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- <?xml version="1.0" encoding="UTF-8"?>
- <Document>
- <Model version="4.8" build="4.8.2.10124">
- <Sidops>
- <![CDATA[stepper_model 768 336
description '<Information>
- <Description>
- <Version>4.8</Version>
- <IsMainModel>1</IsMainModel>
- <LibraryPath>Motor\stepper_model.emx</LibraryPath>
- <TimeStamp>2020-7-22 15:25:37</TimeStamp>
- </Description>
- <Attributes>
- <GlobalRelations>parameters
- real I_phase = 3.4 {mH};
- real R_phase = 2.9 {ohm};
- real u_max = 3.4 {V};
- real RotorInertia = 5.6e-6 {kg.m2};
- real StepperMass = 0.29 {kg};
- real angle_step = 1.8 {deg};
- real n_phase = 2 {none};
- real fluxLinkage = 0.0022 {Wb};
- real detentTorque = 0.01 {N.m};
- variables
- real omega;
- real p; // rotor division
- initialequations
- p = 2 * pi / (2 * n_phase * angle_step);
- omega = 200;</GlobalRelations>
- </Attributes>
- </Information>';
type Submodel
ports
signal in angle;
rotation out p;
end;
implementation bg
submodels
I 560 104
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\I.emx</LibraryPath>
<TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
type I
ports
power in p;
signal out state;
restrictions
causality preferred in p;
end;
icon bg bottom
figures
text 'I' 560 104 color 0 18 bold;
end;
implementation eq
parameters
real global I_phase;
equations
state = int(p.e);
p.f = state / I_phase;
implementation_end;
I1 608 328
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\I.emx</LibraryPath>
<TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
type I
ports
power in p;
signal out state;
restrictions
causality preferred in p;
end;
icon bg bottom
figures
text 'I' 608 328 color 0 18 bold;
end;
implementation eq
parameters
real global I_phase;
equations
state = int(p.e);
p.f = state / I_phase;
implementation_end;
I2 752 160
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\I.emx</LibraryPath>
<TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
type I
ports
power in p;
signal out state;
restrictions
causality preferred in p;
end;
icon bg bottom
figures
text 'I' 752 160 color 0 18 bold;
end;
implementation eq
parameters
real i = 8e-5 {kg.m2};
real global RotorInertia;
equations
state = int(p.e);
p.f = state / (RotorInertia);
implementation_end;
MGY_a 656 160
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MGY.emx</LibraryPath>
<TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
type MGY
ports
power in p1;
power out p2;
signal in r;
restrictions
causality constraint equal p1 p2;
end;
icon bg bottom
figures
text 'MGY' 656 160 color 0 18 bold;
end;
implementation eq
equations
p1.e = r * p2.f;
p2.e = r * p1.f;
implementation_end;
MGY_b 656 272
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MGY.emx</LibraryPath>
<TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
type MGY
ports
power in p1;
power out p2;
signal in r;
restrictions
causality constraint equal p1 p2;
end;
icon bg bottom
figures
text 'MGY' 656 272 color 0 18 bold;
end;
implementation eq
equations
p1.e = r * p2.f;
p2.e = r * p1.f;
implementation_end;
MSe_a 512 160
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MSe.emx</LibraryPath>
<TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
type MSe
ports
electric out p;
signal in effort;
restrictions
causality fixed out p;
end;
icon bg bottom
figures
text 'MSe' 512 160 color 0 18 bold;
end;
implementation eq
variables
real flow;
equations
p.e = effort;
flow = p.f;
implementation_end;
MSe_b 512 272
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MSe.emx</LibraryPath>
<TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
type MSe
ports
electric out p;
signal in effort;
restrictions
causality fixed out p;
end;
icon bg bottom
figures
text 'MSe' 512 272 color 0 18 bold;
end;
implementation eq
variables
real flow;
equations
p.e = effort;
flow = p.f;
implementation_end;
plug angle 200 216;
plug p 1472 216;
OneJunction1 840 216
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
<TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
knot OneJunction
ports
rotation knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 840 216 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
OneJunction2 584 160
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
<TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
knot OneJunction
ports
electric knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 584 160 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
OneJunction3 584 272
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
<TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
knot OneJunction
ports
electric knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 584 272 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
OneJunction4 752 216
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
<TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
knot OneJunction
ports
rotation knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 752 216 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
phase_control 512 216
description '<Description><Version>4.0</Version>
<LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<TimeStamp>2007-11-1 22:32:1</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
type Submodel
ports
signal in angle;
signal out a;
signal out b;
end;
icon bg
figures
rectangle 472 200 552 232 color 0 fill 15132390;
text 'name' 512 216 color 0 'Clear Sans' 16;
end;
implementation eq
parameters
real global u_max {V};
real global angle_step;
real max_a {m/s2};
variables
real current_angle;
real c,s;
real global p;
boolean hidden eventa, eventb;
equations
a = u_max * (cos (p*angle));
eventa = event(a);
b = u_max * -(sin (p*angle));
eventb = event(b);
current_angle = angle;
implementation_end;
R 608 104
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\R.emx</LibraryPath>
<TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
type R
ports
power in p;
end;
icon bg bottom
figures
text 'R' 608 104 color 0 18 bold;
end;
implementation eq
parameters
real global R_phase;
equations
p.e = R_phase * p.f;
implementation_end;
R1 560 328
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\R.emx</LibraryPath>
<TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
type R
ports
power in p;
end;
icon bg bottom
figures
text 'R' 560 328 color 0 18 bold;
end;
implementation eq
parameters
real global R_phase;
equations
p.e = R_phase * p.f;
implementation_end;
R2 824 264
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\R.emx</LibraryPath>
<TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
type R
ports
power in p;
end;
icon bg bottom
figures
text 'R' 824 264 color 0 18 bold;
end;
implementation eq
parameters
real r = 1.0e-3;
equations
p.e = r * p.f;
implementation_end;
RotorAngle 656 216
description '<Description><Version>4.0</Version>
<LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<TimeStamp>2007-11-1 22:32:1</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
type Submodel
ports
signal out output_b;
signal out output_a;
signal in omega {rad/s} ;
signal out output_d;
end;
icon bg
figures
rectangle 616 200 696 232 color 0 fill 15132390;
text 'name' 656 216 color 0 'Clear Sans' 16;
end;
implementation eq
parameters
real global fluxLinkage;
real global detentTorque;
variables
real global p;
real angle {rad};
equations
angle = int(omega);
output_a = -p * fluxLinkage * sin(p * angle);
output_b = p * fluxLinkage * sin(p * angle - pi / 2);
output_d = detentTorque * sin(2 * p * angle);
implementation_end;
Se 752 272
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MSe.emx</LibraryPath>
<TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
type MSe
ports
power out p;
signal in effort;
restrictions
causality fixed out p;
end;
icon bg bottom
figures
text 'MSe' 752 272 color 0 18 bold;
end;
implementation eq
variables
real flow;
equations
p.e = effort;
flow = p.f;
implementation_end;
end;
connections
angle -> phase_control\angle;
I2\p <= OneJunction4\p;
MGY_a\p2 => OneJunction4\p;
MGY_b\p2 => OneJunction4\p;
MSe_b\p => OneJunction3\p;
OneJunction1\p => p;
OneJunction2\p <= MSe_a\p;
OneJunction2\p => I\p;
OneJunction2\p => MGY_a\p1;
OneJunction2\p => R\p;
OneJunction3\p => I1\p;
OneJunction3\p => MGY_b\p1;
OneJunction3\p => R1\p;
OneJunction4\flow -> RotorAngle\omega;
OneJunction4\p => OneJunction1\p;
OneJunction4\p => R2\p;
phase_control\a -> MSe_a\effort;
phase_control\b -> MSe_b\effort;
RotorAngle\output_a -> MGY_a\r;
RotorAngle\output_b -> MGY_b\r;
RotorAngle\output_d -> Se\effort;
Se\p => OneJunction4\p;
end;
implementation_end;
]]>
- </Sidops>
- </Model>
- </Document>
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