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mahd/implementation/SCARA/06_arm/arm_model-v2.emx

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  1. <?xml version="1.0" encoding="UTF-8"?>

  2. <Document>

  3.  <Model version="4.8" build="4.8.2.10124">

  4.   <Sidops><![CDATA[model 128 184

  5.  description '<Information>

  6.  <Description>

  7.     <Version>4.8</Version>

  8. <IsMainModel>0</IsMainModel>

  9.   <KeepParameterValues>False</KeepParameterValues>

  10.     <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\06_arm\arm_model-v2.emx</LibraryPath>

  11.   <TimeStamp>2020-7-23 13:55:45</TimeStamp>

  12. </Description>

  13. </Information>';

  14.  type Mainmodel

  15.  end;

  16.  implementation bg

  17.   submodels

  18.    Body1 720 464

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

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

  21. <IsMainModel>1</IsMainModel>

  22.  <KeepParameterValues>False</KeepParameterValues>

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

  24.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  25. </Description>';

  26.     type 'Submodel-Equation'

  27.      ports

  28.       signal in input [4,4];

  29.     end;

  30.     implementation eq

  31. parameters

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

  33. variables

  34. 	real position[3];

  35. 	real rotation[3];

  36. 	real R[3,3];

  37. equations

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

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

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

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

  42.    Body2 360 560

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

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

  45. <IsMainModel>1</IsMainModel>

  46.  <KeepParameterValues>False</KeepParameterValues>

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

  48.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  49. </Description>';

  50.     type 'Submodel-Equation'

  51.      ports

  52.       signal in input [4,4];

  53.     end;

  54.     implementation eq

  55. parameters

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

  57. variables

  58. 	real position[3];

  59. 	real rotation[3];

  60. 	real R[3,3];

  61. equations

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

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

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

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

  66.    Body3 272 448

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

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

  69. <IsMainModel>1</IsMainModel>

  70.  <KeepParameterValues>False</KeepParameterValues>

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

  72.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  73. </Description>';

  74.     type 'Submodel-Equation'

  75.      ports

  76.       signal in input [4,4];

  77.     end;

  78.     implementation eq

  79. parameters

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

  81. variables

  82. 	real position[3];

  83. 	real rotation[3];

  84. 	real R[3,3];

  85. equations

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

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

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

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

  90.    Body4 680 192

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

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

  93. <IsMainModel>1</IsMainModel>

  94.  <KeepParameterValues>False</KeepParameterValues>

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

  96.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  97. </Description>';

  98.     type 'Submodel-Equation'

  99.      ports

  100.       signal in input [4,4];

  101.     end;

  102.     implementation eq

  103. parameters

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

  105. variables

  106. 	real position[3];

  107. 	real rotation[3];

  108. 	real R[3,3];

  109. equations

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

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

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

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

  114.    Body5 848 224

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

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

  117. <IsMainModel>1</IsMainModel>

  118.  <KeepParameterValues>False</KeepParameterValues>

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

  120.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  121. </Description>';

  122.     type 'Submodel-Equation'

  123.      ports

  124.       signal in input [4,4];

  125.     end;

  126.     implementation eq

  127. parameters

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

  129. variables

  130. 	real position[3];

  131. 	real rotation[3];

  132. 	real R[3,3];

  133. equations

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

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

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

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

  138.    Body6 960 224

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

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

  141. <IsMainModel>1</IsMainModel>

  142.  <KeepParameterValues>False</KeepParameterValues>

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

  144.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  145. </Description>';

  146.     type 'Submodel-Equation'

  147.      ports

  148.       signal in input [4,4];

  149.     end;

  150.     implementation eq

  151. parameters

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

  153. variables

  154. 	real position[3];

  155. 	real rotation[3];

  156. 	real R[3,3];

  157. equations

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

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

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

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

  162.    COM_body1 624 352

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

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

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

  166.     type Submodel

  167.      ports

  168.       signal in Hin [4,4];

  169.       signal out Hout [4,4];

  170.       power out p [6,1];

  171.     end;

  172.     icon bg bottom

  173.      figures

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

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

  176.      terminals

  177.       Hin 608 336 fixed;

  178.       p 608 368 fixed;

  179.     end;

  180.     implementation bg

  181.      submodels

  182.       AdHi0 544 400

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

  184.        type MTF

  185.         ports

  186.          power in p1 [6,1];

  187.          power out p2 [6,1];

  188.          signal in H [4,4];

  189.         restrictions

  190.          causality constraint not_equal p1 p2;

  191.        end;

  192.        icon bg left

  193.         figures

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

  195.        end;

  196.        implementation eq

  197. variables

  198.  	real onlyRotH[4,4];

  199. code

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

  201. 	onlyRotH = H;

  202. 	onlyRotH[1,4] = 0;

  203. 	onlyRotH[2,4] = 0;

  204. 	onlyRotH[3,4] = 0;

  205. 						

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

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

  208. implementation_end;

  209.       EJS 616 336

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

  211.        type MGY

  212.         ports

  213.          power in p1 [6,1];

  214.        end;

  215.        icon bg top

  216.         figures

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

  218.        end;

  219.        implementation eq

  220. //EJS / Gyroscopic effects

  221. parameters

  222. 	real global I[3];

  223. 	real global m;

  224. variables

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

  226. 	real Q[6,6];

  227. 	real QI[6,6];

  228. 	real Ia[6];

  229. initialequations

  230. 	Ia[1:3] = I;

  231. 	Ia[4:6] = m;

  232. 	II = diag(Ia);

  233. equations

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

  235. 	QI = Q*II;

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

  237.       Gravity 624 400

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

  239.        type Se

  240.         ports

  241.          power out p [6,1];

  242.         restrictions

  243.          causality fixed out p;

  244.        end;

  245.        icon bg bottom

  246.         figures

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

  248.        end;

  249.        implementation eq

  250. parameters

  251. 	real global m;

  252. variables

  253. 	real effort[6];

  254. equations

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

  256. 	p.e = effort;

  257. implementation_end;

  258.       InertialTensor 544 272

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

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

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

  262. </Description>';

  263.        type 'I-3'

  264.         ports

  265.          power in p [6,1];

  266.          signal out state [6,1];

  267.         restrictions

  268.          causality preferred in p;

  269.        end;

  270.        icon bg bottom

  271.         figures

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

  273.        end;

  274.        implementation eq

  275. parameters

  276. 	real global I[3];

  277. 	real global m;

  278. variables

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

  280. 	real Ia[6];

  281. initialequations

  282. 	Ia[1:3] = I;

  283. 	Ia[4:6] = m;

  284. 	II = diag(Ia);

  285. equations

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

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

  288. implementation_end;

  289.       plug Hin 433.4 496;

  290.       plug Hout 691.2 496;

  291.       plug p 439.4 336;

  292.       Splitter1 544 496

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

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

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

  296. <IsMainModel>1</IsMainModel>

  297.  <KeepParameterValues>False</KeepParameterValues>

  298. </Description>';

  299.        knot Splitter

  300.         ports

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

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

  303.        end;

  304.        icon bg ellipse

  305.         figures

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

  307.          ellipse 539.7 491.7 548.3 500.3 color -1;

  308.         terminals

  309.          input 544 496 fixed;

  310.        end;

  311.        implementation eq

  312. equations

  313.     collect (output) = input;

  314. implementation_end;

  315.       Ta0j 544 336

  316.        description '<Description>

  317.  <Version>4.0</Version>

  318.  <IsMainModel>1</IsMainModel>

  319.  <KeepParameterValues>False</KeepParameterValues>

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

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

  322.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  323.    <Description></Description>

  324. </Description>';

  325.        knot OneJunction

  326.         ports

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

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

  329.         restrictions

  330.          causality constraint one_out p;

  331.        end;

  332.        icon bg bottom

  333.         figures

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

  335.        end;

  336.        implementation eq

  337. equations

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

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

  340. 	flow = first (p.f);

  341. implementation_end;

  342.       ZeroJunction1 504 336

  343.        description '<Information>

  344.  <Description>

  345.     <Version>4.2</Version>

  346. <IsMainModel>1</IsMainModel>

  347.   <KeepParameterValues>False</KeepParameterValues>

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

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

  350. </Description>

  351. </Information>';

  352.        knot ZeroJunction

  353.         ports

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

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

  356.         restrictions

  357.          causality constraint one_in p;

  358.        end;

  359.        icon bg

  360.         figures

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

  362.        end;

  363.        implementation eq

  364. equations

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

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

  367. 	effort = first (p.e);

  368. implementation_end;

  369.      end;

  370.      connections

  371.       AdHi0\p2 => Ta0j\p;

  372.       Gravity\p => AdHi0\p1;

  373.       Hin -> Splitter1\input;

  374.       Splitter1\output -> AdHi0\H;

  375.       Splitter1\output -> Hout;

  376.       Ta0j\p => EJS\p1;

  377.       Ta0j\p => InertialTensor\p;

  378.       ZeroJunction1\p => p;

  379.       ZeroJunction1\p => Ta0j\p;

  380.      end;

  381.     implementation_end;

  382.    COM_body2 344 704

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

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

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

  386. variables

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

  388. 	real m {kg}; 

  389. initialequations

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

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

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

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

  394.     type Submodel

  395.      ports

  396.       signal in Hin [4,4];

  397.       signal out Hout [4,4];

  398.       power out p [6,1];

  399.     end;

  400.     icon bg bottom

  401.      figures

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

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

  404.      terminals

  405.       Hin 360 688 fixed;

  406.       p 328 688 fixed;

  407.     end;

  408.     implementation bg

  409.      submodels

  410.       AdHi0 544 400

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

  412.        type MTF

  413.         ports

  414.          power in p1 [6,1];

  415.          power out p2 [6,1];

  416.          signal in H [4,4];

  417.         restrictions

  418.          causality constraint not_equal p1 p2;

  419.        end;

  420.        icon bg left

  421.         figures

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

  423.        end;

  424.        implementation eq

  425. variables

  426.  	real onlyRotH[4,4];

  427. code

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

  429. 	onlyRotH = H;

  430. 	onlyRotH[1,4] = 0;

  431. 	onlyRotH[2,4] = 0;

  432. 	onlyRotH[3,4] = 0;

  433. 						

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

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

  436. implementation_end;

  437.       EJS 624 336

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

  439.        type MGY

  440.         ports

  441.          power in p1 [6,1];

  442.        end;

  443.        icon bg top

  444.         figures

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

  446.        end;

  447.        implementation eq

  448. //EJS / Gyroscopic effects

  449. variables

  450. 	real global I[3];

  451. 	real global m;

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

  453. 	real Q[6,6];

  454. 	real QI[6,6];

  455. 	real Ia[6];

  456. initialequations

  457. 	Ia[1:3] = I;

  458. 	Ia[4:6] = m;

  459. 	II = diag(Ia);

  460. equations

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

  462. 	QI = Q*II;

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

  464.       Gravity 624 400

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

  466.        type Se

  467.         ports

  468.          power out p [6,1];

  469.         restrictions

  470.          causality fixed out p;

  471.        end;

  472.        icon bg bottom

  473.         figures

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

  475.        end;

  476.        implementation eq

  477. variables

  478. 	real global m;

  479. 	real effort[6];

  480. equations

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

  482. 	p.e = effort;

  483. implementation_end;

  484.       InertialTensor 544 256

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

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

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

  488. </Description>';

  489.        type 'I-3'

  490.         ports

  491.          power in p [6,1];

  492.          signal out state [6,1];

  493.         restrictions

  494.          causality preferred in p;

  495.        end;

  496.        icon bg bottom

  497.         figures

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

  499.        end;

  500.        implementation eq

  501. variables

  502. 	real global I[3];

  503. 	real global m;

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

  505. 	real Ia[6];

  506. initialequations

  507. 	Ia[1:3] = I;

  508. 	Ia[4:6] = m;

  509. 	II = diag(Ia);

  510. equations

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

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

  513. implementation_end;

  514.       plug Hin 433.4 496;

  515.       plug Hout 691.2 496;

  516.       plug p 439.4 336;

  517.       Splitter1 544 496

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

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

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

  521. <IsMainModel>1</IsMainModel>

  522.  <KeepParameterValues>False</KeepParameterValues>

  523. </Description>';

  524.        knot Splitter

  525.         ports

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

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

  528.        end;

  529.        icon bg ellipse

  530.         figures

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

  532.          ellipse 539.7 491.7 548.3 500.3 color -1;

  533.         terminals

  534.          input 544 496 fixed;

  535.        end;

  536.        implementation eq

  537. equations

  538.     collect (output) = input;

  539. implementation_end;

  540.       Ta0j 544 336

  541.        description '<Description>

  542.  <Version>4.0</Version>

  543.  <IsMainModel>1</IsMainModel>

  544.  <KeepParameterValues>False</KeepParameterValues>

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

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

  547.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  548.    <Description></Description>

  549. </Description>';

  550.        knot OneJunction

  551.         ports

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

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

  554.         restrictions

  555.          causality constraint one_out p;

  556.        end;

  557.        icon bg bottom

  558.         figures

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

  560.        end;

  561.        implementation eq

  562. equations

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

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

  565. 	flow = first (p.f);

  566. implementation_end;

  567.       ZeroJunction1 504 336

  568.        description '<Information>

  569.  <Description>

  570.     <Version>4.2</Version>

  571. <IsMainModel>1</IsMainModel>

  572.   <KeepParameterValues>False</KeepParameterValues>

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

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

  575. </Description>

  576. </Information>';

  577.        knot ZeroJunction

  578.         ports

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

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

  581.         restrictions

  582.          causality constraint one_in p;

  583.        end;

  584.        icon bg

  585.         figures

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

  587.        end;

  588.        implementation eq

  589. equations

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

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

  592. 	effort = first (p.e);

  593. implementation_end;

  594.      end;

  595.      connections

  596.       AdHi0\p2 => Ta0j\p;

  597.       Gravity\p => AdHi0\p1;

  598.       Hin -> Splitter1\input;

  599.       Splitter1\output -> AdHi0\H;

  600.       Splitter1\output -> Hout;

  601.       Ta0j\p => EJS\p1;

  602.       Ta0j\p => InertialTensor\p;

  603.       ZeroJunction1\p => p;

  604.       ZeroJunction1\p => Ta0j\p;

  605.      end;

  606.     implementation_end;

  607.    COM_body3 272 328

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

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

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

  611.     type Submodel

  612.      ports

  613.       signal in Hin [4,4];

  614.       signal out Hout [4,4];

  615.       power out p [6,1];

  616.     end;

  617.     icon bg bottom

  618.      figures

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

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

  621.      terminals

  622.       Hin 256 312 fixed;

  623.       p 256 344 fixed;

  624.     end;

  625.     implementation bg

  626.      submodels

  627.       AdHi0 544 400

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

  629.        type MTF

  630.         ports

  631.          power in p1 [6,1];

  632.          power out p2 [6,1];

  633.          signal in H [4,4];

  634.         restrictions

  635.          causality constraint not_equal p1 p2;

  636.        end;

  637.        icon bg left

  638.         figures

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

  640.        end;

  641.        implementation eq

  642. variables

  643.  	real onlyRotH[4,4];

  644. code

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

  646. 	onlyRotH = H;

  647. 	onlyRotH[1,4] = 0;

  648. 	onlyRotH[2,4] = 0;

  649. 	onlyRotH[3,4] = 0;

  650. 						

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

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

  653. implementation_end;

  654.       EJS 616 336

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

  656.        type MGY

  657.         ports

  658.          power in p1 [6,1];

  659.        end;

  660.        icon bg top

  661.         figures

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

  663.        end;

  664.        implementation eq

  665. //EJS / Gyroscopic effects

  666. parameters

  667. 	real global I[3];

  668. 	real global m;

  669. variables

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

  671. 	real Q[6,6];

  672. 	real QI[6,6];

  673. 	real Ia[6];

  674. initialequations

  675. 	Ia[1:3] = I;

  676. 	Ia[4:6] = m;

  677. 	II = diag(Ia);

  678. equations

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

  680. 	QI = Q*II;

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

  682.       Gravity 624 400

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

  684.        type Se

  685.         ports

  686.          power out p [6,1];

  687.         restrictions

  688.          causality fixed out p;

  689.        end;

  690.        icon bg bottom

  691.         figures

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

  693.        end;

  694.        implementation eq

  695. parameters

  696. 	real global m;

  697. variables

  698. 	real effort[6];

  699. equations

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

  701. 	p.e = effort;

  702. implementation_end;

  703.       InertialTensor 544 272

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

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

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

  707. </Description>';

  708.        type 'I-3'

  709.         ports

  710.          power in p [6,1];

  711.          signal out state [6,1];

  712.         restrictions

  713.          causality preferred in p;

  714.        end;

  715.        icon bg bottom

  716.         figures

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

  718.        end;

  719.        implementation eq

  720. parameters

  721. 	real global I[3];

  722. 	real global m;

  723. variables

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

  725. 	real Ia[6];

  726. initialequations

  727. 	Ia[1:3] = I;

  728. 	Ia[4:6] = m;

  729. 	II = diag(Ia);

  730. equations

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

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

  733. implementation_end;

  734.       plug Hin 433.4 496;

  735.       plug Hout 691.2 496;

  736.       plug p 439.4 336;

  737.       Splitter1 544 496

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

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

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

  741. <IsMainModel>1</IsMainModel>

  742.  <KeepParameterValues>False</KeepParameterValues>

  743. </Description>';

  744.        knot Splitter

  745.         ports

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

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

  748.        end;

  749.        icon bg ellipse

  750.         figures

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

  752.          ellipse 539.7 491.7 548.3 500.3 color -1;

  753.         terminals

  754.          input 544 496 fixed;

  755.        end;

  756.        implementation eq

  757. equations

  758.     collect (output) = input;

  759. implementation_end;

  760.       Ta0j 544 336

  761.        description '<Description>

  762.  <Version>4.0</Version>

  763.  <IsMainModel>1</IsMainModel>

  764.  <KeepParameterValues>False</KeepParameterValues>

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

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

  767.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  768.    <Description></Description>

  769. </Description>';

  770.        knot OneJunction

  771.         ports

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

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

  774.         restrictions

  775.          causality constraint one_out p;

  776.        end;

  777.        icon bg bottom

  778.         figures

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

  780.        end;

  781.        implementation eq

  782. equations

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

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

  785. 	flow = first (p.f);

  786. implementation_end;

  787.       ZeroJunction1 504 336

  788.        description '<Information>

  789.  <Description>

  790.     <Version>4.2</Version>

  791. <IsMainModel>1</IsMainModel>

  792.   <KeepParameterValues>False</KeepParameterValues>

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

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

  795. </Description>

  796. </Information>';

  797.        knot ZeroJunction

  798.         ports

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

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

  801.         restrictions

  802.          causality constraint one_in p;

  803.        end;

  804.        icon bg

  805.         figures

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

  807.        end;

  808.        implementation eq

  809. equations

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

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

  812. 	effort = first (p.e);

  813. implementation_end;

  814.      end;

  815.      connections

  816.       AdHi0\p2 => Ta0j\p;

  817.       Gravity\p => AdHi0\p1;

  818.       Hin -> Splitter1\input;

  819.       Splitter1\output -> AdHi0\H;

  820.       Splitter1\output -> Hout;

  821.       Ta0j\p => EJS\p1;

  822.       Ta0j\p => InertialTensor\p;

  823.       ZeroJunction1\p => p;

  824.       ZeroJunction1\p => Ta0j\p;

  825.      end;

  826.     implementation_end;

  827.    COM_body4 560 48

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

  829. 	real I [3,1] = [7.583333333333335e-7; 3.645833333333334e-8; 7.364583333333335e-7] {N.m.s};

  830. 	real m = 0.0035 {kg};</GlobalRelations></Attributes></Information>';

  831.     type Submodel

  832.      ports

  833.       signal in Hin [4,4];

  834.       signal out Hout [4,4];

  835.       power out p [6,1];

  836.     end;

  837.     icon bg bottom

  838.      figures

  839.       rectangle 528 32 592 64 color 0 fill 139;

  840.       text 'COM' 560 48 color 0 'Clear Sans' 16;

  841.      terminals

  842.       Hin 576 64 fixed;

  843.       p 544 64 fixed;

  844.     end;

  845.     implementation bg

  846.      submodels

  847.       AdHi0 544 400

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

  849.        type MTF

  850.         ports

  851.          power in p1 [6,1];

  852.          power out p2 [6,1];

  853.          signal in H [4,4];

  854.         restrictions

  855.          causality constraint not_equal p1 p2;

  856.        end;

  857.        icon bg left

  858.         figures

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

  860.        end;

  861.        implementation eq

  862. variables

  863.  	real onlyRotH[4,4];

  864. code

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

  866. 	onlyRotH = H;

  867. 	onlyRotH[1,4] = 0;

  868. 	onlyRotH[2,4] = 0;

  869. 	onlyRotH[3,4] = 0;

  870. 						

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

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

  873. implementation_end;

  874.       EJS 616 336

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

  876.        type MGY

  877.         ports

  878.          power in p1 [6,1];

  879.        end;

  880.        icon bg top

  881.         figures

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

  883.        end;

  884.        implementation eq

  885. //EJS / Gyroscopic effects

  886. parameters

  887. 	real global I[3];

  888. 	real global m;

  889. variables

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

  891. 	real Q[6,6];

  892. 	real QI[6,6];

  893. 	real Ia[6];

  894. initialequations

  895. 	Ia[1:3] = I;

  896. 	Ia[4:6] = m;

  897. 	II = diag(Ia);

  898. equations

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

  900. 	QI = Q*II;

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

  902.       Gravity 624 400

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

  904.        type Se

  905.         ports

  906.          power out p [6,1];

  907.         restrictions

  908.          causality fixed out p;

  909.        end;

  910.        icon bg bottom

  911.         figures

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

  913.        end;

  914.        implementation eq

  915. parameters

  916. 	real global m;

  917. variables

  918. 	real effort[6];

  919. equations

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

  921. 	p.e = effort;

  922. implementation_end;

  923.       InertialTensor 544 272

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

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

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

  927. </Description>';

  928.        type 'I-3'

  929.         ports

  930.          power in p [6,1];

  931.          signal out state [6,1];

  932.         restrictions

  933.          causality preferred in p;

  934.        end;

  935.        icon bg bottom

  936.         figures

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

  938.        end;

  939.        implementation eq

  940. parameters

  941. 	real global I[3];

  942. 	real global m;

  943. variables

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

  945. 	real Ia[6];

  946. initialequations

  947. 	Ia[1:3] = I;

  948. 	Ia[4:6] = m;

  949. 	II = diag(Ia);

  950. equations

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

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

  953. implementation_end;

  954.       plug Hin 433.4 496;

  955.       plug Hout 691.2 496;

  956.       plug p 439.4 336;

  957.       Splitter1 544 496

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

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

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

  961. <IsMainModel>1</IsMainModel>

  962.  <KeepParameterValues>False</KeepParameterValues>

  963. </Description>';

  964.        knot Splitter

  965.         ports

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

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

  968.        end;

  969.        icon bg ellipse

  970.         figures

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

  972.          ellipse 539.7 491.7 548.3 500.3 color -1;

  973.         terminals

  974.          input 544 496 fixed;

  975.        end;

  976.        implementation eq

  977. equations

  978.     collect (output) = input;

  979. implementation_end;

  980.       Ta0j 544 336

  981.        description '<Description>

  982.  <Version>4.0</Version>

  983.  <IsMainModel>1</IsMainModel>

  984.  <KeepParameterValues>False</KeepParameterValues>

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

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

  987.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  988.    <Description></Description>

  989. </Description>';

  990.        knot OneJunction

  991.         ports

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

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

  994.         restrictions

  995.          causality constraint one_out p;

  996.        end;

  997.        icon bg bottom

  998.         figures

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

  1000.        end;

  1001.        implementation eq

  1002. equations

  1003. 	sum (direct (p.e)) = 0;

  1004. 	equal (collect (p.f));

  1005. 	flow = first (p.f);

  1006. implementation_end;

  1007.       ZeroJunction1 504 336

  1008.        description '<Information>

  1009.  <Description>

  1010.     <Version>4.2</Version>

  1011. <IsMainModel>1</IsMainModel>

  1012.   <KeepParameterValues>False</KeepParameterValues>

  1013.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1014.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1015. </Description>

  1016. </Information>';

  1017.        knot ZeroJunction

  1018.         ports

  1019.          power knot duplicatable none p [6,1];

  1020.          signal knot out effort [6,1];

  1021.         restrictions

  1022.          causality constraint one_in p;

  1023.        end;

  1024.        icon bg

  1025.         figures

  1026.          text '0' 504 336 color 0 18 bold;

  1027.        end;

  1028.        implementation eq

  1029. equations

  1030. 	sum (direct (p.f)) = 0;

  1031. 	equal (collect (p.e));

  1032. 	effort = first (p.e);

  1033. implementation_end;

  1034.      end;

  1035.      connections

  1036.       AdHi0\p2 => Ta0j\p;

  1037.       Gravity\p => AdHi0\p1;

  1038.       Hin -> Splitter1\input;

  1039.       Splitter1\output -> AdHi0\H;

  1040.       Splitter1\output -> Hout;

  1041.       Ta0j\p => EJS\p1;

  1042.       Ta0j\p => InertialTensor\p;

  1043.       ZeroJunction1\p => p;

  1044.       ZeroJunction1\p => Ta0j\p;

  1045.      end;

  1046.     implementation_end;

  1047.    COM_body5 992 128

  1048.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  1049. 	real I [3,1] = [0.018;0.159;0.159] {mN.m.s};

  1050. 	real m = 0.015 {kg};</GlobalRelations></Attributes></Information>';

  1051.     type Submodel

  1052.      ports

  1053.       signal in Hin [4,4];

  1054.       signal out Hout [4,4];

  1055.       power out p [6,1];

  1056.     end;

  1057.     icon bg bottom

  1058.      figures

  1059.       rectangle 976 96 1008 160 color 0 fill 139;

  1060.       text 'COM' 992 128 color 0 'Clear Sans' 16;

  1061.      terminals

  1062.       Hin 976 144 fixed;

  1063.       p 976 112 fixed;

  1064.     end;

  1065.     implementation bg

  1066.      submodels

  1067.       AdHi0 544 400

  1068.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  1069.        type MTF

  1070.         ports

  1071.          power in p1 [6,1];

  1072.          power out p2 [6,1];

  1073.          signal in H [4,4];

  1074.         restrictions

  1075.          causality constraint not_equal p1 p2;

  1076.        end;

  1077.        icon bg left

  1078.         figures

  1079.          text 'MTF' 544 400 color 0 18 bold;

  1080.        end;

  1081.        implementation eq

  1082. variables

  1083.  	real onlyRotH[4,4];

  1084. code

  1085. 	//Only rotations with respect to the inertial system matter!

  1086. 	onlyRotH = H;

  1087. 	onlyRotH[1,4] = 0;

  1088. 	onlyRotH[2,4] = 0;

  1089. 	onlyRotH[3,4] = 0;

  1090. 						

  1091. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  1092. 	p1.f = Adjoint(onlyRotH) * p2.f;

  1093. implementation_end;

  1094.       EJS 616 336

  1095.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  1096.        type MGY

  1097.         ports

  1098.          power in p1 [6,1];

  1099.        end;

  1100.        icon bg top

  1101.         figures

  1102.          text 'MGY' 616 336 color 0 18 bold;

  1103.        end;

  1104.        implementation eq

  1105. //EJS / Gyroscopic effects

  1106. parameters

  1107. 	real global I[3];

  1108. 	real global m;

  1109. variables

  1110. 	real II[6,6]; //Inertial tensor

  1111. 	real Q[6,6];

  1112. 	real QI[6,6];

  1113. 	real Ia[6];

  1114. initialequations

  1115. 	Ia[1:3] = I;

  1116. 	Ia[4:6] = m;

  1117. 	II = diag(Ia);

  1118. equations

  1119. 	Q = transpose(adjoint(p1.f));

  1120. 	QI = Q*II;

  1121. 	p1.e = QI*p1.f;implementation_end;

  1122.       Gravity 624 400

  1123.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  1124.        type Se

  1125.         ports

  1126.          power out p [6,1];

  1127.         restrictions

  1128.          causality fixed out p;

  1129.        end;

  1130.        icon bg bottom

  1131.         figures

  1132.          text 'Se' 624 400 color 0 18 bold;

  1133.        end;

  1134.        implementation eq

  1135. parameters

  1136. 	real global m;

  1137. variables

  1138. 	real effort[6];

  1139. equations

  1140. 	effort = [0;0;0;0;0;-g_n*m];

  1141. 	p.e = effort;

  1142. implementation_end;

  1143.       InertialTensor 544 272

  1144.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1145.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  1146.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  1147. </Description>';

  1148.        type 'I-3'

  1149.         ports

  1150.          power in p [6,1];

  1151.          signal out state [6,1];

  1152.         restrictions

  1153.          causality preferred in p;

  1154.        end;

  1155.        icon bg bottom

  1156.         figures

  1157.          text 'I' 544 272 color 0 18 bold;

  1158.        end;

  1159.        implementation eq

  1160. parameters

  1161. 	real global I[3];

  1162. 	real global m;

  1163. variables

  1164. 	real II[6,6]; //Inertial tensor

  1165. 	real Ia[6];

  1166. initialequations

  1167. 	Ia[1:3] = I;

  1168. 	Ia[4:6] = m;

  1169. 	II = diag(Ia);

  1170. equations

  1171.     state = int(p.e); //state = generalized momentum

  1172.     p.f = inverse(II)*state;

  1173. implementation_end;

  1174.       plug Hin 433.4 496;

  1175.       plug Hout 691.2 496;

  1176.       plug p 439.4 336;

  1177.       Splitter1 544 496

  1178.        description '<Description><Version>4.0</Version>

  1179.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1180.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1181. <IsMainModel>1</IsMainModel>

  1182.  <KeepParameterValues>False</KeepParameterValues>

  1183. </Description>';

  1184.        knot Splitter

  1185.         ports

  1186.          signal knot duplicatable out output [4,4];

  1187.          signal knot in input [4,4];

  1188.        end;

  1189.        icon bg ellipse

  1190.         figures

  1191.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  1192.          ellipse 539.7 491.7 548.3 500.3 color -1;

  1193.         terminals

  1194.          input 544 496 fixed;

  1195.        end;

  1196.        implementation eq

  1197. equations

  1198.     collect (output) = input;

  1199. implementation_end;

  1200.       Ta0j 544 336

  1201.        description '<Description>

  1202.  <Version>4.0</Version>

  1203.  <IsMainModel>1</IsMainModel>

  1204.  <KeepParameterValues>False</KeepParameterValues>

  1205.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1206.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  1207.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1208.    <Description></Description>

  1209. </Description>';

  1210.        knot OneJunction

  1211.         ports

  1212.          power knot duplicatable none p [6,1];

  1213.          signal knot out flow [6,1];

  1214.         restrictions

  1215.          causality constraint one_out p;

  1216.        end;

  1217.        icon bg bottom

  1218.         figures

  1219.          text '1' 544 336 color 0 18 bold;

  1220.        end;

  1221.        implementation eq

  1222. equations

  1223. 	sum (direct (p.e)) = 0;

  1224. 	equal (collect (p.f));

  1225. 	flow = first (p.f);

  1226. implementation_end;

  1227.       ZeroJunction1 504 336

  1228.        description '<Information>

  1229.  <Description>

  1230.     <Version>4.2</Version>

  1231. <IsMainModel>1</IsMainModel>

  1232.   <KeepParameterValues>False</KeepParameterValues>

  1233.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1234.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1235. </Description>

  1236. </Information>';

  1237.        knot ZeroJunction

  1238.         ports

  1239.          power knot duplicatable none p [6,1];

  1240.          signal knot out effort [6,1];

  1241.         restrictions

  1242.          causality constraint one_in p;

  1243.        end;

  1244.        icon bg

  1245.         figures

  1246.          text '0' 504 336 color 0 18 bold;

  1247.        end;

  1248.        implementation eq

  1249. equations

  1250. 	sum (direct (p.f)) = 0;

  1251. 	equal (collect (p.e));

  1252. 	effort = first (p.e);

  1253. implementation_end;

  1254.      end;

  1255.      connections

  1256.       AdHi0\p2 => Ta0j\p;

  1257.       Gravity\p => AdHi0\p1;

  1258.       Hin -> Splitter1\input;

  1259.       Splitter1\output -> AdHi0\H;

  1260.       Splitter1\output -> Hout;

  1261.       Ta0j\p => EJS\p1;

  1262.       Ta0j\p => InertialTensor\p;

  1263.       ZeroJunction1\p => p;

  1264.       ZeroJunction1\p => Ta0j\p;

  1265.      end;

  1266.     implementation_end;

  1267.    Ground1 620 727.5

  1268.     description '<Information>

  1269.  <Description>

  1270.     <Version>4.8</Version>

  1271. <IsMainModel>1</IsMainModel>

  1272.     <LibraryPath>Bond Graph\MR\Ground.emx</LibraryPath>

  1273.   <TimeStamp>2020-7-23 09:30:51</TimeStamp>

  1274. </Description>

  1275. </Information>';

  1276.     type Submodel

  1277.      ports

  1278.       power in p [6,1];

  1279.       signal out output [4,4];

  1280.     end;

  1281.     icon bg bottom

  1282.      figures

  1283.       line 584 720 600 736 color 0 fill 15132390;

  1284.       line 592 720 608 736 color 0 fill 15132390;

  1285.       line 576 720 592 736 color 0 fill 15132390;

  1286.       line 616 736 600 720 color 0 fill 15132390;

  1287.       line 624 736 608 720 color 0 fill 15132390;

  1288.       line 632 736 616 720 color 0 fill 15132390;

  1289.       line 648 736 632 720 color 0 fill 15132390;

  1290.       line 640 736 624 720 color 0 fill 15132390;

  1291.       line 656 736 640 720 color 0 fill 15132390;

  1292.       line 664 736 648 720 color 0 fill 15132390;

  1293.       line 576 720 664 720 color 0 fill 15132390 width 2;

  1294.       line 656 720 664 728 color 0 fill 15132390;

  1295.       line 576 728 584 736 color 0 fill 15132390;

  1296.      terminals

  1297.       p 600 720 fixed;

  1298.       output 632 720 fixed;

  1299.     end;

  1300.     implementation bg

  1301.      submodels

  1302.       plug p 240 88;

  1303.       plug output 240 120;

  1304.       OneJunction2 192 88

  1305.        description '<Information>

  1306.  <Description>

  1307.     <Version>4.2</Version>

  1308. <IsMainModel>1</IsMainModel>

  1309.   <KeepParameterValues>False</KeepParameterValues>

  1310.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1311.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1312. </Description>

  1313. </Information>';

  1314.        knot OneJunction

  1315.         ports

  1316.          power knot duplicatable none p [6,1];

  1317.          signal knot out flow [6,1];

  1318.         restrictions

  1319.          causality constraint one_out p;

  1320.        end;

  1321.        icon bg

  1322.         figures

  1323.          text '1' 192 88 color 0 18 bold;

  1324.        end;

  1325.        implementation eq

  1326. equations

  1327. 	sum (direct (p.e)) = 0;

  1328. 	equal (collect (p.f));

  1329. 	flow = first (p.f);

  1330. implementation_end;

  1331.       Sf2 136 88

  1332.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1333.    <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>

  1334.   <TimeStamp>2007-9-25 12:7:5</TimeStamp>

  1335. </Description>';

  1336.        type 'Sf-2'

  1337.         ports

  1338.          power out p [6,1];

  1339.         restrictions

  1340.          causality fixed in p;

  1341.        end;

  1342.        icon bg bottom

  1343.         figures

  1344.          text 'Sf' 136 88 color 0 18 bold;

  1345.        end;

  1346.        implementation eq

  1347. parameters

  1348. 	real flow[6,1] = 	0;

  1349. variables

  1350. 	real effort [6];

  1351. equations

  1352. 	p.f = flow;

  1353. 	effort = p.e;

  1354. implementation_end;

  1355.       Zero 144 120

  1356.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1357.   <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>

  1358.   <TimeStamp>2007-9-27 15:54:36</TimeStamp>

  1359. </Description>

  1360. ';

  1361.        type Zero

  1362.         ports

  1363.          signal out output [4,4];

  1364.        end;

  1365.        icon bg bottom

  1366.         figures

  1367.          rectangle 128.1 104 159.9 136 color 0 fill 15132390;

  1368.          text '0' 144 120 color 16711680 18 bold;

  1369.        end;

  1370.        implementation eq

  1371. equations

  1372. 	output = eye(4);implementation_end;

  1373.      end;

  1374.      connections

  1375.       p => OneJunction2\p;

  1376.       Sf2\p => OneJunction2\p;

  1377.       Zero\output -> output;

  1378.      end;

  1379.     implementation_end;

  1380.    inverse_kinematics 784 784

  1381.     description '<Information>

  1382.  <Description>

  1383.     <Version>4.8</Version>

  1384.   <LibraryPath>SCARA\inverse_kinematics_v1.emx</LibraryPath>

  1385. <IsMainModel>1</IsMainModel>

  1386.   <KeepParameterValues>False</KeepParameterValues>

  1387.     <TimeStamp>2020-7-10 12:26:18</TimeStamp>

  1388. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1389.  </Description>

  1390. </Information>';

  1391.     type 'Submodel-Equation'

  1392.      ports

  1393.       signal in input [2,1] {m} ;

  1394.       signal out angle1 {rad} ;

  1395.       signal out angle2 {rad} ;

  1396.       signal out a {rad} ;

  1397.       signal out b {rad} ;

  1398.       signal out c {rad} ;

  1399.       signal out phi {rad} ;

  1400.     end;

  1401.     implementation eq

  1402. parameters

  1403. 	real A_length = 0.065 {m}; // length of first arm

  1404. 	real B_length = 0.05 {m}; // length of second arm

  1405. 	real to_rad = 1 {rad};

  1406. variables

  1407. 	real x {m}, y {m};

  1408. 	real C_length {m}; // length to x and y.

  1409. equations

  1410. 	x = input[1];

  1411. 	y = input[2];

  1412. 	phi = atan2(y, x);

  1413. 	C_length = sqrt(x^2 + y^2);	

  1414. 	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));

  1415. 	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));

  1416. 	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));

  1417. 	angle1 = b + phi;

  1418. 	angle2 =  angle1 - pi * to_rad + c;

  1419. 	

  1420. 	

  1421. 

  1422.  implementation_end;

  1423.    JointA 560 512

  1424.     description '<Information>

  1425.  <Description>

  1426.     <Version>4.8</Version>

  1427. <IsMainModel>1</IsMainModel>

  1428.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1429.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1430. </Description>

  1431. </Information>';

  1432.     type 'Submodel-v3'

  1433.      ports

  1434.       power in Pin [6,1];

  1435.       power in Pdiff [6,1];

  1436.       signal in Hin [4,4];

  1437.       signal out Hout [4,4];

  1438.       signal out Hdiff [4,4];

  1439.       power out Pout [6,1];

  1440.     end;

  1441.     icon bg bottom

  1442.      figures

  1443.       rectangle 528 488 592 536 color 0 fill 14745599;

  1444.       text 'Joint' 560 512 color 0 'Clear Sans' 16;

  1445.      terminals

  1446.       Pin 544 536 fixed;

  1447.       Hin 576 488 fixed;

  1448.       Hout 576 536 fixed;

  1449.       Pout 544 488 fixed;

  1450.     end;

  1451.     implementation bg

  1452.      submodels

  1453.       AdHji 424 424

  1454.        description '<Description>

  1455.  <Version>4.0</Version>

  1456.  <IsMainModel>1</IsMainModel>

  1457.  <KeepParameterValues>False</KeepParameterValues>

  1458.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1459.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1460.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1461. </Description>';

  1462.        type MTF

  1463.         ports

  1464.          power out p1 [6,1];

  1465.          power in p2 [6,1];

  1466.          signal in H [4,4];

  1467.         restrictions

  1468.          causality constraint not_equal p1 p2;

  1469.        end;

  1470.        icon bg bottom

  1471.         figures

  1472.          text 'MTF' 424 424 color 0 18 bold;

  1473.        end;

  1474.        implementation eq

  1475. equations					

  1476. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1477. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1478.       FlowSensor2 184 311.9

  1479.        description '<Information>

  1480.  <Description>

  1481.     <Version>4.2</Version>

  1482. <IsMainModel>1</IsMainModel>

  1483.   <KeepParameterValues>False</KeepParameterValues>

  1484.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1485.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1486. </Description>

  1487. </Information>';

  1488.        knot FlowSensor

  1489.         ports

  1490.          power knot in p1 [6,1];

  1491.          power knot out p2 [6,1];

  1492.          signal knot out flow [6,1];

  1493.         restrictions

  1494.          causality constraint not_equal p1 p2;

  1495.        end;

  1496.        icon bg ellipse

  1497.         figures

  1498.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1499.          text 'f' 184 311.2 color 0;

  1500.        end;

  1501.        implementation eq

  1502. equations

  1503. 	p2.f = p1.f;

  1504. 	p1.e = p2.e;

  1505. 	flow = p1.f;

  1506. implementation_end;

  1507.       Hmatrix 256 312

  1508.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  1509.        type 'Submodel-Equation'

  1510.         ports

  1511.          signal in flow [6,1];

  1512.          signal out H [4,4];

  1513.        end;

  1514.        icon bg

  1515.         figures

  1516.          rectangle 224 296 288 328 color 0 fill 15132390;

  1517.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1518.        end;

  1519.        implementation eq

  1520. parameters

  1521. 	real init[4] = [1;0;0;0];

  1522. variables

  1523. 	real q[4];		//quaternions

  1524. 	real W[3,4];	//Quaternion Rates Matrix

  1525. 	real R[3,3];	//Rotation Matrix

  1526. 	real p[3];		//Position Vector

  1527. 	real dq[4];

  1528. 	real Wb[3,4];

  1529. equations

  1530. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1531. 	q = int(dq,init);

  1532. 	p = int(flow[4:6]);

  1533. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1534. 		 -q[3],	q[4],	q[1],	-q[2];

  1535. 		 -q[4],	-q[3],	q[2],	q[1]];

  1536. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1537. 	   		-q[3], -q[4],  q[1],  q[2];

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

  1539.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  1540. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  1541. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  1542. 	H = homogeneous(R,p);

  1543. 	implementation_end;

  1544.       MatrixMul 320 576

  1545.        description '<Description>

  1546.  <Version>4.0</Version>

  1547.  <IsMainModel>1</IsMainModel>

  1548.  <KeepParameterValues>False</KeepParameterValues>

  1549.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1550.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1551.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1552. </Description>';

  1553.        type Gain

  1554.         ports

  1555.          signal in input1 [4,4];

  1556.          signal out output [4,4];

  1557.          signal in input2 [4,4];

  1558.        end;

  1559.        icon bg bottom

  1560.         figures

  1561.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1562.          text 'X' 320 576 color 16711680 16 bold;

  1563.        end;

  1564.        implementation eq

  1565. equations

  1566. 	output = input2*input1;    implementation_end;

  1567.       plug Pin 492.1 424;

  1568.       plug Pdiff 184 225;

  1569.       plug Hin 130.8 576;

  1570.       plug Hout 478.4 576;

  1571.       plug Hdiff 320 222;

  1572.       plug Pout 134.7 424;

  1573.       Splitter2 320 312

  1574.        description '<Description><Version>4.0</Version>

  1575.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1576.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1577. <IsMainModel>1</IsMainModel>

  1578.  <KeepParameterValues>False</KeepParameterValues>

  1579. </Description>';

  1580.        knot Splitter

  1581.         ports

  1582.          signal knot duplicatable out output [4,4];

  1583.          signal knot in input [4,4];

  1584.        end;

  1585.        icon bg ellipse

  1586.         figures

  1587.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1588.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1589.         terminals

  1590.          input 320 312 fixed;

  1591.        end;

  1592.        implementation eq

  1593. equations

  1594.     collect (output) = input;

  1595. implementation_end;

  1596.       Wbai 184 424

  1597.        description '<Description>

  1598.  <Version>4.0</Version>

  1599.  <IsMainModel>1</IsMainModel>

  1600.  <KeepParameterValues>False</KeepParameterValues>

  1601.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1602.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1603.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1604. </Description>';

  1605.        knot ZeroJunction

  1606.         ports

  1607.          power knot duplicatable none p [6,1];

  1608.          signal knot out effort [6,1];

  1609.         restrictions

  1610.          causality constraint one_in p;

  1611.        end;

  1612.        icon bg bottom

  1613.         figures

  1614.          text '0' 184 424 color 0 18 bold;

  1615.        end;

  1616.        implementation eq

  1617. equations

  1618. 	sum (direct (p.f)) = 0;

  1619. 	equal (collect (p.e));

  1620. 	effort = first (p.e);

  1621. implementation_end;

  1622.      end;

  1623.      connections

  1624.       FlowSensor2\flow -> Hmatrix\flow;

  1625.       FlowSensor2\p2 => Wbai\p;

  1626.       Hin -> MatrixMul\input2;

  1627.       Hmatrix\H -> Splitter2\input;

  1628.       MatrixMul\output -> Hout;

  1629.       Pdiff => FlowSensor2\p1;

  1630.       Pin => AdHji\p2;

  1631.       Splitter2\output -> AdHji\H 424 312;

  1632.       Splitter2\output -> Hdiff;

  1633.       Splitter2\output -> MatrixMul\input1;

  1634.       Wbai\p <= AdHji\p1;

  1635.       Wbai\p => Pout;

  1636.      end;

  1637.     implementation_end;

  1638.    JointB 560 192

  1639.     description '<Information>

  1640.  <Description>

  1641.     <Version>4.8</Version>

  1642. <IsMainModel>1</IsMainModel>

  1643.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1644.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1645. </Description>

  1646. </Information>';

  1647.     type 'Submodel-v3'

  1648.      ports

  1649.       power in Pin [6,1];

  1650.       power in Pdiff [6,1];

  1651.       signal in Hin [4,4];

  1652.       signal out Hout [4,4];

  1653.       signal out Hdiff [4,4];

  1654.       power out Pout [6,1];

  1655.     end;

  1656.     icon bg bottom

  1657.      figures

  1658.       rectangle 528 168 592 216 color 0 fill 14745599;

  1659.       text 'Joint' 560 192 color 0 'Clear Sans' 16;

  1660.      terminals

  1661.       Pin 544 216 fixed;

  1662.       Hin 576 168 fixed;

  1663.       Hout 576 216 fixed;

  1664.       Pout 544 168 fixed;

  1665.     end;

  1666.     implementation bg

  1667.      submodels

  1668.       AdHji 424 424

  1669.        description '<Description>

  1670.  <Version>4.0</Version>

  1671.  <IsMainModel>1</IsMainModel>

  1672.  <KeepParameterValues>False</KeepParameterValues>

  1673.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1674.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1675.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1676. </Description>';

  1677.        type MTF

  1678.         ports

  1679.          power out p1 [6,1];

  1680.          power in p2 [6,1];

  1681.          signal in H [4,4];

  1682.         restrictions

  1683.          causality constraint not_equal p1 p2;

  1684.        end;

  1685.        icon bg bottom

  1686.         figures

  1687.          text 'MTF' 424 424 color 0 18 bold;

  1688.        end;

  1689.        implementation eq

  1690. equations					

  1691. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1692. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1693.       FlowSensor2 184 311.9

  1694.        description '<Information>

  1695.  <Description>

  1696.     <Version>4.2</Version>

  1697. <IsMainModel>1</IsMainModel>

  1698.   <KeepParameterValues>False</KeepParameterValues>

  1699.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1700.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1701. </Description>

  1702. </Information>';

  1703.        knot FlowSensor

  1704.         ports

  1705.          power knot in p1 [6,1];

  1706.          power knot out p2 [6,1];

  1707.          signal knot out flow [6,1];

  1708.         restrictions

  1709.          causality constraint not_equal p1 p2;

  1710.        end;

  1711.        icon bg ellipse

  1712.         figures

  1713.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1714.          text 'f' 184 311.2 color 0;

  1715.        end;

  1716.        implementation eq

  1717. equations

  1718. 	p2.f = p1.f;

  1719. 	p1.e = p2.e;

  1720. 	flow = p1.f;

  1721. implementation_end;

  1722.       Hmatrix 256 312

  1723.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  1724.        type 'Submodel-Equation'

  1725.         ports

  1726.          signal in flow [6,1];

  1727.          signal out H [4,4];

  1728.        end;

  1729.        icon bg

  1730.         figures

  1731.          rectangle 224 296 288 328 color 0 fill 15132390;

  1732.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1733.        end;

  1734.        implementation eq

  1735. parameters

  1736. 	real init[4] = [1;0;0;0];

  1737. variables

  1738. 	real q[4];		//quaternions

  1739. 	real W[3,4];	//Quaternion Rates Matrix

  1740. 	real R[3,3];	//Rotation Matrix

  1741. 	real p[3];		//Position Vector

  1742. 	real dq[4];

  1743. 	real Wb[3,4];

  1744. equations

  1745. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1746. 	q = int(dq,init);

  1747. 	p = int(flow[4:6]);

  1748. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1749. 		 -q[3],	q[4],	q[1],	-q[2];

  1750. 		 -q[4],	-q[3],	q[2],	q[1]];

  1751. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1752. 	   		-q[3], -q[4],  q[1],  q[2];

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

  1754.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  1755. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  1756. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  1757. 	H = homogeneous(R,p);

  1758. 	implementation_end;

  1759.       MatrixMul 320 576

  1760.        description '<Description>

  1761.  <Version>4.0</Version>

  1762.  <IsMainModel>1</IsMainModel>

  1763.  <KeepParameterValues>False</KeepParameterValues>

  1764.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1765.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1766.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1767. </Description>';

  1768.        type Gain

  1769.         ports

  1770.          signal in input1 [4,4];

  1771.          signal out output [4,4];

  1772.          signal in input2 [4,4];

  1773.        end;

  1774.        icon bg bottom

  1775.         figures

  1776.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1777.          text 'X' 320 576 color 16711680 16 bold;

  1778.        end;

  1779.        implementation eq

  1780. equations

  1781. 	output = input2*input1;    implementation_end;

  1782.       plug Pin 492.1 424;

  1783.       plug Pdiff 184 225;

  1784.       plug Hin 130.8 576;

  1785.       plug Hout 478.4 576;

  1786.       plug Hdiff 320 222;

  1787.       plug Pout 134.7 424;

  1788.       Splitter2 320 312

  1789.        description '<Description><Version>4.0</Version>

  1790.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1791.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1792. <IsMainModel>1</IsMainModel>

  1793.  <KeepParameterValues>False</KeepParameterValues>

  1794. </Description>';

  1795.        knot Splitter

  1796.         ports

  1797.          signal knot duplicatable out output [4,4];

  1798.          signal knot in input [4,4];

  1799.        end;

  1800.        icon bg ellipse

  1801.         figures

  1802.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1803.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1804.         terminals

  1805.          input 320 312 fixed;

  1806.        end;

  1807.        implementation eq

  1808. equations

  1809.     collect (output) = input;

  1810. implementation_end;

  1811.       Wbai 184 424

  1812.        description '<Description>

  1813.  <Version>4.0</Version>

  1814.  <IsMainModel>1</IsMainModel>

  1815.  <KeepParameterValues>False</KeepParameterValues>

  1816.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1817.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1818.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1819. </Description>';

  1820.        knot ZeroJunction

  1821.         ports

  1822.          power knot duplicatable none p [6,1];

  1823.          signal knot out effort [6,1];

  1824.         restrictions

  1825.          causality constraint one_in p;

  1826.        end;

  1827.        icon bg bottom

  1828.         figures

  1829.          text '0' 184 424 color 0 18 bold;

  1830.        end;

  1831.        implementation eq

  1832. equations

  1833. 	sum (direct (p.f)) = 0;

  1834. 	equal (collect (p.e));

  1835. 	effort = first (p.e);

  1836. implementation_end;

  1837.      end;

  1838.      connections

  1839.       FlowSensor2\flow -> Hmatrix\flow;

  1840.       FlowSensor2\p2 => Wbai\p;

  1841.       Hin -> MatrixMul\input2;

  1842.       Hmatrix\H -> Splitter2\input;

  1843.       MatrixMul\output -> Hout;

  1844.       Pdiff => FlowSensor2\p1;

  1845.       Pin => AdHji\p2;

  1846.       Splitter2\output -> AdHji\H 424 312;

  1847.       Splitter2\output -> Hdiff;

  1848.       Splitter2\output -> MatrixMul\input1;

  1849.       Wbai\p <= AdHji\p1;

  1850.       Wbai\p => Pout;

  1851.      end;

  1852.     implementation_end;

  1853.    JointC 512 632

  1854.     description '<Information>

  1855.  <Description>

  1856.     <Version>4.8</Version>

  1857. <IsMainModel>1</IsMainModel>

  1858.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1859.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1860. </Description>

  1861. </Information>';

  1862.     type 'Submodel-v3'

  1863.      ports

  1864.       power in Pin [6,1];

  1865.       power in Pdiff [6,1];

  1866.       signal in Hin [4,4];

  1867.       signal out Hout [4,4];

  1868.       signal out Hdiff [4,4];

  1869.       power out Pout [6,1];

  1870.     end;

  1871.     icon bg bottom

  1872.      figures

  1873.       rectangle 488 600 536 664 color 0 fill 14745599;

  1874.       text 'Joint' 512 632 color 0 'Clear Sans' 16;

  1875.      terminals

  1876.       Pin 488 648 fixed;

  1877.       Hin 536 616 fixed;

  1878.       Hout 488 616 fixed;

  1879.       Pout 536 648 fixed;

  1880.     end;

  1881.     implementation bg

  1882.      submodels

  1883.       AdHji 424 424

  1884.        description '<Description>

  1885.  <Version>4.0</Version>

  1886.  <IsMainModel>1</IsMainModel>

  1887.  <KeepParameterValues>False</KeepParameterValues>

  1888.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1889.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1890.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1891. </Description>';

  1892.        type MTF

  1893.         ports

  1894.          power out p1 [6,1];

  1895.          power in p2 [6,1];

  1896.          signal in H [4,4];

  1897.         restrictions

  1898.          causality constraint not_equal p1 p2;

  1899.        end;

  1900.        icon bg bottom

  1901.         figures

  1902.          text 'MTF' 424 424 color 0 18 bold;

  1903.        end;

  1904.        implementation eq

  1905. equations					

  1906. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1907. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1908.       FlowSensor2 184 311.9

  1909.        description '<Information>

  1910.  <Description>

  1911.     <Version>4.2</Version>

  1912. <IsMainModel>1</IsMainModel>

  1913.   <KeepParameterValues>False</KeepParameterValues>

  1914.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1915.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1916. </Description>

  1917. </Information>';

  1918.        knot FlowSensor

  1919.         ports

  1920.          power knot in p1 [6,1];

  1921.          power knot out p2 [6,1];

  1922.          signal knot out flow [6,1];

  1923.         restrictions

  1924.          causality constraint not_equal p1 p2;

  1925.        end;

  1926.        icon bg ellipse

  1927.         figures

  1928.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1929.          text 'f' 184 311.2 color 0;

  1930.        end;

  1931.        implementation eq

  1932. equations

  1933. 	p2.f = p1.f;

  1934. 	p1.e = p2.e;

  1935. 	flow = p1.f;

  1936. implementation_end;

  1937.       Hmatrix 256 312

  1938.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  1939.        type 'Submodel-Equation'

  1940.         ports

  1941.          signal in flow [6,1];

  1942.          signal out H [4,4];

  1943.        end;

  1944.        icon bg

  1945.         figures

  1946.          rectangle 224 296 288 328 color 0 fill 15132390;

  1947.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1948.        end;

  1949.        implementation eq

  1950. parameters

  1951. 	real init[4] = [1;0;0;0];

  1952. variables

  1953. 	real q[4];		//quaternions

  1954. 	real W[3,4];	//Quaternion Rates Matrix

  1955. 	real R[3,3];	//Rotation Matrix

  1956. 	real p[3];		//Position Vector

  1957. 	real dq[4];

  1958. 	real Wb[3,4];

  1959. equations

  1960. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1961. 	q = int(dq,init);

  1962. 	p = int(flow[4:6]);

  1963. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1964. 		 -q[3],	q[4],	q[1],	-q[2];

  1965. 		 -q[4],	-q[3],	q[2],	q[1]];

  1966. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1967. 	   		-q[3], -q[4],  q[1],  q[2];

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

  1969.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  1970. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  1971. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  1972. 	H = homogeneous(R,p);

  1973. 	implementation_end;

  1974.       MatrixMul 320 576

  1975.        description '<Description>

  1976.  <Version>4.0</Version>

  1977.  <IsMainModel>1</IsMainModel>

  1978.  <KeepParameterValues>False</KeepParameterValues>

  1979.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1980.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1981.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1982. </Description>';

  1983.        type Gain

  1984.         ports

  1985.          signal in input1 [4,4];

  1986.          signal out output [4,4];

  1987.          signal in input2 [4,4];

  1988.        end;

  1989.        icon bg bottom

  1990.         figures

  1991.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1992.          text 'X' 320 576 color 16711680 16 bold;

  1993.        end;

  1994.        implementation eq

  1995. equations

  1996. 	output = input2*input1;    implementation_end;

  1997.       plug Pin 492.1 424;

  1998.       plug Pdiff 184 225;

  1999.       plug Hin 130.8 576;

  2000.       plug Hout 478.4 576;

  2001.       plug Hdiff 320 222;

  2002.       plug Pout 134.7 424;

  2003.       Splitter2 320 312

  2004.        description '<Description><Version>4.0</Version>

  2005.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2006.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2007. <IsMainModel>1</IsMainModel>

  2008.  <KeepParameterValues>False</KeepParameterValues>

  2009. </Description>';

  2010.        knot Splitter

  2011.         ports

  2012.          signal knot duplicatable out output [4,4];

  2013.          signal knot in input [4,4];

  2014.        end;

  2015.        icon bg ellipse

  2016.         figures

  2017.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2018.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2019.         terminals

  2020.          input 320 312 fixed;

  2021.        end;

  2022.        implementation eq

  2023. equations

  2024.     collect (output) = input;

  2025. implementation_end;

  2026.       Wbai 184 424

  2027.        description '<Description>

  2028.  <Version>4.0</Version>

  2029.  <IsMainModel>1</IsMainModel>

  2030.  <KeepParameterValues>False</KeepParameterValues>

  2031.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2032.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2033.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2034. </Description>';

  2035.        knot ZeroJunction

  2036.         ports

  2037.          power knot duplicatable none p [6,1];

  2038.          signal knot out effort [6,1];

  2039.         restrictions

  2040.          causality constraint one_in p;

  2041.        end;

  2042.        icon bg bottom

  2043.         figures

  2044.          text '0' 184 424 color 0 18 bold;

  2045.        end;

  2046.        implementation eq

  2047. equations

  2048. 	sum (direct (p.f)) = 0;

  2049. 	equal (collect (p.e));

  2050. 	effort = first (p.e);

  2051. implementation_end;

  2052.      end;

  2053.      connections

  2054.       FlowSensor2\flow -> Hmatrix\flow;

  2055.       FlowSensor2\p2 => Wbai\p;

  2056.       Hin -> MatrixMul\input2;

  2057.       Hmatrix\H -> Splitter2\input;

  2058.       MatrixMul\output -> Hout;

  2059.       Pdiff => FlowSensor2\p1;

  2060.       Pin => AdHji\p2;

  2061.       Splitter2\output -> AdHji\H 424 312;

  2062.       Splitter2\output -> Hdiff;

  2063.       Splitter2\output -> MatrixMul\input1;

  2064.       Wbai\p <= AdHji\p1;

  2065.       Wbai\p => Pout;

  2066.      end;

  2067.     implementation_end;

  2068.    JointD 200 488

  2069.     description '<Information>

  2070.  <Description>

  2071.     <Version>4.8</Version>

  2072. <IsMainModel>1</IsMainModel>

  2073.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2074.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2075. </Description>

  2076. </Information>';

  2077.     type 'Submodel-v3'

  2078.      ports

  2079.       power in Pin [6,1];

  2080.       power in Pdiff [6,1];

  2081.       signal in Hin [4,4];

  2082.       signal out Hout [4,4];

  2083.       signal out Hdiff [4,4];

  2084.       power out Pout [6,1];

  2085.     end;

  2086.     icon bg bottom

  2087.      figures

  2088.       rectangle 168 464 232 512 color 0 fill 14745599;

  2089.       text 'Joint' 200 488 color 0 'Clear Sans' 16;

  2090.      terminals

  2091.       Pin 184 464 fixed;

  2092.       Hin 216 512 fixed;

  2093.       Hout 216 464 fixed;

  2094.       Pout 184 512 fixed;

  2095.     end;

  2096.     implementation bg

  2097.      submodels

  2098.       AdHji 424 424

  2099.        description '<Description>

  2100.  <Version>4.0</Version>

  2101.  <IsMainModel>1</IsMainModel>

  2102.  <KeepParameterValues>False</KeepParameterValues>

  2103.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2104.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2105.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2106. </Description>';

  2107.        type MTF

  2108.         ports

  2109.          power out p1 [6,1];

  2110.          power in p2 [6,1];

  2111.          signal in H [4,4];

  2112.         restrictions

  2113.          causality constraint not_equal p1 p2;

  2114.        end;

  2115.        icon bg bottom

  2116.         figures

  2117.          text 'MTF' 424 424 color 0 18 bold;

  2118.        end;

  2119.        implementation eq

  2120. equations					

  2121. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2122. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2123.       FlowSensor2 184 311.9

  2124.        description '<Information>

  2125.  <Description>

  2126.     <Version>4.2</Version>

  2127. <IsMainModel>1</IsMainModel>

  2128.   <KeepParameterValues>False</KeepParameterValues>

  2129.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2130.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2131. </Description>

  2132. </Information>';

  2133.        knot FlowSensor

  2134.         ports

  2135.          power knot in p1 [6,1];

  2136.          power knot out p2 [6,1];

  2137.          signal knot out flow [6,1];

  2138.         restrictions

  2139.          causality constraint not_equal p1 p2;

  2140.        end;

  2141.        icon bg ellipse

  2142.         figures

  2143.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2144.          text 'f' 184 311.2 color 0;

  2145.        end;

  2146.        implementation eq

  2147. equations

  2148. 	p2.f = p1.f;

  2149. 	p1.e = p2.e;

  2150. 	flow = p1.f;

  2151. implementation_end;

  2152.       Hmatrix 256 312

  2153.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  2154.        type 'Submodel-Equation'

  2155.         ports

  2156.          signal in flow [6,1];

  2157.          signal out H [4,4];

  2158.        end;

  2159.        icon bg

  2160.         figures

  2161.          rectangle 224 296 288 328 color 0 fill 15132390;

  2162.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2163.        end;

  2164.        implementation eq

  2165. parameters

  2166. 	real init[4] = [1;0;0;0];

  2167. variables

  2168. 	real q[4];		//quaternions

  2169. 	real W[3,4];	//Quaternion Rates Matrix

  2170. 	real R[3,3];	//Rotation Matrix

  2171. 	real p[3];		//Position Vector

  2172. 	real dq[4];

  2173. 	real Wb[3,4];

  2174. equations

  2175. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2176. 	q = int(dq,init);

  2177. 	p = int(flow[4:6]);

  2178. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2179. 		 -q[3],	q[4],	q[1],	-q[2];

  2180. 		 -q[4],	-q[3],	q[2],	q[1]];

  2181. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2182. 	   		-q[3], -q[4],  q[1],  q[2];

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

  2184.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  2185. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  2186. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  2187. 	H = homogeneous(R,p);

  2188. 	implementation_end;

  2189.       MatrixMul 320 576

  2190.        description '<Description>

  2191.  <Version>4.0</Version>

  2192.  <IsMainModel>1</IsMainModel>

  2193.  <KeepParameterValues>False</KeepParameterValues>

  2194.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2195.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2196.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2197. </Description>';

  2198.        type Gain

  2199.         ports

  2200.          signal in input1 [4,4];

  2201.          signal out output [4,4];

  2202.          signal in input2 [4,4];

  2203.        end;

  2204.        icon bg bottom

  2205.         figures

  2206.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2207.          text 'X' 320 576 color 16711680 16 bold;

  2208.        end;

  2209.        implementation eq

  2210. equations

  2211. 	output = input2*input1;    implementation_end;

  2212.       plug Pin 492.1 424;

  2213.       plug Pdiff 184 225;

  2214.       plug Hin 130.8 576;

  2215.       plug Hout 478.4 576;

  2216.       plug Hdiff 320 222;

  2217.       plug Pout 134.7 424;

  2218.       Splitter2 320 312

  2219.        description '<Description><Version>4.0</Version>

  2220.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2221.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2222. <IsMainModel>1</IsMainModel>

  2223.  <KeepParameterValues>False</KeepParameterValues>

  2224. </Description>';

  2225.        knot Splitter

  2226.         ports

  2227.          signal knot duplicatable out output [4,4];

  2228.          signal knot in input [4,4];

  2229.        end;

  2230.        icon bg ellipse

  2231.         figures

  2232.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2233.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2234.         terminals

  2235.          input 320 312 fixed;

  2236.        end;

  2237.        implementation eq

  2238. equations

  2239.     collect (output) = input;

  2240. implementation_end;

  2241.       Wbai 184 424

  2242.        description '<Description>

  2243.  <Version>4.0</Version>

  2244.  <IsMainModel>1</IsMainModel>

  2245.  <KeepParameterValues>False</KeepParameterValues>

  2246.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2247.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2248.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2249. </Description>';

  2250.        knot ZeroJunction

  2251.         ports

  2252.          power knot duplicatable none p [6,1];

  2253.          signal knot out effort [6,1];

  2254.         restrictions

  2255.          causality constraint one_in p;

  2256.        end;

  2257.        icon bg bottom

  2258.         figures

  2259.          text '0' 184 424 color 0 18 bold;

  2260.        end;

  2261.        implementation eq

  2262. equations

  2263. 	sum (direct (p.f)) = 0;

  2264. 	equal (collect (p.e));

  2265. 	effort = first (p.e);

  2266. implementation_end;

  2267.      end;

  2268.      connections

  2269.       FlowSensor2\flow -> Hmatrix\flow;

  2270.       FlowSensor2\p2 => Wbai\p;

  2271.       Hin -> MatrixMul\input2;

  2272.       Hmatrix\H -> Splitter2\input;

  2273.       MatrixMul\output -> Hout;

  2274.       Pdiff => FlowSensor2\p1;

  2275.       Pin => AdHji\p2;

  2276.       Splitter2\output -> AdHji\H 424 312;

  2277.       Splitter2\output -> Hdiff;

  2278.       Splitter2\output -> MatrixMul\input1;

  2279.       Wbai\p <= AdHji\p1;

  2280.       Wbai\p => Pout;

  2281.      end;

  2282.     implementation_end;

  2283.    JointE 200 168

  2284.     description '<Information>

  2285.  <Description>

  2286.     <Version>4.8</Version>

  2287. <IsMainModel>1</IsMainModel>

  2288.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2289.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2290. </Description>

  2291. </Information>';

  2292.     type 'Submodel-v3'

  2293.      ports

  2294.       power in Pin [6,1];

  2295.       power in Pdiff [6,1];

  2296.       signal in Hin [4,4];

  2297.       signal out Hout [4,4];

  2298.       signal out Hdiff [4,4];

  2299.       power out Pout [6,1];

  2300.     end;

  2301.     icon bg bottom

  2302.      figures

  2303.       rectangle 168 144 232 192 color 0 fill 14745599;

  2304.       text 'Joint' 200 168 color 0 'Clear Sans' 16;

  2305.      terminals

  2306.       Pin 184 144 fixed;

  2307.       Hin 216 192 fixed;

  2308.       Hout 216 144 fixed;

  2309.       Pout 184 192 fixed;

  2310.     end;

  2311.     implementation bg

  2312.      submodels

  2313.       AdHji 424 424

  2314.        description '<Description>

  2315.  <Version>4.0</Version>

  2316.  <IsMainModel>1</IsMainModel>

  2317.  <KeepParameterValues>False</KeepParameterValues>

  2318.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2319.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2320.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2321. </Description>';

  2322.        type MTF

  2323.         ports

  2324.          power out p1 [6,1];

  2325.          power in p2 [6,1];

  2326.          signal in H [4,4];

  2327.         restrictions

  2328.          causality constraint not_equal p1 p2;

  2329.        end;

  2330.        icon bg bottom

  2331.         figures

  2332.          text 'MTF' 424 424 color 0 18 bold;

  2333.        end;

  2334.        implementation eq

  2335. equations					

  2336. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2337. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2338.       FlowSensor2 184 311.9

  2339.        description '<Information>

  2340.  <Description>

  2341.     <Version>4.2</Version>

  2342. <IsMainModel>1</IsMainModel>

  2343.   <KeepParameterValues>False</KeepParameterValues>

  2344.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2345.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2346. </Description>

  2347. </Information>';

  2348.        knot FlowSensor

  2349.         ports

  2350.          power knot in p1 [6,1];

  2351.          power knot out p2 [6,1];

  2352.          signal knot out flow [6,1];

  2353.         restrictions

  2354.          causality constraint not_equal p1 p2;

  2355.        end;

  2356.        icon bg ellipse

  2357.         figures

  2358.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2359.          text 'f' 184 311.2 color 0;

  2360.        end;

  2361.        implementation eq

  2362. equations

  2363. 	p2.f = p1.f;

  2364. 	p1.e = p2.e;

  2365. 	flow = p1.f;

  2366. implementation_end;

  2367.       Hmatrix 256 312

  2368.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  2369.        type 'Submodel-Equation'

  2370.         ports

  2371.          signal in flow [6,1];

  2372.          signal out H [4,4];

  2373.        end;

  2374.        icon bg

  2375.         figures

  2376.          rectangle 224 296 288 328 color 0 fill 15132390;

  2377.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2378.        end;

  2379.        implementation eq

  2380. parameters

  2381. 	real init[4] = [1;0;0;0];

  2382. variables

  2383. 	real q[4];		//quaternions

  2384. 	real W[3,4];	//Quaternion Rates Matrix

  2385. 	real R[3,3];	//Rotation Matrix

  2386. 	real p[3];		//Position Vector

  2387. 	real dq[4];

  2388. 	real Wb[3,4];

  2389. equations

  2390. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2391. 	q = int(dq,init);

  2392. 	p = int(flow[4:6]);

  2393. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2394. 		 -q[3],	q[4],	q[1],	-q[2];

  2395. 		 -q[4],	-q[3],	q[2],	q[1]];

  2396. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2397. 	   		-q[3], -q[4],  q[1],  q[2];

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

  2399.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  2400. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  2401. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  2402. 	H = homogeneous(R,p);

  2403. 	implementation_end;

  2404.       MatrixMul 320 576

  2405.        description '<Description>

  2406.  <Version>4.0</Version>

  2407.  <IsMainModel>1</IsMainModel>

  2408.  <KeepParameterValues>False</KeepParameterValues>

  2409.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2410.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2411.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2412. </Description>';

  2413.        type Gain

  2414.         ports

  2415.          signal in input1 [4,4];

  2416.          signal out output [4,4];

  2417.          signal in input2 [4,4];

  2418.        end;

  2419.        icon bg bottom

  2420.         figures

  2421.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2422.          text 'X' 320 576 color 16711680 16 bold;

  2423.        end;

  2424.        implementation eq

  2425. equations

  2426. 	output = input2*input1;    implementation_end;

  2427.       plug Pin 492.1 424;

  2428.       plug Pdiff 184 225;

  2429.       plug Hin 130.8 576;

  2430.       plug Hout 478.4 576;

  2431.       plug Hdiff 320 222;

  2432.       plug Pout 134.7 424;

  2433.       Splitter2 320 312

  2434.        description '<Description><Version>4.0</Version>

  2435.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2436.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2437. <IsMainModel>1</IsMainModel>

  2438.  <KeepParameterValues>False</KeepParameterValues>

  2439. </Description>';

  2440.        knot Splitter

  2441.         ports

  2442.          signal knot duplicatable out output [4,4];

  2443.          signal knot in input [4,4];

  2444.        end;

  2445.        icon bg ellipse

  2446.         figures

  2447.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2448.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2449.         terminals

  2450.          input 320 312 fixed;

  2451.        end;

  2452.        implementation eq

  2453. equations

  2454.     collect (output) = input;

  2455. implementation_end;

  2456.       Wbai 184 424

  2457.        description '<Description>

  2458.  <Version>4.0</Version>

  2459.  <IsMainModel>1</IsMainModel>

  2460.  <KeepParameterValues>False</KeepParameterValues>

  2461.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2462.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2463.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2464. </Description>';

  2465.        knot ZeroJunction

  2466.         ports

  2467.          power knot duplicatable none p [6,1];

  2468.          signal knot out effort [6,1];

  2469.         restrictions

  2470.          causality constraint one_in p;

  2471.        end;

  2472.        icon bg bottom

  2473.         figures

  2474.          text '0' 184 424 color 0 18 bold;

  2475.        end;

  2476.        implementation eq

  2477. equations

  2478. 	sum (direct (p.f)) = 0;

  2479. 	equal (collect (p.e));

  2480. 	effort = first (p.e);

  2481. implementation_end;

  2482.      end;

  2483.      connections

  2484.       FlowSensor2\flow -> Hmatrix\flow;

  2485.       FlowSensor2\p2 => Wbai\p;

  2486.       Hin -> MatrixMul\input2;

  2487.       Hmatrix\H -> Splitter2\input;

  2488.       MatrixMul\output -> Hout;

  2489.       Pdiff => FlowSensor2\p1;

  2490.       Pin => AdHji\p2;

  2491.       Splitter2\output -> AdHji\H 424 312;

  2492.       Splitter2\output -> Hdiff;

  2493.       Splitter2\output -> MatrixMul\input1;

  2494.       Wbai\p <= AdHji\p1;

  2495.       Wbai\p => Pout;

  2496.      end;

  2497.     implementation_end;

  2498.    JointF 720 128

  2499.     description '<Information>

  2500.  <Description>

  2501.     <Version>4.8</Version>

  2502. <IsMainModel>1</IsMainModel>

  2503.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2504.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2505. </Description>

  2506. </Information>';

  2507.     type 'Submodel-v3'

  2508.      ports

  2509.       power in Pin [6,1];

  2510.       power in Pdiff [6,1];

  2511.       signal in Hin [4,4];

  2512.       signal out Hout [4,4];

  2513.       signal out Hdiff [4,4];

  2514.       power out Pout [6,1];

  2515.     end;

  2516.     icon bg bottom

  2517.      figures

  2518.       rectangle 696 96 744 160 color 0 fill 14745599;

  2519.       text 'Joint' 720 128 color 0 'Clear Sans' 16;

  2520.      terminals

  2521.       Pin 744 112 fixed;

  2522.       Hin 696 144 fixed;

  2523.       Hout 744 144 fixed;

  2524.       Pout 696 112 fixed;

  2525.     end;

  2526.     implementation bg

  2527.      submodels

  2528.       AdHji 424 424

  2529.        description '<Description>

  2530.  <Version>4.0</Version>

  2531.  <IsMainModel>1</IsMainModel>

  2532.  <KeepParameterValues>False</KeepParameterValues>

  2533.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2534.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2535.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2536. </Description>';

  2537.        type MTF

  2538.         ports

  2539.          power out p1 [6,1];

  2540.          power in p2 [6,1];

  2541.          signal in H [4,4];

  2542.         restrictions

  2543.          causality constraint not_equal p1 p2;

  2544.        end;

  2545.        icon bg bottom

  2546.         figures

  2547.          text 'MTF' 424 424 color 0 18 bold;

  2548.        end;

  2549.        implementation eq

  2550. equations					

  2551. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2552. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2553.       FlowSensor2 184 311.9

  2554.        description '<Information>

  2555.  <Description>

  2556.     <Version>4.2</Version>

  2557. <IsMainModel>1</IsMainModel>

  2558.   <KeepParameterValues>False</KeepParameterValues>

  2559.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2560.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2561. </Description>

  2562. </Information>';

  2563.        knot FlowSensor

  2564.         ports

  2565.          power knot in p1 [6,1];

  2566.          power knot out p2 [6,1];

  2567.          signal knot out flow [6,1];

  2568.         restrictions

  2569.          causality constraint not_equal p1 p2;

  2570.        end;

  2571.        icon bg ellipse

  2572.         figures

  2573.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2574.          text 'f' 184 311.2 color 0;

  2575.        end;

  2576.        implementation eq

  2577. equations

  2578. 	p2.f = p1.f;

  2579. 	p1.e = p2.e;

  2580. 	flow = p1.f;

  2581. implementation_end;

  2582.       Hmatrix 256 312

  2583.        description '<Information><Description><Version>4.0</Version><LibraryPath>Template\Submodel-Equation.emx</LibraryPath><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><TimeStamp>2007-11-1 22:32:1</TimeStamp><AllowLibraryUpdate>False</AllowLibraryUpdate></Description></Information>';

  2584.        type 'Submodel-Equation'

  2585.         ports

  2586.          signal in flow [6,1];

  2587.          signal out H [4,4];

  2588.        end;

  2589.        icon bg

  2590.         figures

  2591.          rectangle 224 296 288 328 color 0 fill 15132390;

  2592.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2593.        end;

  2594.        implementation eq

  2595. parameters

  2596. 	real init[4] = [1;0;0;0];

  2597. variables

  2598. 	real q[4];		//quaternions

  2599. 	real W[3,4];	//Quaternion Rates Matrix

  2600. 	real R[3,3];	//Rotation Matrix

  2601. 	real p[3];		//Position Vector

  2602. 	real dq[4];

  2603. 	real Wb[3,4];

  2604. equations

  2605. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2606. 	q = int(dq,init);

  2607. 	p = int(flow[4:6]);

  2608. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2609. 		 -q[3],	q[4],	q[1],	-q[2];

  2610. 		 -q[4],	-q[3],	q[2],	q[1]];

  2611. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2612. 	   		-q[3], -q[4],  q[1],  q[2];

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

  2614.  	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);

  2615. 		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);

  2616. 		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];

  2617. 	H = homogeneous(R,p);

  2618. 	implementation_end;

  2619.       MatrixMul 320 576

  2620.        description '<Description>

  2621.  <Version>4.0</Version>

  2622.  <IsMainModel>1</IsMainModel>

  2623.  <KeepParameterValues>False</KeepParameterValues>

  2624.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2625.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2626.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2627. </Description>';

  2628.        type Gain

  2629.         ports

  2630.          signal in input1 [4,4];

  2631.          signal out output [4,4];

  2632.          signal in input2 [4,4];

  2633.        end;

  2634.        icon bg bottom

  2635.         figures

  2636.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2637.          text 'X' 320 576 color 16711680 16 bold;

  2638.        end;

  2639.        implementation eq

  2640. equations

  2641. 	output = input2*input1;    implementation_end;

  2642.       plug Pin 492.1 424;

  2643.       plug Pdiff 184 225;

  2644.       plug Hin 130.8 576;

  2645.       plug Hout 478.4 576;

  2646.       plug Hdiff 320 222;

  2647.       plug Pout 134.7 424;

  2648.       Splitter2 320 312

  2649.        description '<Description><Version>4.0</Version>

  2650.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2651.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2652. <IsMainModel>1</IsMainModel>

  2653.  <KeepParameterValues>False</KeepParameterValues>

  2654. </Description>';

  2655.        knot Splitter

  2656.         ports

  2657.          signal knot duplicatable out output [4,4];

  2658.          signal knot in input [4,4];

  2659.        end;

  2660.        icon bg ellipse

  2661.         figures

  2662.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2663.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2664.         terminals

  2665.          input 320 312 fixed;

  2666.        end;

  2667.        implementation eq

  2668. equations

  2669.     collect (output) = input;

  2670. implementation_end;

  2671.       Wbai 184 424

  2672.        description '<Description>

  2673.  <Version>4.0</Version>

  2674.  <IsMainModel>1</IsMainModel>

  2675.  <KeepParameterValues>False</KeepParameterValues>

  2676.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2677.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2678.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2679. </Description>';

  2680.        knot ZeroJunction

  2681.         ports

  2682.          power knot duplicatable none p [6,1];

  2683.          signal knot out effort [6,1];

  2684.         restrictions

  2685.          causality constraint one_in p;

  2686.        end;

  2687.        icon bg bottom

  2688.         figures

  2689.          text '0' 184 424 color 0 18 bold;

  2690.        end;

  2691.        implementation eq

  2692. equations

  2693. 	sum (direct (p.f)) = 0;

  2694. 	equal (collect (p.e));

  2695. 	effort = first (p.e);

  2696. implementation_end;

  2697.      end;

  2698.      connections

  2699.       FlowSensor2\flow -> Hmatrix\flow;

  2700.       FlowSensor2\p2 => Wbai\p;

  2701.       Hin -> MatrixMul\input2;

  2702.       Hmatrix\H -> Splitter2\input;

  2703.       MatrixMul\output -> Hout;

  2704.       Pdiff => FlowSensor2\p1;

  2705.       Pin => AdHji\p2;

  2706.       Splitter2\output -> AdHji\H 424 312;

  2707.       Splitter2\output -> Hdiff;

  2708.       Splitter2\output -> MatrixMul\input1;

  2709.       Wbai\p <= AdHji\p1;

  2710.       Wbai\p => Pout;

  2711.      end;

  2712.     implementation_end;

  2713.    Joint_dynA 704 512

  2714.     description '<Description>

  2715. 	<Version>4.8</Version>

  2716. 	<IsMainModel>1</IsMainModel>

  2717. 	</Description>';

  2718.     type Submodel

  2719.      ports

  2720.       power out output [6,1];

  2721.       signal in angle {rad} ;

  2722.     end;

  2723.     implementation bg

  2724.      submodels

  2725.       C 264 200

  2726.        description '<Information>

  2727.  <Description>

  2728.     <Version>4.2</Version>

  2729. <IsMainModel>1</IsMainModel>

  2730.   <KeepParameterValues>False</KeepParameterValues>

  2731.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  2732.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  2733. </Description>

  2734. </Information>';

  2735.        type C

  2736.         ports

  2737.          power in p;

  2738.          signal out state;

  2739.         restrictions

  2740.          causality preferred out p;

  2741.        end;

  2742.        icon bg bottom

  2743.         figures

  2744.          text 'C' 264 200 color 0 18 bold;

  2745.        end;

  2746.        implementation eq

  2747. parameters

  2748. 	real c = 0.001;

  2749. equations

  2750. 	state = int(p.f);

  2751. 	p.e = state / c;

  2752. implementation_end;

  2753.       C1 191.8 216.2

  2754.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2755.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  2756.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  2757. </Description>';

  2758.        type 'C-3'

  2759.         ports

  2760.          power in p [3,1];

  2761.          signal out state [3,1];

  2762.         restrictions

  2763.          causality preferred out p;

  2764.        end;

  2765.        icon bg top

  2766.         figures

  2767.          text 'C' 191.8 216.2 color 0 18 bold;

  2768.        end;

  2769.        implementation eq

  2770. parameters

  2771. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  2772. equations

  2773.     state = int(p.f);

  2774.     p.e = inverse(c) *state;

  2775. implementation_end;

  2776.       C4 191.8 232.2

  2777.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2778.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  2779.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  2780. </Description>';

  2781.        type 'C-2'

  2782.         ports

  2783.          power in p [2,1];

  2784.          signal out state [2,1];

  2785.         restrictions

  2786.          causality preferred out p;

  2787.        end;

  2788.        icon bg bottom

  2789.         figures

  2790.          text 'C' 191.8 232.2 color 0 18 bold;

  2791.        end;

  2792.        implementation eq

  2793. parameters

  2794. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  2795. equations

  2796.     state = int(p.f);

  2797.     p.e = inverse(c) *state;

  2798. implementation_end;

  2799.       plug output 468 216;

  2800.       plug angle 224 80;

  2801.       OneJunction5 239.8 232.2

  2802.        description '<Information>

  2803.  <Description>

  2804.     <Version>4.2</Version>

  2805. <IsMainModel>1</IsMainModel>

  2806.   <KeepParameterValues>False</KeepParameterValues>

  2807.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2808.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2809. </Description>

  2810. </Information>';

  2811.        knot OneJunction

  2812.         ports

  2813.          power knot duplicatable none p [2,1];

  2814.          signal knot out flow [2,1];

  2815.         restrictions

  2816.          causality constraint one_out p;

  2817.        end;

  2818.        icon bg

  2819.         figures

  2820.          text '1' 239.8 232.2 color 0 18 bold;

  2821.        end;

  2822.        implementation eq

  2823. equations

  2824. 	sum (direct (p.e)) = 0;

  2825. 	equal (collect (p.f));

  2826. 	flow = first (p.f);

  2827. implementation_end;

  2828.       OneJunction7 239.8 216.2

  2829.        description '<Information>

  2830.  <Description>

  2831.     <Version>4.2</Version>

  2832. <IsMainModel>1</IsMainModel>

  2833.   <KeepParameterValues>False</KeepParameterValues>

  2834.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2835.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2836. </Description>

  2837. </Information>';

  2838.        knot OneJunction

  2839.         ports

  2840.          power knot duplicatable none p [3,1];

  2841.          signal knot out flow [3,1];

  2842.         restrictions

  2843.          causality constraint one_out p;

  2844.        end;

  2845.        icon bg

  2846.         figures

  2847.          text '1' 239.8 216.2 color 0 18 bold;

  2848.        end;

  2849.        implementation eq

  2850. equations

  2851. 	sum (direct (p.e)) = 0;

  2852. 	equal (collect (p.f));

  2853. 	flow = first (p.f);

  2854. implementation_end;

  2855.       OneJunction8 312 200

  2856.        description '<Information>

  2857.  <Description>

  2858.     <Version>4.2</Version>

  2859. <IsMainModel>1</IsMainModel>

  2860.   <KeepParameterValues>False</KeepParameterValues>

  2861.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2862.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2863. </Description>

  2864. </Information>';

  2865.        knot OneJunction

  2866.         ports

  2867.          rotation knot duplicatable none p [1];

  2868.          signal knot out flow [1];

  2869.         restrictions

  2870.          causality constraint one_out p;

  2871.        end;

  2872.        icon bg

  2873.         figures

  2874.          text '1' 312 200 color 0 18 bold;

  2875.        end;

  2876.        implementation eq

  2877. equations

  2878. 	sum (direct (p.e)) = 0;

  2879. 	equal (collect (p.f));

  2880. 	flow = first (p.f);

  2881. implementation_end;

  2882.       PowerMux 402 216

  2883. 						specifications active 'rot_x'

  2884. 							specification 'rot_x'

  2885.  description '<Information>

  2886.  <Description>

  2887.     <Version>4.8</Version>

  2888.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2889.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  2890. <IsMainModel>1</IsMainModel>

  2891.   <KeepParameterValues>False</KeepParameterValues>

  2892.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2893.  </Description>

  2894. </Information>';

  2895.  type 'PowerMux-Rotation'

  2896.   ports

  2897.    power in input;

  2898.    power out output [6,1];

  2899.    power in input_rot2 [2,1];

  2900.    power in input_pos3 [3,1];

  2901.   restrictions

  2902.    causality constraint not_equal input output;

  2903.    causality constraint not_equal input_rot2 output;

  2904.    causality constraint not_equal input_pos3 output;

  2905.  end;

  2906.  icon bg bottom

  2907.   figures

  2908.    line 400 192 400 240 color 0 width 2;

  2909.    rectangle 396 192 408 240 color -1;

  2910.    text '1' 405 210 color 8421504 8;

  2911.   terminals

  2912.    input 400 200 fixed;

  2913.    output 400 216 fixed;

  2914.    input_rot2 400 232 fixed;

  2915.    input_pos3 400 216 fixed;

  2916.  end;

  2917.  implementation eq

  2918. equations

  2919. 	output.e[1] = input.e;

  2920. 	output.e[2:3] = input_rot2.e;

  2921. 	output.e[4:6] = input_pos3.e;

  2922. 	output.f[1] = input.f;

  2923. 	output.f[2:3] = input_rot2.f;

  2924. 	output.f[4:6] = input_pos3.f;implementation_end;

  2925. specification_end;

  2926. 							specification 'rot_y'

  2927. description '<Description>

  2928.    <Version>4.1</Version>

  2929.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  2930.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  2931. <IsMainModel>1</IsMainModel>

  2932.  <KeepParameterValues>False</KeepParameterValues>

  2933.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2934. </Description>';

  2935.  type PowerMux

  2936.   ports

  2937.    power in input;

  2938.    power out output [6,1];

  2939.    power in input_rot2 [2,1];

  2940.    power in input_pos3 [3,1];

  2941.   restrictions

  2942.    causality constraint not_equal input output;

  2943.    causality constraint not_equal input_rot2 output;

  2944.    causality constraint not_equal input_pos3 output;

  2945.  end;

  2946.  icon bg bottom

  2947.   figures

  2948.    line 242 274 290 274 color 0 width 2;

  2949.    rectangle 242 266 290 278 color -1;

  2950.    text '1' 260 269 color 8421504 8;

  2951.   terminals

  2952.    input 250 274 fixed;

  2953.    output 266 274 fixed;

  2954.    input_rot2 282 274 fixed;

  2955.    input_pos3 266 274 fixed;

  2956.  end;

  2957.  implementation eq

  2958. equations

  2959. 	output.e[1] = input_rot2.e[1];

  2960. 	output.e[2] = input.e;

  2961. 	output.e[3] = input_rot2.e[2];

  2962. 	output.e[4:6] = input_pos3.e;

  2963. 	output.f[1] = input_rot2.f[1];

  2964. 	output.f[2] = input.f;

  2965. 	output.f[3] = input_rot2.f[2];

  2966. 	output.f[4:6] = input_pos3.f;implementation_end;

  2967. specification_end;

  2968. 							specification 'rot_z'

  2969. description '<Information>

  2970.  <Description>

  2971.     <Version>4.8</Version>

  2972.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2973.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  2974. <IsMainModel>1</IsMainModel>

  2975.   <KeepParameterValues>False</KeepParameterValues>

  2976.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2977.  </Description>

  2978. </Information>';

  2979.  type PowerMux

  2980.   ports

  2981.    power in input;

  2982.    power out output [6,1];

  2983.    power in input_rot2 [2,1];

  2984.    power in input_pos3 [3,1];

  2985.   restrictions

  2986.    causality constraint not_equal input output;

  2987.    causality constraint not_equal input_rot2 output;

  2988.    causality constraint not_equal input_pos3 output;

  2989.  end;

  2990.  icon bg bottom

  2991.   figures

  2992.    line 242 274 290 274 color 0 width 2;

  2993.    rectangle 242 266 290 278 color -1;

  2994.    text '1' 260 269 color 8421504 8;

  2995.   terminals

  2996.    input 250 274 fixed;

  2997.    output 266 274 fixed;

  2998.    input_rot2 282 274 fixed;

  2999.    input_pos3 266 274 fixed;

  3000.  end;

  3001.  implementation eq

  3002. equations

  3003. 	output.e[3] = input.e;

  3004. 	output.e[1:2] = input_rot2.e;

  3005. 	output.e[4:6] = input_pos3.e;

  3006. 	output.f[3] = input.f;

  3007. 	output.f[1:2] = input_rot2.f;

  3008. 	output.f[4:6] = input_pos3.f;implementation_end;

  3009. specification_end;

  3010. 						end;

  3011.       R 312 152

  3012.        description '<Information>

  3013.  <Description>

  3014.     <Version>4.2</Version>

  3015. <IsMainModel>1</IsMainModel>

  3016.   <KeepParameterValues>False</KeepParameterValues>

  3017.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3018.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3019. </Description>

  3020. </Information>';

  3021.        type R

  3022.         ports

  3023.          power in p;

  3024.        end;

  3025.        icon bg bottom

  3026.         figures

  3027.          text 'R' 312 152 color 0 18 bold;

  3028.        end;

  3029.        implementation eq

  3030. parameters

  3031. 	real r = 100;

  3032. equations

  3033. 	p.e = r * p.f;

  3034. implementation_end;

  3035.       R4 239.8 288.2

  3036.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3037.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3038.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3039. </Description>';

  3040.        type 'R-2'

  3041.         ports

  3042.          power in p [2,1];

  3043.        end;

  3044.        icon bg bottom

  3045.         figures

  3046.          text 'R' 239.8 288.2 color 0 18 bold;

  3047.        end;

  3048.        implementation eq

  3049. parameters

  3050. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3051. equations					

  3052. 	p.e = r * p.f;

  3053. implementation_end;

  3054.       R5 239.8 168.2

  3055.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3056.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3057.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3058. </Description>';

  3059.        type 'R-3'

  3060.         ports

  3061.          power in p [3,1];

  3062.        end;

  3063.        icon bg top

  3064.         figures

  3065.          text 'R' 239.8 168.2 color 0 18 bold;

  3066.        end;

  3067.        implementation eq

  3068. parameters

  3069. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  3070. equations					

  3071. 	p.e = r * p.f;

  3072. implementation_end;

  3073.       stepper_model 360 80

  3074.        description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Motor\stepper_model.emx</LibraryPath><TimeStamp>2020-7-23 10:54:47</TimeStamp></Description><Attributes><GlobalRelations>parameters 

  3075. 	real I_phase = 3.4 {mH};

  3076. 	real R_phase = 2.9 {ohm};

  3077. 	real u_max = 3.4 {V};

  3078. 	real RotorInertia = 5.6e-6 {kg.m2};

  3079. 	real StepperMass = 0.29 {kg};

  3080. 	real angle_step = 1.8 {deg};

  3081. 	real n_phase = 2 {none};

  3082. 	real fluxLinkage = 0.0022 {Wb};

  3083. 	real detentTorque = 0.01 {N.m};

  3084. variables

  3085. 	real omega;

  3086. 	real p; // rotor division

  3087. initialequations

  3088. 	p = 2 * pi / (2 * n_phase * angle_step);

  3089. 	omega = 200;</GlobalRelations></Attributes></Information>';

  3090.        type Submodel

  3091.         ports

  3092.          signal in angle;

  3093.          rotation out p;

  3094.        end;

  3095.        implementation bg

  3096.         submodels

  3097.          I 560 104

  3098.           description '<Information>

  3099.  <Description>

  3100.     <Version>4.2</Version>

  3101. <IsMainModel>1</IsMainModel>

  3102.   <KeepParameterValues>False</KeepParameterValues>

  3103.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3104.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3105. </Description>

  3106. </Information>';

  3107.           type I

  3108.            ports

  3109.             power in p;

  3110.             signal out state;

  3111.            restrictions

  3112.             causality preferred in p;

  3113.           end;

  3114.           icon bg bottom

  3115.            figures

  3116.             text 'I' 560 104 color 0 18 bold;

  3117.           end;

  3118.           implementation eq

  3119. parameters

  3120. 	real global I_phase;

  3121. equations

  3122.     state = int(p.e);

  3123.     p.f = state / I_phase;

  3124. implementation_end;

  3125.          I1 608 328

  3126.           description '<Information>

  3127.  <Description>

  3128.     <Version>4.2</Version>

  3129. <IsMainModel>1</IsMainModel>

  3130.   <KeepParameterValues>False</KeepParameterValues>

  3131.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3132.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3133. </Description>

  3134. </Information>';

  3135.           type I

  3136.            ports

  3137.             power in p;

  3138.             signal out state;

  3139.            restrictions

  3140.             causality preferred in p;

  3141.           end;

  3142.           icon bg bottom

  3143.            figures

  3144.             text 'I' 608 328 color 0 18 bold;

  3145.           end;

  3146.           implementation eq

  3147. parameters

  3148. 	real global I_phase;

  3149. equations

  3150.     state = int(p.e);

  3151.     p.f = state / I_phase;

  3152. implementation_end;

  3153.          I2 752 160

  3154.           description '<Information>

  3155.  <Description>

  3156.     <Version>4.2</Version>

  3157. <IsMainModel>1</IsMainModel>

  3158.   <KeepParameterValues>False</KeepParameterValues>

  3159.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3160.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3161. </Description>

  3162. </Information>';

  3163.           type I

  3164.            ports

  3165.             power in p;

  3166.             signal out state;

  3167.            restrictions

  3168.             causality preferred in p;

  3169.           end;

  3170.           icon bg bottom

  3171.            figures

  3172.             text 'I' 752 160 color 0 18 bold;

  3173.           end;

  3174.           implementation eq

  3175. parameters

  3176. 	real global RotorInertia;

  3177. equations

  3178.     state = int(p.e);

  3179.     p.f = state / (RotorInertia);

  3180. implementation_end;

  3181.          MGY_a 656 160

  3182.           description '<Information>

  3183.  <Description>

  3184.     <Version>4.2</Version>

  3185. <IsMainModel>1</IsMainModel>

  3186.   <KeepParameterValues>False</KeepParameterValues>

  3187.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3188.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3189. </Description>

  3190. </Information>';

  3191.           type MGY

  3192.            ports

  3193.             power in p1;

  3194.             power out p2;

  3195.             signal in r;

  3196.            restrictions

  3197.             causality constraint equal p1 p2;

  3198.           end;

  3199.           icon bg bottom

  3200.            figures

  3201.             text 'MGY' 656 160 color 0 18 bold;

  3202.           end;

  3203.           implementation eq

  3204. equations

  3205. 	p1.e = r * p2.f;

  3206. 	p2.e = r * p1.f;

  3207. implementation_end;

  3208.          MGY_b 656 272

  3209.           description '<Information>

  3210.  <Description>

  3211.     <Version>4.2</Version>

  3212. <IsMainModel>1</IsMainModel>

  3213.   <KeepParameterValues>False</KeepParameterValues>

  3214.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3215.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3216. </Description>

  3217. </Information>';

  3218.           type MGY

  3219.            ports

  3220.             power in p1;

  3221.             power out p2;

  3222.             signal in r;

  3223.            restrictions

  3224.             causality constraint equal p1 p2;

  3225.           end;

  3226.           icon bg bottom

  3227.            figures

  3228.             text 'MGY' 656 272 color 0 18 bold;

  3229.           end;

  3230.           implementation eq

  3231. equations

  3232. 	p1.e = r * p2.f;

  3233. 	p2.e = r * p1.f;

  3234. implementation_end;

  3235.          MSe_a 512 160

  3236.           description '<Information>

  3237.  <Description>

  3238.     <Version>4.2</Version>

  3239. <IsMainModel>1</IsMainModel>

  3240.   <KeepParameterValues>False</KeepParameterValues>

  3241.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3242.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3243. </Description>

  3244. </Information>';

  3245.           type MSe

  3246.            ports

  3247.             electric out p;

  3248.             signal in effort;

  3249.            restrictions

  3250.             causality fixed out p;

  3251.           end;

  3252.           icon bg bottom

  3253.            figures

  3254.             text 'MSe' 512 160 color 0 18 bold;

  3255.           end;

  3256.           implementation eq

  3257. variables

  3258. 	real flow;

  3259. equations

  3260. 	p.e = effort;

  3261. 	flow = p.f;

  3262. implementation_end;

  3263.          MSe_b 512 272

  3264.           description '<Information>

  3265.  <Description>

  3266.     <Version>4.2</Version>

  3267. <IsMainModel>1</IsMainModel>

  3268.   <KeepParameterValues>False</KeepParameterValues>

  3269.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3270.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3271. </Description>

  3272. </Information>';

  3273.           type MSe

  3274.            ports

  3275.             electric out p;

  3276.             signal in effort;

  3277.            restrictions

  3278.             causality fixed out p;

  3279.           end;

  3280.           icon bg bottom

  3281.            figures

  3282.             text 'MSe' 512 272 color 0 18 bold;

  3283.           end;

  3284.           implementation eq

  3285. variables

  3286. 	real flow;

  3287. equations

  3288. 	p.e = effort;

  3289. 	flow = p.f;

  3290. implementation_end;

  3291.          plug angle 200 216;

  3292.          plug p 1472 216;

  3293.          OneJunction1 840 216

  3294.           description '<Information>

  3295.  <Description>

  3296.     <Version>4.2</Version>

  3297. <IsMainModel>1</IsMainModel>

  3298.   <KeepParameterValues>False</KeepParameterValues>

  3299.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3300.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3301. </Description>

  3302. </Information>';

  3303.           knot OneJunction

  3304.            ports

  3305.             rotation knot duplicatable none p [1];

  3306.             signal knot out flow [1];

  3307.            restrictions

  3308.             causality constraint one_out p;

  3309.           end;

  3310.           icon bg

  3311.            figures

  3312.             text '1' 840 216 color 0 18 bold;

  3313.           end;

  3314.           implementation eq

  3315. equations

  3316. 	sum (direct (p.e)) = 0;

  3317. 	equal (collect (p.f));

  3318. 	flow = first (p.f);

  3319. implementation_end;

  3320.          OneJunction2 584 160

  3321.           description '<Information>

  3322.  <Description>

  3323.     <Version>4.2</Version>

  3324. <IsMainModel>1</IsMainModel>

  3325.   <KeepParameterValues>False</KeepParameterValues>

  3326.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3327.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3328. </Description>

  3329. </Information>';

  3330.           knot OneJunction

  3331.            ports

  3332.             electric knot duplicatable none p [1];

  3333.             signal knot out flow [1];

  3334.            restrictions

  3335.             causality constraint one_out p;

  3336.           end;

  3337.           icon bg

  3338.            figures

  3339.             text '1' 584 160 color 0 18 bold;

  3340.           end;

  3341.           implementation eq

  3342. equations

  3343. 	sum (direct (p.e)) = 0;

  3344. 	equal (collect (p.f));

  3345. 	flow = first (p.f);

  3346. implementation_end;

  3347.          OneJunction3 584 272

  3348.           description '<Information>

  3349.  <Description>

  3350.     <Version>4.2</Version>

  3351. <IsMainModel>1</IsMainModel>

  3352.   <KeepParameterValues>False</KeepParameterValues>

  3353.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3354.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3355. </Description>

  3356. </Information>';

  3357.           knot OneJunction

  3358.            ports

  3359.             electric knot duplicatable none p [1];

  3360.             signal knot out flow [1];

  3361.            restrictions

  3362.             causality constraint one_out p;

  3363.           end;

  3364.           icon bg

  3365.            figures

  3366.             text '1' 584 272 color 0 18 bold;

  3367.           end;

  3368.           implementation eq

  3369. equations

  3370. 	sum (direct (p.e)) = 0;

  3371. 	equal (collect (p.f));

  3372. 	flow = first (p.f);

  3373. implementation_end;

  3374.          OneJunction4 752 216

  3375.           description '<Information>

  3376.  <Description>

  3377.     <Version>4.2</Version>

  3378. <IsMainModel>1</IsMainModel>

  3379.   <KeepParameterValues>False</KeepParameterValues>

  3380.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3381.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3382. </Description>

  3383. </Information>';

  3384.           knot OneJunction

  3385.            ports

  3386.             rotation knot duplicatable none p [1];

  3387.             signal knot out flow [1];

  3388.            restrictions

  3389.             causality constraint one_out p;

  3390.           end;

  3391.           icon bg

  3392.            figures

  3393.             text '1' 752 216 color 0 18 bold;

  3394.           end;

  3395.           implementation eq

  3396. equations

  3397. 	sum (direct (p.e)) = 0;

  3398. 	equal (collect (p.f));

  3399. 	flow = first (p.f);

  3400. implementation_end;

  3401.          phase_control 512 216

  3402.           description '<Description><Version>4.0</Version>

  3403.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  3404. <IsMainModel>1</IsMainModel>

  3405.  <KeepParameterValues>False</KeepParameterValues>

  3406.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  3407.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3408. </Description>';

  3409.           type Submodel

  3410.            ports

  3411.             signal in angle;

  3412.             signal out a;

  3413.             signal out b;

  3414.           end;

  3415.           icon bg

  3416.            figures

  3417.             rectangle 472 200 552 232 color 0 fill 15132390;

  3418.             text 'name' 512 216 color 0 'Clear Sans' 16;

  3419.           end;

  3420.           implementation eq

  3421. parameters

  3422. 	real global u_max {V};

  3423. variables

  3424. 	real global p;

  3425. 	boolean hidden eventa, eventb;

  3426. equations

  3427. 	a = u_max * (cos (p*angle));

  3428. 	eventa = event(a);

  3429. 	b = u_max * -(sin (p*angle));

  3430. 	eventb = event(b);

  3431. 

  3432. 	

  3433. 	

  3434.  implementation_end;

  3435.          R 608 104

  3436.           description '<Information>

  3437.  <Description>

  3438.     <Version>4.2</Version>

  3439. <IsMainModel>1</IsMainModel>

  3440.   <KeepParameterValues>False</KeepParameterValues>

  3441.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3442.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3443. </Description>

  3444. </Information>';

  3445.           type R

  3446.            ports

  3447.             power in p;

  3448.           end;

  3449.           icon bg bottom

  3450.            figures

  3451.             text 'R' 608 104 color 0 18 bold;

  3452.           end;

  3453.           implementation eq

  3454. parameters

  3455. 	real global R_phase;

  3456. equations

  3457. 	p.e = R_phase * p.f;

  3458. implementation_end;

  3459.          R1 560 328

  3460.           description '<Information>

  3461.  <Description>

  3462.     <Version>4.2</Version>

  3463. <IsMainModel>1</IsMainModel>

  3464.   <KeepParameterValues>False</KeepParameterValues>

  3465.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3466.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3467. </Description>

  3468. </Information>';

  3469.           type R

  3470.            ports

  3471.             power in p;

  3472.           end;

  3473.           icon bg bottom

  3474.            figures

  3475.             text 'R' 560 328 color 0 18 bold;

  3476.           end;

  3477.           implementation eq

  3478. parameters

  3479. 	real global R_phase;

  3480. equations

  3481. 	p.e = R_phase * p.f;

  3482. implementation_end;

  3483.          R2 824 264

  3484.           description '<Information>

  3485.  <Description>

  3486.     <Version>4.2</Version>

  3487. <IsMainModel>1</IsMainModel>

  3488.   <KeepParameterValues>False</KeepParameterValues>

  3489.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3490.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3491. </Description>

  3492. </Information>';

  3493.           type R

  3494.            ports

  3495.             power in p;

  3496.           end;

  3497.           icon bg bottom

  3498.            figures

  3499.             text 'R' 824 264 color 0 18 bold;

  3500.           end;

  3501.           implementation eq

  3502. parameters

  3503. 	real r = 1.0e-3;

  3504. equations

  3505. 	p.e = r * p.f;

  3506. implementation_end;

  3507.          RotorAngle 656 216

  3508.           description '<Description><Version>4.0</Version>

  3509.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  3510. <IsMainModel>1</IsMainModel>

  3511.  <KeepParameterValues>False</KeepParameterValues>

  3512.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  3513.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3514. </Description>';

  3515.           type Submodel

  3516.            ports

  3517.             signal out output_b;

  3518.             signal out output_a;

  3519.             signal in omega {rad/s} ;

  3520.             signal out output_d;

  3521.           end;

  3522.           icon bg

  3523.            figures

  3524.             rectangle 616 200 696 232 color 0 fill 15132390;

  3525.             text 'name' 656 216 color 0 'Clear Sans' 16;

  3526.           end;

  3527.           implementation eq

  3528. parameters

  3529. 	real global fluxLinkage;

  3530. 	real global detentTorque;

  3531. variables

  3532. 	real global p;

  3533. 	real angle {rad};

  3534. equations

  3535. 	angle = int(omega,-1.57);

  3536. 	output_a = -p * fluxLinkage * sin(p * angle);

  3537. 	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);

  3538. 	output_d =  detentTorque * sin(2 * p * angle);

  3539.  implementation_end;

  3540.          Se 752 272

  3541.           description '<Information>

  3542.  <Description>

  3543.     <Version>4.2</Version>

  3544. <IsMainModel>1</IsMainModel>

  3545.   <KeepParameterValues>False</KeepParameterValues>

  3546.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3547.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3548. </Description>

  3549. </Information>';

  3550.           type MSe

  3551.            ports

  3552.             power out p;

  3553.             signal in effort;

  3554.            restrictions

  3555.             causality fixed out p;

  3556.           end;

  3557.           icon bg bottom

  3558.            figures

  3559.             text 'MSe' 752 272 color 0 18 bold;

  3560.           end;

  3561.           implementation eq

  3562. 

  3563. variables

  3564. 	real flow;

  3565. equations

  3566. 	p.e = effort;

  3567. 	flow = p.f;

  3568. implementation_end;

  3569.         end;

  3570.         connections

  3571.          angle -> phase_control\angle;

  3572.          I2\p <= OneJunction4\p;

  3573.          MGY_a\p2 => OneJunction4\p;

  3574.          MGY_b\p2 => OneJunction4\p;

  3575.          MSe_b\p => OneJunction3\p;

  3576.          OneJunction1\p => p;

  3577.          OneJunction2\p <= MSe_a\p;

  3578.          OneJunction2\p => I\p;

  3579.          OneJunction2\p => MGY_a\p1;

  3580.          OneJunction2\p => R\p;

  3581.          OneJunction3\p => I1\p;

  3582.          OneJunction3\p => MGY_b\p1;

  3583.          OneJunction3\p => R1\p;

  3584.          OneJunction4\flow -> RotorAngle\omega;

  3585.          OneJunction4\p => OneJunction1\p;

  3586.          OneJunction4\p => R2\p;

  3587.          phase_control\a -> MSe_a\effort;

  3588.          phase_control\b -> MSe_b\effort;

  3589.          RotorAngle\output_a -> MGY_a\r;

  3590.          RotorAngle\output_b -> MGY_b\r;

  3591.          RotorAngle\output_d -> Se\effort;

  3592.          Se\p => OneJunction4\p;

  3593.         end;

  3594.        implementation_end;

  3595.       ZeroJunction1 360 200

  3596.        description '<Information>

  3597.  <Description>

  3598.     <Version>4.2</Version>

  3599. <IsMainModel>1</IsMainModel>

  3600.   <KeepParameterValues>False</KeepParameterValues>

  3601.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  3602.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  3603. </Description>

  3604. </Information>';

  3605.        knot ZeroJunction

  3606.         ports

  3607.          rotation knot duplicatable none p [1];

  3608.          signal knot out effort [1];

  3609.         restrictions

  3610.          causality constraint one_in p;

  3611.        end;

  3612.        icon bg

  3613.         figures

  3614.          text '0' 360 200 color 0 18 bold;

  3615.        end;

  3616.        implementation eq

  3617. equations

  3618. 	sum (direct (p.f)) = 0;

  3619. 	equal (collect (p.e));

  3620. 	effort = first (p.e);

  3621. implementation_end;

  3622.      end;

  3623.      connections

  3624.       angle -> stepper_model\angle;

  3625.       C\p <= OneJunction8\p;

  3626.       C1\p <= OneJunction7\p;

  3627.       OneJunction5\p => C4\p;

  3628.       OneJunction5\p => PowerMux\input_rot2;

  3629.       OneJunction5\p => R4\p;

  3630.       OneJunction7\p => PowerMux\input_pos3;

  3631.       OneJunction7\p => R5\p;

  3632.       OneJunction8\p => R\p;

  3633.       PowerMux\input <= ZeroJunction1\p;

  3634.       PowerMux\output => output;

  3635.       ZeroJunction1\p <= OneJunction8\p;

  3636.       ZeroJunction1\p <= stepper_model\p;

  3637.      end;

  3638.     implementation_end;

  3639.    Joint_dynB 456 192

  3640.     description '<Description>

  3641. 	<Version>4.8</Version>

  3642. 	<IsMainModel>1</IsMainModel>

  3643. 	</Description>';

  3644.     type Submodel

  3645.      ports

  3646.       power out output [6,1];

  3647.     end;

  3648.     implementation bg

  3649.      submodels

  3650.       C1 191.8 216.2

  3651.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3652.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  3653.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  3654. </Description>';

  3655.        type 'C-3'

  3656.         ports

  3657.          power in p [3,1];

  3658.          signal out state [3,1];

  3659.         restrictions

  3660.          causality preferred out p;

  3661.        end;

  3662.        icon bg top

  3663.         figures

  3664.          text 'C' 191.8 216.2 color 0 18 bold;

  3665.        end;

  3666.        implementation eq

  3667. parameters

  3668. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  3669. equations

  3670.     state = int(p.f);

  3671.     p.e = inverse(c) *state;

  3672. implementation_end;

  3673.       C4 191.8 232.2

  3674.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3675.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  3676.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  3677. </Description>';

  3678.        type 'C-2'

  3679.         ports

  3680.          power in p [2,1];

  3681.          signal out state [2,1];

  3682.         restrictions

  3683.          causality preferred out p;

  3684.        end;

  3685.        icon bg bottom

  3686.         figures

  3687.          text 'C' 191.8 232.2 color 0 18 bold;

  3688.        end;

  3689.        implementation eq

  3690. parameters

  3691. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  3692. equations

  3693.     state = int(p.f);

  3694.     p.e = inverse(c) *state;

  3695. implementation_end;

  3696.       plug output 396 216;

  3697.       OneJunction5 239.8 232.2

  3698.        description '<Information>

  3699.  <Description>

  3700.     <Version>4.2</Version>

  3701. <IsMainModel>1</IsMainModel>

  3702.   <KeepParameterValues>False</KeepParameterValues>

  3703.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3704.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3705. </Description>

  3706. </Information>';

  3707.        knot OneJunction

  3708.         ports

  3709.          power knot duplicatable none p [2,1];

  3710.          signal knot out flow [2,1];

  3711.         restrictions

  3712.          causality constraint one_out p;

  3713.        end;

  3714.        icon bg

  3715.         figures

  3716.          text '1' 239.8 232.2 color 0 18 bold;

  3717.        end;

  3718.        implementation eq

  3719. equations

  3720. 	sum (direct (p.e)) = 0;

  3721. 	equal (collect (p.f));

  3722. 	flow = first (p.f);

  3723. implementation_end;

  3724.       OneJunction7 239.8 216.2

  3725.        description '<Information>

  3726.  <Description>

  3727.     <Version>4.2</Version>

  3728. <IsMainModel>1</IsMainModel>

  3729.   <KeepParameterValues>False</KeepParameterValues>

  3730.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3731.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3732. </Description>

  3733. </Information>';

  3734.        knot OneJunction

  3735.         ports

  3736.          power knot duplicatable none p [3,1];

  3737.          signal knot out flow [3,1];

  3738.         restrictions

  3739.          causality constraint one_out p;

  3740.        end;

  3741.        icon bg

  3742.         figures

  3743.          text '1' 239.8 216.2 color 0 18 bold;

  3744.        end;

  3745.        implementation eq

  3746. equations

  3747. 	sum (direct (p.e)) = 0;

  3748. 	equal (collect (p.f));

  3749. 	flow = first (p.f);

  3750. implementation_end;

  3751.       OneJunction8 288 200

  3752.        description '<Information>

  3753.  <Description>

  3754.     <Version>4.2</Version>

  3755. <IsMainModel>1</IsMainModel>

  3756.   <KeepParameterValues>False</KeepParameterValues>

  3757.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3758.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3759. </Description>

  3760. </Information>';

  3761.        knot OneJunction

  3762.         ports

  3763.          power knot duplicatable none p [1];

  3764.          signal knot out flow [1];

  3765.         restrictions

  3766.          causality constraint one_out p;

  3767.        end;

  3768.        icon bg

  3769.         figures

  3770.          text '1' 288 200 color 0 18 bold;

  3771.        end;

  3772.        implementation eq

  3773. equations

  3774. 	sum (direct (p.e)) = 0;

  3775. 	equal (collect (p.f));

  3776. 	flow = first (p.f);

  3777. implementation_end;

  3778.       PowerMux 330 216

  3779. 						specifications active 'rot_x'

  3780. 							specification 'rot_x'

  3781.  description '<Information>

  3782.  <Description>

  3783.     <Version>4.8</Version>

  3784.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3785.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  3786. <IsMainModel>1</IsMainModel>

  3787.   <KeepParameterValues>False</KeepParameterValues>

  3788.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3789.  </Description>

  3790. </Information>';

  3791.  type 'PowerMux-Rotation'

  3792.   ports

  3793.    power in input;

  3794.    power out output [6,1];

  3795.    power in input_rot2 [2,1];

  3796.    power in input_pos3 [3,1];

  3797.   restrictions

  3798.    causality constraint not_equal input output;

  3799.    causality constraint not_equal input_rot2 output;

  3800.    causality constraint not_equal input_pos3 output;

  3801.  end;

  3802.  icon bg bottom

  3803.   figures

  3804.    line 328 192 328 240 color 0 width 2;

  3805.    rectangle 324 192 336 240 color -1;

  3806.    text '1' 333 210 color 8421504 8;

  3807.   terminals

  3808.    input 328 200 fixed;

  3809.    output 328 216 fixed;

  3810.    input_rot2 328 232 fixed;

  3811.    input_pos3 328 216 fixed;

  3812.  end;

  3813.  implementation eq

  3814. equations

  3815. 	output.e[1] = input.e;

  3816. 	output.e[2:3] = input_rot2.e;

  3817. 	output.e[4:6] = input_pos3.e;

  3818. 	output.f[1] = input.f;

  3819. 	output.f[2:3] = input_rot2.f;

  3820. 	output.f[4:6] = input_pos3.f;implementation_end;

  3821. specification_end;

  3822. 							specification 'rot_y'

  3823. description '<Description>

  3824.    <Version>4.1</Version>

  3825.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  3826.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  3827. <IsMainModel>1</IsMainModel>

  3828.  <KeepParameterValues>False</KeepParameterValues>

  3829.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3830. </Description>';

  3831.  type PowerMux

  3832.   ports

  3833.    power in input;

  3834.    power out output [6,1];

  3835.    power in input_rot2 [2,1];

  3836.    power in input_pos3 [3,1];

  3837.   restrictions

  3838.    causality constraint not_equal input output;

  3839.    causality constraint not_equal input_rot2 output;

  3840.    causality constraint not_equal input_pos3 output;

  3841.  end;

  3842.  icon bg bottom

  3843.   figures

  3844.    line 242 274 290 274 color 0 width 2;

  3845.    rectangle 242 266 290 278 color -1;

  3846.    text '1' 260 269 color 8421504 8;

  3847.   terminals

  3848.    input 250 274 fixed;

  3849.    output 266 274 fixed;

  3850.    input_rot2 282 274 fixed;

  3851.    input_pos3 266 274 fixed;

  3852.  end;

  3853.  implementation eq

  3854. equations

  3855. 	output.e[1] = input_rot2.e[1];

  3856. 	output.e[2] = input.e;

  3857. 	output.e[3] = input_rot2.e[2];

  3858. 	output.e[4:6] = input_pos3.e;

  3859. 	output.f[1] = input_rot2.f[1];

  3860. 	output.f[2] = input.f;

  3861. 	output.f[3] = input_rot2.f[2];

  3862. 	output.f[4:6] = input_pos3.f;implementation_end;

  3863. specification_end;

  3864. 							specification 'rot_z'

  3865. description '<Information>

  3866.  <Description>

  3867.     <Version>4.8</Version>

  3868.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3869.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  3870. <IsMainModel>1</IsMainModel>

  3871.   <KeepParameterValues>False</KeepParameterValues>

  3872.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3873.  </Description>

  3874. </Information>';

  3875.  type PowerMux

  3876.   ports

  3877.    power in input;

  3878.    power out output [6,1];

  3879.    power in input_rot2 [2,1];

  3880.    power in input_pos3 [3,1];

  3881.   restrictions

  3882.    causality constraint not_equal input output;

  3883.    causality constraint not_equal input_rot2 output;

  3884.    causality constraint not_equal input_pos3 output;

  3885.  end;

  3886.  icon bg bottom

  3887.   figures

  3888.    line 242 274 290 274 color 0 width 2;

  3889.    rectangle 242 266 290 278 color -1;

  3890.    text '1' 260 269 color 8421504 8;

  3891.   terminals

  3892.    input 250 274 fixed;

  3893.    output 266 274 fixed;

  3894.    input_rot2 282 274 fixed;

  3895.    input_pos3 266 274 fixed;

  3896.  end;

  3897.  implementation eq

  3898. equations

  3899. 	output.e[3] = input.e;

  3900. 	output.e[1:2] = input_rot2.e;

  3901. 	output.e[4:6] = input_pos3.e;

  3902. 	output.f[3] = input.f;

  3903. 	output.f[1:2] = input_rot2.f;

  3904. 	output.f[4:6] = input_pos3.f;implementation_end;

  3905. specification_end;

  3906. 						end;

  3907.       R 288 152

  3908.        description '<Information>

  3909.  <Description>

  3910.     <Version>4.2</Version>

  3911. <IsMainModel>1</IsMainModel>

  3912.   <KeepParameterValues>False</KeepParameterValues>

  3913.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3914.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3915. </Description>

  3916. </Information>';

  3917.        type R

  3918.         ports

  3919.          power in p;

  3920.        end;

  3921.        icon bg top

  3922.         figures

  3923.          text 'R' 288 152 color 0 18 bold;

  3924.        end;

  3925.        implementation eq

  3926. parameters

  3927. 	real r = 0.0001;

  3928. equations

  3929. 	p.e = r * p.f;

  3930. implementation_end;

  3931.       R4 239.8 288.2

  3932.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3933.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3934.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3935. </Description>';

  3936.        type 'R-2'

  3937.         ports

  3938.          power in p [2,1];

  3939.        end;

  3940.        icon bg bottom

  3941.         figures

  3942.          text 'R' 239.8 288.2 color 0 18 bold;

  3943.        end;

  3944.        implementation eq

  3945. parameters

  3946. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3947. equations					

  3948. 	p.e = r * p.f;

  3949. implementation_end;

  3950.       R5 239.8 168.2

  3951.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3952.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3953.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3954. </Description>';

  3955.        type 'R-3'

  3956.         ports

  3957.          power in p [3,1];

  3958.        end;

  3959.        icon bg top

  3960.         figures

  3961.          text 'R' 239.8 168.2 color 0 18 bold;

  3962.        end;

  3963.        implementation eq

  3964. parameters

  3965. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  3966. equations					

  3967. 	p.e = r * p.f;

  3968. implementation_end;

  3969.      end;

  3970.      connections

  3971.       C1\p <= OneJunction7\p;

  3972.       OneJunction5\p => C4\p;

  3973.       OneJunction5\p => PowerMux\input_rot2;

  3974.       OneJunction5\p => R4\p;

  3975.       OneJunction7\p => PowerMux\input_pos3;

  3976.       OneJunction7\p => R5\p;

  3977.       OneJunction8\p => PowerMux\input;

  3978.       PowerMux\output => output;

  3979.       R\p <= OneJunction8\p;

  3980.      end;

  3981.     implementation_end;

  3982.    Joint_dynC 512 712

  3983.     description '<Description>

  3984. 	<Version>4.8</Version>

  3985. 	<IsMainModel>1</IsMainModel>

  3986. 	</Description>';

  3987.     type Submodel

  3988.      ports

  3989.       power out output [6,1];

  3990.       signal in angle {rad} ;

  3991.     end;

  3992.     icon bg

  3993.      figures

  3994.       rectangle 472 696 552 728 color 0 fill 15132390;

  3995.       text 'name' 512 712 color 0 'Clear Sans' 16;

  3996.     end;

  3997.     implementation bg

  3998.      submodels

  3999.       C 264 200

  4000.        description '<Information>

  4001.  <Description>

  4002.     <Version>4.2</Version>

  4003. <IsMainModel>1</IsMainModel>

  4004.   <KeepParameterValues>False</KeepParameterValues>

  4005.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  4006.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  4007. </Description>

  4008. </Information>';

  4009.        type C

  4010.         ports

  4011.          power in p;

  4012.          signal out state;

  4013.         restrictions

  4014.          causality preferred out p;

  4015.        end;

  4016.        icon bg bottom

  4017.         figures

  4018.          text 'C' 264 200 color 0 18 bold;

  4019.        end;

  4020.        implementation eq

  4021. parameters

  4022. 	real c = 0.001;

  4023. equations

  4024. 	state = int(p.f);

  4025. 	p.e = state / c;

  4026. implementation_end;

  4027.       C1 191.8 216.2

  4028.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4029.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4030.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4031. </Description>';

  4032.        type 'C-3'

  4033.         ports

  4034.          power in p [3,1];

  4035.          signal out state [3,1];

  4036.         restrictions

  4037.          causality preferred out p;

  4038.        end;

  4039.        icon bg top

  4040.         figures

  4041.          text 'C' 191.8 216.2 color 0 18 bold;

  4042.        end;

  4043.        implementation eq

  4044. parameters

  4045. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  4046. equations

  4047.     state = int(p.f);

  4048.     p.e = inverse(c) *state;

  4049. implementation_end;

  4050.       C4 191.8 232.2

  4051.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4052.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4053.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4054. </Description>';

  4055.        type 'C-2'

  4056.         ports

  4057.          power in p [2,1];

  4058.          signal out state [2,1];

  4059.         restrictions

  4060.          causality preferred out p;

  4061.        end;

  4062.        icon bg bottom

  4063.         figures

  4064.          text 'C' 191.8 232.2 color 0 18 bold;

  4065.        end;

  4066.        implementation eq

  4067. parameters

  4068. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  4069. equations

  4070.     state = int(p.f);

  4071.     p.e = inverse(c) *state;

  4072. implementation_end;

  4073.       plug output 468 216;

  4074.       plug angle 224 80;

  4075.       OneJunction5 239.8 232.2

  4076.        description '<Information>

  4077.  <Description>

  4078.     <Version>4.2</Version>

  4079. <IsMainModel>1</IsMainModel>

  4080.   <KeepParameterValues>False</KeepParameterValues>

  4081.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4082.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4083. </Description>

  4084. </Information>';

  4085.        knot OneJunction

  4086.         ports

  4087.          power knot duplicatable none p [2,1];

  4088.          signal knot out flow [2,1];

  4089.         restrictions

  4090.          causality constraint one_out p;

  4091.        end;

  4092.        icon bg

  4093.         figures

  4094.          text '1' 239.8 232.2 color 0 18 bold;

  4095.        end;

  4096.        implementation eq

  4097. equations

  4098. 	sum (direct (p.e)) = 0;

  4099. 	equal (collect (p.f));

  4100. 	flow = first (p.f);

  4101. implementation_end;

  4102.       OneJunction7 239.8 216.2

  4103.        description '<Information>

  4104.  <Description>

  4105.     <Version>4.2</Version>

  4106. <IsMainModel>1</IsMainModel>

  4107.   <KeepParameterValues>False</KeepParameterValues>

  4108.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4109.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4110. </Description>

  4111. </Information>';

  4112.        knot OneJunction

  4113.         ports

  4114.          power knot duplicatable none p [3,1];

  4115.          signal knot out flow [3,1];

  4116.         restrictions

  4117.          causality constraint one_out p;

  4118.        end;

  4119.        icon bg

  4120.         figures

  4121.          text '1' 239.8 216.2 color 0 18 bold;

  4122.        end;

  4123.        implementation eq

  4124. equations

  4125. 	sum (direct (p.e)) = 0;

  4126. 	equal (collect (p.f));

  4127. 	flow = first (p.f);

  4128. implementation_end;

  4129.       OneJunction8 312 200

  4130.        description '<Information>

  4131.  <Description>

  4132.     <Version>4.2</Version>

  4133. <IsMainModel>1</IsMainModel>

  4134.   <KeepParameterValues>False</KeepParameterValues>

  4135.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4136.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4137. </Description>

  4138. </Information>';

  4139.        knot OneJunction

  4140.         ports

  4141.          rotation knot duplicatable none p [1];

  4142.          signal knot out flow [1];

  4143.         restrictions

  4144.          causality constraint one_out p;

  4145.        end;

  4146.        icon bg

  4147.         figures

  4148.          text '1' 312 200 color 0 18 bold;

  4149.        end;

  4150.        implementation eq

  4151. equations

  4152. 	sum (direct (p.e)) = 0;

  4153. 	equal (collect (p.f));

  4154. 	flow = first (p.f);

  4155. implementation_end;

  4156.       PowerMux 402 216

  4157. 						specifications active 'rot_x'

  4158. 							specification 'rot_x'

  4159.  description '<Information>

  4160.  <Description>

  4161.     <Version>4.8</Version>

  4162.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4163.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  4164. <IsMainModel>1</IsMainModel>

  4165.   <KeepParameterValues>False</KeepParameterValues>

  4166.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4167.  </Description>

  4168. </Information>';

  4169.  type 'PowerMux-Rotation'

  4170.   ports

  4171.    power in input;

  4172.    power out output [6,1];

  4173.    power in input_rot2 [2,1];

  4174.    power in input_pos3 [3,1];

  4175.   restrictions

  4176.    causality constraint not_equal input output;

  4177.    causality constraint not_equal input_rot2 output;

  4178.    causality constraint not_equal input_pos3 output;

  4179.  end;

  4180.  icon bg bottom

  4181.   figures

  4182.    line 400 192 400 240 color 0 width 2;

  4183.    rectangle 396 192 408 240 color -1;

  4184.    text '1' 405 210 color 8421504 8;

  4185.   terminals

  4186.    input 400 200 fixed;

  4187.    output 400 216 fixed;

  4188.    input_rot2 400 232 fixed;

  4189.    input_pos3 400 216 fixed;

  4190.  end;

  4191.  implementation eq

  4192. equations

  4193. 	output.e[1] = input.e;

  4194. 	output.e[2:3] = input_rot2.e;

  4195. 	output.e[4:6] = input_pos3.e;

  4196. 	output.f[1] = input.f;

  4197. 	output.f[2:3] = input_rot2.f;

  4198. 	output.f[4:6] = input_pos3.f;implementation_end;

  4199. specification_end;

  4200. 							specification 'rot_y'

  4201. description '<Description>

  4202.    <Version>4.1</Version>

  4203.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  4204.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  4205. <IsMainModel>1</IsMainModel>

  4206.  <KeepParameterValues>False</KeepParameterValues>

  4207.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4208. </Description>';

  4209.  type PowerMux

  4210.   ports

  4211.    power in input;

  4212.    power out output [6,1];

  4213.    power in input_rot2 [2,1];

  4214.    power in input_pos3 [3,1];

  4215.   restrictions

  4216.    causality constraint not_equal input output;

  4217.    causality constraint not_equal input_rot2 output;

  4218.    causality constraint not_equal input_pos3 output;

  4219.  end;

  4220.  icon bg bottom

  4221.   figures

  4222.    line 242 274 290 274 color 0 width 2;

  4223.    rectangle 242 266 290 278 color -1;

  4224.    text '1' 260 269 color 8421504 8;

  4225.   terminals

  4226.    input 250 274 fixed;

  4227.    output 266 274 fixed;

  4228.    input_rot2 282 274 fixed;

  4229.    input_pos3 266 274 fixed;

  4230.  end;

  4231.  implementation eq

  4232. equations

  4233. 	output.e[1] = input_rot2.e[1];

  4234. 	output.e[2] = input.e;

  4235. 	output.e[3] = input_rot2.e[2];

  4236. 	output.e[4:6] = input_pos3.e;

  4237. 	output.f[1] = input_rot2.f[1];

  4238. 	output.f[2] = input.f;

  4239. 	output.f[3] = input_rot2.f[2];

  4240. 	output.f[4:6] = input_pos3.f;implementation_end;

  4241. specification_end;

  4242. 							specification 'rot_z'

  4243. description '<Information>

  4244.  <Description>

  4245.     <Version>4.8</Version>

  4246.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4247.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  4248. <IsMainModel>1</IsMainModel>

  4249.   <KeepParameterValues>False</KeepParameterValues>

  4250.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4251.  </Description>

  4252. </Information>';

  4253.  type PowerMux

  4254.   ports

  4255.    power in input;

  4256.    power out output [6,1];

  4257.    power in input_rot2 [2,1];

  4258.    power in input_pos3 [3,1];

  4259.   restrictions

  4260.    causality constraint not_equal input output;

  4261.    causality constraint not_equal input_rot2 output;

  4262.    causality constraint not_equal input_pos3 output;

  4263.  end;

  4264.  icon bg bottom

  4265.   figures

  4266.    line 242 274 290 274 color 0 width 2;

  4267.    rectangle 242 266 290 278 color -1;

  4268.    text '1' 260 269 color 8421504 8;

  4269.   terminals

  4270.    input 250 274 fixed;

  4271.    output 266 274 fixed;

  4272.    input_rot2 282 274 fixed;

  4273.    input_pos3 266 274 fixed;

  4274.  end;

  4275.  implementation eq

  4276. equations

  4277. 	output.e[3] = input.e;

  4278. 	output.e[1:2] = input_rot2.e;

  4279. 	output.e[4:6] = input_pos3.e;

  4280. 	output.f[3] = input.f;

  4281. 	output.f[1:2] = input_rot2.f;

  4282. 	output.f[4:6] = input_pos3.f;implementation_end;

  4283. specification_end;

  4284. 						end;

  4285.       R 312 152

  4286.        description '<Information>

  4287.  <Description>

  4288.     <Version>4.2</Version>

  4289. <IsMainModel>1</IsMainModel>

  4290.   <KeepParameterValues>False</KeepParameterValues>

  4291.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4292.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4293. </Description>

  4294. </Information>';

  4295.        type R

  4296.         ports

  4297.          power in p;

  4298.        end;

  4299.        icon bg bottom

  4300.         figures

  4301.          text 'R' 312 152 color 0 18 bold;

  4302.        end;

  4303.        implementation eq

  4304. parameters

  4305. 	real r = 100;

  4306. equations

  4307. 	p.e = r * p.f;

  4308. implementation_end;

  4309.       R4 239.8 288.2

  4310.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4311.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  4312.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  4313. </Description>';

  4314.        type 'R-2'

  4315.         ports

  4316.          power in p [2,1];

  4317.        end;

  4318.        icon bg bottom

  4319.         figures

  4320.          text 'R' 239.8 288.2 color 0 18 bold;

  4321.        end;

  4322.        implementation eq

  4323. parameters

  4324. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  4325. equations					

  4326. 	p.e = r * p.f;

  4327. implementation_end;

  4328.       R5 239.8 168.2

  4329.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4330.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  4331.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  4332. </Description>';

  4333.        type 'R-3'

  4334.         ports

  4335.          power in p [3,1];

  4336.        end;

  4337.        icon bg top

  4338.         figures

  4339.          text 'R' 239.8 168.2 color 0 18 bold;

  4340.        end;

  4341.        implementation eq

  4342. parameters

  4343. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  4344. equations					

  4345. 	p.e = r * p.f;

  4346. implementation_end;

  4347.       stepper_model 360 80

  4348.        description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Motor\stepper_model.emx</LibraryPath><TimeStamp>2020-7-23 10:54:47</TimeStamp></Description><Attributes><GlobalRelations>parameters 

  4349. 	real I_phase = 3.4 {mH};

  4350. 	real R_phase = 2.9 {ohm};

  4351. 	real u_max = 3.4 {V};

  4352. 	real RotorInertia = 5.6e-6 {kg.m2};

  4353. 	real StepperMass = 0.29 {kg};

  4354. 	real angle_step = 1.8 {deg};

  4355. 	real n_phase = 2 {none};

  4356. 	real fluxLinkage = 0.0022 {Wb};

  4357. 	real detentTorque = 0.01 {N.m};

  4358. variables

  4359. 	real omega;

  4360. 	real p; // rotor division

  4361. initialequations

  4362. 	p = 2 * pi / (2 * n_phase * angle_step);

  4363. 	omega = 200;</GlobalRelations></Attributes></Information>';

  4364.        type Submodel

  4365.         ports

  4366.          signal in angle;

  4367.          rotation out p;

  4368.        end;

  4369.        implementation bg

  4370.         submodels

  4371.          I 560 104

  4372.           description '<Information>

  4373.  <Description>

  4374.     <Version>4.2</Version>

  4375. <IsMainModel>1</IsMainModel>

  4376.   <KeepParameterValues>False</KeepParameterValues>

  4377.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4378.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4379. </Description>

  4380. </Information>';

  4381.           type I

  4382.            ports

  4383.             power in p;

  4384.             signal out state;

  4385.            restrictions

  4386.             causality preferred in p;

  4387.           end;

  4388.           icon bg bottom

  4389.            figures

  4390.             text 'I' 560 104 color 0 18 bold;

  4391.           end;

  4392.           implementation eq

  4393. parameters

  4394. 	real global I_phase;

  4395. equations

  4396.     state = int(p.e);

  4397.     p.f = state / I_phase;

  4398. implementation_end;

  4399.          I1 608 328

  4400.           description '<Information>

  4401.  <Description>

  4402.     <Version>4.2</Version>

  4403. <IsMainModel>1</IsMainModel>

  4404.   <KeepParameterValues>False</KeepParameterValues>

  4405.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4406.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4407. </Description>

  4408. </Information>';

  4409.           type I

  4410.            ports

  4411.             power in p;

  4412.             signal out state;

  4413.            restrictions

  4414.             causality preferred in p;

  4415.           end;

  4416.           icon bg bottom

  4417.            figures

  4418.             text 'I' 608 328 color 0 18 bold;

  4419.           end;

  4420.           implementation eq

  4421. parameters

  4422. 	real global I_phase;

  4423. equations

  4424.     state = int(p.e);

  4425.     p.f = state / I_phase;

  4426. implementation_end;

  4427.          I2 752 160

  4428.           description '<Information>

  4429.  <Description>

  4430.     <Version>4.2</Version>

  4431. <IsMainModel>1</IsMainModel>

  4432.   <KeepParameterValues>False</KeepParameterValues>

  4433.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  4434.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  4435. </Description>

  4436. </Information>';

  4437.           type I

  4438.            ports

  4439.             power in p;

  4440.             signal out state;

  4441.            restrictions

  4442.             causality preferred in p;

  4443.           end;

  4444.           icon bg bottom

  4445.            figures

  4446.             text 'I' 752 160 color 0 18 bold;

  4447.           end;

  4448.           implementation eq

  4449. parameters

  4450. 	real global RotorInertia;

  4451. equations

  4452.     state = int(p.e);

  4453.     p.f = state / (RotorInertia);

  4454. implementation_end;

  4455.          MGY_a 656 160

  4456.           description '<Information>

  4457.  <Description>

  4458.     <Version>4.2</Version>

  4459. <IsMainModel>1</IsMainModel>

  4460.   <KeepParameterValues>False</KeepParameterValues>

  4461.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  4462.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  4463. </Description>

  4464. </Information>';

  4465.           type MGY

  4466.            ports

  4467.             power in p1;

  4468.             power out p2;

  4469.             signal in r;

  4470.            restrictions

  4471.             causality constraint equal p1 p2;

  4472.           end;

  4473.           icon bg bottom

  4474.            figures

  4475.             text 'MGY' 656 160 color 0 18 bold;

  4476.           end;

  4477.           implementation eq

  4478. equations

  4479. 	p1.e = r * p2.f;

  4480. 	p2.e = r * p1.f;

  4481. implementation_end;

  4482.          MGY_b 656 272

  4483.           description '<Information>

  4484.  <Description>

  4485.     <Version>4.2</Version>

  4486. <IsMainModel>1</IsMainModel>

  4487.   <KeepParameterValues>False</KeepParameterValues>

  4488.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  4489.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  4490. </Description>

  4491. </Information>';

  4492.           type MGY

  4493.            ports

  4494.             power in p1;

  4495.             power out p2;

  4496.             signal in r;

  4497.            restrictions

  4498.             causality constraint equal p1 p2;

  4499.           end;

  4500.           icon bg bottom

  4501.            figures

  4502.             text 'MGY' 656 272 color 0 18 bold;

  4503.           end;

  4504.           implementation eq

  4505. equations

  4506. 	p1.e = r * p2.f;

  4507. 	p2.e = r * p1.f;

  4508. implementation_end;

  4509.          MSe_a 512 160

  4510.           description '<Information>

  4511.  <Description>

  4512.     <Version>4.2</Version>

  4513. <IsMainModel>1</IsMainModel>

  4514.   <KeepParameterValues>False</KeepParameterValues>

  4515.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4516.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4517. </Description>

  4518. </Information>';

  4519.           type MSe

  4520.            ports

  4521.             electric out p;

  4522.             signal in effort;

  4523.            restrictions

  4524.             causality fixed out p;

  4525.           end;

  4526.           icon bg bottom

  4527.            figures

  4528.             text 'MSe' 512 160 color 0 18 bold;

  4529.           end;

  4530.           implementation eq

  4531. variables

  4532. 	real flow;

  4533. equations

  4534. 	p.e = effort;

  4535. 	flow = p.f;

  4536. implementation_end;

  4537.          MSe_b 512 272

  4538.           description '<Information>

  4539.  <Description>

  4540.     <Version>4.2</Version>

  4541. <IsMainModel>1</IsMainModel>

  4542.   <KeepParameterValues>False</KeepParameterValues>

  4543.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4544.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4545. </Description>

  4546. </Information>';

  4547.           type MSe

  4548.            ports

  4549.             electric out p;

  4550.             signal in effort;

  4551.            restrictions

  4552.             causality fixed out p;

  4553.           end;

  4554.           icon bg bottom

  4555.            figures

  4556.             text 'MSe' 512 272 color 0 18 bold;

  4557.           end;

  4558.           implementation eq

  4559. variables

  4560. 	real flow;

  4561. equations

  4562. 	p.e = effort;

  4563. 	flow = p.f;

  4564. implementation_end;

  4565.          plug angle 200 216;

  4566.          plug p 1472 216;

  4567.          OneJunction1 840 216

  4568.           description '<Information>

  4569.  <Description>

  4570.     <Version>4.2</Version>

  4571. <IsMainModel>1</IsMainModel>

  4572.   <KeepParameterValues>False</KeepParameterValues>

  4573.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4574.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4575. </Description>

  4576. </Information>';

  4577.           knot OneJunction

  4578.            ports

  4579.             rotation knot duplicatable none p [1];

  4580.             signal knot out flow [1];

  4581.            restrictions

  4582.             causality constraint one_out p;

  4583.           end;

  4584.           icon bg

  4585.            figures

  4586.             text '1' 840 216 color 0 18 bold;

  4587.           end;

  4588.           implementation eq

  4589. equations

  4590. 	sum (direct (p.e)) = 0;

  4591. 	equal (collect (p.f));

  4592. 	flow = first (p.f);

  4593. implementation_end;

  4594.          OneJunction2 584 160

  4595.           description '<Information>

  4596.  <Description>

  4597.     <Version>4.2</Version>

  4598. <IsMainModel>1</IsMainModel>

  4599.   <KeepParameterValues>False</KeepParameterValues>

  4600.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4601.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4602. </Description>

  4603. </Information>';

  4604.           knot OneJunction

  4605.            ports

  4606.             electric knot duplicatable none p [1];

  4607.             signal knot out flow [1];

  4608.            restrictions

  4609.             causality constraint one_out p;

  4610.           end;

  4611.           icon bg

  4612.            figures

  4613.             text '1' 584 160 color 0 18 bold;

  4614.           end;

  4615.           implementation eq

  4616. equations

  4617. 	sum (direct (p.e)) = 0;

  4618. 	equal (collect (p.f));

  4619. 	flow = first (p.f);

  4620. implementation_end;

  4621.          OneJunction3 584 272

  4622.           description '<Information>

  4623.  <Description>

  4624.     <Version>4.2</Version>

  4625. <IsMainModel>1</IsMainModel>

  4626.   <KeepParameterValues>False</KeepParameterValues>

  4627.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4628.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4629. </Description>

  4630. </Information>';

  4631.           knot OneJunction

  4632.            ports

  4633.             electric knot duplicatable none p [1];

  4634.             signal knot out flow [1];

  4635.            restrictions

  4636.             causality constraint one_out p;

  4637.           end;

  4638.           icon bg

  4639.            figures

  4640.             text '1' 584 272 color 0 18 bold;

  4641.           end;

  4642.           implementation eq

  4643. equations

  4644. 	sum (direct (p.e)) = 0;

  4645. 	equal (collect (p.f));

  4646. 	flow = first (p.f);

  4647. implementation_end;

  4648.          OneJunction4 752 216

  4649.           description '<Information>

  4650.  <Description>

  4651.     <Version>4.2</Version>

  4652. <IsMainModel>1</IsMainModel>

  4653.   <KeepParameterValues>False</KeepParameterValues>

  4654.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4655.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4656. </Description>

  4657. </Information>';

  4658.           knot OneJunction

  4659.            ports

  4660.             rotation knot duplicatable none p [1];

  4661.             signal knot out flow [1];

  4662.            restrictions

  4663.             causality constraint one_out p;

  4664.           end;

  4665.           icon bg

  4666.            figures

  4667.             text '1' 752 216 color 0 18 bold;

  4668.           end;

  4669.           implementation eq

  4670. equations

  4671. 	sum (direct (p.e)) = 0;

  4672. 	equal (collect (p.f));

  4673. 	flow = first (p.f);

  4674. implementation_end;

  4675.          phase_control 512 216

  4676.           description '<Description><Version>4.0</Version>

  4677.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  4678. <IsMainModel>1</IsMainModel>

  4679.  <KeepParameterValues>False</KeepParameterValues>

  4680.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  4681.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4682. </Description>';

  4683.           type Submodel

  4684.            ports

  4685.             signal in angle;

  4686.             signal out a;

  4687.             signal out b;

  4688.           end;

  4689.           icon bg

  4690.            figures

  4691.             rectangle 472 200 552 232 color 0 fill 15132390;

  4692.             text 'name' 512 216 color 0 'Clear Sans' 16;

  4693.           end;

  4694.           implementation eq

  4695. parameters

  4696. 	real global u_max {V};

  4697. variables

  4698. 	real global p;

  4699. 	boolean hidden eventa, eventb;

  4700. equations

  4701. 	a = u_max * (cos (p*angle));

  4702. 	eventa = event(a);

  4703. 	b = u_max * -(sin (p*angle));

  4704. 	eventb = event(b);

  4705. 

  4706. 	

  4707. 	

  4708.  implementation_end;

  4709.          R 608 104

  4710.           description '<Information>

  4711.  <Description>

  4712.     <Version>4.2</Version>

  4713. <IsMainModel>1</IsMainModel>

  4714.   <KeepParameterValues>False</KeepParameterValues>

  4715.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4716.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4717. </Description>

  4718. </Information>';

  4719.           type R

  4720.            ports

  4721.             power in p;

  4722.           end;

  4723.           icon bg bottom

  4724.            figures

  4725.             text 'R' 608 104 color 0 18 bold;

  4726.           end;

  4727.           implementation eq

  4728. parameters

  4729. 	real global R_phase;

  4730. equations

  4731. 	p.e = R_phase * p.f;

  4732. implementation_end;

  4733.          R1 560 328

  4734.           description '<Information>

  4735.  <Description>

  4736.     <Version>4.2</Version>

  4737. <IsMainModel>1</IsMainModel>

  4738.   <KeepParameterValues>False</KeepParameterValues>

  4739.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4740.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4741. </Description>

  4742. </Information>';

  4743.           type R

  4744.            ports

  4745.             power in p;

  4746.           end;

  4747.           icon bg bottom

  4748.            figures

  4749.             text 'R' 560 328 color 0 18 bold;

  4750.           end;

  4751.           implementation eq

  4752. parameters

  4753. 	real global R_phase;

  4754. equations

  4755. 	p.e = R_phase * p.f;

  4756. implementation_end;

  4757.          R2 824 264

  4758.           description '<Information>

  4759.  <Description>

  4760.     <Version>4.2</Version>

  4761. <IsMainModel>1</IsMainModel>

  4762.   <KeepParameterValues>False</KeepParameterValues>

  4763.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4764.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4765. </Description>

  4766. </Information>';

  4767.           type R

  4768.            ports

  4769.             power in p;

  4770.           end;

  4771.           icon bg bottom

  4772.            figures

  4773.             text 'R' 824 264 color 0 18 bold;

  4774.           end;

  4775.           implementation eq

  4776. parameters

  4777. 	real r = 1.0e-3;

  4778. equations

  4779. 	p.e = r * p.f;

  4780. implementation_end;

  4781.          RotorAngle 656 216

  4782.           description '<Description><Version>4.0</Version>

  4783.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  4784. <IsMainModel>1</IsMainModel>

  4785.  <KeepParameterValues>False</KeepParameterValues>

  4786.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  4787.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4788. </Description>';

  4789.           type Submodel

  4790.            ports

  4791.             signal out output_b;

  4792.             signal out output_a;

  4793.             signal in omega {rad/s} ;

  4794.             signal out output_d;

  4795.           end;

  4796.           icon bg

  4797.            figures

  4798.             rectangle 616 200 696 232 color 0 fill 15132390;

  4799.             text 'name' 656 216 color 0 'Clear Sans' 16;

  4800.           end;

  4801.           implementation eq

  4802. parameters

  4803. 	real global fluxLinkage;

  4804. 	real global detentTorque;

  4805. variables

  4806. 	real global p;

  4807. 	real angle {rad};

  4808. equations

  4809. 	angle = int(omega);

  4810. 	output_a = -p * fluxLinkage * sin(p * angle);

  4811. 	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);

  4812. 	output_d =  detentTorque * sin(2 * p * angle);

  4813.  implementation_end;

  4814.          Se 752 272

  4815.           description '<Information>

  4816.  <Description>

  4817.     <Version>4.2</Version>

  4818. <IsMainModel>1</IsMainModel>

  4819.   <KeepParameterValues>False</KeepParameterValues>

  4820.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4821.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4822. </Description>

  4823. </Information>';

  4824.           type MSe

  4825.            ports

  4826.             power out p;

  4827.             signal in effort;

  4828.            restrictions

  4829.             causality fixed out p;

  4830.           end;

  4831.           icon bg bottom

  4832.            figures

  4833.             text 'MSe' 752 272 color 0 18 bold;

  4834.           end;

  4835.           implementation eq

  4836. 

  4837. variables

  4838. 	real flow;

  4839. equations

  4840. 	p.e = effort;

  4841. 	flow = p.f;

  4842. implementation_end;

  4843.         end;

  4844.         connections

  4845.          angle -> phase_control\angle;

  4846.          I2\p <= OneJunction4\p;

  4847.          MGY_a\p2 => OneJunction4\p;

  4848.          MGY_b\p2 => OneJunction4\p;

  4849.          MSe_b\p => OneJunction3\p;

  4850.          OneJunction1\p => p;

  4851.          OneJunction2\p <= MSe_a\p;

  4852.          OneJunction2\p => I\p;

  4853.          OneJunction2\p => MGY_a\p1;

  4854.          OneJunction2\p => R\p;

  4855.          OneJunction3\p => I1\p;

  4856.          OneJunction3\p => MGY_b\p1;

  4857.          OneJunction3\p => R1\p;

  4858.          OneJunction4\flow -> RotorAngle\omega;

  4859.          OneJunction4\p => OneJunction1\p;

  4860.          OneJunction4\p => R2\p;

  4861.          phase_control\a -> MSe_a\effort;

  4862.          phase_control\b -> MSe_b\effort;

  4863.          RotorAngle\output_a -> MGY_a\r;

  4864.          RotorAngle\output_b -> MGY_b\r;

  4865.          RotorAngle\output_d -> Se\effort;

  4866.          Se\p => OneJunction4\p;

  4867.         end;

  4868.        implementation_end;

  4869.       ZeroJunction1 360 200

  4870.        description '<Information>

  4871.  <Description>

  4872.     <Version>4.2</Version>

  4873. <IsMainModel>1</IsMainModel>

  4874.   <KeepParameterValues>False</KeepParameterValues>

  4875.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  4876.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  4877. </Description>

  4878. </Information>';

  4879.        knot ZeroJunction

  4880.         ports

  4881.          rotation knot duplicatable none p [1];

  4882.          signal knot out effort [1];

  4883.         restrictions

  4884.          causality constraint one_in p;

  4885.        end;

  4886.        icon bg

  4887.         figures

  4888.          text '0' 360 200 color 0 18 bold;

  4889.        end;

  4890.        implementation eq

  4891. equations

  4892. 	sum (direct (p.f)) = 0;

  4893. 	equal (collect (p.e));

  4894. 	effort = first (p.e);

  4895. implementation_end;

  4896.      end;

  4897.      connections

  4898.       angle -> stepper_model\angle;

  4899.       C\p <= OneJunction8\p;

  4900.       C1\p <= OneJunction7\p;

  4901.       OneJunction5\p => C4\p;

  4902.       OneJunction5\p => PowerMux\input_rot2;

  4903.       OneJunction5\p => R4\p;

  4904.       OneJunction7\p => PowerMux\input_pos3;

  4905.       OneJunction7\p => R5\p;

  4906.       OneJunction8\p => R\p;

  4907.       PowerMux\output => output;

  4908.       stepper_model\p => ZeroJunction1\p;

  4909.       ZeroJunction1\p => OneJunction8\p;

  4910.       ZeroJunction1\p => PowerMux\input;

  4911.      end;

  4912.     implementation_end;

  4913.    Joint_dynD 88 488

  4914.     description '<Description>

  4915. 	<Version>4.8</Version>

  4916. 	<IsMainModel>1</IsMainModel>

  4917. 	</Description>';

  4918.     type Submodel

  4919.      ports

  4920.       power out output [6,1];

  4921.     end;

  4922.     implementation bg

  4923.      submodels

  4924.       C1 191.8 216.2

  4925.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4926.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4927.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4928. </Description>';

  4929.        type 'C-3'

  4930.         ports

  4931.          power in p [3,1];

  4932.          signal out state [3,1];

  4933.         restrictions

  4934.          causality preferred out p;

  4935.        end;

  4936.        icon bg top

  4937.         figures

  4938.          text 'C' 191.8 216.2 color 0 18 bold;

  4939.        end;

  4940.        implementation eq

  4941. parameters

  4942. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  4943. equations

  4944.     state = int(p.f);

  4945.     p.e = inverse(c) *state;

  4946. implementation_end;

  4947.       C4 191.8 232.2

  4948.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4949.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4950.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4951. </Description>';

  4952.        type 'C-2'

  4953.         ports

  4954.          power in p [2,1];

  4955.          signal out state [2,1];

  4956.         restrictions

  4957.          causality preferred out p;

  4958.        end;

  4959.        icon bg bottom

  4960.         figures

  4961.          text 'C' 191.8 232.2 color 0 18 bold;

  4962.        end;

  4963.        implementation eq

  4964. parameters

  4965. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  4966. equations

  4967.     state = int(p.f);

  4968.     p.e = inverse(c) *state;

  4969. implementation_end;

  4970.       plug output 396 216;

  4971.       OneJunction5 239.8 232.2

  4972.        description '<Information>

  4973.  <Description>

  4974.     <Version>4.2</Version>

  4975. <IsMainModel>1</IsMainModel>

  4976.   <KeepParameterValues>False</KeepParameterValues>

  4977.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4978.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4979. </Description>

  4980. </Information>';

  4981.        knot OneJunction

  4982.         ports

  4983.          power knot duplicatable none p [2,1];

  4984.          signal knot out flow [2,1];

  4985.         restrictions

  4986.          causality constraint one_out p;

  4987.        end;

  4988.        icon bg

  4989.         figures

  4990.          text '1' 239.8 232.2 color 0 18 bold;

  4991.        end;

  4992.        implementation eq

  4993. equations

  4994. 	sum (direct (p.e)) = 0;

  4995. 	equal (collect (p.f));

  4996. 	flow = first (p.f);

  4997. implementation_end;

  4998.       OneJunction7 239.8 216.2

  4999.        description '<Information>

  5000.  <Description>

  5001.     <Version>4.2</Version>

  5002. <IsMainModel>1</IsMainModel>

  5003.   <KeepParameterValues>False</KeepParameterValues>

  5004.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5005.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5006. </Description>

  5007. </Information>';

  5008.        knot OneJunction

  5009.         ports

  5010.          power knot duplicatable none p [3,1];

  5011.          signal knot out flow [3,1];

  5012.         restrictions

  5013.          causality constraint one_out p;

  5014.        end;

  5015.        icon bg

  5016.         figures

  5017.          text '1' 239.8 216.2 color 0 18 bold;

  5018.        end;

  5019.        implementation eq

  5020. equations

  5021. 	sum (direct (p.e)) = 0;

  5022. 	equal (collect (p.f));

  5023. 	flow = first (p.f);

  5024. implementation_end;

  5025.       OneJunction8 288 200

  5026.        description '<Information>

  5027.  <Description>

  5028.     <Version>4.2</Version>

  5029. <IsMainModel>1</IsMainModel>

  5030.   <KeepParameterValues>False</KeepParameterValues>

  5031.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5032.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5033. </Description>

  5034. </Information>';

  5035.        knot OneJunction

  5036.         ports

  5037.          power knot duplicatable none p [1];

  5038.          signal knot out flow [1];

  5039.         restrictions

  5040.          causality constraint one_out p;

  5041.        end;

  5042.        icon bg

  5043.         figures

  5044.          text '1' 288 200 color 0 18 bold;

  5045.        end;

  5046.        implementation eq

  5047. equations

  5048. 	sum (direct (p.e)) = 0;

  5049. 	equal (collect (p.f));

  5050. 	flow = first (p.f);

  5051. implementation_end;

  5052.       PowerMux 330 216

  5053. 						specifications active 'rot_x'

  5054. 							specification 'rot_x'

  5055.  description '<Information>

  5056.  <Description>

  5057.     <Version>4.8</Version>

  5058.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5059.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5060. <IsMainModel>1</IsMainModel>

  5061.   <KeepParameterValues>False</KeepParameterValues>

  5062.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5063.  </Description>

  5064. </Information>';

  5065.  type 'PowerMux-Rotation'

  5066.   ports

  5067.    power in input;

  5068.    power out output [6,1];

  5069.    power in input_rot2 [2,1];

  5070.    power in input_pos3 [3,1];

  5071.   restrictions

  5072.    causality constraint not_equal input output;

  5073.    causality constraint not_equal input_rot2 output;

  5074.    causality constraint not_equal input_pos3 output;

  5075.  end;

  5076.  icon bg bottom

  5077.   figures

  5078.    line 328 192 328 240 color 0 width 2;

  5079.    rectangle 324 192 336 240 color -1;

  5080.    text '1' 333 210 color 8421504 8;

  5081.   terminals

  5082.    input 328 200 fixed;

  5083.    output 328 216 fixed;

  5084.    input_rot2 328 232 fixed;

  5085.    input_pos3 328 216 fixed;

  5086.  end;

  5087.  implementation eq

  5088. equations

  5089. 	output.e[1] = input.e;

  5090. 	output.e[2:3] = input_rot2.e;

  5091. 	output.e[4:6] = input_pos3.e;

  5092. 	output.f[1] = input.f;

  5093. 	output.f[2:3] = input_rot2.f;

  5094. 	output.f[4:6] = input_pos3.f;implementation_end;

  5095. specification_end;

  5096. 							specification 'rot_y'

  5097. description '<Description>

  5098.    <Version>4.1</Version>

  5099.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5100.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5101. <IsMainModel>1</IsMainModel>

  5102.  <KeepParameterValues>False</KeepParameterValues>

  5103.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5104. </Description>';

  5105.  type PowerMux

  5106.   ports

  5107.    power in input;

  5108.    power out output [6,1];

  5109.    power in input_rot2 [2,1];

  5110.    power in input_pos3 [3,1];

  5111.   restrictions

  5112.    causality constraint not_equal input output;

  5113.    causality constraint not_equal input_rot2 output;

  5114.    causality constraint not_equal input_pos3 output;

  5115.  end;

  5116.  icon bg bottom

  5117.   figures

  5118.    line 242 274 290 274 color 0 width 2;

  5119.    rectangle 242 266 290 278 color -1;

  5120.    text '1' 260 269 color 8421504 8;

  5121.   terminals

  5122.    input 250 274 fixed;

  5123.    output 266 274 fixed;

  5124.    input_rot2 282 274 fixed;

  5125.    input_pos3 266 274 fixed;

  5126.  end;

  5127.  implementation eq

  5128. equations

  5129. 	output.e[1] = input_rot2.e[1];

  5130. 	output.e[2] = input.e;

  5131. 	output.e[3] = input_rot2.e[2];

  5132. 	output.e[4:6] = input_pos3.e;

  5133. 	output.f[1] = input_rot2.f[1];

  5134. 	output.f[2] = input.f;

  5135. 	output.f[3] = input_rot2.f[2];

  5136. 	output.f[4:6] = input_pos3.f;implementation_end;

  5137. specification_end;

  5138. 							specification 'rot_z'

  5139. description '<Information>

  5140.  <Description>

  5141.     <Version>4.8</Version>

  5142.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5143.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5144. <IsMainModel>1</IsMainModel>

  5145.   <KeepParameterValues>False</KeepParameterValues>

  5146.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5147.  </Description>

  5148. </Information>';

  5149.  type PowerMux

  5150.   ports

  5151.    power in input;

  5152.    power out output [6,1];

  5153.    power in input_rot2 [2,1];

  5154.    power in input_pos3 [3,1];

  5155.   restrictions

  5156.    causality constraint not_equal input output;

  5157.    causality constraint not_equal input_rot2 output;

  5158.    causality constraint not_equal input_pos3 output;

  5159.  end;

  5160.  icon bg bottom

  5161.   figures

  5162.    line 242 274 290 274 color 0 width 2;

  5163.    rectangle 242 266 290 278 color -1;

  5164.    text '1' 260 269 color 8421504 8;

  5165.   terminals

  5166.    input 250 274 fixed;

  5167.    output 266 274 fixed;

  5168.    input_rot2 282 274 fixed;

  5169.    input_pos3 266 274 fixed;

  5170.  end;

  5171.  implementation eq

  5172. equations

  5173. 	output.e[3] = input.e;

  5174. 	output.e[1:2] = input_rot2.e;

  5175. 	output.e[4:6] = input_pos3.e;

  5176. 	output.f[3] = input.f;

  5177. 	output.f[1:2] = input_rot2.f;

  5178. 	output.f[4:6] = input_pos3.f;implementation_end;

  5179. specification_end;

  5180. 						end;

  5181.       R 288 152

  5182.        description '<Information>

  5183.  <Description>

  5184.     <Version>4.2</Version>

  5185. <IsMainModel>1</IsMainModel>

  5186.   <KeepParameterValues>False</KeepParameterValues>

  5187.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5188.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5189. </Description>

  5190. </Information>';

  5191.        type R

  5192.         ports

  5193.          power in p;

  5194.        end;

  5195.        icon bg top

  5196.         figures

  5197.          text 'R' 288 152 color 0 18 bold;

  5198.        end;

  5199.        implementation eq

  5200. parameters

  5201. 	real r = 0.0001;

  5202. equations

  5203. 	p.e = r * p.f;

  5204. implementation_end;

  5205.       R4 239.8 288.2

  5206.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5207.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5208.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5209. </Description>';

  5210.        type 'R-2'

  5211.         ports

  5212.          power in p [2,1];

  5213.        end;

  5214.        icon bg bottom

  5215.         figures

  5216.          text 'R' 239.8 288.2 color 0 18 bold;

  5217.        end;

  5218.        implementation eq

  5219. parameters

  5220. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5221. equations					

  5222. 	p.e = r * p.f;

  5223. implementation_end;

  5224.       R5 239.8 168.2

  5225.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5226.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5227.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5228. </Description>';

  5229.        type 'R-3'

  5230.         ports

  5231.          power in p [3,1];

  5232.        end;

  5233.        icon bg top

  5234.         figures

  5235.          text 'R' 239.8 168.2 color 0 18 bold;

  5236.        end;

  5237.        implementation eq

  5238. parameters

  5239. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  5240. equations					

  5241. 	p.e = r * p.f;

  5242. implementation_end;

  5243.      end;

  5244.      connections

  5245.       C1\p <= OneJunction7\p;

  5246.       OneJunction5\p => C4\p;

  5247.       OneJunction5\p => PowerMux\input_rot2;

  5248.       OneJunction5\p => R4\p;

  5249.       OneJunction7\p => PowerMux\input_pos3;

  5250.       OneJunction7\p => R5\p;

  5251.       OneJunction8\p => PowerMux\input;

  5252.       PowerMux\output => output;

  5253.       R\p <= OneJunction8\p;

  5254.      end;

  5255.     implementation_end;

  5256.    Joint_dynE 88 168

  5257.     description '<Description>

  5258. 	<Version>4.8</Version>

  5259. 	<IsMainModel>1</IsMainModel>

  5260. 	</Description>';

  5261.     type Submodel

  5262.      ports

  5263.       power out output [6,1];

  5264.     end;

  5265.     implementation bg

  5266.      submodels

  5267.       C1 191.8 216.2

  5268.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5269.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  5270.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  5271. </Description>';

  5272.        type 'C-3'

  5273.         ports

  5274.          power in p [3,1];

  5275.          signal out state [3,1];

  5276.         restrictions

  5277.          causality preferred out p;

  5278.        end;

  5279.        icon bg top

  5280.         figures

  5281.          text 'C' 191.8 216.2 color 0 18 bold;

  5282.        end;

  5283.        implementation eq

  5284. parameters

  5285. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  5286. equations

  5287.     state = int(p.f);

  5288.     p.e = inverse(c) *state;

  5289. implementation_end;

  5290.       C4 191.8 232.2

  5291.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5292.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  5293.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  5294. </Description>';

  5295.        type 'C-2'

  5296.         ports

  5297.          power in p [2,1];

  5298.          signal out state [2,1];

  5299.         restrictions

  5300.          causality preferred out p;

  5301.        end;

  5302.        icon bg bottom

  5303.         figures

  5304.          text 'C' 191.8 232.2 color 0 18 bold;

  5305.        end;

  5306.        implementation eq

  5307. parameters

  5308. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  5309. equations

  5310.     state = int(p.f);

  5311.     p.e = inverse(c) *state;

  5312. implementation_end;

  5313.       plug output 396 216;

  5314.       OneJunction5 239.8 232.2

  5315.        description '<Information>

  5316.  <Description>

  5317.     <Version>4.2</Version>

  5318. <IsMainModel>1</IsMainModel>

  5319.   <KeepParameterValues>False</KeepParameterValues>

  5320.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5321.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5322. </Description>

  5323. </Information>';

  5324.        knot OneJunction

  5325.         ports

  5326.          power knot duplicatable none p [2,1];

  5327.          signal knot out flow [2,1];

  5328.         restrictions

  5329.          causality constraint one_out p;

  5330.        end;

  5331.        icon bg

  5332.         figures

  5333.          text '1' 239.8 232.2 color 0 18 bold;

  5334.        end;

  5335.        implementation eq

  5336. equations

  5337. 	sum (direct (p.e)) = 0;

  5338. 	equal (collect (p.f));

  5339. 	flow = first (p.f);

  5340. implementation_end;

  5341.       OneJunction7 239.8 216.2

  5342.        description '<Information>

  5343.  <Description>

  5344.     <Version>4.2</Version>

  5345. <IsMainModel>1</IsMainModel>

  5346.   <KeepParameterValues>False</KeepParameterValues>

  5347.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5348.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5349. </Description>

  5350. </Information>';

  5351.        knot OneJunction

  5352.         ports

  5353.          power knot duplicatable none p [3,1];

  5354.          signal knot out flow [3,1];

  5355.         restrictions

  5356.          causality constraint one_out p;

  5357.        end;

  5358.        icon bg

  5359.         figures

  5360.          text '1' 239.8 216.2 color 0 18 bold;

  5361.        end;

  5362.        implementation eq

  5363. equations

  5364. 	sum (direct (p.e)) = 0;

  5365. 	equal (collect (p.f));

  5366. 	flow = first (p.f);

  5367. implementation_end;

  5368.       OneJunction8 288 200

  5369.        description '<Information>

  5370.  <Description>

  5371.     <Version>4.2</Version>

  5372. <IsMainModel>1</IsMainModel>

  5373.   <KeepParameterValues>False</KeepParameterValues>

  5374.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5375.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5376. </Description>

  5377. </Information>';

  5378.        knot OneJunction

  5379.         ports

  5380.          power knot duplicatable none p [1];

  5381.          signal knot out flow [1];

  5382.         restrictions

  5383.          causality constraint one_out p;

  5384.        end;

  5385.        icon bg

  5386.         figures

  5387.          text '1' 288 200 color 0 18 bold;

  5388.        end;

  5389.        implementation eq

  5390. equations

  5391. 	sum (direct (p.e)) = 0;

  5392. 	equal (collect (p.f));

  5393. 	flow = first (p.f);

  5394. implementation_end;

  5395.       PowerMux 330 216

  5396. 						specifications active 'rot_x'

  5397. 							specification 'rot_x'

  5398.  description '<Information>

  5399.  <Description>

  5400.     <Version>4.8</Version>

  5401.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5402.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5403. <IsMainModel>1</IsMainModel>

  5404.   <KeepParameterValues>False</KeepParameterValues>

  5405.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5406.  </Description>

  5407. </Information>';

  5408.  type 'PowerMux-Rotation'

  5409.   ports

  5410.    power in input;

  5411.    power out output [6,1];

  5412.    power in input_rot2 [2,1];

  5413.    power in input_pos3 [3,1];

  5414.   restrictions

  5415.    causality constraint not_equal input output;

  5416.    causality constraint not_equal input_rot2 output;

  5417.    causality constraint not_equal input_pos3 output;

  5418.  end;

  5419.  icon bg bottom

  5420.   figures

  5421.    line 328 192 328 240 color 0 width 2;

  5422.    rectangle 324 192 336 240 color -1;

  5423.    text '1' 333 210 color 8421504 8;

  5424.   terminals

  5425.    input 328 200 fixed;

  5426.    output 328 216 fixed;

  5427.    input_rot2 328 232 fixed;

  5428.    input_pos3 328 216 fixed;

  5429.  end;

  5430.  implementation eq

  5431. equations

  5432. 	output.e[1] = input.e;

  5433. 	output.e[2:3] = input_rot2.e;

  5434. 	output.e[4:6] = input_pos3.e;

  5435. 	output.f[1] = input.f;

  5436. 	output.f[2:3] = input_rot2.f;

  5437. 	output.f[4:6] = input_pos3.f;implementation_end;

  5438. specification_end;

  5439. 							specification 'rot_y'

  5440. description '<Description>

  5441.    <Version>4.1</Version>

  5442.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5443.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5444. <IsMainModel>1</IsMainModel>

  5445.  <KeepParameterValues>False</KeepParameterValues>

  5446.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5447. </Description>';

  5448.  type PowerMux

  5449.   ports

  5450.    power in input;

  5451.    power out output [6,1];

  5452.    power in input_rot2 [2,1];

  5453.    power in input_pos3 [3,1];

  5454.   restrictions

  5455.    causality constraint not_equal input output;

  5456.    causality constraint not_equal input_rot2 output;

  5457.    causality constraint not_equal input_pos3 output;

  5458.  end;

  5459.  icon bg bottom

  5460.   figures

  5461.    line 242 274 290 274 color 0 width 2;

  5462.    rectangle 242 266 290 278 color -1;

  5463.    text '1' 260 269 color 8421504 8;

  5464.   terminals

  5465.    input 250 274 fixed;

  5466.    output 266 274 fixed;

  5467.    input_rot2 282 274 fixed;

  5468.    input_pos3 266 274 fixed;

  5469.  end;

  5470.  implementation eq

  5471. equations

  5472. 	output.e[1] = input_rot2.e[1];

  5473. 	output.e[2] = input.e;

  5474. 	output.e[3] = input_rot2.e[2];

  5475. 	output.e[4:6] = input_pos3.e;

  5476. 	output.f[1] = input_rot2.f[1];

  5477. 	output.f[2] = input.f;

  5478. 	output.f[3] = input_rot2.f[2];

  5479. 	output.f[4:6] = input_pos3.f;implementation_end;

  5480. specification_end;

  5481. 							specification 'rot_z'

  5482. description '<Information>

  5483.  <Description>

  5484.     <Version>4.8</Version>

  5485.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5486.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5487. <IsMainModel>1</IsMainModel>

  5488.   <KeepParameterValues>False</KeepParameterValues>

  5489.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5490.  </Description>

  5491. </Information>';

  5492.  type PowerMux

  5493.   ports

  5494.    power in input;

  5495.    power out output [6,1];

  5496.    power in input_rot2 [2,1];

  5497.    power in input_pos3 [3,1];

  5498.   restrictions

  5499.    causality constraint not_equal input output;

  5500.    causality constraint not_equal input_rot2 output;

  5501.    causality constraint not_equal input_pos3 output;

  5502.  end;

  5503.  icon bg bottom

  5504.   figures

  5505.    line 242 274 290 274 color 0 width 2;

  5506.    rectangle 242 266 290 278 color -1;

  5507.    text '1' 260 269 color 8421504 8;

  5508.   terminals

  5509.    input 250 274 fixed;

  5510.    output 266 274 fixed;

  5511.    input_rot2 282 274 fixed;

  5512.    input_pos3 266 274 fixed;

  5513.  end;

  5514.  implementation eq

  5515. equations

  5516. 	output.e[3] = input.e;

  5517. 	output.e[1:2] = input_rot2.e;

  5518. 	output.e[4:6] = input_pos3.e;

  5519. 	output.f[3] = input.f;

  5520. 	output.f[1:2] = input_rot2.f;

  5521. 	output.f[4:6] = input_pos3.f;implementation_end;

  5522. specification_end;

  5523. 						end;

  5524.       R 288 152

  5525.        description '<Information>

  5526.  <Description>

  5527.     <Version>4.2</Version>

  5528. <IsMainModel>1</IsMainModel>

  5529.   <KeepParameterValues>False</KeepParameterValues>

  5530.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5531.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5532. </Description>

  5533. </Information>';

  5534.        type R

  5535.         ports

  5536.          power in p;

  5537.        end;

  5538.        icon bg top

  5539.         figures

  5540.          text 'R' 288 152 color 0 18 bold;

  5541.        end;

  5542.        implementation eq

  5543. parameters

  5544. 	real r = 0.0001;

  5545. equations

  5546. 	p.e = r * p.f;

  5547. implementation_end;

  5548.       R4 239.8 288.2

  5549.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5550.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5551.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5552. </Description>';

  5553.        type 'R-2'

  5554.         ports

  5555.          power in p [2,1];

  5556.        end;

  5557.        icon bg bottom

  5558.         figures

  5559.          text 'R' 239.8 288.2 color 0 18 bold;

  5560.        end;

  5561.        implementation eq

  5562. parameters

  5563. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5564. equations					

  5565. 	p.e = r * p.f;

  5566. implementation_end;

  5567.       R5 239.8 168.2

  5568.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5569.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5570.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5571. </Description>';

  5572.        type 'R-3'

  5573.         ports

  5574.          power in p [3,1];

  5575.        end;

  5576.        icon bg top

  5577.         figures

  5578.          text 'R' 239.8 168.2 color 0 18 bold;

  5579.        end;

  5580.        implementation eq

  5581. parameters

  5582. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  5583. equations					

  5584. 	p.e = r * p.f;

  5585. implementation_end;

  5586.      end;

  5587.      connections

  5588.       C1\p <= OneJunction7\p;

  5589.       OneJunction5\p => C4\p;

  5590.       OneJunction5\p => PowerMux\input_rot2;

  5591.       OneJunction5\p => R4\p;

  5592.       OneJunction7\p => PowerMux\input_pos3;

  5593.       OneJunction7\p => R5\p;

  5594.       OneJunction8\p => PowerMux\input;

  5595.       PowerMux\output => output;

  5596.       R\p <= OneJunction8\p;

  5597.      end;

  5598.     implementation_end;

  5599.    Joint_dynF 720 48

  5600.     description '<Description>

  5601. 	<Version>4.8</Version>

  5602. 	<IsMainModel>1</IsMainModel>

  5603. 	</Description>';

  5604.     type Submodel

  5605.      ports

  5606.       power out output [6,1];

  5607.     end;

  5608.     implementation bg

  5609.      submodels

  5610.       C 264 200

  5611.        description '<Information>

  5612.  <Description>

  5613.     <Version>4.2</Version>

  5614. <IsMainModel>1</IsMainModel>

  5615.   <KeepParameterValues>False</KeepParameterValues>

  5616.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  5617.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  5618. </Description>

  5619. </Information>';

  5620.        type C

  5621.         ports

  5622.          power in p;

  5623.          signal out state;

  5624.         restrictions

  5625.          causality preferred out p;

  5626.        end;

  5627.        icon bg bottom

  5628.         figures

  5629.          text 'C' 264 200 color 0 18 bold;

  5630.        end;

  5631.        implementation eq

  5632. parameters

  5633. 	real c = 0.001;

  5634. equations

  5635. 	state = int(p.f);

  5636. 	p.e = state / c;

  5637. implementation_end;

  5638.       C1 191.8 216.2

  5639.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5640.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  5641.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  5642. </Description>';

  5643.        type 'C-3'

  5644.         ports

  5645.          power in p [3,1];

  5646.          signal out state [3,1];

  5647.         restrictions

  5648.          causality preferred out p;

  5649.        end;

  5650.        icon bg top

  5651.         figures

  5652.          text 'C' 191.8 216.2 color 0 18 bold;

  5653.        end;

  5654.        implementation eq

  5655. parameters

  5656. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  5657. equations

  5658.     state = int(p.f);

  5659.     p.e = inverse(c) *state;

  5660. implementation_end;

  5661.       C4 191.8 232.2

  5662.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5663.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  5664.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  5665. </Description>';

  5666.        type 'C-2'

  5667.         ports

  5668.          power in p [2,1];

  5669.          signal out state [2,1];

  5670.         restrictions

  5671.          causality preferred out p;

  5672.        end;

  5673.        icon bg bottom

  5674.         figures

  5675.          text 'C' 191.8 232.2 color 0 18 bold;

  5676.        end;

  5677.        implementation eq

  5678. parameters

  5679. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  5680. equations

  5681.     state = int(p.f);

  5682.     p.e = inverse(c) *state;

  5683. implementation_end;

  5684.       plug output 396 216;

  5685.       OneJunction 328 200

  5686.        description '<Information>

  5687.  <Description>

  5688.     <Version>4.2</Version>

  5689. <IsMainModel>1</IsMainModel>

  5690.   <KeepParameterValues>False</KeepParameterValues>

  5691.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5692.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5693. </Description>

  5694. </Information>';

  5695.        knot OneJunction

  5696.         ports

  5697.          power knot duplicatable none p [1];

  5698.          signal knot out flow [1];

  5699.         restrictions

  5700.          causality constraint one_out p;

  5701.        end;

  5702.        icon bg

  5703.         figures

  5704.          text '1' 328 200 color 0 18 bold;

  5705.        end;

  5706.        implementation eq

  5707. equations

  5708. 	sum (direct (p.e)) = 0;

  5709. 	equal (collect (p.f));

  5710. 	flow = first (p.f);

  5711. implementation_end;

  5712.       OneJunction5 239.8 232.2

  5713.        description '<Information>

  5714.  <Description>

  5715.     <Version>4.2</Version>

  5716. <IsMainModel>1</IsMainModel>

  5717.   <KeepParameterValues>False</KeepParameterValues>

  5718.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5719.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5720. </Description>

  5721. </Information>';

  5722.        knot OneJunction

  5723.         ports

  5724.          power knot duplicatable none p [2,1];

  5725.          signal knot out flow [2,1];

  5726.         restrictions

  5727.          causality constraint one_out p;

  5728.        end;

  5729.        icon bg

  5730.         figures

  5731.          text '1' 239.8 232.2 color 0 18 bold;

  5732.        end;

  5733.        implementation eq

  5734. equations

  5735. 	sum (direct (p.e)) = 0;

  5736. 	equal (collect (p.f));

  5737. 	flow = first (p.f);

  5738. implementation_end;

  5739.       OneJunction7 239.8 216.2

  5740.        description '<Information>

  5741.  <Description>

  5742.     <Version>4.2</Version>

  5743. <IsMainModel>1</IsMainModel>

  5744.   <KeepParameterValues>False</KeepParameterValues>

  5745.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5746.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5747. </Description>

  5748. </Information>';

  5749.        knot OneJunction

  5750.         ports

  5751.          power knot duplicatable none p [3,1];

  5752.          signal knot out flow [3,1];

  5753.         restrictions

  5754.          causality constraint one_out p;

  5755.        end;

  5756.        icon bg

  5757.         figures

  5758.          text '1' 239.8 216.2 color 0 18 bold;

  5759.        end;

  5760.        implementation eq

  5761. equations

  5762. 	sum (direct (p.e)) = 0;

  5763. 	equal (collect (p.f));

  5764. 	flow = first (p.f);

  5765. implementation_end;

  5766.       OneJunction8 296 200

  5767.        description '<Information>

  5768.  <Description>

  5769.     <Version>4.2</Version>

  5770. <IsMainModel>1</IsMainModel>

  5771.   <KeepParameterValues>False</KeepParameterValues>

  5772.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5773.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5774. </Description>

  5775. </Information>';

  5776.        knot OneJunction

  5777.         ports

  5778.          power knot duplicatable none p [1];

  5779.          signal knot out flow [1];

  5780.         restrictions

  5781.          causality constraint one_out p;

  5782.        end;

  5783.        icon bg

  5784.         figures

  5785.          text '1' 296 200 color 0 18 bold;

  5786.        end;

  5787.        implementation eq

  5788. equations

  5789. 	sum (direct (p.e)) = 0;

  5790. 	equal (collect (p.f));

  5791. 	flow = first (p.f);

  5792. implementation_end;

  5793.       PowerMux 362 216

  5794. 						specifications active 'rot_z'

  5795. 							specification 'rot_x'

  5796.  description '<Information>

  5797.  <Description>

  5798.     <Version>4.8</Version>

  5799.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5800.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  5801. <IsMainModel>1</IsMainModel>

  5802.   <KeepParameterValues>False</KeepParameterValues>

  5803.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5804.  </Description>

  5805. </Information>';

  5806.  type 'PowerMux-Rotation'

  5807.   ports

  5808.    power in input;

  5809.    power out output [6,1];

  5810.    power in input_rot2 [2,1];

  5811.    power in input_pos3 [3,1];

  5812.   restrictions

  5813.    causality constraint not_equal input output;

  5814.    causality constraint not_equal input_rot2 output;

  5815.    causality constraint not_equal input_pos3 output;

  5816.  end;

  5817.  icon bg bottom

  5818.   figures

  5819.    line 360 192 360 240 color 0 width 2;

  5820.    rectangle 356 192 368 240 color -1;

  5821.    text '1' 365 210 color 8421504 8;

  5822.   terminals

  5823.    input 360 200 fixed;

  5824.    output 360 216 fixed;

  5825.    input_rot2 360 232 fixed;

  5826.    input_pos3 360 216 fixed;

  5827.  end;

  5828.  implementation eq

  5829. equations

  5830. 	output.e[1] = input.e;

  5831. 	output.e[2:3] = input_rot2.e;

  5832. 	output.e[4:6] = input_pos3.e;

  5833. 	output.f[1] = input.f;

  5834. 	output.f[2:3] = input_rot2.f;

  5835. 	output.f[4:6] = input_pos3.f;implementation_end;

  5836. specification_end;

  5837. 							specification 'rot_y'

  5838. description '<Description>

  5839.    <Version>4.1</Version>

  5840.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  5841.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  5842. <IsMainModel>1</IsMainModel>

  5843.  <KeepParameterValues>False</KeepParameterValues>

  5844.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5845. </Description>';

  5846.  type PowerMux

  5847.   ports

  5848.    power in input;

  5849.    power out output [6,1];

  5850.    power in input_rot2 [2,1];

  5851.    power in input_pos3 [3,1];

  5852.   restrictions

  5853.    causality constraint not_equal input output;

  5854.    causality constraint not_equal input_rot2 output;

  5855.    causality constraint not_equal input_pos3 output;

  5856.  end;

  5857.  icon bg bottom

  5858.   figures

  5859.    line 242 274 290 274 color 0 width 2;

  5860.    rectangle 242 266 290 278 color -1;

  5861.    text '1' 260 269 color 8421504 8;

  5862.   terminals

  5863.    input 250 274 fixed;

  5864.    output 266 274 fixed;

  5865.    input_rot2 282 274 fixed;

  5866.    input_pos3 266 274 fixed;

  5867.  end;

  5868.  implementation eq

  5869. equations

  5870. 	output.e[1] = input_rot2.e[1];

  5871. 	output.e[2] = input.e;

  5872. 	output.e[3] = input_rot2.e[2];

  5873. 	output.e[4:6] = input_pos3.e;

  5874. 	output.f[1] = input_rot2.f[1];

  5875. 	output.f[2] = input.f;

  5876. 	output.f[3] = input_rot2.f[2];

  5877. 	output.f[4:6] = input_pos3.f;implementation_end;

  5878. specification_end;

  5879. 							specification 'rot_z'

  5880.  description '<Information>

  5881.  <Description>

  5882.     <Version>4.8</Version>

  5883.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  5884.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  5885. <IsMainModel>1</IsMainModel>

  5886.   <KeepParameterValues>False</KeepParameterValues>

  5887.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  5888.  </Description>

  5889. </Information>';

  5890.  type PowerMux

  5891.   ports

  5892.    power in input;

  5893.    power out output [6,1];

  5894.    power in input_rot2 [2,1];

  5895.    power in input_pos3 [3,1];

  5896.   restrictions

  5897.    causality constraint not_equal input output;

  5898.    causality constraint not_equal input_rot2 output;

  5899.    causality constraint not_equal input_pos3 output;

  5900.  end;

  5901.  icon bg bottom

  5902.   figures

  5903.    line 360 192 360 240 color 0 width 2;

  5904.    rectangle 356 192 368 240 color -1;

  5905.    text '1' 365 210 color 8421504 8;

  5906.   terminals

  5907.    input 360 200 fixed;

  5908.    output 360 216 fixed;

  5909.    input_rot2 360 232 fixed;

  5910.    input_pos3 360 216 fixed;

  5911.  end;

  5912.  implementation eq

  5913. equations

  5914. 	output.e[3] = input.e;

  5915. 	output.e[1:2] = input_rot2.e;

  5916. 	output.e[4:6] = input_pos3.e;

  5917. 	output.f[3] = input.f;

  5918. 	output.f[1:2] = input_rot2.f;

  5919. 	output.f[4:6] = input_pos3.f;implementation_end;

  5920. specification_end;

  5921. 						end;

  5922.       R 296 120

  5923.        description '<Information>

  5924.  <Description>

  5925.     <Version>4.2</Version>

  5926. <IsMainModel>1</IsMainModel>

  5927.   <KeepParameterValues>False</KeepParameterValues>

  5928.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  5929.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  5930. </Description>

  5931. </Information>';

  5932.        type R

  5933.         ports

  5934.          power in p;

  5935.        end;

  5936.        icon bg top

  5937.         figures

  5938.          text 'R' 296 120 color 0 18 bold;

  5939.        end;

  5940.        implementation eq

  5941. parameters

  5942. 	real r = 1000;

  5943. equations

  5944. 	p.e = r * p.f;

  5945. implementation_end;

  5946.       R4 239.8 288.2

  5947.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5948.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  5949.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  5950. </Description>';

  5951.        type 'R-2'

  5952.         ports

  5953.          power in p [2,1];

  5954.        end;

  5955.        icon bg bottom

  5956.         figures

  5957.          text 'R' 239.8 288.2 color 0 18 bold;

  5958.        end;

  5959.        implementation eq

  5960. parameters

  5961. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  5962. equations					

  5963. 	p.e = r * p.f;

  5964. implementation_end;

  5965.       R5 239.8 168.2

  5966.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  5967.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  5968.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  5969. </Description>';

  5970.        type 'R-3'

  5971.         ports

  5972.          power in p [3,1];

  5973.        end;

  5974.        icon bg top

  5975.         figures

  5976.          text 'R' 239.8 168.2 color 0 18 bold;

  5977.        end;

  5978.        implementation eq

  5979. parameters

  5980. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  5981. equations					

  5982. 	p.e = r * p.f;

  5983. implementation_end;

  5984.      end;

  5985.      connections

  5986.       C\p <= OneJunction8\p;

  5987.       C1\p <= OneJunction7\p;

  5988.       OneJunction\p => PowerMux\input;

  5989.       OneJunction5\p => C4\p;

  5990.       OneJunction5\p => PowerMux\input_rot2;

  5991.       OneJunction5\p => R4\p;

  5992.       OneJunction7\p => PowerMux\input_pos3;

  5993.       OneJunction7\p => R5\p;

  5994.       OneJunction8\p => OneJunction\p;

  5995.       PowerMux\output => output;

  5996.       R\p <= OneJunction8\p;

  5997.      end;

  5998.     implementation_end;

  5999.    Link1 632 128

  6000.     description '<Information>

  6001.  <Description>

  6002.     <Version>4.8</Version>

  6003.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6004. <IsMainModel>1</IsMainModel>

  6005.   <KeepParameterValues>False</KeepParameterValues>

  6006.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6007. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6008.  </Description>

  6009. </Information>';

  6010.     type 'Submodel-Equation'

  6011.      ports

  6012.       signal in Hin [4,4];

  6013.       signal out Hout [4,4];

  6014.       power in Pin [6,1];

  6015.       power out Pout [6,1];

  6016.      restrictions

  6017.       causality constraint not_equal Pin Pout;

  6018.     end;

  6019.     icon bg bottom

  6020.      figures

  6021.       rectangle 600 104 664 152 color 0 fill 8454041;

  6022.       text 'Link' 632 128 color 0 'Clear Sans' 16;

  6023.      terminals

  6024.       Hin 600 144 fixed;

  6025.       Hout 664 144 fixed;

  6026.       Pin 664 112 fixed;

  6027.       Pout 600 112 fixed;

  6028.     end;

  6029.     implementation eq

  6030. parameters

  6031. 	real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1

  6032. variables

  6033. 	real Hab[4,4];

  6034. 	real AdHab[6,6];

  6035. 	real R[3,3];

  6036. 	real omega[3];

  6037. initialequations

  6038. 	omega = offset[1:3];

  6039. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6040. 	Hab = homogeneous(R,offset[4:6]);

  6041. 	AdHab = Adjoint(Hab);

  6042. equations

  6043. 	Hout = Hin * Hab;

  6044. 	Pout.e = transpose(AdHab) * Pin.e;

  6045. 	Pin.f = AdHab * Pout.f;

  6046. 

  6047.     implementation_end;

  6048.    Link10 800 128

  6049.     description '<Information>

  6050.  <Description>

  6051.     <Version>4.8</Version>

  6052.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6053. <IsMainModel>1</IsMainModel>

  6054.   <KeepParameterValues>False</KeepParameterValues>

  6055.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6056. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6057.  </Description>

  6058. </Information>';

  6059.     type 'Submodel-Equation'

  6060.      ports

  6061.       signal in Hin [4,4];

  6062.       signal out Hout [4,4];

  6063.       power in Pin [6,1];

  6064.       power out Pout [6,1];

  6065.      restrictions

  6066.       causality constraint not_equal Pin Pout;

  6067.     end;

  6068.     icon bg bottom

  6069.      figures

  6070.       rectangle 768 104 832 152 color 0 fill 8454041;

  6071.       text 'Link' 800 128 color 0 'Clear Sans' 16;

  6072.      terminals

  6073.       Hin 768 144 fixed;

  6074.       Hout 832 144 fixed;

  6075.       Pin 832 112 fixed;

  6076.       Pout 768 112 fixed;

  6077.     end;

  6078.     implementation eq

  6079. parameters

  6080. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  6081. variables

  6082. 	real Hab[4,4];

  6083. 	real AdHab[6,6];

  6084. 	real R[3,3];

  6085. 	real omega[3];

  6086. initialequations

  6087. 	omega = offset[1:3];

  6088. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6089. 	Hab = homogeneous(R,offset[4:6]);

  6090. 	AdHab = Adjoint(Hab);

  6091. equations

  6092. 	Hout = Hin * Hab;

  6093. 	Pout.e = transpose(AdHab) * Pin.e;

  6094. 	Pin.f = AdHab * Pout.f;

  6095. 

  6096.     implementation_end;

  6097.    Link2 384 128

  6098.     description '<Information>

  6099.  <Description>

  6100.     <Version>4.8</Version>

  6101.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6102. <IsMainModel>1</IsMainModel>

  6103.   <KeepParameterValues>False</KeepParameterValues>

  6104.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6105. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6106.  </Description>

  6107. </Information>';

  6108.     type 'Submodel-Equation'

  6109.      ports

  6110.       signal in Hin [4,4];

  6111.       signal out Hout [4,4];

  6112.       power in Pin [6,1];

  6113.       power out Pout [6,1];

  6114.      restrictions

  6115.       causality constraint not_equal Pin Pout;

  6116.     end;

  6117.     icon bg bottom

  6118.      figures

  6119.       rectangle 352 104 416 152 color 0 fill 8454041;

  6120.       text 'Link' 384 128 color 0 'Clear Sans' 16;

  6121.      terminals

  6122.       Hin 352 144 fixed;

  6123.       Hout 416 144 fixed;

  6124.       Pin 416 112 fixed;

  6125.       Pout 352 112 fixed;

  6126.     end;

  6127.     implementation eq

  6128. parameters

  6129. 	real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1

  6130. variables

  6131. 	real Hab[4,4];

  6132. 	real AdHab[6,6];

  6133. 	real R[3,3];

  6134. 	real omega[3];

  6135. initialequations

  6136. 	omega = offset[1:3];

  6137. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6138. 	Hab = homogeneous(R,offset[4:6]);

  6139. 	AdHab = Adjoint(Hab);

  6140. equations

  6141. 	Hout = Hin * Hab;

  6142. 	Pout.e = transpose(AdHab) * Pin.e;

  6143. 	Pin.f = AdHab * Pout.f;

  6144. 

  6145.     implementation_end;

  6146.    Link3 560 424

  6147.     description '<Information>

  6148.  <Description>

  6149.     <Version>4.8</Version>

  6150.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6151. <IsMainModel>1</IsMainModel>

  6152.   <KeepParameterValues>False</KeepParameterValues>

  6153.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6154. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6155.  </Description>

  6156. </Information>';

  6157.     type 'Submodel-Equation'

  6158.      ports

  6159.       signal in Hin [4,4];

  6160.       signal out Hout [4,4];

  6161.       power in Pin [6,1];

  6162.       power out Pout [6,1];

  6163.      restrictions

  6164.       causality constraint not_equal Pin Pout;

  6165.     end;

  6166.     icon bg bottom

  6167.      figures

  6168.       rectangle 536 392 584 456 color 0 fill 8454041;

  6169.       text 'Link' 560 424 color 0 'Clear Sans' 16;

  6170.      terminals

  6171.       Hin 576 392 fixed;

  6172.       Hout 576 456 fixed;

  6173.       Pin 544 456 fixed;

  6174.       Pout 544 392 fixed;

  6175.     end;

  6176.     implementation eq

  6177. parameters

  6178. 	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1

  6179. variables

  6180. 	real Hab[4,4];

  6181. 	real AdHab[6,6];

  6182. 	real R[3,3];

  6183. 	real omega[3];

  6184. initialequations

  6185. 	omega = offset[1:3];

  6186. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6187. 	Hab = homogeneous(R,offset[4:6]);

  6188. 	AdHab = Adjoint(Hab);

  6189. equations

  6190. 	Hout = Hin * Hab;

  6191. 	Pout.e = transpose(AdHab) * Pin.e;

  6192. 	Pin.f = AdHab * Pout.f;

  6193. 

  6194.     implementation_end;

  6195.    Link4 200 256

  6196.     description '<Information>

  6197.  <Description>

  6198.     <Version>4.8</Version>

  6199.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6200. <IsMainModel>1</IsMainModel>

  6201.   <KeepParameterValues>False</KeepParameterValues>

  6202.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6203. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6204.  </Description>

  6205. </Information>';

  6206.     type 'Submodel-Equation'

  6207.      ports

  6208.       signal in Hin [4,4];

  6209.       signal out Hout [4,4];

  6210.       power in Pin [6,1];

  6211.       power out Pout [6,1];

  6212.      restrictions

  6213.       causality constraint not_equal Pin Pout;

  6214.     end;

  6215.     icon bg bottom

  6216.      figures

  6217.       rectangle 176 224 224 288 color 0 fill 8454041;

  6218.       text 'Link' 200 256 color 0 'Clear Sans' 16;

  6219.      terminals

  6220.       Hin 216 288 fixed;

  6221.       Hout 216 224 fixed;

  6222.       Pin 184 224 fixed;

  6223.       Pout 184 288 fixed;

  6224.     end;

  6225.     implementation eq

  6226. parameters

  6227. 	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1

  6228. variables

  6229. 	real Hab[4,4];

  6230. 	real AdHab[6,6];

  6231. 	real R[3,3];

  6232. 	real omega[3];

  6233. initialequations

  6234. 	omega = offset[1:3];

  6235. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6236. 	Hab = homogeneous(R,offset[4:6]);

  6237. 	AdHab = Adjoint(Hab);

  6238. equations

  6239. 	Hout = Hin * Hab;

  6240. 	Pout.e = transpose(AdHab) * Pin.e;

  6241. 	Pin.f = AdHab * Pout.f;

  6242. 

  6243.     implementation_end;

  6244.    Link5 408 632

  6245.     description '<Information>

  6246.  <Description>

  6247.     <Version>4.8</Version>

  6248.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6249. <IsMainModel>1</IsMainModel>

  6250.   <KeepParameterValues>False</KeepParameterValues>

  6251.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6252. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6253.  </Description>

  6254. </Information>';

  6255.     type 'Submodel-Equation'

  6256.      ports

  6257.       signal in Hin [4,4];

  6258.       signal out Hout [4,4];

  6259.       power in Pin [6,1];

  6260.       power out Pout [6,1];

  6261.      restrictions

  6262.       causality constraint not_equal Pin Pout;

  6263.     end;

  6264.     icon bg bottom

  6265.      figures

  6266.       rectangle 376 608 440 656 color 0 fill 8454041;

  6267.       text 'Link' 408 632 color 0 'Clear Sans' 16;

  6268.      terminals

  6269.       Hin 440 616 fixed;

  6270.       Hout 376 616 fixed;

  6271.       Pin 376 648 fixed;

  6272.       Pout 440 648 fixed;

  6273.     end;

  6274.     implementation eq

  6275. parameters

  6276. 	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1

  6277. variables

  6278. 	real Hab[4,4];

  6279. 	real AdHab[6,6];

  6280. 	real R[3,3];

  6281. 	real omega[3];

  6282. initialequations

  6283. 	omega = offset[1:3];

  6284. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6285. 	Hab = homogeneous(R,offset[4:6]);

  6286. 	AdHab = Adjoint(Hab);

  6287. equations

  6288. 	Hout = Hin * Hab;

  6289. 	Pout.e = transpose(AdHab) * Pin.e;

  6290. 	Pin.f = AdHab * Pout.f;

  6291. 

  6292.     implementation_end;

  6293.    Link6 560 280

  6294.     description '<Information>

  6295.  <Description>

  6296.     <Version>4.8</Version>

  6297.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6298. <IsMainModel>1</IsMainModel>

  6299.   <KeepParameterValues>False</KeepParameterValues>

  6300.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6301. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6302.  </Description>

  6303. </Information>';

  6304.     type 'Submodel-Equation'

  6305.      ports

  6306.       signal in Hin [4,4];

  6307.       signal out Hout [4,4];

  6308.       power in Pin [6,1];

  6309.       power out Pout [6,1];

  6310.      restrictions

  6311.       causality constraint not_equal Pin Pout;

  6312.     end;

  6313.     icon bg bottom

  6314.      figures

  6315.       rectangle 536 248 584 312 color 0 fill 8454041;

  6316.       text 'Link' 560 280 color 0 'Clear Sans' 16;

  6317.      terminals

  6318.       Hin 576 248 fixed;

  6319.       Hout 576 312 fixed;

  6320.       Pin 544 312 fixed;

  6321.       Pout 544 248 fixed;

  6322.     end;

  6323.     implementation eq

  6324. parameters

  6325. 	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1

  6326. variables

  6327. 	real Hab[4,4];

  6328. 	real AdHab[6,6];

  6329. 	real R[3,3];

  6330. 	real omega[3];

  6331. initialequations

  6332. 	omega = offset[1:3];

  6333. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6334. 	Hab = homogeneous(R,offset[4:6]);

  6335. 	AdHab = Adjoint(Hab);

  6336. equations

  6337. 	Hout = Hin * Hab;

  6338. 	Pout.e = transpose(AdHab) * Pin.e;

  6339. 	Pin.f = AdHab * Pout.f;

  6340. 

  6341.     implementation_end;

  6342.    Link7 272 632

  6343.     description '<Information>

  6344.  <Description>

  6345.     <Version>4.8</Version>

  6346.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6347. <IsMainModel>1</IsMainModel>

  6348.   <KeepParameterValues>False</KeepParameterValues>

  6349.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6350. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6351.  </Description>

  6352. </Information>';

  6353.     type 'Submodel-Equation'

  6354.      ports

  6355.       signal in Hin [4,4];

  6356.       signal out Hout [4,4];

  6357.       power in Pin [6,1];

  6358.       power out Pout [6,1];

  6359.      restrictions

  6360.       causality constraint not_equal Pin Pout;

  6361.     end;

  6362.     icon bg bottom

  6363.      figures

  6364.       rectangle 240 608 304 656 color 0 fill 8454041;

  6365.       text 'Link' 272 632 color 0 'Clear Sans' 16;

  6366.      terminals

  6367.       Hin 304 616 fixed;

  6368.       Hout 240 616 fixed;

  6369.       Pin 240 648 fixed;

  6370.       Pout 304 648 fixed;

  6371.     end;

  6372.     implementation eq

  6373. parameters

  6374. 	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1

  6375. variables

  6376. 	real Hab[4,4];

  6377. 	real AdHab[6,6];

  6378. 	real R[3,3];

  6379. 	real omega[3];

  6380. initialequations

  6381. 	omega = offset[1:3];

  6382. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6383. 	Hab = homogeneous(R,offset[4:6]);

  6384. 	AdHab = Adjoint(Hab);

  6385. equations

  6386. 	Hout = Hin * Hab;

  6387. 	Pout.e = transpose(AdHab) * Pin.e;

  6388. 	Pin.f = AdHab * Pout.f;

  6389. 

  6390.     implementation_end;

  6391.    Link8 904 128

  6392.     description '<Information>

  6393.  <Description>

  6394.     <Version>4.8</Version>

  6395.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6396. <IsMainModel>1</IsMainModel>

  6397.   <KeepParameterValues>False</KeepParameterValues>

  6398.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6399. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6400.  </Description>

  6401. </Information>';

  6402.     type 'Submodel-Equation'

  6403.      ports

  6404.       signal in Hin [4,4];

  6405.       signal out Hout [4,4];

  6406.       power in Pin [6,1];

  6407.       power out Pout [6,1];

  6408.      restrictions

  6409.       causality constraint not_equal Pin Pout;

  6410.     end;

  6411.     icon bg bottom

  6412.      figures

  6413.       rectangle 872 104 936 152 color 0 fill 8454041;

  6414.       text 'Link' 904 128 color 0 'Clear Sans' 16;

  6415.      terminals

  6416.       Hin 872 144 fixed;

  6417.       Hout 936 144 fixed;

  6418.       Pin 936 112 fixed;

  6419.       Pout 872 112 fixed;

  6420.     end;

  6421.     implementation eq

  6422. parameters

  6423. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  6424. variables

  6425. 	real Hab[4,4];

  6426. 	real AdHab[6,6];

  6427. 	real R[3,3];

  6428. 	real omega[3];

  6429. initialequations

  6430. 	omega = offset[1:3];

  6431. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6432. 	Hab = homogeneous(R,offset[4:6]);

  6433. 	AdHab = Adjoint(Hab);

  6434. equations

  6435. 	Hout = Hin * Hab;

  6436. 	Pout.e = transpose(AdHab) * Pin.e;

  6437. 	Pin.f = AdHab * Pout.f;

  6438. 

  6439.     implementation_end;

  6440.    Link9 200 400

  6441.     description '<Information>

  6442.  <Description>

  6443.     <Version>4.8</Version>

  6444.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  6445. <IsMainModel>1</IsMainModel>

  6446.   <KeepParameterValues>False</KeepParameterValues>

  6447.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  6448. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6449.  </Description>

  6450. </Information>';

  6451.     type 'Submodel-Equation'

  6452.      ports

  6453.       signal in Hin [4,4];

  6454.       signal out Hout [4,4];

  6455.       power in Pin [6,1];

  6456.       power out Pout [6,1];

  6457.      restrictions

  6458.       causality constraint not_equal Pin Pout;

  6459.     end;

  6460.     icon bg bottom

  6461.      figures

  6462.       rectangle 176 368 224 432 color 0 fill 8454041;

  6463.       text 'Link' 200 400 color 0 'Clear Sans' 16;

  6464.      terminals

  6465.       Hin 216 432 fixed;

  6466.       Hout 216 368 fixed;

  6467.       Pin 184 368 fixed;

  6468.       Pout 184 432 fixed;

  6469.     end;

  6470.     implementation eq

  6471. parameters

  6472. 	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1

  6473. variables

  6474. 	real Hab[4,4];

  6475. 	real AdHab[6,6];

  6476. 	real R[3,3];

  6477. 	real omega[3];

  6478. initialequations

  6479. 	omega = offset[1:3];

  6480. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  6481. 	Hab = homogeneous(R,offset[4:6]);

  6482. 	AdHab = Adjoint(Hab);

  6483. equations

  6484. 	Hout = Hin * Hab;

  6485. 	Pout.e = transpose(AdHab) * Pin.e;

  6486. 	Pin.f = AdHab * Pout.f;

  6487. 

  6488.     implementation_end;

  6489.    Negate1 704 696

  6490.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6491.    <LibraryPath>Signal\Block Diagram\Negate.emx</LibraryPath>

  6492.   <TimeStamp>2007-9-26 12:14:11</TimeStamp>

  6493. </Description>';

  6494.     type Negate

  6495.      ports

  6496.       signal in input;

  6497.       signal out output;

  6498.     end;

  6499.     icon bg bottom

  6500.      figures

  6501.       rectangle 688 680 720 712 color 0 fill 15132390;

  6502.       text '-1' 704 696 color 16711680 16 bold;

  6503.     end;

  6504.     implementation eq

  6505. equations

  6506. 	output = - input;

  6507.      implementation_end;

  6508.    Negate2 624 784

  6509.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6510.    <LibraryPath>Signal\Block Diagram\Negate.emx</LibraryPath>

  6511.   <TimeStamp>2007-9-26 12:14:11</TimeStamp>

  6512. </Description>';

  6513.     type Negate

  6514.      ports

  6515.       signal in input;

  6516.       signal out output;

  6517.     end;

  6518.     icon bg bottom

  6519.      figures

  6520.       rectangle 608 768 640 800 color 0 fill 15132390;

  6521.       text '-1' 624 784 color 16711680 16 bold;

  6522.     end;

  6523.     implementation eq

  6524. equations

  6525. 	output = - input;

  6526.      implementation_end;

  6527.    OneJunction1 328 648

  6528.     description '<Information>

  6529.  <Description>

  6530.     <Version>4.2</Version>

  6531. <IsMainModel>1</IsMainModel>

  6532.   <KeepParameterValues>False</KeepParameterValues>

  6533.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6534.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6535. </Description>

  6536. </Information>';

  6537.     knot OneJunction

  6538.      ports

  6539.       power knot duplicatable none p [6,1];

  6540.       signal knot out flow [6,1];

  6541.      restrictions

  6542.       causality constraint one_out p;

  6543.     end;

  6544.     icon bg

  6545.      figures

  6546.       text '1' 328 648 color 0 18 bold;

  6547.     end;

  6548.     implementation eq

  6549. equations

  6550. 	sum (direct (p.e)) = 0;

  6551. 	equal (collect (p.f));

  6552. 	flow = first (p.f);

  6553. implementation_end;

  6554.    OneJunction2 544 368

  6555.     description '<Information>

  6556.  <Description>

  6557.     <Version>4.2</Version>

  6558. <IsMainModel>1</IsMainModel>

  6559.   <KeepParameterValues>False</KeepParameterValues>

  6560.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6561.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6562. </Description>

  6563. </Information>';

  6564.     knot OneJunction

  6565.      ports

  6566.       power knot duplicatable none p [6,1];

  6567.       signal knot out flow [6,1];

  6568.      restrictions

  6569.       causality constraint one_out p;

  6570.     end;

  6571.     icon bg

  6572.      figures

  6573.       text '1' 544 368 color 0 18 bold;

  6574.     end;

  6575.     implementation eq

  6576. equations

  6577. 	sum (direct (p.e)) = 0;

  6578. 	equal (collect (p.f));

  6579. 	flow = first (p.f);

  6580. implementation_end;

  6581.    OneJunction3 544 112

  6582.     description '<Information>

  6583.  <Description>

  6584.     <Version>4.2</Version>

  6585. <IsMainModel>1</IsMainModel>

  6586.   <KeepParameterValues>False</KeepParameterValues>

  6587.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6588.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6589. </Description>

  6590. </Information>';

  6591.     knot OneJunction

  6592.      ports

  6593.       power knot duplicatable none p [6,1];

  6594.       signal knot out flow [6,1];

  6595.      restrictions

  6596.       causality constraint one_out p;

  6597.     end;

  6598.     icon bg

  6599.      figures

  6600.       text '1' 544 112 color 0 18 bold;

  6601.     end;

  6602.     implementation eq

  6603. equations

  6604. 	sum (direct (p.e)) = 0;

  6605. 	equal (collect (p.f));

  6606. 	flow = first (p.f);

  6607. implementation_end;

  6608.    OneJunction4 184 344

  6609.     description '<Information>

  6610.  <Description>

  6611.     <Version>4.2</Version>

  6612. <IsMainModel>1</IsMainModel>

  6613.   <KeepParameterValues>False</KeepParameterValues>

  6614.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6615.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6616. </Description>

  6617. </Information>';

  6618.     knot OneJunction

  6619.      ports

  6620.       power knot duplicatable none p [6,1];

  6621.       signal knot out flow [6,1];

  6622.      restrictions

  6623.       causality constraint one_out p;

  6624.     end;

  6625.     icon bg

  6626.      figures

  6627.       text '1' 184 344 color 0 18 bold;

  6628.     end;

  6629.     implementation eq

  6630. equations

  6631. 	sum (direct (p.e)) = 0;

  6632. 	equal (collect (p.f));

  6633. 	flow = first (p.f);

  6634. implementation_end;

  6635.    OneJunction5 600 648

  6636.     description '<Information>

  6637.  <Description>

  6638.     <Version>4.2</Version>

  6639. <IsMainModel>1</IsMainModel>

  6640.   <KeepParameterValues>False</KeepParameterValues>

  6641.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  6642.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  6643. </Description>

  6644. </Information>';

  6645.     knot OneJunction

  6646.      ports

  6647.       power knot duplicatable none p [6,1];

  6648.       signal knot out flow [6,1];

  6649.      restrictions

  6650.       causality constraint one_out p;

  6651.     end;

  6652.     icon bg

  6653.      figures

  6654.       text '1' 600 648 color 0 18 bold;

  6655.     end;

  6656.     implementation eq

  6657. equations

  6658. 	sum (direct (p.e)) = 0;

  6659. 	equal (collect (p.f));

  6660. 	flow = first (p.f);

  6661. implementation_end;

  6662.    rectanglepath 1024 784

  6663.     description '<Information>

  6664.  <Description>

  6665.     <Version>4.8</Version>

  6666.   <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>

  6667. <IsMainModel>1</IsMainModel>

  6668.   <KeepParameterValues>False</KeepParameterValues>

  6669.     <TimeStamp>2020-7-10 12:30:38</TimeStamp>

  6670. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  6671.  </Description>

  6672. </Information>';

  6673.     type 'Submodel-Equation'

  6674.      ports

  6675.       signal out output [2,1];

  6676.     end;

  6677.     icon bg

  6678.      figures

  6679.       rectangle 968 768 1080 800 color 0 fill 15132390;

  6680.       text 'name' 1024 784 color 0 'Clear Sans' 16;

  6681.     end;

  6682.     implementation eq

  6683. /* 

  6684. This will generate coordinates for the box that has to be drawn

  6685. */

  6686. parameters

  6687. 	real w = 0.07 {m} ;

  6688. 	real h = 0.05 {m};

  6689. 	real t  = 2.0 {s};

  6690. 	real origin[2] = [0.01;0.03] {m};

  6691. variables

  6692. 	real v {m/s};

  6693. 	real t_w {s};

  6694. 	real t_h {s};

  6695. 	real period {s};

  6696. 	boolean y;

  6697. initialequations

  6698. 	v = (2*w + 2*h)/t;

  6699. 	t_w = w / v;

  6700. 	t_h = h / v;

  6701. code

  6702. y = frequencyevent (t,0);

  6703. period = time + floor(time / t) * t;

  6704. 

  6705. if period < t_w or time < 4 then

  6706. 	output = origin;

  6707. else

  6708. 	if period < t_w + t_h then

  6709. 		output = origin + [w;0];

  6710. 	else	

  6711. 		if period < 2 * t_w + t_h then

  6712. 			output = origin + [w;h];

  6713. 		else

  6714. 			output = origin + [0;h];

  6715. 		end;

  6716. 	end;

  6717. end;

  6718. 

  6719. 

  6720. 

  6721. 	//output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];

  6722. 	//output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];

  6723. implementation_end;

  6724.    Splitter1 360 616

  6725.     description '<Description><Version>4.0</Version>

  6726.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6727.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6728. <IsMainModel>1</IsMainModel>

  6729.  <KeepParameterValues>False</KeepParameterValues>

  6730. </Description>';

  6731.     knot Splitter

  6732.      ports

  6733.       signal knot duplicatable out output [4,4];

  6734.       signal knot in input [4,4];

  6735.     end;

  6736.     icon bg ellipse

  6737.      figures

  6738.       ellipse 356.8 612.8 363.2 619.2 color -1 fill 0;

  6739.       ellipse 355.7 611.7 364.3 620.3 color -1;

  6740.      terminals

  6741.       input 360 616 fixed;

  6742.     end;

  6743.     implementation eq

  6744. equations

  6745.     collect (output) = input;

  6746. implementation_end;

  6747.    Splitter10 960 144

  6748.     description '<Description><Version>4.0</Version>

  6749.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6750.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6751. <IsMainModel>1</IsMainModel>

  6752.  <KeepParameterValues>False</KeepParameterValues>

  6753. </Description>';

  6754.     knot Splitter

  6755.      ports

  6756.       signal knot duplicatable out output [4,4];

  6757.       signal knot in input [4,4];

  6758.     end;

  6759.     icon bg ellipse

  6760.      figures

  6761.       ellipse 956.8 140.8 963.2 147.2 color -1 fill 0;

  6762.       ellipse 955.7 139.7 964.3 148.3 color -1;

  6763.      terminals

  6764.       input 960 144 fixed;

  6765.     end;

  6766.     implementation eq

  6767. equations

  6768.     collect (output) = input;

  6769. implementation_end;

  6770.    Splitter2 576 336

  6771.     description '<Description><Version>4.0</Version>

  6772.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6773.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6774. <IsMainModel>1</IsMainModel>

  6775.  <KeepParameterValues>False</KeepParameterValues>

  6776. </Description>';

  6777.     knot Splitter

  6778.      ports

  6779.       signal knot duplicatable out output [4,4];

  6780.       signal knot in input [4,4];

  6781.     end;

  6782.     icon bg ellipse

  6783.      figures

  6784.       ellipse 572.8 332.8 579.2 339.2 color -1 fill 0;

  6785.       ellipse 571.7 331.7 580.3 340.3 color -1;

  6786.      terminals

  6787.       input 576 336 fixed;

  6788.     end;

  6789.     implementation eq

  6790. equations

  6791.     collect (output) = input;

  6792. implementation_end;

  6793.    Splitter3 216 312

  6794.     description '<Description><Version>4.0</Version>

  6795.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6796.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6797. <IsMainModel>1</IsMainModel>

  6798.  <KeepParameterValues>False</KeepParameterValues>

  6799. </Description>';

  6800.     knot Splitter

  6801.      ports

  6802.       signal knot duplicatable out output [4,4];

  6803.       signal knot in input [4,4];

  6804.     end;

  6805.     icon bg ellipse

  6806.      figures

  6807.       ellipse 212.8 308.8 219.2 315.2 color -1 fill 0;

  6808.       ellipse 211.7 307.7 220.3 316.3 color -1;

  6809.      terminals

  6810.       input 216 312 fixed;

  6811.     end;

  6812.     implementation eq

  6813. equations

  6814.     collect (output) = input;

  6815. implementation_end;

  6816.    Splitter4 576 144

  6817.     description '<Description><Version>4.0</Version>

  6818.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6819.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6820. <IsMainModel>1</IsMainModel>

  6821.  <KeepParameterValues>False</KeepParameterValues>

  6822. </Description>';

  6823.     knot Splitter

  6824.      ports

  6825.       signal knot duplicatable out output [4,4];

  6826.       signal knot in input [4,4];

  6827.     end;

  6828.     icon bg ellipse

  6829.      figures

  6830.       ellipse 572.8 140.8 579.2 147.2 color -1 fill 0;

  6831.       ellipse 571.7 139.7 580.3 148.3 color -1;

  6832.      terminals

  6833.       input 576 144 fixed;

  6834.     end;

  6835.     implementation eq

  6836. equations

  6837.     collect (output) = input;

  6838. implementation_end;

  6839.    Splitter7 216 448

  6840.     description '<Description><Version>4.0</Version>

  6841.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6842.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6843. <IsMainModel>1</IsMainModel>

  6844.  <KeepParameterValues>False</KeepParameterValues>

  6845. </Description>';

  6846.     knot Splitter

  6847.      ports

  6848.       signal knot duplicatable out output [4,4];

  6849.       signal knot in input [4,4];

  6850.     end;

  6851.     icon bg ellipse

  6852.      figures

  6853.       ellipse 212.8 444.8 219.2 451.2 color -1 fill 0;

  6854.       ellipse 211.7 443.7 220.3 452.3 color -1;

  6855.      terminals

  6856.       input 216 448 fixed;

  6857.     end;

  6858.     implementation eq

  6859. equations

  6860.     collect (output) = input;

  6861. implementation_end;

  6862.    Splitter8 576 464

  6863.     description '<Description><Version>4.0</Version>

  6864.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6865.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6866. <IsMainModel>1</IsMainModel>

  6867.  <KeepParameterValues>False</KeepParameterValues>

  6868. </Description>';

  6869.     knot Splitter

  6870.      ports

  6871.       signal knot duplicatable out output [4,4];

  6872.       signal knot in input [4,4];

  6873.     end;

  6874.     icon bg ellipse

  6875.      figures

  6876.       ellipse 572.8 460.8 579.2 467.2 color -1 fill 0;

  6877.       ellipse 571.7 459.7 580.3 468.3 color -1;

  6878.      terminals

  6879.       input 576 464 fixed;

  6880.     end;

  6881.     implementation eq

  6882. equations

  6883.     collect (output) = input;

  6884. implementation_end;

  6885.    Splitter9 848 144

  6886.     description '<Description><Version>4.0</Version>

  6887.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  6888.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  6889. <IsMainModel>1</IsMainModel>

  6890.  <KeepParameterValues>False</KeepParameterValues>

  6891. </Description>';

  6892.     knot Splitter

  6893.      ports

  6894.       signal knot duplicatable out output [4,4];

  6895.       signal knot in input [4,4];

  6896.     end;

  6897.     icon bg ellipse

  6898.      figures

  6899.       ellipse 844.8 140.8 851.2 147.2 color -1 fill 0;

  6900.       ellipse 843.7 139.7 852.3 148.3 color -1;

  6901.      terminals

  6902.       input 848 144 fixed;

  6903.     end;

  6904.     implementation eq

  6905. equations

  6906.     collect (output) = input;

  6907. implementation_end;

  6908.    stepper_control 704 592

  6909.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Z:\home\wouter\Documents\studie\ma\mahd\implementation\library\Motor\stepper_control.emx</LibraryPath><TimeStamp>2020-7-23 13:09:57</TimeStamp></Description><Attributes><GlobalRelations>parameters

  6910. 	real max_acceleration = 250 {rad/s2};

  6911. 	real max_velocity = 25 {rad/s};

  6912. 	real initial_velocity = 0 {rad/s};

  6913. 	real initial_angle = -1.57 {rad};</GlobalRelations></Attributes></Information>';

  6914.     type Submodel

  6915.      ports

  6916.       signal in setpoint {rad} ;

  6917.       signal out output {rad} ;

  6918.     end;

  6919.     icon bg bottom

  6920.      figures

  6921.       rectangle 648 576 760 608 color 0 fill 15132390;

  6922.       text 'name' 704 592 color 0 'Clear Sans' 16;

  6923.     end;

  6924.     implementation bg

  6925.      submodels

  6926.       Acceleration_int 648 336

  6927.        description '<Information>

  6928.  <Description>

  6929.     <Version>4.3</Version>

  6930. <IsMainModel>1</IsMainModel>

  6931.   <KeepParameterValues>False</KeepParameterValues>

  6932.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  6933.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  6934. </Description>

  6935. </Information>';

  6936.        type Integrate

  6937.         ports

  6938.          signal in input;

  6939.          signal out output;

  6940.        end;

  6941.        icon bg bottom

  6942.         figures

  6943.          rectangle 632 320 664 352 color 0 fill 15132390;

  6944.          text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  6945.        end;

  6946.        implementation eq

  6947. parameters

  6948. 	real global initial_velocity;		// initial value

  6949. equations

  6950. 	output = int (input, initial_velocity);

  6951.      implementation_end;

  6952.       Acceleration_limit 568 336

  6953.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6954.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  6955.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  6956. </Description>';

  6957.        type 'SignalLimiter-Limit'

  6958.         ports

  6959.          signal in input;

  6960.          signal out output;

  6961.        end;

  6962.        icon bg bottom

  6963.         figures

  6964.          group

  6965.           rectangle 552 320 584 352 color 0 fill 15132390;

  6966.           line 567.9 324.5 567.9 349 color 0 fill 15132390;

  6967.           line 555 336.2 580.7 336.2 color 0 fill 15132390;

  6968.           spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  6969.           spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  6970.           spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  6971.          end;

  6972.        end;

  6973.        implementation eq

  6974. parameters

  6975. 	real global max_acceleration {rad/s2};

  6976. equations

  6977. 	output = limit (input, -max_acceleration, max_acceleration);

  6978.   implementation_end;

  6979.       plug setpoint 136 336;

  6980.       plug output 791 336;

  6981.       PlusMinus1 240 336

  6982.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  6983.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  6984.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  6985. </Description>';

  6986.        knot PlusMinus

  6987.         ports

  6988.          signal knot duplicatable in plus [1];

  6989.          signal knot duplicatable in minus [1];

  6990.          signal knot out output [1];

  6991.        end;

  6992.        icon bg ellipse

  6993.         figures

  6994.          ellipse 232 328 248 344 color 0 fill 16777215;

  6995.        end;

  6996.        implementation eq

  6997. equations

  6998.     output = sum (collect (plus)) - sum (collect (minus));

  6999.     implementation_end;

  7000.       PlusMinus2 432 336

  7001.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7002.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7003.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7004. </Description>';

  7005.        knot PlusMinus

  7006.         ports

  7007.          signal knot duplicatable in plus [1];

  7008.          signal knot duplicatable in minus [1];

  7009.          signal knot out output [1];

  7010.        end;

  7011.        icon bg ellipse

  7012.         figures

  7013.          ellipse 424 328 440 344 color 0 fill 16777215;

  7014.        end;

  7015.        implementation eq

  7016. equations

  7017.     output = sum (collect (plus)) - sum (collect (minus));

  7018.     implementation_end;

  7019.       Position_control 296 336

  7020.        description '<Description>

  7021.  <Version>4.0</Version>

  7022.  <IsMainModel>1</IsMainModel>

  7023.  <KeepParameterValues>False</KeepParameterValues>

  7024.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  7025.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  7026. </Description>';

  7027.        type PD

  7028.         ports

  7029.          signal in error;

  7030.          signal out output;

  7031.        end;

  7032.        icon bg bottom

  7033.         figures

  7034.          rectangle 280 320 312 352 color 0 fill 15132390;

  7035.          text 'PD' 296.5 336.1 color 16711680 18 bold;

  7036.        end;

  7037.        implementation eq

  7038. parameters

  7039. 	real kp = 4 {};			// Proportional gain

  7040. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  7041. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  7042. variables

  7043. 	real state, rate;

  7044. equations

  7045. 	rate = (kp * error - output) / (beta * tauD);

  7046. 	state = int (rate);

  7047. 	output = state + kp * error /  beta;

  7048.       implementation_end;

  7049.       Splitter3 688 336

  7050.        description '<Description><Version>4.0</Version>

  7051.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7052.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7053. <IsMainModel>1</IsMainModel>

  7054.  <KeepParameterValues>False</KeepParameterValues>

  7055. </Description>';

  7056.        knot Splitter

  7057.         ports

  7058.          signal knot duplicatable out output [1];

  7059.          signal knot in input [1];

  7060.        end;

  7061.        icon bg ellipse

  7062.         figures

  7063.          ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  7064.          ellipse 683.7 331.7 692.3 340.3 color -1;

  7065.         terminals

  7066.          input 688 336 fixed;

  7067.        end;

  7068.        implementation eq

  7069. equations

  7070.     collect (output) = input;

  7071. implementation_end;

  7072.       Splitter4 752 336

  7073.        description '<Description><Version>4.0</Version>

  7074.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7075.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7076. <IsMainModel>1</IsMainModel>

  7077.  <KeepParameterValues>False</KeepParameterValues>

  7078. </Description>';

  7079.        knot Splitter

  7080.         ports

  7081.          signal knot duplicatable out output [1];

  7082.          signal knot in input [1];

  7083.        end;

  7084.        icon bg ellipse

  7085.         figures

  7086.          ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  7087.          ellipse 747.7 331.7 756.3 340.3 color -1;

  7088.         terminals

  7089.          input 752 336 fixed;

  7090.        end;

  7091.        implementation eq

  7092. equations

  7093.     collect (output) = input;

  7094. implementation_end;

  7095.       Velocity_control 480 336

  7096.        description '<Description>

  7097.  <Version>4.0</Version>

  7098.  <IsMainModel>1</IsMainModel>

  7099.  <KeepParameterValues>False</KeepParameterValues>

  7100.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  7101.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  7102. </Description>';

  7103.        type PD

  7104.         ports

  7105.          signal in error;

  7106.          signal out output;

  7107.        end;

  7108.        icon bg bottom

  7109.         figures

  7110.          rectangle 464 320 496 352 color 0 fill 15132390;

  7111.          text 'PD' 480.5 336.1 color 16711680 18 bold;

  7112.        end;

  7113.        implementation eq

  7114. parameters

  7115. 	real kp = 12 {};			// Proportional gain

  7116. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  7117. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  7118. variables

  7119. 	real state, rate;

  7120. equations

  7121. 	rate = (kp * error - output) / (beta * tauD);

  7122. 	state = int (rate);

  7123. 	output = state + kp * error /  beta;

  7124.       implementation_end;

  7125.       Velocity_int 720 336

  7126.        description '<Information>

  7127.  <Description>

  7128.     <Version>4.3</Version>

  7129. <IsMainModel>1</IsMainModel>

  7130.   <KeepParameterValues>False</KeepParameterValues>

  7131.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7132.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7133. </Description>

  7134. </Information>';

  7135.        type Integrate

  7136.         ports

  7137.          signal in input;

  7138.          signal out output;

  7139.        end;

  7140.        icon bg bottom

  7141.         figures

  7142.          rectangle 704 320 736 352 color 0 fill 15132390;

  7143.          text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  7144.        end;

  7145.        implementation eq

  7146. parameters

  7147. 	real global initial_angle;		// initial value

  7148. equations

  7149. 	output = int (input, initial_angle);

  7150.      implementation_end;

  7151.       Velocity_limit 376 336

  7152.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7153.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7154.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7155. </Description>';

  7156.        type 'SignalLimiter-Limit'

  7157.         ports

  7158.          signal in input;

  7159.          signal out output;

  7160.        end;

  7161.        icon bg bottom

  7162.         figures

  7163.          group

  7164.           rectangle 360 320 392 352 color 0 fill 15132390;

  7165.           line 375.9 324.5 375.9 349 color 0 fill 15132390;

  7166.           line 363 336.2 388.7 336.2 color 0 fill 15132390;

  7167.           spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  7168.           spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  7169.           spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  7170.          end;

  7171.        end;

  7172.        implementation eq

  7173. parameters

  7174. 	real global max_velocity {rad/s};

  7175. equations

  7176. 	output = limit (input, -max_velocity, max_velocity);

  7177.   implementation_end;

  7178.      end;

  7179.      connections

  7180.       Acceleration_int\output -> Splitter3\input;

  7181.       Acceleration_limit\output -> Acceleration_int\input;

  7182.       PlusMinus1\output -> Position_control\error;

  7183.       PlusMinus2\output -> Velocity_control\error;

  7184.       Position_control\output -> Velocity_limit\input;

  7185.       setpoint -> PlusMinus1\plus;

  7186.       Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  7187.       Splitter3\output -> Velocity_int\input;

  7188.       Splitter4\output -> output;

  7189.       Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  7190.       Velocity_control\output -> Acceleration_limit\input;

  7191.       Velocity_int\output -> Splitter4\input;

  7192.       Velocity_limit\output -> PlusMinus2\plus;

  7193.      end;

  7194.     implementation_end;

  7195.    stepper_control1 512 784

  7196.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Motor\stepper_control.emx</LibraryPath><TimeStamp>2020-7-22 15:25:26</TimeStamp></Description><Attributes><GlobalRelations>parameters

  7197. 	real max_acceleration = 250 {rad/s2};

  7198. 	real max_velocity = 25 {rad/s};

  7199. 	real initial_velocity = 0 {rad/s};

  7200. 	real initial_angle = 0 {rad};

  7201. 	</GlobalRelations></Attributes></Information>';

  7202.     type Submodel

  7203.      ports

  7204.       signal in setpoint {rad} ;

  7205.       signal out output {rad} ;

  7206.     end;

  7207.     implementation bg

  7208.      submodels

  7209.       Acceleration_int 648 336

  7210.        description '<Information>

  7211.  <Description>

  7212.     <Version>4.3</Version>

  7213. <IsMainModel>1</IsMainModel>

  7214.   <KeepParameterValues>False</KeepParameterValues>

  7215.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7216.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7217. </Description>

  7218. </Information>';

  7219.        type Integrate

  7220.         ports

  7221.          signal in input;

  7222.          signal out output;

  7223.        end;

  7224.        icon bg bottom

  7225.         figures

  7226.          rectangle 632 320 664 352 color 0 fill 15132390;

  7227.          text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  7228.        end;

  7229.        implementation eq

  7230. parameters

  7231. 	real global initial_velocity;		// initial value

  7232. equations

  7233. 	output = int (input, initial_velocity);

  7234.      implementation_end;

  7235.       Acceleration_limit 568 336

  7236.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7237.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7238.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7239. </Description>';

  7240.        type 'SignalLimiter-Limit'

  7241.         ports

  7242.          signal in input;

  7243.          signal out output;

  7244.        end;

  7245.        icon bg bottom

  7246.         figures

  7247.          group

  7248.           rectangle 552 320 584 352 color 0 fill 15132390;

  7249.           line 567.9 324.5 567.9 349 color 0 fill 15132390;

  7250.           line 555 336.2 580.7 336.2 color 0 fill 15132390;

  7251.           spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  7252.           spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  7253.           spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  7254.          end;

  7255.        end;

  7256.        implementation eq

  7257. parameters

  7258. 	real global max_acceleration {rad/s2};

  7259. equations

  7260. 	output = limit (input, -max_acceleration, max_acceleration);

  7261.   implementation_end;

  7262.       plug setpoint 136 336;

  7263.       plug output 791 336;

  7264.       PlusMinus1 240 336

  7265.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7266.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7267.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7268. </Description>';

  7269.        knot PlusMinus

  7270.         ports

  7271.          signal knot duplicatable in plus [1];

  7272.          signal knot duplicatable in minus [1];

  7273.          signal knot out output [1];

  7274.        end;

  7275.        icon bg ellipse

  7276.         figures

  7277.          ellipse 232 328 248 344 color 0 fill 16777215;

  7278.        end;

  7279.        implementation eq

  7280. equations

  7281.     output = sum (collect (plus)) - sum (collect (minus));

  7282.     implementation_end;

  7283.       PlusMinus2 432 336

  7284.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7285.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  7286.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  7287. </Description>';

  7288.        knot PlusMinus

  7289.         ports

  7290.          signal knot duplicatable in plus [1];

  7291.          signal knot duplicatable in minus [1];

  7292.          signal knot out output [1];

  7293.        end;

  7294.        icon bg ellipse

  7295.         figures

  7296.          ellipse 424 328 440 344 color 0 fill 16777215;

  7297.        end;

  7298.        implementation eq

  7299. equations

  7300.     output = sum (collect (plus)) - sum (collect (minus));

  7301.     implementation_end;

  7302.       Position_control 296 336

  7303.        description '<Description>

  7304.  <Version>4.0</Version>

  7305.  <IsMainModel>1</IsMainModel>

  7306.  <KeepParameterValues>False</KeepParameterValues>

  7307.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  7308.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  7309. </Description>';

  7310.        type PD

  7311.         ports

  7312.          signal in error;

  7313.          signal out output;

  7314.        end;

  7315.        icon bg bottom

  7316.         figures

  7317.          rectangle 280 320 312 352 color 0 fill 15132390;

  7318.          text 'PD' 296.5 336.1 color 16711680 18 bold;

  7319.        end;

  7320.        implementation eq

  7321. parameters

  7322. 	real kp = 4 {};			// Proportional gain

  7323. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  7324. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  7325. variables

  7326. 	real state, rate;

  7327. equations

  7328. 	rate = (kp * error - output) / (beta * tauD);

  7329. 	state = int (rate);

  7330. 	output = state + kp * error /  beta;

  7331.       implementation_end;

  7332.       Splitter3 688 336

  7333.        description '<Description><Version>4.0</Version>

  7334.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7335.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7336. <IsMainModel>1</IsMainModel>

  7337.  <KeepParameterValues>False</KeepParameterValues>

  7338. </Description>';

  7339.        knot Splitter

  7340.         ports

  7341.          signal knot duplicatable out output [1];

  7342.          signal knot in input [1];

  7343.        end;

  7344.        icon bg ellipse

  7345.         figures

  7346.          ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  7347.          ellipse 683.7 331.7 692.3 340.3 color -1;

  7348.         terminals

  7349.          input 688 336 fixed;

  7350.        end;

  7351.        implementation eq

  7352. equations

  7353.     collect (output) = input;

  7354. implementation_end;

  7355.       Splitter4 752 336

  7356.        description '<Description><Version>4.0</Version>

  7357.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  7358.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  7359. <IsMainModel>1</IsMainModel>

  7360.  <KeepParameterValues>False</KeepParameterValues>

  7361. </Description>';

  7362.        knot Splitter

  7363.         ports

  7364.          signal knot duplicatable out output [1];

  7365.          signal knot in input [1];

  7366.        end;

  7367.        icon bg ellipse

  7368.         figures

  7369.          ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  7370.          ellipse 747.7 331.7 756.3 340.3 color -1;

  7371.         terminals

  7372.          input 752 336 fixed;

  7373.        end;

  7374.        implementation eq

  7375. equations

  7376.     collect (output) = input;

  7377. implementation_end;

  7378.       Velocity_control 480 336

  7379.        description '<Description>

  7380.  <Version>4.0</Version>

  7381.  <IsMainModel>1</IsMainModel>

  7382.  <KeepParameterValues>False</KeepParameterValues>

  7383.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  7384.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  7385. </Description>';

  7386.        type PD

  7387.         ports

  7388.          signal in error;

  7389.          signal out output;

  7390.        end;

  7391.        icon bg bottom

  7392.         figures

  7393.          rectangle 464 320 496 352 color 0 fill 15132390;

  7394.          text 'PD' 480.5 336.1 color 16711680 18 bold;

  7395.        end;

  7396.        implementation eq

  7397. parameters

  7398. 	real kp = 12 {};			// Proportional gain

  7399. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  7400. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  7401. variables

  7402. 	real state, rate;

  7403. equations

  7404. 	rate = (kp * error - output) / (beta * tauD);

  7405. 	state = int (rate);

  7406. 	output = state + kp * error /  beta;

  7407.       implementation_end;

  7408.       Velocity_int 720 336

  7409.        description '<Information>

  7410.  <Description>

  7411.     <Version>4.3</Version>

  7412. <IsMainModel>1</IsMainModel>

  7413.   <KeepParameterValues>False</KeepParameterValues>

  7414.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  7415.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  7416. </Description>

  7417. </Information>';

  7418.        type Integrate

  7419.         ports

  7420.          signal in input;

  7421.          signal out output;

  7422.        end;

  7423.        icon bg bottom

  7424.         figures

  7425.          rectangle 704 320 736 352 color 0 fill 15132390;

  7426.          text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  7427.        end;

  7428.        implementation eq

  7429. parameters

  7430. 	real global initial_angle;		// initial value

  7431. equations

  7432. 	output = int (input, initial_angle);

  7433.      implementation_end;

  7434.       Velocity_limit 376 336

  7435.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7436.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  7437.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  7438. </Description>';

  7439.        type 'SignalLimiter-Limit'

  7440.         ports

  7441.          signal in input;

  7442.          signal out output;

  7443.        end;

  7444.        icon bg bottom

  7445.         figures

  7446.          group

  7447.           rectangle 360 320 392 352 color 0 fill 15132390;

  7448.           line 375.9 324.5 375.9 349 color 0 fill 15132390;

  7449.           line 363 336.2 388.7 336.2 color 0 fill 15132390;

  7450.           spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  7451.           spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  7452.           spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  7453.          end;

  7454.        end;

  7455.        implementation eq

  7456. parameters

  7457. 	real global max_velocity {rad/s};

  7458. equations

  7459. 	output = limit (input, -max_velocity, max_velocity);

  7460.   implementation_end;

  7461.      end;

  7462.      connections

  7463.       Acceleration_int\output -> Splitter3\input;

  7464.       Acceleration_limit\output -> Acceleration_int\input;

  7465.       PlusMinus1\output -> Position_control\error;

  7466.       PlusMinus2\output -> Velocity_control\error;

  7467.       Position_control\output -> Velocity_limit\input;

  7468.       setpoint -> PlusMinus1\plus;

  7469.       Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  7470.       Splitter3\output -> Velocity_int\input;

  7471.       Splitter4\output -> output;

  7472.       Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  7473.       Velocity_control\output -> Acceleration_limit\input;

  7474.       Velocity_int\output -> Splitter4\input;

  7475.       Velocity_limit\output -> PlusMinus2\plus;

  7476.      end;

  7477.     implementation_end;

  7478.    Zero 808 536

  7479.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  7480.   <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>

  7481.   <TimeStamp>2007-9-27 15:54:36</TimeStamp>

  7482. </Description>

  7483. ';

  7484.     type Zero

  7485.      ports

  7486.       signal out output;

  7487.     end;

  7488.     icon bg bottom

  7489.      figures

  7490.       rectangle 792.1 520 823.9 552 color 0 fill 15132390;

  7491.       text '0' 808 536 color 16711680 18 bold;

  7492.     end;

  7493.     implementation eq

  7494. equations

  7495. 	output = 0;implementation_end;

  7496.   end;

  7497.   connections

  7498.    COM_body3\p => OneJunction4\p;

  7499.    COM_body4\p => OneJunction3\p;

  7500.    COM_body5\p => Link8\Pin;

  7501.    Ground1\output -> JointC\Hin 632 616;

  7502.    Ground1\p <= OneJunction5\p;

  7503.    inverse_kinematics\angle1 -> Negate1\input;

  7504.    inverse_kinematics\angle2 -> Negate2\input;

  7505.    inverse_kinematics\input <- rectanglepath\output;

  7506.    Joint_dynB\output => JointB\Pdiff;

  7507.    Joint_dynC\output => JointC\Pdiff;

  7508.    Joint_dynD\output => JointD\Pdiff;

  7509.    Joint_dynE\output => JointE\Pdiff;

  7510.    Joint_dynF\output => JointF\Pdiff;

  7511.    JointA\Pdiff <= Joint_dynA\output;

  7512.    JointA\Pout => Link3\Pin;

  7513.    JointB\Hin <- Splitter4\output;

  7514.    JointB\Hout -> Link6\Hin;

  7515.    JointB\Pin <= Link6\Pout;

  7516.    JointB\Pout => OneJunction3\p;

  7517.    JointC\Hout -> Link5\Hin;

  7518.    JointC\Pin <= Link5\Pout;

  7519.    JointD\Hin <- Link7\Hout 216 616;

  7520.    JointD\Hout -> Splitter7\input;

  7521.    JointD\Pin <= Link9\Pout;

  7522.    JointD\Pout => Link7\Pin 184 648;

  7523.    JointE\Pout => Link4\Pin;

  7524.    JointF\Hout -> Link10\Hin;

  7525.    JointF\Pout => Link1\Pin;

  7526.    Link1\Hout -> JointF\Hin;

  7527.    Link10\Hout -> Splitter9\input;

  7528.    Link10\Pout => JointF\Pin;

  7529.    Link2\Hin <- JointE\Hout;

  7530.    Link2\Hout -> Splitter4\input;

  7531.    Link2\Pin <= OneJunction3\p;

  7532.    Link2\Pout => JointE\Pin 184 112;

  7533.    Link3\Hout -> Splitter8\input;

  7534.    Link4\Hout -> JointE\Hin;

  7535.    Link5\Hout -> Splitter1\input;

  7536.    Link5\Pin <= OneJunction1\p;

  7537.    Link6\Hout -> Splitter2\input;

  7538.    Link6\Pin <= OneJunction2\p;

  7539.    Link8\Hout -> Splitter10\input;

  7540.    Link8\Pout => Link10\Pin;

  7541.    Link9\Hout -> Splitter3\input;

  7542.    Link9\Pin <= OneJunction4\p;

  7543.    Negate1\output -> stepper_control\setpoint;

  7544.    Negate2\output -> stepper_control1\setpoint;

  7545.    OneJunction1\p <= COM_body2\p;

  7546.    OneJunction1\p <= Link7\Pout;

  7547.    OneJunction2\p <= COM_body1\p;

  7548.    OneJunction2\p <= Link3\Pout;

  7549.    OneJunction3\p <= Link1\Pout;

  7550.    OneJunction4\p <= Link4\Pout;

  7551.    OneJunction5\p <= JointC\Pout;

  7552.    OneJunction5\p => JointA\Pin;

  7553.    Splitter1\output -> Body2\input;

  7554.    Splitter1\output -> COM_body2\Hin;

  7555.    Splitter1\output -> Link7\Hin;

  7556.    Splitter10\output -> Body6\input;

  7557.    Splitter10\output -> COM_body5\Hin;

  7558.    Splitter2\output -> COM_body1\Hin;

  7559.    Splitter2\output -> Link3\Hin;

  7560.    Splitter3\output -> COM_body3\Hin;

  7561.    Splitter3\output -> Link4\Hin;

  7562.    Splitter4\output -> Body4\input;

  7563.    Splitter4\output -> COM_body4\Hin;

  7564.    Splitter4\output -> Link1\Hin;

  7565.    Splitter7\output -> Body3\input;

  7566.    Splitter7\output -> Link9\Hin;

  7567.    Splitter8\output -> Body1\input;

  7568.    Splitter8\output -> JointA\Hin;

  7569.    Splitter9\output -> Body5\input;

  7570.    Splitter9\output -> Link8\Hin;

  7571.    stepper_control\output -> Joint_dynA\angle;

  7572.    stepper_control1\output -> Joint_dynC\angle;

  7573.   end;

  7574.  implementation_end;

  7575. ]]>

  7576. </Sidops>

  7577.  </Model>

  7578.  <Experiments>

  7579.      <DefaultExperiment><![CDATA[Experiment 1]]>

  7580. </DefaultExperiment>

  7581.   <Experiment>

  7582.     <Name>Experiment 1</Name>

  7583.     <CreatedBy></CreatedBy>

  7584.     <Info></Info>

  7585. <ExpData>

  7586.   <VersionNumber>4.8</VersionNumber>

  7587.   <ModelProperties>

  7588.   </ModelProperties>

  7589.   <Variables>

  7590.    <Constants>

  7591.    </Constants>

  7592.    <Parameters>

  7593.    </Parameters>

  7594.    <Initials>

  7595.     <Variable>

  7596.      <Name>COM_body1\InertialTensor\state_initial</Name>

  7597.      <Rows>6</Rows>

  7598.      <Columns>1</Columns>

  7599.      <Value>0 0 0 0 0 0</Value>

  7600.     </Variable>

  7601.     <Variable>

  7602.      <Name>COM_body2\InertialTensor\state_initial</Name>

  7603.      <Rows>6</Rows>

  7604.      <Columns>1</Columns>

  7605.      <Value>0 0 0 0 0 0</Value>

  7606.     </Variable>

  7607.     <Variable>

  7608.      <Name>COM_body3\InertialTensor\state_initial</Name>

  7609.      <Rows>6</Rows>

  7610.      <Columns>1</Columns>

  7611.      <Value>0 0 0 0 0 0</Value>

  7612.     </Variable>

  7613.     <Variable>

  7614.      <Name>COM_body4\InertialTensor\state_initial</Name>

  7615.      <Rows>6</Rows>

  7616.      <Columns>1</Columns>

  7617.      <Value>0 0 0 0 0 0</Value>

  7618.     </Variable>

  7619.     <Variable>

  7620.      <Name>COM_body5\InertialTensor\state_initial</Name>

  7621.      <Rows>6</Rows>

  7622.      <Columns>1</Columns>

  7623.      <Value>0 0 0 0 0 0</Value>

  7624.     </Variable>

  7625.     <Variable>

  7626.      <Name>JointA\Hmatrix\p_initial</Name>

  7627.      <Rows>3</Rows>

  7628.      <Columns>1</Columns>

  7629.      <Value>0 0 0</Value>

  7630.     </Variable>

  7631.     <Variable>

  7632.      <Name>JointB\Hmatrix\p_initial</Name>

  7633.      <Rows>3</Rows>

  7634.      <Columns>1</Columns>

  7635.      <Value>0 0 0</Value>

  7636.     </Variable>

  7637.     <Variable>

  7638.      <Name>JointC\Hmatrix\p_initial</Name>

  7639.      <Rows>3</Rows>

  7640.      <Columns>1</Columns>

  7641.      <Value>0 0 0</Value>

  7642.     </Variable>

  7643.     <Variable>

  7644.      <Name>JointD\Hmatrix\p_initial</Name>

  7645.      <Rows>3</Rows>

  7646.      <Columns>1</Columns>

  7647.      <Value>0 0 0</Value>

  7648.     </Variable>

  7649.     <Variable>

  7650.      <Name>JointE\Hmatrix\p_initial</Name>

  7651.      <Rows>3</Rows>

  7652.      <Columns>1</Columns>

  7653.      <Value>0 0 0</Value>

  7654.     </Variable>

  7655.     <Variable>

  7656.      <Name>JointF\Hmatrix\p_initial</Name>

  7657.      <Rows>3</Rows>

  7658.      <Columns>1</Columns>

  7659.      <Value>0 0 0</Value>

  7660.     </Variable>

  7661.     <Variable>

  7662.      <Name>Joint_dynA\C1\state_initial</Name>

  7663.      <Rows>3</Rows>

  7664.      <Columns>1</Columns>

  7665.      <Value>0 0 0</Value>

  7666.     </Variable>

  7667.     <Variable>

  7668.      <Name>Joint_dynA\C4\state_initial</Name>

  7669.      <Rows>2</Rows>

  7670.      <Columns>1</Columns>

  7671.      <Value>0 0</Value>

  7672.     </Variable>

  7673.     <Variable>

  7674.      <Name>Joint_dynA\C\state_initial</Name>

  7675.      <Value>0</Value>

  7676.     </Variable>

  7677.     <Variable>

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  8210.          <Value>0.457495710997814</Value>

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  8213.          <Value>-0.762492851663023</Value>

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  8233.       <LockY>false</LockY>

  8234.       <LockZ>false</LockZ>

  8235.       <LockXPitch>false</LockXPitch>

  8236.       <LockYYaw>false</LockYYaw>

  8237.       <LockZRoll>false</LockZRoll>

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  8244.          <Value>0.5</Value>

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  8282.          <Value>0.5</Value>

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  8309.          <Value>0.5</Value>

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  8312.          <Value>0.5</Value>

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  8315.          <Value>0.5</Value>

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  8334.       <DiffuseOn>true</DiffuseOn>

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  8341.        <X>

  8342.         <Value>-3</Value>

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  8344.        <Y>

  8345.         <Value>-5</Value>

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  8354.          <Value>0.50709255283711</Value>

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  8365.          <Value>0.0869656553478673</Value>

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  8377.       <LockY>false</LockY>

  8378.       <LockZ>false</LockZ>

  8379.       <LockXPitch>false</LockXPitch>

  8380.       <LockYYaw>false</LockYYaw>

  8381.       <LockZRoll>false</LockZRoll>

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  8388.          <Value>0.5</Value>

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  8391.          <Value>0.5</Value>

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  8401.          <Value>1</Value>

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  8414.         <Value>1.0</Value>

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  8416.        <Linear>

  8417.         <Value>0.05</Value>

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  8420.         <Value>0.05</Value>

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  8423.       <Umbra>

  8424.        <Value>1.0471975511965976</Value>

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  8427.        <Value>1.0471975511965976</Value>

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  8429.       <SpotExponent>0.0</SpotExponent>

  8430.       <DiffuseLight>

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  8433.          <Value>0.5</Value>

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  8436.          <Value>0.5</Value>

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  8439.          <Value>0.5</Value>

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  8460.          <Value>0.5</Value>

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  8463.          <Value>0.5</Value>

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  8466.          <Value>0.5</Value>

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  8490.       <Name>Spot Light 2</Name>

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  8492.        <X>

  8493.         <Value>2</Value>

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  8495.        <Y>

  8496.         <Value>-3</Value>

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  8499.         <Value>-1</Value>

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  8505.          <Value>-0.534522483824849</Value>

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  8511.          <Value>0.267261241912424</Value>

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  8516.          <Value>0.14824986333222</Value>

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  8522.          <Value>0.963624111659432</Value>

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  8565.         <Value>1.0</Value>

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  8575.        <Value>1.5707963267948966</Value>

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  8578.        <Value>1.5707963267948966</Value>

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  8611.          <Value>0.5</Value>

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  8643.        <X>

  8644.         <Value>0.145719696848087</Value>

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  8656.          <Value>-0.883129107704613</Value>

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  8667.          <Value>-0.46616615439618</Value>

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  8698.         <Value>-0.000627364166602552</Value>

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  8761.         <Value>1</Value>

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  8770.       <Name>Side(YZ)-Camera</Name>

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  8773.         <Value>10</Value>

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  8779.          <Value>-1</Value>

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  8792.       <LockXPitch>false</LockXPitch>

  8793.       <LockYYaw>false</LockYYaw>

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  8795.       <Childs>

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  8797.       <FrontPlane>0.01</FrontPlane>

  8798.       <BackPlane>100.0</BackPlane>

  8799.       <AutoFrontBack>true</AutoFrontBack>

  8800.       <Field>9.999999999999998</Field>

  8801.       <Fieldy>45.0</Fieldy>

  8802.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  8803.       <PlaneRight>9.999999999999998</PlaneRight>

  8804.       <PlaneTop>9.999999999999998</PlaneTop>

  8805.       <PlaneBottom>-9.999999999999998</PlaneBottom>

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  8812.         <Value>1</Value>

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  8815.       <RightHand>true</RightHand>

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  8817.       <IsSelectedCamera>false</IsSelectedCamera>

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  8820.       <ShowReferenceFrame>false</ShowReferenceFrame>

  8821.       <Name>Top(XZ)-Camera</Name>

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  8823.        <Y>

  8824.         <Value>10</Value>

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  8851.       <Field>9.999999999999998</Field>

  8852.       <Fieldy>45.0</Fieldy>

  8853.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  8854.       <PlaneRight>9.999999999999998</PlaneRight>

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  9013.       <LockXPitch>false</LockXPitch>

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  9044.         <Value>0.501960784313725</Value>

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  9067.         <Value>0.5</Value>

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  9129.       <LockX>false</LockX>

  9130.       <LockY>false</LockY>

  9131.       <LockZ>false</LockZ>

  9132.       <LockXPitch>false</LockXPitch>

  9133.       <LockYYaw>false</LockYYaw>

  9134.       <LockZRoll>false</LockZRoll>

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  9140.       <RibLength>1.0</RibLength>

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  9145.         <VariableName>Body3\dimension[1]</VariableName>

  9146.         <Value>0.005</Value>

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  9160.         <Value>0.501960784313725</Value>

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  9186.         <Value>0.5</Value>

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  9214.         <Value>-0.012112104568558652</Value>

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  9264.         <VariableName>Body4\dimension[1]</VariableName>

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  9305.         <Value>0.5</Value>

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  9370.       <LockXPitch>false</LockXPitch>

  9371.       <LockYYaw>false</LockYYaw>

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  9383.         <VariableName>Body5\dimension[1]</VariableName>

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  9387.         <VariableName>Body5\dimension[2]</VariableName>

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  9391.         <VariableName>Body5\dimension[3]</VariableName>

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  9398.         <Value>0.501960784313725</Value>

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  9404.         <Value>0</Value>

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  9407.       <Alpha>1.0</Alpha>

  9408.       <MeshColorMultipliers>

  9409.        <X>

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