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 17:29:22</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
   COM1 304 520
    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 ellipse bottom
     figures
      ellipse 296 512 312 528 color 0 fill 15132390;
      line 304 512 304 528 color 0 fill 15132390;
      line 296 520 312 520 color 0 fill 15132390;
    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;
   COM2 704 520
    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 ellipse
     figures
      ellipse 696 512 712 528 color 0 fill 15132390;
      line 704 512 704 528 color 0 fill 15132390;
      line 696 520 712 520 color 0 fill 15132390;
    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;
   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 = 0.0;		// 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;
   MXTF 232.3 224
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 17:06:13</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 232.3 224 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.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;
   R 368 120
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
    type R
     ports
      power in p;
    end;
    icon bg bottom
     figures
      text 'R' 368 120 color 0 18 bold;
    end;
    implementation eq
parameters
	real r = 0.00000001;
equations
	p.e = r * p.f;
implementation_end;
   R1 504 216
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
    type R
     ports
      power in p;
    end;
    icon bg bottom
     figures
      text 'R' 504 216 color 0 18 bold;
    end;
    implementation eq
parameters
	real r = 0.00001;
equations
	p.e = r * p.f;
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;
   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} ;
      signal out joint1 [2,1];
      signal out joint2 [2,1];
    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 = 1400 {kg/m3};
	real dimension[3] = [0.005;0.01;0.065] {m};
	real initial_position[2] = [0;0.0325] {m};
	real initial_angle = 0.00001 {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]];
	joint1=[0;-dimension[3]/2];
	joint2=[0;dimension[3]/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} ;
      signal out joint1 [2,1];
      signal out joint2 [2,1];
    end;
    icon bg
     figures
      rectangle 584 400 664 432 color 0 fill 15132390;
      text 'name' 624 416 color 0 16;
    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 = 1400 {kg/m3};
	real dimension[3] = [0.005;0.01;0.05] {m};
	real initial_position[2] = [0.0;0.09] {m};
	real initial_angle = 0.0 {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]];
	joint1=[0;-dimension[3]/2];
	joint2=[0;dimension[3]/2];
	
 implementation_end;
   TF 384 224
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 16:54:28</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 384 224 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	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>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 17:06:13</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 784 224 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	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>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 16:54:28</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 632.3 224 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	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;
   MXTF\p2 => ZeroJunction1\p;
   OneJunction\p => RTF\p1;
   OneJunction\p => ZeroJunction\p;
   OneJunction\p => ZeroJunction1\p;
   OneJunction1\flow -> Submodel3\velocity 224 456;
   OneJunction1\p => COM1\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 => MXTF\p1;
   OneJunction3\p => R\p;
   OneJunction3\p => TF\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 => COM2\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\joint1 -> MXTF\p 272 256;
   Submodel3\joint2 -> TF\p;
   Submodel3\mass -> COM1\mass 216 440 216 464 296 464 296 504;
   Submodel4\angle -> Splitter2\input;
   Submodel4\angular_momentum -> I1\i 600 360 600 224;
   Submodel4\joint1 -> TF3\p;
   Submodel4\joint2 -> TF2\p;
   Submodel4\mass -> COM2\mass 616 464 616 520;
   TF\p2 => ZeroJunction\p;
   TF2\p2 => ZeroJunction2\p;
   TF3\p2 => ZeroJunction3\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;
   ZeroJunction4\p => R1\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>
   </Parameters>
   <Initials>
    <Variable>
     <Name>I1\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>I\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>COM1\I\p.e_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>COM2\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>
    <VarName>Submodel3\body_position[1]</VarName>
    <VarName>Submodel3\body_position[2]</VarName>
    <VarName>Submodel3\body_position[3]</VarName>
    <VarName>Submodel3\body_angle[1]</VarName>
    <VarName>Submodel3\body_angle[2]</VarName>
    <VarName>Submodel3\body_angle[3]</VarName>
    <VarName>Submodel3\dimension[1]</VarName>
    <VarName>Submodel3\dimension[2]</VarName>
    <VarName>Submodel3\dimension[3]</VarName>
    <VarName>Submodel4\dimension[1]</VarName>
    <VarName>Submodel4\dimension[2]</VarName>
    <VarName>Submodel4\dimension[3]</VarName>
    <VarName>Submodel4\body_angle[1]</VarName>
    <VarName>Submodel4\body_angle[2]</VarName>
    <VarName>Submodel4\body_angle[3]</VarName>
    <VarName>Submodel4\body_position[1]</VarName>
    <VarName>Submodel4\body_position[2]</VarName>
    <VarName>Submodel4\body_position[3]</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>
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</Document>