mahd/implementation/SCARA/02_physics/scara_physics.emx

<?xml version="1.0" encoding="UTF-8"?>
<Document>
 <Model version="4.8" build="4.8.2.10124">
  <Sidops><![CDATA[model 128 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>0</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\02_physics\scara_physics.emx</LibraryPath>
  <TimeStamp>2020-7-14 15:30:34</TimeStamp>
</Description>
 <Attributes>
  <GlobalRelations>parameters
	real A = 0.05 {m};
	real B = 0.05 {m};
variables
	real J0_1_BF1[2];
	real J1_2_BF1[2];
	real J1_2_BF2[2];
	real EE1_BF2[2];
initialequations
	J0_1_BF1 = [A/2;0];
	J1_2_BF1 = [-A/2;0];
	J1_2_BF2 = [B/2;0];
	EE1_BF2 = [-B/2;0];</GlobalRelations>
 </Attributes>
</Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   Constant 80 96
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Sources\Constant.emx</LibraryPath>
  <TimeStamp>2007-10-19 14:48:44</TimeStamp>
</Description>';
    type Constant
     ports
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 64.1 80 95.9 112 color 0 fill 15132390;
      line 68.9 91.6 90.9 91.6 color 16711680 width 2;
      line 66.2 102.7 91.9 102.7 color 0;
      line 68.5 86.7 68.5 105 color 0;
    end;
    implementation eq
parameters
	real C = 1.0;		// output value
equations
	output = C;
     implementation_end;
   I 312 112
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
    type I
     ports
      power in p;
      signal out state;
      signal in i;
     restrictions
      causality preferred in p;
    end;
    icon bg bottom
     figures
      text 'I' 312 112 color 0 18 bold;
    end;
    implementation eq
equations
    state = int(p.e);
    p.f = state / i;
implementation_end;
   I1 704 112
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
    type I
     ports
      power in p;
      signal out state;
      signal in i;
     restrictions
      causality preferred in p;
    end;
    icon bg bottom
     figures
      text 'I' 704 112 color 0 18 bold;
    end;
    implementation eq
equations
    state = int(p.e);
    p.f = state / i;
implementation_end;
   MSe 504 96
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
    type MSe
     ports
      power out p;
      signal in effort;
     restrictions
      causality fixed out p;
    end;
    icon bg bottom
     figures
      text 'MSe' 504 96 color 0 18 bold;
    end;
    implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
   MSe1 168 168
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
    type MSe
     ports
      power out p;
      signal in effort;
     restrictions
      causality fixed out p;
    end;
    icon bg bottom
     figures
      text 'MSe' 168 168 color 0 18 bold;
    end;
    implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
   OneJunction 304 304
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 304 304 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction1 304 456
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 304 456 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction10 704 168
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [1];
      signal knot out flow [1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 704 168 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction11 864 448
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 864 448 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction12 584 304
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 584 304 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction3 312 168
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [1];
      signal knot out flow [1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 312 168 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction5 152.3 304
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 152.3 304 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction6 152 456
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 152 456 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction7 704 304
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 704 304 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction8 704 456
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 704 456 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction9 864 304
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 864 304 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   PlusMinus1 512 336
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
    knot PlusMinus
     ports
      signal knot duplicatable in plus [1];
      signal knot duplicatable in minus [1];
      signal knot out output [1];
    end;
    icon bg ellipse
     figures
      ellipse 504 328 520 344 color 0 fill 16777215;
    end;
    implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
   RTF 304 392
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 304 392 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF1 512 304
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 512 304 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF2 152 368
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 152 368 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF3 704 368
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 704 368 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF4 864 360
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 864 360 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   Sf 72 456
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:5</TimeStamp>
</Description>';
    type 'Sf-2'
     ports
      power out p [2,1];
     restrictions
      causality fixed in p;
    end;
    icon bg bottom
     figures
      text 'Sf' 72 456 color 0 18 bold;
    end;
    implementation eq
parameters
	real flow[2,1] = 	[0.0; 0.0];
variables
	real effort [2];
equations
	p.f = flow;
	effort = p.e;
implementation_end;
   Splitter1 264 336
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 260.8 332.8 267.2 339.2 color -1 fill 0;
      ellipse 259.7 331.7 268.3 340.3 color -1;
     terminals
      input 264 336 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter2 680 336
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 676.8 332.8 683.2 339.2 color -1 fill 0;
      ellipse 675.7 331.7 684.3 340.3 color -1;
     terminals
      input 680 336 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter3 168 96
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 164.8 92.8 171.2 99.2 color -1 fill 0;
      ellipse 163.7 91.7 172.3 100.3 color -1;
     terminals
      input 168 96 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Submodel1 304 528
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel></Description><Attributes><GlobalRelations>parameters
	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      power in p [2,1];
      signal in mass {kg} ;
    end;
    implementation bg
     submodels
      Gain 368 408
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:15:12</TimeStamp>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output [2,1];
       end;
       icon bg bottom
        figures
         rectangle 352.1 392 383.9 424 color 0 fill 15132390;
         text 'K' 368 408 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = [0;-g_n] * input;
    implementation_end;
      I 248 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\I-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:37</TimeStamp>
</Description>';
       type 'I-2'
        ports
         power in p [2,1];
         signal out state [2,1];
         signal in mass {kg} ;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 248 520 color 0 18 bold;
       end;
       implementation eq
equations
    state = int(p.e);
    p.f = inverse ([mass,0;0,mass]) * state;
implementation_end;
      plug p 304 468;
      plug mass 208 408;
      OneJunction2 304 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:18</TimeStamp>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 304 520 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Sg 368 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\MSe-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:58</TimeStamp>
</Description>';
       type 'MSe-2'
        ports
         power out p [2,1];
         signal in effort [2,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 368 520 color 0 18 bold;
       end;
       implementation eq
variables
	real flow[2];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      Splitter1 248 408
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 244.8 404.8 251.2 411.2 color -1 fill 0;
         ellipse 243.7 403.7 252.3 412.3 color -1;
        terminals
         input 248 408 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
     end;
     connections
      Gain\output -> Sg\effort;
      I\p <= OneJunction2\p;
      mass -> Splitter1\input;
      p => OneJunction2\p;
      Sg\p => OneJunction2\p;
      Splitter1\output -> Gain\input;
      Splitter1\output -> I\mass;
     end;
    implementation_end;
   Submodel2 704 528
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel></Description><Attributes><GlobalRelations>parameters
	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      power in p [2,1];
      signal in mass {kg} ;
    end;
    icon bg
     figures
      rectangle 664 512 744 544 fill 15132390;
      text 'name' 704 528 16;
    end;
    implementation bg
     submodels
      Gain 368 408
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:15:12</TimeStamp>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output [2,1];
       end;
       icon bg bottom
        figures
         rectangle 352.1 392 383.9 424 color 0 fill 15132390;
         text 'K' 368 408 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = [0;-g_n] * input;
    implementation_end;
      I 248 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\I-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:37</TimeStamp>
</Description>';
       type 'I-2'
        ports
         power in p [2,1];
         signal out state [2,1];
         signal in mass {kg} ;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 248 520 color 0 18 bold;
       end;
       implementation eq
equations
    state = int(p.e);
    p.f = inverse ([mass,0;0,mass]) * state;
implementation_end;
      plug p 304 468;
      plug mass 208 408;
      OneJunction2 304 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:18</TimeStamp>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 304 520 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Sg 368 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\MSe-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:58</TimeStamp>
</Description>';
       type 'MSe-2'
        ports
         power out p [2,1];
         signal in effort [2,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 368 520 color 0 18 bold;
       end;
       implementation eq
variables
	real flow[2];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      Splitter1 248 408
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 244.8 404.8 251.2 411.2 color -1 fill 0;
         ellipse 243.7 403.7 252.3 412.3 color -1;
        terminals
         input 248 408 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
     end;
     connections
      Gain\output -> Sg\effort;
      I\p <= OneJunction2\p;
      mass -> Splitter1\input;
      p => OneJunction2\p;
      Sg\p => OneJunction2\p;
      Splitter1\output -> Gain\input;
      Splitter1\output -> I\mass;
     end;
    implementation_end;
   Submodel3 224 416
    description '<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>';
    type 'Submodel-Equation'
     ports
      signal in angle_velocity {rad/s} ;
      signal out angle {rad} ;
      signal in velocity [2,1] {m/s} ;
      signal out position [2,1] {m} ;
      signal out mass {kg} ;
      signal out angular_momentum {N.m.s} ;
    end;
    implementation eq
/* Equation Submodel
Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).
*/
parameters
	real density = 1 {kg/m3};
	real dimension[3] = [1;1;1] {m};
	real initial_position[2] = [0;0] {m};
	real initial_angle = 0 {rad};
variables
	real body_angle[3];
	real body_position[3];
	real body_size[3];
	real moment[3];
initialequations
	mass = dimension[1] *  dimension[2] * dimension[3] * density;
	moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2);
	moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2);
	moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2);
	angular_momentum = moment[1];
equations
	angle = int(angle_velocity,initial_angle);
	body_angle = [angle;0;0];
	position = int(velocity,initial_position);
	body_position = [0; position[1];position[2]];
	
 implementation_end;
   Submodel4 624 416
    description '<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>';
    type 'Submodel-Equation'
     ports
      signal in angle_velocity {rad/s} ;
      signal out angle {rad} ;
      signal in velocity [2,1] {m/s} ;
      signal out position [2,1] {m} ;
      signal out mass {kg} ;
      signal out angular_momentum {N.m.s} ;
    end;
    implementation eq
/* Equation Submodel
Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).
*/
parameters
	real density = 1 {kg/m3};
	real dimension[3] = [1;1;1] {m};
	real initial_position[2] = [0;0] {m};
	real initial_angle = 0.01 {rad};
variables
	real body_angle[3];
	real body_position[3];
	real body_size[3];
	real moment[3];
initialequations
	mass = dimension[1] *  dimension[2] * dimension[3] * density;
	moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2);
	moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2);
	moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2);
	angular_momentum = moment[1];
equations
	angle = int(angle_velocity,initial_angle);
	body_angle = [angle;0;0];
	position = int(velocity,initial_position);
	body_position = [0; position[1];position[2]];
	
 implementation_end;
   TF 384 224
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\XTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 15:06:10</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'XTF' 384 224 color 0 18 bold;
    end;
    implementation eq
parameters
	real x;
	real y;
variables
	real r[2,1];
initialequations
	r = [-y; x];
equations		
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   TF2 784 224
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\XTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 15:06:10</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'XTF' 784 224 color 0 18 bold;
    end;
    implementation eq
parameters
	real x;
	real y;
variables
	real r[2,1];
initialequations
	r = [-y; x];
equations		
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   TF3 632.3 224
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\XTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 15:06:10</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'XTF' 632.3 224 color 0 18 bold;
    end;
    implementation eq
parameters
	real x;
	real y;
variables
	real r[2,1];
initialequations
	r = [-y; x];
equations		
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   XTF 232.3 224
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\XTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 15:06:10</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'XTF' 232.3 224 color 0 18 bold;
    end;
    implementation eq
parameters
	real x;
	real y;
variables
	real r[2,1];
initialequations
	r = [-y; x];
equations		
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   ZeroJunction 384 304
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 384 304 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction1 232.3 304
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 232.3 304 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction2 784 304
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 784 304 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction3 632.3 304
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 632.3 304 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction4 504 168
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      power knot duplicatable none p [1];
      signal knot out effort [1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 504 168 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
  end;
  connections
   Constant\output -> Splitter3\input;
   I\p <= OneJunction3\p;
   I1\p <= OneJunction10\p;
   MSe1\p => OneJunction3\p;
   OneJunction\p => RTF\p1;
   OneJunction\p => ZeroJunction\p;
   OneJunction\p => ZeroJunction1\p;
   OneJunction1\flow -> Submodel3\velocity 224 456;
   OneJunction1\p => Submodel1\p;
   OneJunction10\flow -> Submodel4\angle_velocity 608 224 608 360;
   OneJunction10\p => TF2\p1;
   OneJunction10\p => TF3\p1;
   OneJunction3\flow -> Submodel3\angle_velocity 208 200 208 376;
   OneJunction3\p => TF\p1;
   OneJunction3\p => XTF\p1;
   OneJunction3\p => ZeroJunction4\p;
   OneJunction5\p => RTF2\p1;
   OneJunction7\p => RTF3\p1;
   OneJunction7\p => ZeroJunction2\p;
   OneJunction7\p => ZeroJunction3\p;
   OneJunction8\flow -> Submodel4\velocity 624 456;
   OneJunction8\p => Submodel2\p;
   OneJunction9\p => RTF4\p1;
   PlusMinus1\output -> RTF1\angle;
   RTF\p2 => OneJunction1\p;
   RTF1\p2 => OneJunction12\p;
   RTF2\p2 => OneJunction6\p;
   RTF3\p2 => OneJunction8\p;
   RTF4\p2 => OneJunction11\p;
   Sf\p => OneJunction6\p;
   Splitter1\output -> PlusMinus1\plus;
   Splitter1\output -> RTF\angle 280 352 280 368;
   Splitter1\output -> RTF2\angle 176 336;
   Splitter2\output -> PlusMinus1\minus;
   Splitter2\output -> RTF3\angle 680 344;
   Splitter2\output -> RTF4\angle 832 336;
   Splitter3\output -> MSe\effort;
   Splitter3\output -> MSe1\effort;
   Submodel3\angle -> Splitter1\input 248 384 248 352;
   Submodel3\angular_momentum -> I\i 200 376 200 200;
   Submodel3\mass -> Submodel1\mass 216 440 216 464 296 464 296 504;
   Submodel4\angle -> Splitter2\input;
   Submodel4\angular_momentum -> I1\i 600 360 600 224;
   Submodel4\mass -> Submodel2\mass 616 464 696 488;
   TF\p2 => ZeroJunction\p;
   TF2\p2 => ZeroJunction2\p;
   TF3\p2 => ZeroJunction3\p;
   XTF\p2 => ZeroJunction1\p;
   ZeroJunction\p => RTF1\p1;
   ZeroJunction1\p => OneJunction5\p;
   ZeroJunction2\p => OneJunction9\p;
   ZeroJunction3\p => OneJunction12\p;
   ZeroJunction4\p <= MSe\p;
   ZeroJunction4\p => OneJunction10\p;
  end;
 implementation_end;
]]>
</Sidops>
 </Model>
 <Experiments>
     <DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
  <Experiment>
    <Name>Experiment 1</Name>
    <CreatedBy></CreatedBy>
    <Info></Info>
<ExpData>
  <VersionNumber>4.8</VersionNumber>
  <ModelProperties>
  </ModelProperties>
  <Variables>
   <Constants>
   </Constants>
   <Parameters>
    <Variable>
     <Name>TF\x</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>TF\y</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>TF2\x</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>TF2\y</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>TF3\x</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>TF3\y</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>XTF\x</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>XTF\y</Name>
     <Value>0</Value>
    </Variable>
   </Parameters>
   <Initials>
    <Variable>
     <Name>I1\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>I\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Submodel1\I\p.e_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>Submodel2\I\p.e_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
   </Initials>
  </Variables>
  <PlotSpecs>
   <VarNames>
    <VarName>time</VarName>
    <VarName>Submodel4\position[2]</VarName>
    <VarName>Submodel4\position[1]</VarName>
   </VarNames>
   <Plots>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>1</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>-1.0</Minimum>
       <Maximum>1.0</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>position[1]</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-0.5000000000000001</Minimum>
       <Maximum>0.5</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>position[2]</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
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</Document>