = effort;

  273. 	flow = p.f;

  274. implementation_end;

  275.       Splitter1 248 408

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

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

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

  279. <IsMainModel>1</IsMainModel>

  280.  <KeepParameterValues>False</KeepParameterValues>

  281. </Description>';

  282.        knot Splitter

  283.         ports

  284.          signal knot duplicatable out output [1];

  285.          signal knot in input [1];

  286.        end;

  287.        icon bg ellipse

  288.         figures

  289.          ellipse 244.8 404.8 251.2 411.2 color -1 fill 0;

  290.          ellipse 243.7 403.7 252.3 412.3 color -1;

  291.         terminals

  292.          input 248 408 fixed;

  293.        end;

  294.        implementation eq

  295. equations

  296.     collect (output) = input;

  297. implementation_end;

  298.      end;

  299.      connections

  300.       Gain\output -> Sg\effort;

  301.       I\p <= OneJunction2\p;

  302.       mass -> Splitter1\input;

  303.       p => OneJunction2\p;

  304.       Sg\p => OneJunction2\p;

  305.       Splitter1\output -> Gain\input;

  306.       Splitter1\output -> I\mass;

  307.      end;

  308.     implementation_end;

  309.    I 432 176

  310.     description '<Information>

  311.  <Description>

  312.     <Version>4.2</Version>

  313. <IsMainModel>1</IsMainModel>

  314.   <KeepParameterValues>False</KeepParameterValues>

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

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

  317. </Description>

  318. </Information>';

  319.     type I

  320.      ports

  321.       power in p;

  322.       signal out state;

  323.       signal in i;

  324.      restrictions

  325.       causality preferred in p;

  326.     end;

  327.     icon bg bottom

  328.      figures

  329.       text 'I' 432 176 color 0 18 bold;

  330.     end;

  331.     implementation eq

  332. equations

  333.     state = int(p.e);

  334.     p.f = state / i;

  335. implementation_end;

  336.    I1 824 176

  337.     description '<Information>

  338.  <Description>

  339.     <Version>4.2</Version>

  340. <IsMainModel>1</IsMainModel>

  341.   <KeepParameterValues>False</KeepParameterValues>

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

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

  344. </Description>

  345. </Information>';

  346.     type I

  347.      ports

  348.       power in p;

  349.       signal out state;

  350.       signal in i;

  351.      restrictions

  352.       causality preferred in p;

  353.     end;

  354.     icon bg bottom

  355.      figures

  356.       text 'I' 824 176 color 0 18 bold;

  357.     end;

  358.     implementation eq

  359. equations

  360.     state = int(p.e);

  361.     p.f = state / i;

  362. implementation_end;

  363.    inverse_kinematics 312 32

  364.     description '<Information>

  365.  <Description>

  366.     <Version>4.8</Version>

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

  368. <IsMainModel>1</IsMainModel>

  369.   <KeepParameterValues>False</KeepParameterValues>

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

  371. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  372.  </Description>

  373. </Information>';

  374.     type 'Submodel-Equation'

  375.      ports

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

  377.       signal out angle1 {rad} ;

  378.       signal out angle2 {rad} ;

  379.       signal out a {rad} ;

  380.       signal out b {rad} ;

  381.       signal out c {rad} ;

  382.       signal out phi {rad} ;

  383.     end;

  384.     implementation eq

  385. parameters

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

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

  388. 	real to_rad = 1 {rad};

  389. variables

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

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

  392. 	real angle_sum {rad}; //  test angle

  393. equations

  394. 	x = input[1];

  395. 	y = input[2];

  396. 	phi = atan2(y, x);

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

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

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

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

  401. 	angle1 = b + phi;

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

  403. 	

  404. 	

  405. 

  406.  implementation_end;

  407.    MSe1 624 192

  408.     description '<Information>

  409.  <Description>

  410.     <Version>4.2</Version>

  411. <IsMainModel>1</IsMainModel>

  412.   <KeepParameterValues>False</KeepParameterValues>

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

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

  415. </Description>

  416. </Information>';

  417.     type MSe

  418.      ports

  419.       power out p;

  420.       signal in effort;

  421.      restrictions

  422.       causality fixed out p;

  423.     end;

  424.     icon bg bottom

  425.      figures

  426.       text 'MSe' 624 192 color 0 18 bold;

  427.     end;

  428.     implementation eq

  429. variables

  430. 	real flow;

  431. equations

  432. 	p.e = effort;

  433. 	flow = p.f;

  434. implementation_end;

  435.    MSe2 248 176

  436.     description '<Information>

  437.  <Description>

  438.     <Version>4.2</Version>

  439. <IsMainModel>1</IsMainModel>

  440.   <KeepParameterValues>False</KeepParameterValues>

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

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

  443. </Description>

  444. </Information>';

  445.     type MSe

  446.      ports

  447.       power out p;

  448.       signal in effort;

  449.      restrictions

  450.       causality fixed out p;

  451.     end;

  452.     icon bg bottom

  453.      figures

  454.       text 'MSe' 248 176 color 0 18 bold;

  455.     end;

  456.     implementation eq

  457. variables

  458. 	real flow;

  459. equations

  460. 	p.e = effort;

  461. 	flow = p.f;

  462. implementation_end;

  463.    MXTF 352.3 288

  464.     description '<Information>

  465.  <Description>

  466.     <Version>4.8</Version>

  467. <IsMainModel>1</IsMainModel>

  468.   <KeepParameterValues>False</KeepParameterValues>

  469.     <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>

  470.   <TimeStamp>2020-7-14 17:06:13</TimeStamp>

  471. <AllowLibraryUpdate>True</AllowLibraryUpdate>

  472.  </Description>

  473. </Information>';

  474.     type 'TF-2'

  475.      ports

  476.       power in p1;

  477.       power out p2 [2,1];

  478.       signal in p [2,1];

  479.      restrictions

  480.       causality constraint not_equal p1 p2;

  481.       causality fixed in p2;

  482.       causality fixed out p1;

  483.     end;

  484.     icon bg bottom

  485.      figures

  486.       text 'MXTF' 352.3 288 color 0 18 bold;

  487.     end;

  488.     implementation eq

  489. variables

  490. 	real r[2];

  491. equations		

  492. 	r = [-p[2];p[1]];

  493. 	p1.e = transpose (r) * p2.e;

  494. 	p2.f = r * p1.f;implementation_end;

  495.    OneJunction 424 368

  496.     description '<Information>

  497.  <Description>

  498.     <Version>4.2</Version>

  499. <IsMainModel>1</IsMainModel>

  500.   <KeepParameterValues>False</KeepParameterValues>

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

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

  503. </Description>

  504. </Information>';

  505.     knot OneJunction

  506.      ports

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

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

  509.      restrictions

  510.       causality constraint one_out p;

  511.     end;

  512.     icon bg

  513.      figures

  514.       text '1' 424 368 color 0 18 bold;

  515.     end;

  516.     implementation eq

  517. equations

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

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

  520. 	flow = first (p.f);

  521. implementation_end;

  522.    OneJunction1 424 520

  523.     description '<Information>

  524.  <Description>

  525.     <Version>4.2</Version>

  526. <IsMainModel>1</IsMainModel>

  527.   <KeepParameterValues>False</KeepParameterValues>

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

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

  530. </Description>

  531. </Information>';

  532.     knot OneJunction

  533.      ports

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

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

  536.      restrictions

  537.       causality constraint one_out p;

  538.     end;

  539.     icon bg

  540.      figures

  541.       text '1' 424 520 color 0 18 bold;

  542.     end;

  543.     implementation eq

  544. equations

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

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

  547. 	flow = first (p.f);

  548. implementation_end;

  549.    OneJunction10 824 232

  550.     description '<Information>

  551.  <Description>

  552.     <Version>4.2</Version>

  553. <IsMainModel>1</IsMainModel>

  554.   <KeepParameterValues>False</KeepParameterValues>

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

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

  557. </Description>

  558. </Information>';

  559.     knot OneJunction

  560.      ports

  561.       power knot duplicatable none p [1];

  562.       signal knot out flow [1];

  563.      restrictions

  564.       causality constraint one_out p;

  565.     end;

  566.     icon bg

  567.      figures

  568.       text '1' 824 232 color 0 18 bold;

  569.     end;

  570.     implementation eq

  571. equations

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

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

  574. 	flow = first (p.f);

  575. implementation_end;

  576.    OneJunction11 984 512

  577.     description '<Information>

  578.  <Description>

  579.     <Version>4.2</Version>

  580. <IsMainModel>1</IsMainModel>

  581.   <KeepParameterValues>False</KeepParameterValues>

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

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

  584. </Description>

  585. </Information>';

  586.     knot OneJunction

  587.      ports

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

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

  590.      restrictions

  591.       causality constraint one_out p;

  592.     end;

  593.     icon bg

  594.      figures

  595.       text '1' 984 512 color 0 18 bold;

  596.     end;

  597.     implementation eq

  598. equations

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

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

  601. 	flow = first (p.f);

  602. implementation_end;

  603.    OneJunction12 704 368

  604.     description '<Information>

  605.  <Description>

  606.     <Version>4.2</Version>

  607. <IsMainModel>1</IsMainModel>

  608.   <KeepParameterValues>False</KeepParameterValues>

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

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

  611. </Description>

  612. </Information>';

  613.     knot OneJunction

  614.      ports

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

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

  617.      restrictions

  618.       causality constraint one_out p;

  619.     end;

  620.     icon bg

  621.      figures

  622.       text '1' 704 368 color 0 18 bold;

  623.     end;

  624.     implementation eq

  625. equations

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

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

  628. 	flow = first (p.f);

  629. implementation_end;

  630.    OneJunction3 432 232

  631.     description '<Information>

  632.  <Description>

  633.     <Version>4.2</Version>

  634. <IsMainModel>1</IsMainModel>

  635.   <KeepParameterValues>False</KeepParameterValues>

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

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

  638. </Description>

  639. </Information>';

  640.     knot OneJunction

  641.      ports

  642.       power knot duplicatable none p [1];

  643.       signal knot out flow [1];

  644.      restrictions

  645.       causality constraint one_out p;

  646.     end;

  647.     icon bg

  648.      figures

  649.       text '1' 432 232 color 0 18 bold;

  650.     end;

  651.     implementation eq

  652. equations

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

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

  655. 	flow = first (p.f);

  656. implementation_end;

  657.    OneJunction5 272.3 368

  658.     description '<Information>

  659.  <Description>

  660.     <Version>4.2</Version>

  661. <IsMainModel>1</IsMainModel>

  662.   <KeepParameterValues>False</KeepParameterValues>

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

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

  665. </Description>

  666. </Information>';

  667.     knot OneJunction

  668.      ports

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

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

  671.      restrictions

  672.       causality constraint one_out p;

  673.     end;

  674.     icon bg

  675.      figures

  676.       text '1' 272.3 368 color 0 18 bold;

  677.     end;

  678.     implementation eq

  679. equations

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

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

  682. 	flow = first (p.f);

  683. implementation_end;

  684.    OneJunction6 272 520

  685.     description '<Information>

  686.  <Description>

  687.     <Version>4.2</Version>

  688. <IsMainModel>1</IsMainModel>

  689.   <KeepParameterValues>False</KeepParameterValues>

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

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

  692. </Description>

  693. </Information>';

  694.     knot OneJunction

  695.      ports

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

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

  698.      restrictions

  699.       causality constraint one_out p;

  700.     end;

  701.     icon bg

  702.      figures

  703.       text '1' 272 520 color 0 18 bold;

  704.     end;

  705.     implementation eq

  706. equations

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

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

  709. 	flow = first (p.f);

  710. implementation_end;

  711.    OneJunction7 824 368

  712.     description '<Information>

  713.  <Description>

  714.     <Version>4.2</Version>

  715. <IsMainModel>1</IsMainModel>

  716.   <KeepParameterValues>False</KeepParameterValues>

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

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

  719. </Description>

  720. </Information>';

  721.     knot OneJunction

  722.      ports

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

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

  725.      restrictions

  726.       causality constraint one_out p;

  727.     end;

  728.     icon bg

  729.      figures

  730.       text '1' 824 368 color 0 18 bold;

  731.     end;

  732.     implementation eq

  733. equations

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

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

  736. 	flow = first (p.f);

  737. implementation_end;

  738.    OneJunction8 824 520

  739.     description '<Information>

  740.  <Description>

  741.     <Version>4.2</Version>

  742. <IsMainModel>1</IsMainModel>

  743.   <KeepParameterValues>False</KeepParameterValues>

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

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

  746. </Description>

  747. </Information>';

  748.     knot OneJunction

  749.      ports

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

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

  752.      restrictions

  753.       causality constraint one_out p;

  754.     end;

  755.     icon bg

  756.      figures

  757.       text '1' 824 520 color 0 18 bold;

  758.     end;

  759.     implementation eq

  760. equations

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

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

  763. 	flow = first (p.f);

  764. implementation_end;

  765.    OneJunction9 984 368

  766.     description '<Information>

  767.  <Description>

  768.     <Version>4.2</Version>

  769. <IsMainModel>1</IsMainModel>

  770.   <KeepParameterValues>False</KeepParameterValues>

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

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

  773. </Description>

  774. </Information>';

  775.     knot OneJunction

  776.      ports

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

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

  779.      restrictions

  780.       causality constraint one_out p;

  781.     end;

  782.     icon bg

  783.      figures

  784.       text '1' 984 368 color 0 18 bold;

  785.     end;

  786.     implementation eq

  787. equations

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

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

  790. 	flow = first (p.f);

  791. implementation_end;

  792.    PID 248 112

  793.     description '<Description>

  794.  <Version>4.0</Version>

  795.  <IsMainModel>1</IsMainModel>

  796.  <KeepParameterValues>False</KeepParameterValues>

  797.    <LibraryPath>Signal\Control\PID Control\Continuous\PID.emx</LibraryPath>

  798.   <TimeStamp>2008-1-17 10:49:30</TimeStamp>

  799. </Description>';

  800.     type PID

  801.      ports

  802.       signal in error;

  803.       signal out output;

  804.     end;

  805.     icon bg bottom

  806.      figures

  807.       rectangle 232 96 264 128 color 0 fill 15132390;

  808.       text 'PID' 248 111.5 color 16711680 18 bold;

  809.     end;

  810.     implementation eq

  811. parameters

  812. 	real kp = 0.05 {};			// Proportional gain

  813. 	real tauD = 1.0 {s};		// Derivative time constant: tauD > 0

  814. 	real beta = 0.001 {};		// Tameness constant: 0 < beta << 1

  815. 	real tauI = 1.0 {s};		// Integral time constant: tauI > 0

  816. variables

  817. 	real pdout, pdrate, pdstate;

  818. 	real pirate, pistate;

  819. equations

  820. 	pdrate = (kp * error - pdout) / (beta * tauD);

  821. 	pdstate = int (pdrate);

  822. 	pdout = pdstate + (kp * error / beta);

  823. 	pirate = pdout / tauI;

  824. 	pistate = int (pirate);

  825. 	output = pistate + pdout;

  826.       implementation_end;

  827.    PID1 624 136

  828.     description '<Description>

  829.  <Version>4.0</Version>

  830.  <IsMainModel>1</IsMainModel>

  831.  <KeepParameterValues>False</KeepParameterValues>

  832.    <LibraryPath>Signal\Control\PID Control\Continuous\PID.emx</LibraryPath>

  833.   <TimeStamp>2008-1-17 10:49:30</TimeStamp>

  834. </Description>';

  835.     type PID

  836.      ports

  837.       signal in error;

  838.       signal out output;

  839.     end;

  840.     icon bg bottom

  841.      figures

  842.       rectangle 608 120 640 152 color 0 fill 15132390;

  843.       text 'PID' 624 135.5 color 16711680 18 bold;

  844.     end;

  845.     implementation eq

  846. parameters

  847. 	real kp = 0.02 {};			// Proportional gain

  848. 	real tauD = 1.0 {s};		// Derivative time constant: tauD > 0

  849. 	real beta = 0.001 {};		// Tameness constant: 0 < beta << 1

  850. 	real tauI = 0.05 {s};		// Integral time constant: tauI > 0

  851. variables

  852. 	real pdout, pdrate, pdstate;

  853. 	real pirate, pistate;

  854. equations

  855. 	pdrate = (kp * error - pdout) / (beta * tauD);

  856. 	pdstate = int (pdrate);

  857. 	pdout = pdstate + (kp * error / beta);

  858. 	pirate = pdout / tauI;

  859. 	pistate = int (pirate);

  860. 	output = pistate + pdout;

  861.       implementation_end;

  862.    PlusMinus1 632 400

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

  864.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  865.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  866. </Description>';

  867.     knot PlusMinus

  868.      ports

  869.       signal knot duplicatable in plus [1];

  870.       signal knot duplicatable in minus [1];

  871.       signal knot out output [1];

  872.     end;

  873.     icon bg ellipse

  874.      figures

  875.       ellipse 624 392 640 408 color 0 fill 16777215;

  876.     end;

  877.     implementation eq

  878. equations

  879.     output = sum (collect (plus)) - sum (collect (minus));

  880.     implementation_end;

  881.    PlusMinus2 304 112

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

  883.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  884.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  885. </Description>';

  886.     knot PlusMinus

  887.      ports

  888.       signal knot duplicatable in plus [1];

  889.       signal knot duplicatable in minus [1];

  890.       signal knot out output [1];

  891.     end;

  892.     icon bg ellipse

  893.      figures

  894.       ellipse 296 104 312 120 color 0 fill 16777215;

  895.     end;

  896.     implementation eq

  897. equations

  898.     output = sum (collect (plus)) - sum (collect (minus));

  899.     implementation_end;

  900.    PlusMinus3 568 136

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

  902.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  903.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  904. </Description>';

  905.     knot PlusMinus

  906.      ports

  907.       signal knot duplicatable in plus [1];

  908.       signal knot duplicatable in minus [1];

  909.       signal knot out output [1];

  910.     end;

  911.     icon bg ellipse

  912.      figures

  913.       ellipse 560 128 576 144 color 0 fill 16777215;

  914.     end;

  915.     implementation eq

  916. equations

  917.     output = sum (collect (plus)) - sum (collect (minus));

  918.     implementation_end;

  919.    R1 624 272

  920.     description '<Information>

  921.  <Description>

  922.     <Version>4.2</Version>

  923. <IsMainModel>1</IsMainModel>

  924.   <KeepParameterValues>False</KeepParameterValues>

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

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

  927. </Description>

  928. </Information>';

  929.     type R

  930.      ports

  931.       power in p;

  932.     end;

  933.     icon bg bottom

  934.      figures

  935.       text 'R' 624 272 color 0 18 bold;

  936.     end;

  937.     implementation eq

  938. parameters

  939. 	real r = 0.001;

  940. equations

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

  942. implementation_end;

  943.    R2 248 280

  944.     description '<Information>

  945.  <Description>

  946.     <Version>4.2</Version>

  947. <IsMainModel>1</IsMainModel>

  948.   <KeepParameterValues>False</KeepParameterValues>

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

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

  951. </Description>

  952. </Information>';

  953.     type R

  954.      ports

  955.       power in p;

  956.     end;

  957.     icon bg bottom

  958.      figures

  959.       text 'R' 248 280 color 0 18 bold;

  960.     end;

  961.     implementation eq

  962. parameters

  963. 	real r = 0.001;

  964. equations

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

  966. implementation_end;

  967.    rectanglepath 64 32

  968.     description '<Information>

  969.  <Description>

  970.     <Version>4.8</Version>

  971.   <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>

  972. <IsMainModel>1</IsMainModel>

  973.   <KeepParameterValues>False</KeepParameterValues>

  974.     <TimeStamp>2020-7-10 12:30:38</TimeStamp>

  975. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  976.  </Description>

  977. </Information>';

  978.     type 'Submodel-Equation'

  979.      ports

  980.       signal out output [2,1];

  981.     end;

  982.     implementation eq

  983. /* 

  984. This will generate coordinates for the box that has to be drawn

  985. */

  986. parameters

  987. 	real w = 0.07{m} ;

  988. 	real h = 0.05 {m};

  989. 	real t  = 1 {s};

  990. 	real origin[2] = [0.01,0.03]{m};

  991. variables

  992. 	real v {m/s};

  993. 	real t_w {s};

  994. 	real t_h {s};

  995. 	real period {s};

  996. 	real test1, test2, test3;

  997. initialequations

  998. 	v = (2*w + 2*h)/t;

  999. 	t_w = w / v;

  1000. 	t_h = h / v;

  1001. equations

  1002. 	period = floor(time / t) * t;

  1003. 	output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];

  1004. 	output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];

  1005. implementation_end;

  1006.    RTF 424 456

  1007.     description '<Information>

  1008.  <Description>

  1009.     <Version>4.8</Version>

  1010. <IsMainModel>1</IsMainModel>

  1011.   <KeepParameterValues>False</KeepParameterValues>

  1012.     <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>

  1013.   <TimeStamp>2020-7-14 12:43:04</TimeStamp>

  1014. </Description>

  1015. </Information>';

  1016.     type 'TF-2'

  1017.      ports

  1018.       power in p1 [2,1];

  1019.       power out p2 [2,1];

  1020.       signal in angle {rad} ;

  1021.      restrictions

  1022.       causality constraint not_equal p1 p2;

  1023.     end;

  1024.     icon bg bottom

  1025.      figures

  1026.       text 'RTF' 424 456 color 0 18 bold;

  1027.     end;

  1028.     implementation eq

  1029. /*

  1030. 2D rotation transformer. Takes an angle as input and then rotates the dimensions

  1031. */

  1032. variables

  1033. 	real r[2,2];

  1034. equations	

  1035. 	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				

  1036. 	p1.e = transpose (r) * p2.e;

  1037. 	p2.f = r * p1.f;

  1038. implementation_end;

  1039.    RTF1 632 368

  1040.     description '<Information>

  1041.  <Description>

  1042.     <Version>4.8</Version>

  1043. <IsMainModel>1</IsMainModel>

  1044.   <KeepParameterValues>False</KeepParameterValues>

  1045.     <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>

  1046.   <TimeStamp>2020-7-14 12:43:04</TimeStamp>

  1047. </Description>

  1048. </Information>';

  1049.     type 'TF-2'

  1050.      ports

  1051.       power in p1 [2,1];

  1052.       power out p2 [2,1];

  1053.       signal in angle {rad} ;

  1054.      restrictions

  1055.       causality constraint not_equal p1 p2;

  1056.     end;

  1057.     icon bg bottom

  1058.      figures

  1059.       text 'RTF' 632 368 color 0 18 bold;

  1060.     end;

  1061.     implementation eq

  1062. /*

  1063. 2D rotation transformer. Takes an angle as input and then rotates the dimensions

  1064. */

  1065. variables

  1066. 	real r[2,2];

  1067. equations	

  1068. 	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				

  1069. 	p1.e = transpose (r) * p2.e;

  1070. 	p2.f = r * p1.f;

  1071. implementation_end;

  1072.    RTF2 272 432

  1073.     description '<Information>

  1074.  <Description>

  1075.     <Version>4.8</Version>

  1076. <IsMainModel>1</IsMainModel>

  1077.   <KeepParameterValues>False</KeepParameterValues>

  1078.     <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>

  1079.   <TimeStamp>2020-7-14 12:43:04</TimeStamp>

  1080. </Description>

  1081. </Information>';

  1082.     type 'TF-2'

  1083.      ports

  1084.       power in p1 [2,1];

  1085.       power out p2 [2,1];

  1086.       signal in angle {rad} ;

  1087.      restrictions

  1088.       causality constraint not_equal p1 p2;

  1089.     end;

  1090.     icon bg bottom

  1091.      figures

  1092.       text 'RTF' 272 432 color 0 18 bold;

  1093.     end;

  1094.     implementation eq

  1095. /*

  1096. 2D rotation transformer. Takes an angle as input and then rotates the dimensions

  1097. */

  1098. variables

  1099. 	real r[2,2];

  1100. equations

  1101. 	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				

  1102. 	p1.e = transpose (r) * p2.e;

  1103. 	p2.f = r * p1.f;

  1104. implementation_end;

  1105.    RTF3 824 432

  1106.     description '<Information>

  1107.  <Description>

  1108.     <Version>4.8</Version>

  1109. <IsMainModel>1</IsMainModel>

  1110.   <KeepParameterValues>False</KeepParameterValues>

  1111.     <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>

  1112.   <TimeStamp>2020-7-14 12:43:04</TimeStamp>

  1113. </Description>

  1114. </Information>';

  1115.     type 'TF-2'

  1116.      ports

  1117.       power in p1 [2,1];

  1118.       power out p2 [2,1];

  1119.       signal in angle {rad} ;

  1120.      restrictions

  1121.       causality constraint not_equal p1 p2;

  1122.     end;

  1123.     icon bg bottom

  1124.      figures

  1125.       text 'RTF' 824 432 color 0 18 bold;

  1126.     end;

  1127.     implementation eq

  1128. /*

  1129. 2D rotation transformer. Takes an angle as input and then rotates the dimensions

  1130. */

  1131. variables

  1132. 	real r[2,2];

  1133. equations	

  1134. 	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				

  1135. 	p1.e = transpose (r) * p2.e;

  1136. 	p2.f = r * p1.f;

  1137. implementation_end;

  1138.    RTF4 984 424

  1139.     description '<Information>

  1140.  <Description>

  1141.     <Version>4.8</Version>

  1142. <IsMainModel>1</IsMainModel>

  1143.   <KeepParameterValues>False</KeepParameterValues>

  1144.     <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>

  1145.   <TimeStamp>2020-7-14 12:43:04</TimeStamp>

  1146. </Description>

  1147. </Information>';

  1148.     type 'TF-2'

  1149.      ports

  1150.       power in p1 [2,1];

  1151.       power out p2 [2,1];

  1152.       signal in angle {rad} ;

  1153.      restrictions

  1154.       causality constraint not_equal p1 p2;

  1155.     end;

  1156.     icon bg bottom

  1157.      figures

  1158.       text 'RTF' 984 424 color 0 18 bold;

  1159.     end;

  1160.     implementation eq

  1161. /*

  1162. 2D rotation transformer. Takes an angle as input and then rotates the dimensions

  1163. */

  1164. variables

  1165. 	real r[2,2];

  1166. equations	

  1167. 	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				

  1168. 	p1.e = transpose (r) * p2.e;

  1169. 	p2.f = r * p1.f;

  1170. implementation_end;

  1171.    Sf 192 520

  1172.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1173.    <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>

  1174.   <TimeStamp>2007-9-25 12:7:5</TimeStamp>

  1175. </Description>';

  1176.     type 'Sf-2'

  1177.      ports

  1178.       power out p [2,1];

  1179.      restrictions

  1180.       causality fixed in p;

  1181.     end;

  1182.     icon bg bottom

  1183.      figures

  1184.       text 'Sf' 192 520 color 0 18 bold;

  1185.     end;

  1186.     implementation eq

  1187. parameters

  1188. 	real flow[2,1] = 	[0.0; 0.0];

  1189. variables

  1190. 	real effort [2];

  1191. equations

  1192. 	p.f = flow;

  1193. 	effort = p.e;

  1194. implementation_end;

  1195.    Sf1 152 232

  1196.     description '<Information>

  1197.  <Description>

  1198.     <Version>4.2</Version>

  1199. <IsMainModel>1</IsMainModel>

  1200.   <KeepParameterValues>False</KeepParameterValues>

  1201.     <LibraryPath>Bond Graph\Sf.emx</LibraryPath>

  1202.   <TimeStamp>2011-11-29 16:38:03</TimeStamp>

  1203. </Description>

  1204. </Information>';

  1205.     type Sf

  1206.      ports

  1207.       power out p;

  1208.      restrictions

  1209.       causality fixed in p;

  1210.     end;

  1211.     icon bg bottom

  1212.      figures

  1213.       text 'Sf' 152 232 color 0 18 bold;

  1214.     end;

  1215.     implementation eq

  1216. parameters

  1217. 	real flow = 0;

  1218. variables

  1219. 	real effort;

  1220. equations

  1221. 	p.f = flow;

  1222. 	effort = p.e;

  1223. implementation_end;

  1224.    Splitter1 384 400

  1225.     description '<Description><Version>4.0</Version>

  1226.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1227.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1228. <IsMainModel>1</IsMainModel>

  1229.  <KeepParameterValues>False</KeepParameterValues>

  1230. </Description>';

  1231.     knot Splitter

  1232.      ports

  1233.       signal knot duplicatable out output [1];

  1234.       signal knot in input [1];

  1235.     end;

  1236.     icon bg ellipse

  1237.      figures

  1238.       ellipse 380.8 396.8 387.2 403.2 color -1 fill 0;

  1239.       ellipse 379.7 395.7 388.3 404.3 color -1;

  1240.      terminals

  1241.       input 384 400 fixed;

  1242.     end;

  1243.     implementation eq

  1244. equations

  1245.     collect (output) = input;

  1246. implementation_end;

  1247.    Splitter2 800 400

  1248.     description '<Description><Version>4.0</Version>

  1249.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1250.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1251. <IsMainModel>1</IsMainModel>

  1252.  <KeepParameterValues>False</KeepParameterValues>

  1253. </Description>';

  1254.     knot Splitter

  1255.      ports

  1256.       signal knot duplicatable out output [1];

  1257.       signal knot in input [1];

  1258.     end;

  1259.     icon bg ellipse

  1260.      figures

  1261.       ellipse 796.8 396.8 803.2 403.2 color -1 fill 0;

  1262.       ellipse 795.7 395.7 804.3 404.3 color -1;

  1263.      terminals

  1264.       input 800 400 fixed;

  1265.     end;

  1266.     implementation eq

  1267. equations

  1268.     collect (output) = input;

  1269. implementation_end;

  1270.    Splitter3 304 400

  1271.     description '<Description><Version>4.0</Version>

  1272.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1273.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1274. <IsMainModel>1</IsMainModel>

  1275.  <KeepParameterValues>False</KeepParameterValues>

  1276. </Description>';

  1277.     knot Splitter

  1278.      ports

  1279.       signal knot duplicatable out output [1];

  1280.       signal knot in input [1];

  1281.     end;

  1282.     icon bg ellipse

  1283.      figures

  1284.       ellipse 300.8 396.8 307.2 403.2 color -1 fill 0;

  1285.       ellipse 299.7 395.7 308.3 404.3 color -1;

  1286.      terminals

  1287.       input 304 400 fixed;

  1288.     end;

  1289.     implementation eq

  1290. equations

  1291.     collect (output) = input;

  1292. implementation_end;

  1293.    Splitter4 704 400

  1294.     description '<Description><Version>4.0</Version>

  1295.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1296.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1297. <IsMainModel>1</IsMainModel>

  1298.  <KeepParameterValues>False</KeepParameterValues>

  1299. </Description>';

  1300.     knot Splitter

  1301.      ports

  1302.       signal knot duplicatable out output [1];

  1303.       signal knot in input [1];

  1304.     end;

  1305.     icon bg ellipse

  1306.      figures

  1307.       ellipse 700.8 396.8 707.2 403.2 color -1 fill 0;

  1308.       ellipse 699.7 395.7 708.3 404.3 color -1;

  1309.      terminals

  1310.       input 704 400 fixed;

  1311.     end;

  1312.     implementation eq

  1313. equations

  1314.     collect (output) = input;

  1315. implementation_end;

  1316.    Submodel3 344 480

  1317.     description '<Description><Version>4.0</Version>

  1318.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  1319. <IsMainModel>1</IsMainModel>

  1320.  <KeepParameterValues>False</KeepParameterValues>

  1321.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  1322.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1323. </Description>';

  1324.     type 'Submodel-Equation'

  1325.      ports

  1326.       signal in angle_velocity {rad/s} ;

  1327.       signal out angle {rad} ;

  1328.       signal in velocity [2,1] {m/s} ;

  1329.       signal out position [2,1] {m} ;

  1330.       signal out mass {kg} ;

  1331.       signal out angular_momentum {N.m.s} ;

  1332.       signal out joint1 [2,1];

  1333.       signal out joint2 [2,1];

  1334.     end;

  1335.     implementation eq

  1336. /* Equation Submodel

  1337. Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).

  1338. */

  1339. parameters

  1340. 	real density = 1400 {kg/m3};

  1341. 	real dimension[3] = [0.005;0.01;0.065] {m};

  1342. 	real initial_position[2] = [0;0.0325] {m};

  1343. 	real initial_angle = 0 {rad};

  1344. variables

  1345. 	real body_angle[3];

  1346. 	real body_position[3];

  1347. 	real body_size[3];

  1348. 	real moment[3];

  1349. initialequations

  1350. 	mass = dimension[1] *  dimension[2] * dimension[3] * density;

  1351. 	moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2);

  1352. 	moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2);

  1353. 	moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2);

  1354. 	angular_momentum = moment[1];

  1355. equations

  1356. 	angle = int(angle_velocity,initial_angle);

  1357. 	body_angle = [angle;0;0];

  1358. 	position = int(velocity,initial_position);

  1359. 	body_position = [0; position[1];position[2]];

  1360. 	joint1=[0;-dimension[3]/2];

  1361. 	joint2=[0;dimension[3]/2];

  1362. 	

  1363.  implementation_end;

  1364.    Submodel4 744 480

  1365.     description '<Description><Version>4.0</Version>

  1366.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  1367. <IsMainModel>1</IsMainModel>

  1368.  <KeepParameterValues>False</KeepParameterValues>

  1369.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  1370.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1371. </Description>';

  1372.     type 'Submodel-Equation'

  1373.      ports

  1374.       signal in angle_velocity {rad/s} ;

  1375.       signal out angle {rad} ;

  1376.       signal in velocity [2,1] {m/s} ;

  1377.       signal out position [2,1] {m} ;

  1378.       signal out mass {kg} ;

  1379.       signal out angular_momentum {N.m.s} ;

  1380.       signal out joint1 [2,1];

  1381.       signal out joint2 [2,1];

  1382.     end;

  1383.     icon bg

  1384.      figures

  1385.       rectangle 704 464 784 496 color 0 fill 15132390;

  1386.       text 'name' 744 480 color 0 16;

  1387.     end;

  1388.     implementation eq

  1389. /* Equation Submodel

  1390. Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).

  1391. */

  1392. parameters

  1393. 	real density = 1400 {kg/m3};

  1394. 	real dimension[3] = [0.005;0.01;0.05] {m};

  1395. 	real initial_position[2] = [0.0;0.09] {m};

  1396. 	real initial_angle = 0.0 {rad};

  1397. variables

  1398. 	real body_angle[3];

  1399. 	real body_position[3];

  1400. 	real body_size[3];

  1401. 	real moment[3];

  1402. initialequations

  1403. 	mass = dimension[1] *  dimension[2] * dimension[3] * density;

  1404. 	moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2);

  1405. 	moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2);

  1406. 	moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2);

  1407. 	angular_momentum = moment[1];

  1408. equations

  1409. 	angle = int(angle_velocity,initial_angle);

  1410. 	body_angle = [angle;0;0];

  1411. 	position = int(velocity,initial_position);

  1412. 	body_position = [0; position[1];position[2]];

  1413. 	joint1=[0;-dimension[3]/2];

  1414. 	joint2=[0;dimension[3]/2];

  1415. 	

  1416.  implementation_end;

  1417.    TF 504 288

  1418.     description '<Information>

  1419.  <Description>

  1420.     <Version>4.8</Version>

  1421. <IsMainModel>1</IsMainModel>

  1422.   <KeepParameterValues>False</KeepParameterValues>

  1423.     <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>

  1424.   <TimeStamp>2020-7-14 16:54:28</TimeStamp>

  1425. <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1426.  </Description>

  1427. </Information>';

  1428.     type 'TF-2'

  1429.      ports

  1430.       power in p1;

  1431.       power out p2 [2,1];

  1432.       signal in p [2,1];

  1433.      restrictions

  1434.       causality constraint not_equal p1 p2;

  1435.       causality fixed in p2;

  1436.       causality fixed out p1;

  1437.     end;

  1438.     icon bg bottom

  1439.      figures

  1440.       text 'MXTF' 504 288 color 0 18 bold;

  1441.     end;

  1442.     implementation eq

  1443. variables

  1444. 	real r[2];

  1445. equations		

  1446. 	r = [-p[2];p[1]];

  1447. 	p1.e = transpose (r) * p2.e;

  1448. 	p2.f = r * p1.f;implementation_end;

  1449.    TF2 904 288

  1450.     description '<Information>

  1451.  <Description>

  1452.     <Version>4.8</Version>

  1453. <IsMainModel>1</IsMainModel>

  1454.   <KeepParameterValues>False</KeepParameterValues>

  1455.     <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>

  1456.   <TimeStamp>2020-7-14 17:06:13</TimeStamp>

  1457. <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1458.  </Description>

  1459. </Information>';

  1460.     type 'TF-2'

  1461.      ports

  1462.       power in p1;

  1463.       power out p2 [2,1];

  1464.       signal in p [2,1];

  1465.      restrictions

  1466.       causality constraint not_equal p1 p2;

  1467.       causality fixed in p2;

  1468.       causality fixed out p1;

  1469.     end;

  1470.     icon bg bottom

  1471.      figures

  1472.       text 'MXTF' 904 288 color 0 18 bold;

  1473.     end;

  1474.     implementation eq

  1475. variables

  1476. 	real r[2];

  1477. equations		

  1478. 	r = [-p[2];p[1]];

  1479. 	p1.e = transpose (r) * p2.e;

  1480. 	p2.f = r * p1.f;implementation_end;

  1481.    TF3 808 288

  1482.     description '<Information>

  1483.  <Description>

  1484.     <Version>4.8</Version>

  1485. <IsMainModel>1</IsMainModel>

  1486.   <KeepParameterValues>False</KeepParameterValues>

  1487.     <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>

  1488.   <TimeStamp>2020-7-14 16:54:28</TimeStamp>

  1489. <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1490.  </Description>

  1491. </Information>';

  1492.     type 'TF-2'

  1493.      ports

  1494.       power in p1;

  1495.       power out p2 [2,1];

  1496.       signal in p [2,1];

  1497.      restrictions

  1498.       causality constraint not_equal p1 p2;

  1499.       causality fixed in p2;

  1500.       causality fixed out p1;

  1501.     end;

  1502.     icon bg bottom

  1503.      figures

  1504.       text 'MXTF' 808 288 color 0 18 bold;

  1505.     end;

  1506.     implementation eq

  1507. variables

  1508. 	real r[2];

  1509. equations		

  1510. 	r = [-p[2];p[1]];

  1511. 	p1.e = transpose (r) * p2.e;

  1512. 	p2.f = r * p1.f;implementation_end;

  1513.    ZeroJunction 504 368

  1514.     description '<Information>

  1515.  <Description>

  1516.     <Version>4.2</Version>

  1517. <IsMainModel>1</IsMainModel>

  1518.   <KeepParameterValues>False</KeepParameterValues>

  1519.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1520.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1521. </Description>

  1522. </Information>';

  1523.     knot ZeroJunction

  1524.      ports

  1525.       power knot duplicatable none p [2,1];

  1526.       signal knot out effort [2,1];

  1527.      restrictions

  1528.       causality constraint one_in p;

  1529.     end;

  1530.     icon bg

  1531.      figures

  1532.       text '0' 504 368 color 0 18 bold;

  1533.     end;

  1534.     implementation eq

  1535. equations

  1536. 	sum (direct (p.f)) = 0;

  1537. 	equal (collect (p.e));

  1538. 	effort = first (p.e);

  1539. implementation_end;

  1540.    ZeroJunction1 352.3 368

  1541.     description '<Information>

  1542.  <Description>

  1543.     <Version>4.2</Version>

  1544. <IsMainModel>1</IsMainModel>

  1545.   <KeepParameterValues>False</KeepParameterValues>

  1546.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1547.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1548. </Description>

  1549. </Information>';

  1550.     knot ZeroJunction

  1551.      ports

  1552.       power knot duplicatable none p [2,1];

  1553.       signal knot out effort [2,1];

  1554.      restrictions

  1555.       causality constraint one_in p;

  1556.     end;

  1557.     icon bg

  1558.      figures

  1559.       text '0' 352.3 368 color 0 18 bold;

  1560.     end;

  1561.     implementation eq

  1562. equations

  1563. 	sum (direct (p.f)) = 0;

  1564. 	equal (collect (p.e));

  1565. 	effort = first (p.e);

  1566. implementation_end;

  1567.    ZeroJunction2 904 368

  1568.     description '<Information>

  1569.  <Description>

  1570.     <Version>4.2</Version>

  1571. <IsMainModel>1</IsMainModel>

  1572.   <KeepParameterValues>False</KeepParameterValues>

  1573.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1574.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1575. </Description>

  1576. </Information>';

  1577.     knot ZeroJunction

  1578.      ports

  1579.       power knot duplicatable none p [2,1];

  1580.       signal knot out effort [2,1];

  1581.      restrictions

  1582.       causality constraint one_in p;

  1583.     end;

  1584.     icon bg

  1585.      figures

  1586.       text '0' 904 368 color 0 18 bold;

  1587.     end;

  1588.     implementation eq

  1589. equations

  1590. 	sum (direct (p.f)) = 0;

  1591. 	equal (collect (p.e));

  1592. 	effort = first (p.e);

  1593. implementation_end;

  1594.    ZeroJunction3 752.3 368

  1595.     description '<Information>

  1596.  <Description>

  1597.     <Version>4.2</Version>

  1598. <IsMainModel>1</IsMainModel>

  1599.   <KeepParameterValues>False</KeepParameterValues>

  1600.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1601.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1602. </Description>

  1603. </Information>';

  1604.     knot ZeroJunction

  1605.      ports

  1606.       power knot duplicatable none p [2,1];

  1607.       signal knot out effort [2,1];

  1608.      restrictions

  1609.       causality constraint one_in p;

  1610.     end;

  1611.     icon bg

  1612.      figures

  1613.       text '0' 752.3 368 color 0 18 bold;

  1614.     end;

  1615.     implementation eq

  1616. equations

  1617. 	sum (direct (p.f)) = 0;

  1618. 	equal (collect (p.e));

  1619. 	effort = first (p.e);

  1620. implementation_end;

  1621.    ZeroJunction4 624 232

  1622.     description '<Information>

  1623.  <Description>

  1624.     <Version>4.2</Version>

  1625. <IsMainModel>1</IsMainModel>

  1626.   <KeepParameterValues>False</KeepParameterValues>

  1627.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1628.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1629. </Description>

  1630. </Information>';

  1631.     knot ZeroJunction

  1632.      ports

  1633.       power knot duplicatable none p [1];

  1634.       signal knot out effort [1];

  1635.      restrictions

  1636.       causality constraint one_in p;

  1637.     end;

  1638.     icon bg

  1639.      figures

  1640.       text '0' 624 232 color 0 18 bold;

  1641.     end;

  1642.     implementation eq

  1643. equations

  1644. 	sum (direct (p.f)) = 0;

  1645. 	equal (collect (p.e));

  1646. 	effort = first (p.e);

  1647. implementation_end;

  1648.    ZeroJunction5 248 232

  1649.     description '<Information>

  1650.  <Description>

  1651.     <Version>4.2</Version>

  1652. <IsMainModel>1</IsMainModel>

  1653.   <KeepParameterValues>False</KeepParameterValues>

  1654.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1655.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1656. </Description>

  1657. </Information>';

  1658.     knot ZeroJunction

  1659.      ports

  1660.       power knot duplicatable none p [1];

  1661.       signal knot out effort [1];

  1662.      restrictions

  1663.       causality constraint one_in p;

  1664.     end;

  1665.     icon bg

  1666.      figures

  1667.       text '0' 248 232 color 0 18 bold;

  1668.     end;

  1669.     implementation eq

  1670. equations

  1671. 	sum (direct (p.f)) = 0;

  1672. 	equal (collect (p.e));

  1673. 	effort = first (p.e);

  1674. implementation_end;

  1675.   end;

  1676.   connections

  1677.    I\p <= OneJunction3\p;

  1678.    I1\p <= OneJunction10\p;

  1679.    inverse_kinematics\angle1 -> PlusMinus2\plus;

  1680.    inverse_kinematics\angle2 -> PlusMinus3\plus;

  1681.    inverse_kinematics\input <- rectanglepath\output;

  1682.    MSe1\effort <- PID1\output;

  1683.    MSe1\p => ZeroJunction4\p;

  1684.    MSe2\effort <- PID\output;

  1685.    MXTF\p2 => ZeroJunction1\p;

  1686.    OneJunction\p => RTF\p1;

  1687.    OneJunction\p => ZeroJunction\p;

  1688.    OneJunction\p => ZeroJunction1\p;

  1689.    OneJunction1\flow -> Submodel3\velocity 344 520;

  1690.    OneJunction1\p => COM1\p;

  1691.    OneJunction10\flow -> Submodel4\angle_velocity 728 288 728 424;

  1692.    OneJunction10\p => TF2\p1;

  1693.    OneJunction10\p => TF3\p1;

  1694.    OneJunction3\flow -> Submodel3\angle_velocity 328 264 328 440;

  1695.    OneJunction3\p => MXTF\p1;

  1696.    OneJunction3\p => TF\p1;

  1697.    OneJunction3\p => ZeroJunction4\p;

  1698.    OneJunction5\p => RTF2\p1;

  1699.    OneJunction7\p => RTF3\p1;

  1700.    OneJunction7\p => ZeroJunction2\p;

  1701.    OneJunction7\p => ZeroJunction3\p;

  1702.    OneJunction8\flow -> Submodel4\velocity 744 520;

  1703.    OneJunction8\p => COM2\p;

  1704.    OneJunction9\p => RTF4\p1;

  1705.    PlusMinus1\output -> RTF1\angle;

  1706.    PlusMinus2\output -> PID\error;

  1707.    PlusMinus3\output -> PID1\error;

  1708.    RTF\p2 => OneJunction1\p;

  1709.    RTF1\p2 => OneJunction12\p;

  1710.    RTF2\p2 => OneJunction6\p;

  1711.    RTF3\p2 => OneJunction8\p;

  1712.    RTF4\p2 => OneJunction11\p;

  1713.    Sf\p => OneJunction6\p;

  1714.    Sf1\p => ZeroJunction5\p;

  1715.    Splitter1\output -> PlusMinus1\plus;

  1716.    Splitter1\output -> RTF\angle 400 416 400 432;

  1717.    Splitter1\output -> Splitter3\input;

  1718.    Splitter2\output -> RTF3\angle 800 408;

  1719.    Splitter2\output -> RTF4\angle 952 400;

  1720.    Splitter2\output -> Splitter4\input;

  1721.    Splitter3\output -> PlusMinus2\minus 304 160;

  1722.    Splitter3\output -> RTF2\angle 296 400;

  1723.    Splitter4\output -> PlusMinus1\minus;

  1724.    Splitter4\output -> PlusMinus3\minus 568 208;

  1725.    Submodel3\angle -> Splitter1\input 368 448 368 416;

  1726.    Submodel3\angular_momentum -> I\i 320 440 320 264;

  1727.    Submodel3\joint1 -> MXTF\p 392 320;

  1728.    Submodel3\joint2 -> TF\p;

  1729.    Submodel3\mass -> COM1\mass 336 528 416 528 416 568;

  1730.    Submodel4\angle -> Splitter2\input;

  1731.    Submodel4\angular_momentum -> I1\i 720 424 720 288;

  1732.    Submodel4\joint1 -> TF3\p;

  1733.    Submodel4\joint2 -> TF2\p;

  1734.    Submodel4\mass -> COM2\mass 736 528 736 584;

  1735.    TF\p2 => ZeroJunction\p;

  1736.    TF2\p2 => ZeroJunction2\p;

  1737.    TF3\p2 => ZeroJunction3\p;

  1738.    ZeroJunction\p => RTF1\p1;

  1739.    ZeroJunction1\p => OneJunction5\p;

  1740.    ZeroJunction2\p => OneJunction9\p;

  1741.    ZeroJunction3\p => OneJunction12\p;

  1742.    ZeroJunction4\p => OneJunction10\p;

  1743.    ZeroJunction4\p => R1\p;

  1744.    ZeroJunction5\p <= MSe2\p;

  1745.    ZeroJunction5\p => OneJunction3\p;

  1746.    ZeroJunction5\p => R2\p;

  1747.   end;

  1748.  implementation_end;

  1749. ]]>

  1750. </Sidops>

  1751.  </Model>

  1752.  <Experiments>

  1753.      <DefaultExperiment><![CDATA[Experiment 1]]>

  1754. </DefaultExperiment>

  1755.   <Experiment>

  1756.     <Name>Experiment 1</Name>

  1757.     <CreatedBy></CreatedBy>

  1758.     <Info></Info>

  1759. <ExpData>

  1760.   <VersionNumber>4.8</VersionNumber>

  1761.   <ModelProperties>

  1762.   </ModelProperties>

  1763.   <Variables>

  1764.    <Constants>

  1765.    </Constants>

  1766.    <Parameters>

  1767.    </Parameters>

  1768.    <Initials>

  1769.     <Variable>

  1770.      <Name>I1\state_initial</Name>

  1771.      <Value>0</Value>

  1772.     </Variable>

  1773.     <Variable>

  1774.      <Name>I\state_initial</Name>

  1775.      <Value>0</Value>

  1776.     </Variable>

  1777.     <Variable>

  1778.      <Name>PID1\pdstate_initial</Name>

  1779.      <Value>0</Value>

  1780.     </Variable>

  1781.     <Variable>

  1782.      <Name>PID1\pistate_initial</Name>

  1783.      <Value>0</Value>

  1784.     </Variable>

  1785.     <Variable>

  1786.      <Name>PID\pdstate_initial</Name>

  1787.      <Value>0</Value>

  1788.     </Variable>

  1789.     <Variable>

  1790.      <Name>PID\pistate_initial</Name>

  1791.      <Value>0</Value>

  1792.     </Variable>

  1793.     <Variable>

  1794.      <Name>COM1\I\p.e_initial</Name>

  1795.      <Rows>2</Rows>

  1796.      <Columns>1</Columns>

  1797.      <Value>0 0</Value>

  1798.     </Variable>

  1799.     <Variable>

  1800.      <Name>COM2\I\p.e_initial</Name>

  1801.      <Rows>2</Rows>

  1802.      <Columns>1</Columns>

  1803.      <Value>0 0</Value>

  1804.     </Variable>

  1805.    </Initials>

  1806.   </Variables>

  1807.   <PlotSpecs>

  1808.    <VarNames>

  1809.     <VarName>time</VarName>

  1810.     <VarName>Submodel4\position[2]</VarName>

  1811.     <VarName>Submodel4\position[1]</VarName>

  1812.     <VarName>Submodel3\body_position[1]</VarName>

  1813.     <VarName>Submodel3\body_position[2]</VarName>

  1814.     <VarName>Submodel3\body_position[3]</VarName>

  1815.     <VarName>Submodel3\body_angle[1]</VarName>

  1816.     <VarName>Submodel3\body_angle[2]</VarName>

  1817.     <VarName>Submodel3\body_angle[3]</VarName>

  1818.     <VarName>Submodel3\dimension[1]</VarName>

  1819.     <VarName>Submodel3\dimension[2]</VarName>

  1820.     <VarName>Submodel3\dimension[3]</VarName>

  1821.     <VarName>Submodel4\dimension[1]</VarName>

  1822.     <VarName>Submodel4\dimension[2]</VarName>

  1823.     <VarName>Submodel4\dimension[3]</VarName>

  1824.     <VarName>Submodel4\body_angle[1]</VarName>

  1825.     <VarName>Submodel4\body_angle[2]</VarName>

  1826.     <VarName>Submodel4\body_angle[3]</VarName>

  1827.     <VarName>Submodel4\body_position[1]</VarName>

  1828.     <VarName>Submodel4\body_position[2]</VarName>

  1829.     <VarName>Submodel4\body_position[3]</VarName>

  1830.     <VarName>PlusMinus2\output</VarName>

  1831.     <VarName>PlusMinus3\output</VarName>

  1832.    </VarNames>

  1833.    <Plots>

  1834.     <Plot>

  1835.      <PlotType>GraphPlot</PlotType>

  1836.      <BasePlot>

  1837.        <PlotId>1</PlotId>

  1838.        <UseWindowsBGColor>false</UseWindowsBGColor>

  1839.        <BGColor>16777215</BGColor>

  1840.        <PlotIsVisible>true</PlotIsVisible>

  1841.      </BasePlot>

  1842.      <Grid>

  1843.       <DrawGrid>true</DrawGrid>

  1844.       <GridColor>15780518</GridColor>

  1845.       <GridBorderLineColor>12624260</GridBorderLineColor>

  1846.       <GridZeroLineColor>0</GridZeroLineColor>

  1847.       <XTicks>10</XTicks>

  1848.       <YTicks>10</YTicks>

  1849.       <ZTicks>10</ZTicks>

  1850.       <Use3DLook>false</Use3DLook>

  1851.      </Grid>

  1852.      <PlotBGColor>16777215</PlotBGColor>

  1853.      <ShowPlotTitle>true</ShowPlotTitle>

  1854.      <TitlePosition>1</TitlePosition>

  1855.      <PlotTitle>model</PlotTitle>

  1856.      <ShowXValues>true</ShowXValues>

  1857.      <Fonts>

  1858.       <TitleFont>

  1859.        <Name>Arial</Name>

  1860.        <Height>12</Height>

  1861.        <PitchFamily>34</PitchFamily>

  1862.        <Weight>400</Weight>

  1863.        <Italic>0</Italic>

  1864.        <UnderLine>0</UnderLine>

  1865.        <StrikeOut>0</StrikeOut>

  1866.        <Color>0</Color>

  1867.       </TitleFont>

  1868.       <LabelFont>

  1869.        <Name>Arial</Name>

  1870.        <Height>12</Height>

  1871.        <PitchFamily>34</PitchFamily>

  1872.        <Weight>400</Weight>

  1873.        <Italic>0</Italic>

  1874.        <UnderLine>0</UnderLine>

  1875.        <StrikeOut>0</StrikeOut>

  1876.        <Color>0</Color>

  1877.       </LabelFont>

  1878.       <ValuesFont>

  1879.        <Name>Arial</Name>

  1880.        <Height>10</Height>

  1881.        <PitchFamily>34</PitchFamily>

  1882.        <Weight>400</Weight>

  1883.        <Italic>0</Italic>

  1884.        <UnderLine>0</UnderLine>

  1885.        <StrikeOut>0</StrikeOut>

  1886.        <Color>0</Color>

  1887.       </ValuesFont>

  1888.       <LegendFont>

  1889.        <Name>Arial</Name>

  1890.        <Height>12</Height>

  1891.        <PitchFamily>34</PitchFamily>

  1892.        <Weight>400</Weight>

  1893.        <Italic>0</Italic>

  1894.        <UnderLine>0</UnderLine>

  1895.        <StrikeOut>0</StrikeOut>

  1896.        <Color>0</Color>

  1897.       </LegendFont>

  1898.      </Fonts>

  1899.      <SharedXAxis>true</SharedXAxis>

  1900.      <SharedYAxis>true</SharedYAxis>

  1901.      <SharedZAxis>false</SharedZAxis>

  1902.      <XAxes>

  1903.       <Axis>

  1904.        <Minimum>-0.07410853798627151</Minimum>

  1905.        <Maximum>0.0</Maximum>

  1906.        <Linear>true</Linear>

  1907.        <Scaling>3</Scaling>

  1908.        <Label>position[1]</Label>

  1909.       </Axis>

  1910.      </XAxes>

  1911.      <YAxes>

  1912.       <Axis>

  1913.        <Minimum>-0.08</Minimum>

  1914.        <Maximum>0.12000000000000001</Maximum>

  1915.        <Linear>true</Linear>

  1916.        <Scaling>1</Scaling>

  1917.        <Label>position[2]</Label>

  1918.       </Axis>

  1919.      </YAxes>

  1920.      <ZAxes>

  1921.      </ZAxes>

  1922.      <Curves>

  1923.       <Curve>

  1924.        <LineColor>6076255</LineColor>

  1925.        <LineStyle>1</LineStyle>

  1926.        <TickColor>6076255</TickColor>

  1927.        <TickStyle>0</TickStyle>

  1928.        <CurveVisible>true</CurveVisible>

  1929.        <PixelThresshold>1</PixelThresshold>

  1930.        <LineThickness>1</LineThickness>

  1931.        <LineOrder>1</LineOrder>

  1932.        <ShowYValues>true</ShowYValues>

  1933.        <XCurveData>

  1934.         <ShowUnit>true</ShowUnit>

  1935.         <VarName>Submodel4\position[1]</VarName>

  1936.        </XCurveData>

  1937.        <YCurveData>

  1938.         <ShowUnit>true</ShowUnit>

  1939.         <VarName>Submodel4\position[2]</VarName>

  1940.        </YCurveData>

  1941.       </Curve>

  1942.      </Curves>

  1943.      <Legenda>

  1944.       <ShowLegenda>true</ShowLegenda>

  1945.       <Position>

  1946.        <X>0.9024193548387097</X>

  1947.        <Y>0.0308411214953271</Y>

  1948.       </Position>

  1949.       <BorderPenColor>0</BorderPenColor>

  1950.       <BackgroundColor>16777215</BackgroundColor>

  1951.      </Legenda>

  1952.     </Plot>

  1953.     <Plot>

  1954.      <PlotType>GraphPlot</PlotType>

  1955.      <BasePlot>

  1956.        <PlotId>3</PlotId>

  1957.        <UseWindowsBGColor>false</UseWindowsBGColor>

  1958.        <BGColor>16777215</BGColor>

  1959.        <PlotIsVisible>true</PlotIsVisible>

  1960.      </BasePlot>

  1961.      <Grid>

  1962.       <DrawGrid>true</DrawGrid>

  1963.       <GridColor>15780518</GridColor>

  1964.       <GridBorderLineColor>12624260</GridBorderLineColor>

  1965.       <GridZeroLineColor>0</GridZeroLineColor>

  1966.       <XTicks>10</XTicks>

  1967.       <YTicks>10</YTicks>

  1968.       <ZTicks>10</ZTicks>

  1969.       <Use3DLook>false</Use3DLook>

  1970.      </Grid>

  1971.      <PlotBGColor>16777215</PlotBGColor>

  1972.      <ShowPlotTitle>true</ShowPlotTitle>

  1973.      <TitlePosition>1</TitlePosition>

  1974.      <PlotTitle>model(1)</PlotTitle>

  1975.      <ShowXValues>true</ShowXValues>

  1976.      <Fonts>

  1977.       <TitleFont>

  1978.        <Name>Arial</Name>

  1979.        <Height>12</Height>

  1980.        <PitchFamily>34</PitchFamily>

  1981.        <Weight>400</Weight>

  1982.        <Italic>0</Italic>

  1983.        <UnderLine>0</UnderLine>

  1984.        <StrikeOut>0</StrikeOut>

  1985.        <Color>0</Color>

  1986.       </TitleFont>

  1987.       <LabelFont>

  1988.        <Name>Arial</Name>

  1989.        <Height>12</Height>

  1990.        <PitchFamily>34</PitchFamily>

  1991.        <Weight>400</Weight>

  1992.        <Italic>0</Italic>

  1993.        <UnderLine>0</UnderLine>

  1994.        <StrikeOut>0</StrikeOut>

  1995.        <Color>0</Color>

  1996.       </LabelFont>

  1997.       <ValuesFont>

  1998.        <Name>Arial</Name>

  1999.        <Height>10</Height>

  2000.        <PitchFamily>34</PitchFamily>

  2001.        <Weight>400</Weight>

  2002.        <Italic>0</Italic>

  2003.        <UnderLine>0</UnderLine>

  2004.        <StrikeOut>0</StrikeOut>

  2005.        <Color>0</Color>

  2006.       </ValuesFont>

  2007.       <LegendFont>

  2008.        <Name>Arial</Name>

  2009.        <Height>12</Height>

  2010.        <PitchFamily>34</PitchFamily>

  2011.        <Weight>400</Weight>

  2012.        <Italic>0</Italic>

  2013.        <UnderLine>0</UnderLine>

  2014.        <StrikeOut>0</StrikeOut>

  2015.        <Color>0</Color>

  2016.       </LegendFont>

  2017.      </Fonts>

  2018.      <SharedXAxis>true</SharedXAxis>

  2019.      <SharedYAxis>true</SharedYAxis>

  2020.      <SharedZAxis>false</SharedZAxis>

  2021.      <XAxes>

  2022.       <Axis>

  2023.        <Minimum>0.0</Minimum>

  2024.        <Maximum>20.0</Maximum>

  2025.        <Linear>true</Linear>

  2026.        <Scaling>3</Scaling>

  2027.        <Label>time</Label>

  2028.       </Axis>

  2029.      </XAxes>

  2030.      <YAxes>

  2031.       <Axis>

  2032.        <Minimum>-2.5</Minimum>

  2033.        <Maximum>2.5</Maximum>

  2034.        <Linear>true</Linear>

  2035.        <Scaling>2</Scaling>

  2036.        <Label>error Joint 1</Label>

  2037.       </Axis>

  2038.       <Axis>

  2039.        <Minimum>0.0</Minimum>

  2040.        <Maximum>235.918450873204</Maximum>

  2041.        <Linear>true</Linear>

  2042.        <Scaling>2</Scaling>

  2043.        <Label>error joint 2</Label>

  2044.       </Axis>

  2045.      </YAxes>

  2046.      <ZAxes>

  2047.      </ZAxes>

  2048.      <Curves>

  2049.       <Curve>

  2050.        <LineColor>3355111</LineColor>

  2051.        <LineStyle>1</LineStyle>

  2052.        <TickColor>3355111</TickColor>

  2053.        <TickStyle>0</TickStyle>

  2054.        <CurveVisible>true</CurveVisible>

  2055.        <PixelThresshold>1</PixelThresshold>

  2056.        <LineThickness>1</LineThickness>

  2057.        <LineOrder>1</LineOrder>

  2058.        <ShowYValues>true</ShowYValues>

  2059.        <XCurveData>

  2060.         <ShowUnit>true</ShowUnit>

  2061.         <VarName>time</VarName>

  2062.        </XCurveData>

  2063.        <YCurveData>

  2064.         <ShowUnit>true</ShowUnit>

  2065.         <VarName>PlusMinus2\output</VarName>

  2066.        </YCurveData>

  2067.       </Curve>

  2068.       <Curve>

  2069.        <LineColor>6076255</LineColor>

  2070.        <LineStyle>1</LineStyle>

  2071.        <TickColor>6076255</TickColor>

  2072.        <TickStyle>0</TickStyle>

  2073.        <CurveVisible>true</CurveVisible>

  2074.        <PixelThresshold>1</PixelThresshold>

  2075.        <LineThickness>1</LineThickness>

  2076.        <LineOrder>1</LineOrder>

  2077.        <ShowYValues>true</ShowYValues>

  2078.        <XCurveData>

  2079.         <ShowUnit>true</ShowUnit>

  2080.         <VarName>time</VarName>

  2081.        </XCurveData>

  2082.        <YCurveData>

  2083.         <ShowUnit>true</ShowUnit>

  2084.         <VarName>PlusMinus3\output</VarName>

  2085.        </YCurveData>

  2086.       </Curve>

  2087.      </Curves>

  2088.      <Legenda>

  2089.       <ShowLegenda>true</ShowLegenda>

  2090.       <BorderPenColor>0</BorderPenColor>

  2091.       <BackgroundColor>16777215</BackgroundColor>

  2092.      </Legenda>

  2093.     </Plot>

  2094.     <Plot>

  2095.      <PlotType>D3DPlot</PlotType>

  2096.      <BasePlot>

  2097.        <PlotId>2</PlotId>

  2098.        <UseWindowsBGColor>false</UseWindowsBGColor>

  2099.        <BGColor>16777215</BGColor>

  2100.        <PlotIsVisible>true</PlotIsVisible>

  2101.      </BasePlot>

  2102.      <PlotTitle>3D Animation</PlotTitle>

  2103.      <RenderQuality>137</RenderQuality>

  2104.      <ShowGrid>true</ShowGrid>

  2105.      <ShowFPS>false</ShowFPS>

  2106.      <BackgroundColor>4294967295</BackgroundColor>

  2107.      <SceneBackgroundImage>Gradients\BlueWhite.png</SceneBackgroundImage>

  2108.      <ApplyTextureBackground>true</ApplyTextureBackground>

  2109.      <FrameScale>1.0</FrameScale>

  2110.      <FrameThickness>1.0</FrameThickness>

  2111.      <MainFrame>

  2112.       <Frame>

  2113.        <ScaleValue>

  2114.         <X>

  2115.          <Value>1</Value>

  2116.         </X>

  2117.         <Y>

  2118.          <Value>1</Value>

  2119.         </Y>

  2120.         <Z>

  2121.          <Value>1</Value>

  2122.         </Z>

  2123.        </ScaleValue>

  2124.        <ShowReferenceFrame>true</ShowReferenceFrame>

  2125.        <Name>Reference Frame</Name>

  2126.        <Position>

  2127.        </Position>

  2128.        <Orientation>

  2129.         <Angles>

  2130.         </Angles>

  2131.         <OrientationType>Bryant</OrientationType>

  2132.        </Orientation>

  2133.        <LockX>false</LockX>

  2134.        <LockY>false</LockY>

  2135.        <LockZ>false</LockZ>

  2136.        <LockXPitch>false</LockXPitch>

  2137.        <LockYYaw>false</LockYYaw>

  2138.        <LockZRoll>false</LockZRoll>

  2139.        <Childs>

  2140.         <Frame>

  2141.          <ScaleValue>

  2142.      <X>

  2143.       <Value>1</Value>

  2144.      </X>

  2145.      <Y>

  2146.       <Value>1</Value>

  2147.      </Y>

  2148.      <Z>

  2149.       <Value>1</Value>

  2150.      </Z>

  2151.          </ScaleValue>

  2152.          <ShowReferenceFrame>false</ShowReferenceFrame>

  2153.          <Name>Default Lights and Cameras</Name>

  2154.          <Position>

  2155.          </Position>

  2156.          <Orientation>

  2157.      <Angles>

  2158.      </Angles>

  2159.      <OrientationType>Bryant</OrientationType>

  2160.          </Orientation>

  2161.          <LockX>false</LockX>

  2162.          <LockY>false</LockY>

  2163.          <LockZ>false</LockZ>

  2164.          <LockXPitch>false</LockXPitch>

  2165.          <LockYYaw>false</LockYYaw>

  2166.          <LockZRoll>false</LockZRoll>

  2167.          <Childs>

  2168.      <Light>

  2169.       <ShowReferenceFrame>false</ShowReferenceFrame>

  2170.       <Name>Ambient</Name>

  2171.       <Position>

  2172.       </Position>

  2173.       <Orientation>

  2174.        <ZAxis>

  2175.         <Z>

  2176.          <Value>1</Value>

  2177.         </Z>

  2178.        </ZAxis>

  2179.        <YAxis>

  2180.         <Y>

  2181.          <Value>1</Value>

  2182.         </Y>

  2183.        </YAxis>

  2184.        <OrientationType>Direct3D</OrientationType>

  2185.       </Orientation>

  2186.       <LockX>false</LockX>

  2187.       <LockY>false</LockY>

  2188.       <LockZ>false</LockZ>

  2189.       <LockXPitch>false</LockXPitch>

  2190.       <LockYYaw>false</LockYYaw>

  2191.       <LockZRoll>false</LockZRoll>

  2192.       <Childs>

  2193.       </Childs>

  2194.       <LightType>0</LightType>

  2195.       <LightColor>

  2196.        <Color>

  2197.         <X>

  2198.          <Value>0.3</Value>

  2199.         </X>

  2200.         <Y>

  2201.          <Value>0.3</Value>

  2202.         </Y>

  2203.         <Z>

  2204.          <Value>0.3</Value>

  2205.         </Z>

  2206.        </Color>

  2207.        <Offset>

  2208.        </Offset>

  2209.        <Multipliers>

  2210.         <X>

  2211.          <Value>1</Value>

  2212.         </X>

  2213.         <Y>

  2214.          <Value>1</Value>

  2215.         </Y>

  2216.         <Z>

  2217.          <Value>1</Value>

  2218.         </Z>

  2219.        </Multipliers>

  2220.        <Direct3DColorRange>true</Direct3DColorRange>

  2221.       </LightColor>

  2222.       <AmbientLight>

  2223.        <Color>

  2224.         <X>

  2225.          <Value>0.3</Value>

  2226.         </X>

  2227.         <Y>

  2228.          <Value>0.3</Value>

  2229.         </Y>

  2230.         <Z>

  2231.          <Value>0.3</Value>

  2232.         </Z>

  2233.        </Color>

  2234.        <Offset>

  2235.        </Offset>

  2236.        <Multipliers>

  2237.         <X>

  2238.          <Value>1</Value>

  2239.         </X>

  2240.         <Y>

  2241.          <Value>1</Value>

  2242.         </Y>

  2243.         <Z>

  2244.          <Value>1</Value>

  2245.         </Z>

  2246.        </Multipliers>

  2247.        <Direct3DColorRange>true</Direct3DColorRange>

  2248.       </AmbientLight>

  2249.       <AmbientOn>true</AmbientOn>

  2250.       <DiffuseOn>false</DiffuseOn>

  2251.       <SpecularOn>false</SpecularOn>

  2252.      </Light>

  2253.      <Light>

  2254.       <ShowReferenceFrame>false</ShowReferenceFrame>

  2255.       <Name>Parallel</Name>

  2256.       <Position>

  2257.        <X>

  2258.         <Value>-3</Value>

  2259.        </X>

  2260.        <Y>

  2261.         <Value>5</Value>

  2262.        </Y>

  2263.        <Z>

  2264.         <Value>3</Value>

  2265.        </Z>

  2266.       </Position>

  2267.       <Orientation>

  2268.        <ZAxis>

  2269.         <X>

  2270.          <Value>0.457495710997814</Value>

  2271.         </X>

  2272.         <Y>

  2273.          <Value>-0.762492851663023</Value>

  2274.         </Y>

  2275.         <Z>

  2276.          <Value>-0.457495710997814</Value>

  2277.         </Z>

  2278.        </ZAxis>

  2279.        <YAxis>

  2280.         <X>

  2281.          <Value>0.235379601434674</Value>

  2282.         </X>

  2283.         <Y>

  2284.          <Value>-0.392299335724456</Value>

  2285.         </Y>

  2286.         <Z>

  2287.          <Value>0.889211827642101</Value>

  2288.         </Z>

  2289.        </YAxis>

  2290.        <OrientationType>Direct3D</OrientationType>

  2291.       </Orientation>

  2292.       <LockX>false</LockX>

  2293.       <LockY>false</LockY>

  2294.       <LockZ>false</LockZ>

  2295.       <LockXPitch>false</LockXPitch>

  2296.       <LockYYaw>false</LockYYaw>

  2297.       <LockZRoll>false</LockZRoll>

  2298.       <Childs>

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  2401.        <X>

  2402.         <Value>-3</Value>

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  2437.       <LockY>false</LockY>

  2438.       <LockZ>false</LockZ>

  2439.       <LockXPitch>false</LockXPitch>

  2440.       <LockYYaw>false</LockYYaw>

  2441.       <LockZRoll>false</LockZRoll>

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  2448.          <Value>0.5</Value>

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  2474.         <Value>1.0</Value>

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  2477.         <Value>0.05</Value>

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  2480.         <Value>0.05</Value>

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  2484.        <Value>1.0471975511965976</Value>

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  2487.        <Value>1.0471975511965976</Value>

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  2493.          <Value>0.5</Value>

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  2506.          <Value>1</Value>

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  2519.         <X>

  2520.          <Value>0.5</Value>

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  2523.          <Value>0.5</Value>

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  2526.          <Value>0.5</Value>

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  2533.          <Value>1</Value>

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  2545.       <DiffuseOn>true</DiffuseOn>

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  2548.      <Light>

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  2550.       <Name>Spot Light 2</Name>

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  2552.        <X>

  2553.         <Value>2</Value>

  2554.        </X>

  2555.        <Y>

  2556.         <Value>-3</Value>

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  2559.         <Value>-1</Value>

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  2565.          <Value>-0.534522483824849</Value>

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  2567.         <Y>

  2568.          <Value>0.801783725737273</Value>

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  2575.         <X>

  2576.          <Value>0.14824986333222</Value>

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  2578.         <Y>

  2579.          <Value>-0.22237479499833</Value>

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  2582.          <Value>0.963624111659432</Value>

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  2588.       <LockY>false</LockY>

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  2590.       <LockXPitch>false</LockXPitch>

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  2599.          <Value>1</Value>

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  2625.         <Value>1.0</Value>

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  2638.        <Value>1.5707963267948966</Value>

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  2671.          <Value>0.5</Value>

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  2701.       <Name>Camera Looking at Origin</Name>

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  2703.        <X>

  2704.         <Value>3.40085013905783</Value>

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  2716.          <Value>-0.937843447259703</Value>

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  2753.       <PlaneTop>10.0</PlaneTop>

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  2758.         <Value>-9.99200722162641e-016</Value>

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  2773.       <RightHand>true</RightHand>

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  2810.       <Fieldy>45.0</Fieldy>

  2811.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  2812.       <PlaneRight>9.999999999999998</PlaneRight>

  2813.       <PlaneTop>9.999999999999998</PlaneTop>

  2814.       <PlaneBottom>-9.999999999999998</PlaneBottom>

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  2821.         <Value>1</Value>

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  2830.       <Name>Side(YZ)-Camera</Name>

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  2832.        <X>

  2833.         <Value>10</Value>

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  2839.          <Value>-1</Value>

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  2850.       <LockY>false</LockY>

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  2852.       <LockXPitch>false</LockXPitch>

  2853.       <LockYYaw>false</LockYYaw>

  2854.       <LockZRoll>false</LockZRoll>

  2855.       <Childs>

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  2857.       <FrontPlane>0.01</FrontPlane>

  2858.       <BackPlane>100.0</BackPlane>

  2859.       <AutoFrontBack>true</AutoFrontBack>

  2860.       <Field>9.999999999999998</Field>

  2861.       <Fieldy>45.0</Fieldy>

  2862.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  2863.       <PlaneRight>9.999999999999998</PlaneRight>

  2864.       <PlaneTop>9.999999999999998</PlaneTop>

  2865.       <PlaneBottom>-9.999999999999998</PlaneBottom>

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  2869.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  2870.       <LookUpVector>

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  2872.         <Value>1</Value>

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  2875.       <RightHand>true</RightHand>

  2876.       <Perspective>false</Perspective>

  2877.       <IsSelectedCamera>false</IsSelectedCamera>

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  2879.      <Camera>

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  2881.       <Name>Top(XZ)-Camera</Name>

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  2883.        <Y>

  2884.         <Value>10</Value>

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  2889.         <Y>

  2890.          <Value>-1</Value>

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  2895.          <Value>1</Value>

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  2898.        <OrientationType>Direct3D</OrientationType>

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  2901.       <LockY>false</LockY>

  2902.       <LockZ>false</LockZ>

  2903.       <LockXPitch>false</LockXPitch>

  2904.       <LockYYaw>false</LockYYaw>

  2905.       <LockZRoll>false</LockZRoll>

  2906.       <Childs>

  2907.       </Childs>

  2908.       <FrontPlane>0.01</FrontPlane>

  2909.       <BackPlane>100.0</BackPlane>

  2910.       <AutoFrontBack>true</AutoFrontBack>

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