master-thesis
/
mahd
1
0
Atdalīts 0
Kods Problēmas 0 Izmaiņu pieprasījumi 0 Laidieni 0 Vikivietne Aktivitāte
Nevar pievienot vairāk kā 25 tēmas Tēmai ir jāsākas ar burtu vai ciparu, tā var saturēt domu zīmes ('-') un var būt līdz 35 simboliem gara.
63 Revīzijas
2 Atzari
1.5MB
Koks: f035b9ee29
Atzari Tagi
${ item.name }
Izveidot atzaru ${ searchTerm }
no 'f035b9ee29'
${ noResults }
mahd/implementation/SCARA/05_stepper/stepper.emx

6381 rinda
178KB
Neapstrādāts Vainot Vēsture 

  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\05_stepper\stepper.emx</LibraryPath>

  11.   <TimeStamp>2020-7-23 10:09:09</TimeStamp>

  12. <AllowLibraryUpdate>True</AllowLibraryUpdate>

  13.  </Description>

  14.  <Attributes>

  15.   <GlobalRelations>parameters

  16. 	real A = 0.05 {m};

  17. 	real B = 0.05 {m};

  18. variables

  19. 	real J0_1_BF1[2];

  20. 	real J1_2_BF1[2];

  21. 	real J1_2_BF2[2];

  22. 	real EE1_BF2[2];

  23. initialequations

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

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

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

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

  28.  </Attributes>

  29. </Information>';

  30.  type Mainmodel

  31.  end;

  32.  implementation bg

  33.   submodels

  34.    C 528 216

  35.     description '<Information>

  36.  <Description>

  37.     <Version>4.2</Version>

  38. <IsMainModel>1</IsMainModel>

  39.   <KeepParameterValues>False</KeepParameterValues>

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

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

  42. </Description>

  43. </Information>';

  44.     type C

  45.      ports

  46.       power in p;

  47.       signal out state;

  48.      restrictions

  49.       causality preferred out p;

  50.     end;

  51.     icon bg bottom

  52.      figures

  53.       text 'C' 528 216 color 0 18 bold;

  54.     end;

  55.     implementation eq

  56. parameters

  57. 	real c = 0.0001;

  58. equations

  59. 	state = int(p.f);

  60. 	p.e = state / c;

  61. implementation_end;

  62.    C1 712 232

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

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

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

  66. </Description>';

  67.     type 'C-3'

  68.      ports

  69.       power in p [3,1];

  70.       signal out state [3,1];

  71.      restrictions

  72.       causality preferred out p;

  73.     end;

  74.     icon bg bottom

  75.      figures

  76.       text 'C' 712 232 color 0 18 bold;

  77.     end;

  78.     implementation eq

  79. parameters

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

  81. equations

  82.     state = int(p.f);

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

  84. implementation_end;

  85.    C2 376 256

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

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

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

  89. </Description>';

  90.     type 'C-3'

  91.      ports

  92.       power in p [3,1];

  93.       signal out state [3,1];

  94.      restrictions

  95.       causality preferred out p;

  96.     end;

  97.     icon bg bottom

  98.      figures

  99.       text 'C' 376 256 color 0 18 bold;

  100.     end;

  101.     implementation eq

  102. parameters

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

  104. equations

  105.     state = int(p.f);

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

  107. implementation_end;

  108.    C3 376 208

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

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

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

  112. </Description>';

  113.     type 'C-2'

  114.      ports

  115.       power in p [2,1];

  116.       signal out state [2,1];

  117.      restrictions

  118.       causality preferred out p;

  119.     end;

  120.     icon bg bottom

  121.      figures

  122.       text 'C' 376 208 color 0 18 bold;

  123.     end;

  124.     implementation eq

  125. parameters

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

  127. equations

  128.     state = int(p.f);

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

  130. implementation_end;

  131.    C4 712 216

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

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

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

  135. </Description>';

  136.     type 'C-2'

  137.      ports

  138.       power in p [2,1];

  139.       signal out state [2,1];

  140.      restrictions

  141.       causality preferred out p;

  142.     end;

  143.     icon bg top

  144.      figures

  145.       text 'C' 712 216 color 0 18 bold;

  146.     end;

  147.     implementation eq

  148. parameters

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

  150. equations

  151.     state = int(p.f);

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

  153. implementation_end;

  154.    C5 104 216

  155.     description '<Information>

  156.  <Description>

  157.     <Version>4.2</Version>

  158. <IsMainModel>1</IsMainModel>

  159.   <KeepParameterValues>False</KeepParameterValues>

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

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

  162. </Description>

  163. </Information>';

  164.     type C

  165.      ports

  166.       power in p;

  167.       signal out state;

  168.      restrictions

  169.       causality preferred out p;

  170.     end;

  171.     icon bg bottom

  172.      figures

  173.       text 'C' 104 216 color 0 18 bold;

  174.     end;

  175.     implementation eq

  176. parameters

  177. 	real c = 0.0001;

  178. equations

  179. 	state = int(p.f);

  180. 	p.e = state / c;

  181. implementation_end;

  182.    COM 448 192

  183.     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

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

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

  186.     type Submodel

  187.      ports

  188.       signal in Hin [4,4];

  189.       signal out Hout [4,4];

  190.       power out p [6,1];

  191.     end;

  192.     icon bg bottom

  193.      figures

  194.       rectangle 416 176 480 208 color 0 fill 139;

  195.       text 'COM' 448 192 color 0 'Clear Sans' 16;

  196.      terminals

  197.       Hin 464 176 fixed;

  198.       p 432 176 fixed;

  199.     end;

  200.     implementation bg

  201.      submodels

  202.       AdHi0 544 400

  203.        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>';

  204.        type MTF

  205.         ports

  206.          power in p1 [6,1];

  207.          power out p2 [6,1];

  208.          signal in H [4,4];

  209.         restrictions

  210.          causality constraint not_equal p1 p2;

  211.        end;

  212.        icon bg left

  213.         figures

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

  215.        end;

  216.        implementation eq

  217. variables

  218.  	real onlyRotH[4,4];

  219. code

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

  221. 	onlyRotH = H;

  222. 	onlyRotH[1,4] = 0;

  223. 	onlyRotH[2,4] = 0;

  224. 	onlyRotH[3,4] = 0;

  225. 						

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

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

  228. implementation_end;

  229.       EJS 616 336

  230.        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>';

  231.        type MGY

  232.         ports

  233.          power in p1 [6,1];

  234.        end;

  235.        icon bg top

  236.         figures

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

  238.        end;

  239.        implementation eq

  240. //EJS / Gyroscopic effects

  241. parameters

  242. 	real global I[3];

  243. 	real global m;

  244. variables

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

  246. 	real Q[6,6];

  247. 	real QI[6,6];

  248. 	real Ia[6];

  249. initialequations

  250. 	Ia[1:3] = I;

  251. 	Ia[4:6] = m;

  252. 	II = diag(Ia);

  253. equations

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

  255. 	QI = Q*II;

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

  257.       Gravity 624 400

  258.        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>';

  259.        type Se

  260.         ports

  261.          power out p [6,1];

  262.         restrictions

  263.          causality fixed out p;

  264.        end;

  265.        icon bg bottom

  266.         figures

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

  268.        end;

  269.        implementation eq

  270. parameters

  271. 	real global m;

  272. variables

  273. 	real effort[6];

  274. equations

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

  276. 	p.e = effort;

  277. implementation_end;

  278.       InertialTensor 544 272

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

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

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

  282. </Description>';

  283.        type 'I-3'

  284.         ports

  285.          power in p [6,1];

  286.          signal out state [6,1];

  287.         restrictions

  288.          causality preferred in p;

  289.        end;

  290.        icon bg bottom

  291.         figures

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

  293.        end;

  294.        implementation eq

  295. parameters

  296. 	real global I[3];

  297. 	real global m;

  298. variables

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

  300. 	real Ia[6];

  301. initialequations

  302. 	Ia[1:3] = I;

  303. 	Ia[4:6] = m;

  304. 	II = diag(Ia);

  305. equations

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

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

  308. implementation_end;

  309.       plug Hin 433.4 496;

  310.       plug Hout 691.2 496;

  311.       plug p 439.4 336;

  312.       Splitter1 544 496

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

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

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

  316. <IsMainModel>1</IsMainModel>

  317.  <KeepParameterValues>False</KeepParameterValues>

  318. </Description>';

  319.        knot Splitter

  320.         ports

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

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

  323.        end;

  324.        icon bg ellipse

  325.         figures

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

  327.          ellipse 539.7 491.7 548.3 500.3 color -1;

  328.         terminals

  329.          input 544 496 fixed;

  330.        end;

  331.        implementation eq

  332. equations

  333.     collect (output) = input;

  334. implementation_end;

  335.       Ta0j 544 336

  336.        description '<Description>

  337.  <Version>4.0</Version>

  338.  <IsMainModel>1</IsMainModel>

  339.  <KeepParameterValues>False</KeepParameterValues>

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

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

  342.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  343.    <Description></Description>

  344. </Description>';

  345.        knot OneJunction

  346.         ports

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

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

  349.         restrictions

  350.          causality constraint one_out p;

  351.        end;

  352.        icon bg bottom

  353.         figures

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

  355.        end;

  356.        implementation eq

  357. equations

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

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

  360. 	flow = first (p.f);

  361. implementation_end;

  362.       ZeroJunction1 504 336

  363.        description '<Information>

  364.  <Description>

  365.     <Version>4.2</Version>

  366. <IsMainModel>1</IsMainModel>

  367.   <KeepParameterValues>False</KeepParameterValues>

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

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

  370. </Description>

  371. </Information>';

  372.        knot ZeroJunction

  373.         ports

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

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

  376.         restrictions

  377.          causality constraint one_in p;

  378.        end;

  379.        icon bg

  380.         figures

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

  382.        end;

  383.        implementation eq

  384. equations

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

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

  387. 	effort = first (p.e);

  388. implementation_end;

  389.      end;

  390.      connections

  391.       AdHi0\p2 => Ta0j\p;

  392.       Gravity\p => AdHi0\p1;

  393.       Hin -> Splitter1\input;

  394.       Splitter1\output -> AdHi0\H;

  395.       Splitter1\output -> Hout;

  396.       Ta0j\p => EJS\p1;

  397.       Ta0j\p => InertialTensor\p;

  398.       ZeroJunction1\p => p;

  399.       ZeroJunction1\p => Ta0j\p;

  400.      end;

  401.     implementation_end;

  402.    COM1 792 184

  403.     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

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

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

  406.     type Submodel

  407.      ports

  408.       signal in Hin [4,4];

  409.       signal out Hout [4,4];

  410.       power out p [6,1];

  411.     end;

  412.     icon bg bottom

  413.      figures

  414.       rectangle 760 168 824 200 color 0 fill 139;

  415.       text 'COM' 792 184 color 0 'Clear Sans' 16;

  416.      terminals

  417.       Hin 808 168 fixed;

  418.       p 776 168 fixed;

  419.     end;

  420.     implementation bg

  421.      submodels

  422.       AdHi0 544 400

  423.        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>';

  424.        type MTF

  425.         ports

  426.          power in p1 [6,1];

  427.          power out p2 [6,1];

  428.          signal in H [4,4];

  429.         restrictions

  430.          causality constraint not_equal p1 p2;

  431.        end;

  432.        icon bg left

  433.         figures

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

  435.        end;

  436.        implementation eq

  437. variables

  438.  	real onlyRotH[4,4];

  439. code

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

  441. 	onlyRotH = H;

  442. 	onlyRotH[1,4] = 0;

  443. 	onlyRotH[2,4] = 0;

  444. 	onlyRotH[3,4] = 0;

  445. 						

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

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

  448. implementation_end;

  449.       EJS 616 336

  450.        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>';

  451.        type MGY

  452.         ports

  453.          power in p1 [6,1];

  454.        end;

  455.        icon bg top

  456.         figures

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

  458.        end;

  459.        implementation eq

  460. //EJS / Gyroscopic effects

  461. parameters

  462. 	real global I[3];

  463. 	real global m;

  464. variables

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

  466. 	real Q[6,6];

  467. 	real QI[6,6];

  468. 	real Ia[6];

  469. initialequations

  470. 	Ia[1:3] = I;

  471. 	Ia[4:6] = m;

  472. 	II = diag(Ia);

  473. equations

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

  475. 	QI = Q*II;

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

  477.       Gravity 624 400

  478.        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>';

  479.        type Se

  480.         ports

  481.          power out p [6,1];

  482.         restrictions

  483.          causality fixed out p;

  484.        end;

  485.        icon bg bottom

  486.         figures

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

  488.        end;

  489.        implementation eq

  490. parameters

  491. 	real global m;

  492. variables

  493. 	real effort[6];

  494. equations

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

  496. 	p.e = effort;

  497. implementation_end;

  498.       InertialTensor 544 272

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

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

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

  502. </Description>';

  503.        type 'I-3'

  504.         ports

  505.          power in p [6,1];

  506.          signal out state [6,1];

  507.         restrictions

  508.          causality preferred in p;

  509.        end;

  510.        icon bg bottom

  511.         figures

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

  513.        end;

  514.        implementation eq

  515. parameters

  516. 	real global I[3];

  517. 	real global m;

  518. variables

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

  520. 	real Ia[6];

  521. initialequations

  522. 	Ia[1:3] = I;

  523. 	Ia[4:6] = m;

  524. 	II = diag(Ia);

  525. equations

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

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

  528. implementation_end;

  529.       plug Hin 433.4 496;

  530.       plug Hout 691.2 496;

  531.       plug p 439.4 336;

  532.       Splitter1 544 496

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

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

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

  536. <IsMainModel>1</IsMainModel>

  537.  <KeepParameterValues>False</KeepParameterValues>

  538. </Description>';

  539.        knot Splitter

  540.         ports

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

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

  543.        end;

  544.        icon bg ellipse

  545.         figures

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

  547.          ellipse 539.7 491.7 548.3 500.3 color -1;

  548.         terminals

  549.          input 544 496 fixed;

  550.        end;

  551.        implementation eq

  552. equations

  553.     collect (output) = input;

  554. implementation_end;

  555.       Ta0j 544 336

  556.        description '<Description>

  557.  <Version>4.0</Version>

  558.  <IsMainModel>1</IsMainModel>

  559.  <KeepParameterValues>False</KeepParameterValues>

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

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

  562.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  563.    <Description></Description>

  564. </Description>';

  565.        knot OneJunction

  566.         ports

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

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

  569.         restrictions

  570.          causality constraint one_out p;

  571.        end;

  572.        icon bg bottom

  573.         figures

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

  575.        end;

  576.        implementation eq

  577. equations

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

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

  580. 	flow = first (p.f);

  581. implementation_end;

  582.       ZeroJunction1 504 336

  583.        description '<Information>

  584.  <Description>

  585.     <Version>4.2</Version>

  586. <IsMainModel>1</IsMainModel>

  587.   <KeepParameterValues>False</KeepParameterValues>

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

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

  590. </Description>

  591. </Information>';

  592.        knot ZeroJunction

  593.         ports

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

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

  596.         restrictions

  597.          causality constraint one_in p;

  598.        end;

  599.        icon bg

  600.         figures

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

  602.        end;

  603.        implementation eq

  604. equations

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

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

  607. 	effort = first (p.e);

  608. implementation_end;

  609.      end;

  610.      connections

  611.       AdHi0\p2 => Ta0j\p;

  612.       Gravity\p => AdHi0\p1;

  613.       Hin -> Splitter1\input;

  614.       Splitter1\output -> AdHi0\H;

  615.       Splitter1\output -> Hout;

  616.       Ta0j\p => EJS\p1;

  617.       Ta0j\p => InertialTensor\p;

  618.       ZeroJunction1\p => p;

  619.       ZeroJunction1\p => Ta0j\p;

  620.      end;

  621.     implementation_end;

  622.    COM2 976 168

  623.     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

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

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

  626.     type Submodel

  627.      ports

  628.       signal in Hin [4,4];

  629.       signal out Hout [4,4];

  630.       power out p [6,1];

  631.     end;

  632.     icon bg bottom

  633.      figures

  634.       rectangle 944 152 1008 184 color 0 fill 139;

  635.       text 'COM' 976 168 color 0 'Clear Sans' 16;

  636.      terminals

  637.       Hin 992 152 fixed;

  638.       p 960 152 fixed;

  639.     end;

  640.     implementation bg

  641.      submodels

  642.       AdHi0 544 400

  643.        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>';

  644.        type MTF

  645.         ports

  646.          power in p1 [6,1];

  647.          power out p2 [6,1];

  648.          signal in H [4,4];

  649.         restrictions

  650.          causality constraint not_equal p1 p2;

  651.        end;

  652.        icon bg left

  653.         figures

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

  655.        end;

  656.        implementation eq

  657. variables

  658.  	real onlyRotH[4,4];

  659. code

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

  661. 	onlyRotH = H;

  662. 	onlyRotH[1,4] = 0;

  663. 	onlyRotH[2,4] = 0;

  664. 	onlyRotH[3,4] = 0;

  665. 						

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

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

  668. implementation_end;

  669.       EJS 616 336

  670.        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>';

  671.        type MGY

  672.         ports

  673.          power in p1 [6,1];

  674.        end;

  675.        icon bg top

  676.         figures

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

  678.        end;

  679.        implementation eq

  680. //EJS / Gyroscopic effects

  681. parameters

  682. 	real global I[3];

  683. 	real global m;

  684. variables

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

  686. 	real Q[6,6];

  687. 	real QI[6,6];

  688. 	real Ia[6];

  689. initialequations

  690. 	Ia[1:3] = I;

  691. 	Ia[4:6] = m;

  692. 	II = diag(Ia);

  693. equations

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

  695. 	QI = Q*II;

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

  697.       Gravity 624 400

  698.        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>';

  699.        type Se

  700.         ports

  701.          power out p [6,1];

  702.         restrictions

  703.          causality fixed out p;

  704.        end;

  705.        icon bg bottom

  706.         figures

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

  708.        end;

  709.        implementation eq

  710. parameters

  711. 	real global m;

  712. variables

  713. 	real effort[6];

  714. equations

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

  716. 	p.e = effort;

  717. implementation_end;

  718.       InertialTensor 544 272

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

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

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

  722. </Description>';

  723.        type 'I-3'

  724.         ports

  725.          power in p [6,1];

  726.          signal out state [6,1];

  727.         restrictions

  728.          causality preferred in p;

  729.        end;

  730.        icon bg bottom

  731.         figures

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

  733.        end;

  734.        implementation eq

  735. parameters

  736. 	real global I[3];

  737. 	real global m;

  738. variables

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

  740. 	real Ia[6];

  741. initialequations

  742. 	Ia[1:3] = I;

  743. 	Ia[4:6] = m;

  744. 	II = diag(Ia);

  745. equations

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

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

  748. implementation_end;

  749.       plug Hin 433.4 496;

  750.       plug Hout 691.2 496;

  751.       plug p 424 336;

  752.       Splitter1 544 496

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

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

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

  756. <IsMainModel>1</IsMainModel>

  757.  <KeepParameterValues>False</KeepParameterValues>

  758. </Description>';

  759.        knot Splitter

  760.         ports

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

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

  763.        end;

  764.        icon bg ellipse

  765.         figures

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

  767.          ellipse 539.7 491.7 548.3 500.3 color -1;

  768.         terminals

  769.          input 544 496 fixed;

  770.        end;

  771.        implementation eq

  772. equations

  773.     collect (output) = input;

  774. implementation_end;

  775.       Ta0j 544 336

  776.        description '<Description>

  777.  <Version>4.0</Version>

  778.  <IsMainModel>1</IsMainModel>

  779.  <KeepParameterValues>False</KeepParameterValues>

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

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

  782.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  783.    <Description></Description>

  784. </Description>';

  785.        knot OneJunction

  786.         ports

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

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

  789.         restrictions

  790.          causality constraint one_out p;

  791.        end;

  792.        icon bg bottom

  793.         figures

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

  795.        end;

  796.        implementation eq

  797. equations

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

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

  800. 	flow = first (p.f);

  801. implementation_end;

  802.       ZeroJunction1 480 336

  803.        description '<Information>

  804.  <Description>

  805.     <Version>4.2</Version>

  806. <IsMainModel>1</IsMainModel>

  807.   <KeepParameterValues>False</KeepParameterValues>

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

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

  810. </Description>

  811. </Information>';

  812.        knot ZeroJunction

  813.         ports

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

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

  816.         restrictions

  817.          causality constraint one_in p;

  818.        end;

  819.        icon bg

  820.         figures

  821.          text '0' 480 336 color 0 18 bold;

  822.        end;

  823.        implementation eq

  824. equations

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

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

  827. 	effort = first (p.e);

  828. implementation_end;

  829.      end;

  830.      connections

  831.       AdHi0\p2 => Ta0j\p;

  832.       Gravity\p => AdHi0\p1;

  833.       Hin -> Splitter1\input;

  834.       Splitter1\output -> AdHi0\H;

  835.       Splitter1\output -> Hout;

  836.       Ta0j\p => EJS\p1;

  837.       Ta0j\p => InertialTensor\p;

  838.       ZeroJunction1\p => p;

  839.       ZeroJunction1\p => Ta0j\p;

  840.      end;

  841.     implementation_end;

  842.    Ground 144 104

  843.     description '<Information>

  844.  <Description>

  845.     <Version>4.8</Version>

  846. <IsMainModel>1</IsMainModel>

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

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

  849. </Description>

  850. </Information>';

  851.     type Submodel

  852.      ports

  853.       power in p [6,1];

  854.       signal out output [4,4];

  855.     end;

  856.     icon bg bottom

  857.      figures

  858.       line 108 96.5 124 112.5 color 0 fill 15132390;

  859.       line 116 96.5 132 112.5 color 0 fill 15132390;

  860.       line 100 96.5 116 112.5 color 0 fill 15132390;

  861.       line 140 112.5 124 96.5 color 0 fill 15132390;

  862.       line 148 112.5 132 96.5 color 0 fill 15132390;

  863.       line 156 112.5 140 96.5 color 0 fill 15132390;

  864.       line 172 112.5 156 96.5 color 0 fill 15132390;

  865.       line 164 112.5 148 96.5 color 0 fill 15132390;

  866.       line 180 112.5 164 96.5 color 0 fill 15132390;

  867.       line 188 112.5 172 96.5 color 0 fill 15132390;

  868.       line 100 96.5 188 96.5 color 0 fill 15132390 width 2;

  869.       line 180 96.5 188 104.5 color 0 fill 15132390;

  870.       line 100 104.5 108 112.5 color 0 fill 15132390;

  871.      terminals

  872.       p 124 96.5 fixed;

  873.       output 156 96.5 fixed;

  874.     end;

  875.     implementation bg

  876.      submodels

  877.       plug p 240 88;

  878.       plug output 240 120;

  879.       OneJunction2 192 88

  880.        description '<Information>

  881.  <Description>

  882.     <Version>4.2</Version>

  883. <IsMainModel>1</IsMainModel>

  884.   <KeepParameterValues>False</KeepParameterValues>

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

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

  887. </Description>

  888. </Information>';

  889.        knot OneJunction

  890.         ports

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

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

  893.         restrictions

  894.          causality constraint one_out p;

  895.        end;

  896.        icon bg

  897.         figures

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

  899.        end;

  900.        implementation eq

  901. equations

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

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

  904. 	flow = first (p.f);

  905. implementation_end;

  906.       Sf2 136 88

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

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

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

  910. </Description>';

  911.        type 'Sf-2'

  912.         ports

  913.          power out p [6,1];

  914.         restrictions

  915.          causality fixed in p;

  916.        end;

  917.        icon bg bottom

  918.         figures

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

  920.        end;

  921.        implementation eq

  922. parameters

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

  924. variables

  925. 	real effort [6];

  926. equations

  927. 	p.f = flow;

  928. 	effort = p.e;

  929. implementation_end;

  930.       Zero 144 120

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

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

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

  934. </Description>

  935. ';

  936.        type Zero

  937.         ports

  938.          signal out output [4,4];

  939.        end;

  940.        icon bg bottom

  941.         figures

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

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

  944.        end;

  945.        implementation eq

  946. equations

  947. 	output = eye(4);implementation_end;

  948.      end;

  949.      connections

  950.       p => OneJunction2\p;

  951.       Sf2\p => OneJunction2\p;

  952.       Zero\output -> output;

  953.      end;

  954.     implementation_end;

  955.    inverse_kinematics1 344 536

  956.     description '<Information>

  957.  <Description>

  958.     <Version>4.8</Version>

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

  960. <IsMainModel>1</IsMainModel>

  961.   <KeepParameterValues>False</KeepParameterValues>

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

  963. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  964.  </Description>

  965. </Information>';

  966.     type 'Submodel-Equation'

  967.      ports

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

  969.       signal out angle1 {rad} ;

  970.       signal out angle2 {rad} ;

  971.       signal out a {rad} ;

  972.       signal out b {rad} ;

  973.       signal out c {rad} ;

  974.       signal out phi {rad} ;

  975.       signal out abs_angle2;

  976.     end;

  977.     implementation eq

  978. parameters

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

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

  981. 	real to_rad = 1 {rad};

  982. variables

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

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

  985. equations

  986. 	x = input[1];

  987. 	y = input[2];

  988. 	phi = atan2(y, x);

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

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

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

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

  993. 	angle1 = b + phi;

  994. 	abs_angle2 =  angle1 - pi * to_rad + c;

  995. 	angle2 = c - pi * to_rad;

  996. 	

  997. 	

  998. 

  999.  implementation_end;

  1000.    Joint 264 104

  1001.     description '<Information>

  1002.  <Description>

  1003.     <Version>4.8</Version>

  1004. <IsMainModel>1</IsMainModel>

  1005.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1006.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1007. </Description>

  1008. </Information>';

  1009.     type 'Submodel-v3'

  1010.      ports

  1011.       power in Pin [6,1];

  1012.       power in Pdiff [6,1];

  1013.       signal in Hin [4,4];

  1014.       signal out Hout [4,4];

  1015.       signal out Hdiff [4,4];

  1016.       power out Pout [6,1];

  1017.     end;

  1018.     icon bg bottom

  1019.      figures

  1020.       rectangle 240 72 288 136 color 0 fill 14745599;

  1021.       text 'Joint' 264 104 color 0 'Clear Sans' 16;

  1022.      terminals

  1023.       Pin 288 88 fixed;

  1024.       Hin 240 120 fixed;

  1025.       Hout 288 120 fixed;

  1026.       Pout 240 88 fixed;

  1027.     end;

  1028.     implementation bg

  1029.      submodels

  1030.       AdHji 424 424

  1031.        description '<Description>

  1032.  <Version>4.0</Version>

  1033.  <IsMainModel>1</IsMainModel>

  1034.  <KeepParameterValues>False</KeepParameterValues>

  1035.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1036.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1037.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1038. </Description>';

  1039.        type MTF

  1040.         ports

  1041.          power out p1 [6,1];

  1042.          power in p2 [6,1];

  1043.          signal in H [4,4];

  1044.         restrictions

  1045.          causality constraint not_equal p1 p2;

  1046.        end;

  1047.        icon bg bottom

  1048.         figures

  1049.          text 'MTF' 424 424 color 0 18 bold;

  1050.        end;

  1051.        implementation eq

  1052. equations					

  1053. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1054. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1055.       FlowSensor2 184 311.9

  1056.        description '<Information>

  1057.  <Description>

  1058.     <Version>4.2</Version>

  1059. <IsMainModel>1</IsMainModel>

  1060.   <KeepParameterValues>False</KeepParameterValues>

  1061.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1062.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1063. </Description>

  1064. </Information>';

  1065.        knot FlowSensor

  1066.         ports

  1067.          power knot in p1 [6,1];

  1068.          power knot out p2 [6,1];

  1069.          signal knot out flow [6,1];

  1070.         restrictions

  1071.          causality constraint not_equal p1 p2;

  1072.        end;

  1073.        icon bg ellipse

  1074.         figures

  1075.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1076.          text 'f' 184 311.2 color 0;

  1077.        end;

  1078.        implementation eq

  1079. equations

  1080. 	p2.f = p1.f;

  1081. 	p1.e = p2.e;

  1082. 	flow = p1.f;

  1083. implementation_end;

  1084.       Hmatrix 256 312

  1085.        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>';

  1086.        type 'Submodel-Equation'

  1087.         ports

  1088.          signal in flow [6,1];

  1089.          signal out H [4,4];

  1090.        end;

  1091.        icon bg

  1092.         figures

  1093.          rectangle 224 296 288 328 color 0 fill 15132390;

  1094.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1095.        end;

  1096.        implementation eq

  1097. parameters

  1098. 	real init[4] = [1;0;0;0];

  1099. variables

  1100. 	real q[4];		//quaternions

  1101. 	real W[3,4];	//Quaternion Rates Matrix

  1102. 	real R[3,3];	//Rotation Matrix

  1103. 	real p[3];		//Position Vector

  1104. 	real dq[4];

  1105. 	real Wb[3,4];

  1106. equations

  1107. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1108. 	q = int(dq,init);

  1109. 	p = int(flow[4:6]);

  1110. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1111. 		 -q[3],	q[4],	q[1],	-q[2];

  1112. 		 -q[4],	-q[3],	q[2],	q[1]];

  1113. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1114. 	   		-q[3], -q[4],  q[1],  q[2];

  1115. 	   		-q[4],  q[3], -q[2],  q[1]];

  1116.  	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]);

  1117. 		  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]);

  1118. 		  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];

  1119. 	H = homogeneous(R,p);

  1120. 	implementation_end;

  1121.       MatrixMul 320 576

  1122.        description '<Description>

  1123.  <Version>4.0</Version>

  1124.  <IsMainModel>1</IsMainModel>

  1125.  <KeepParameterValues>False</KeepParameterValues>

  1126.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1127.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1128.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1129. </Description>';

  1130.        type Gain

  1131.         ports

  1132.          signal in input1 [4,4];

  1133.          signal out output [4,4];

  1134.          signal in input2 [4,4];

  1135.        end;

  1136.        icon bg bottom

  1137.         figures

  1138.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1139.          text 'X' 320 576 color 16711680 16 bold;

  1140.        end;

  1141.        implementation eq

  1142. equations

  1143. 	output = input2*input1;    implementation_end;

  1144.       plug Pin 492.1 424;

  1145.       plug Pdiff 184 225;

  1146.       plug Hin 130.8 576;

  1147.       plug Hout 478.4 576;

  1148.       plug Hdiff 320 222;

  1149.       plug Pout 134.7 424;

  1150.       Splitter2 320 312

  1151.        description '<Description><Version>4.0</Version>

  1152.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1153.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1154. <IsMainModel>1</IsMainModel>

  1155.  <KeepParameterValues>False</KeepParameterValues>

  1156. </Description>';

  1157.        knot Splitter

  1158.         ports

  1159.          signal knot duplicatable out output [4,4];

  1160.          signal knot in input [4,4];

  1161.        end;

  1162.        icon bg ellipse

  1163.         figures

  1164.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1165.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1166.         terminals

  1167.          input 320 312 fixed;

  1168.        end;

  1169.        implementation eq

  1170. equations

  1171.     collect (output) = input;

  1172. implementation_end;

  1173.       Wbai 184 424

  1174.        description '<Description>

  1175.  <Version>4.0</Version>

  1176.  <IsMainModel>1</IsMainModel>

  1177.  <KeepParameterValues>False</KeepParameterValues>

  1178.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1179.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1180.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1181. </Description>';

  1182.        knot ZeroJunction

  1183.         ports

  1184.          power knot duplicatable none p [6,1];

  1185.          signal knot out effort [6,1];

  1186.         restrictions

  1187.          causality constraint one_in p;

  1188.        end;

  1189.        icon bg bottom

  1190.         figures

  1191.          text '0' 184 424 color 0 18 bold;

  1192.        end;

  1193.        implementation eq

  1194. equations

  1195. 	sum (direct (p.f)) = 0;

  1196. 	equal (collect (p.e));

  1197. 	effort = first (p.e);

  1198. implementation_end;

  1199.      end;

  1200.      connections

  1201.       FlowSensor2\flow -> Hmatrix\flow;

  1202.       FlowSensor2\p2 => Wbai\p;

  1203.       Hin -> MatrixMul\input2;

  1204.       Hmatrix\H -> Splitter2\input;

  1205.       MatrixMul\output -> Hout;

  1206.       Pdiff => FlowSensor2\p1;

  1207.       Pin => AdHji\p2;

  1208.       Splitter2\output -> AdHji\H 424 312;

  1209.       Splitter2\output -> Hdiff;

  1210.       Splitter2\output -> MatrixMul\input1;

  1211.       Wbai\p <= AdHji\p1;

  1212.       Wbai\p => Pout;

  1213.      end;

  1214.     implementation_end;

  1215.    Joint1 608 104

  1216.     description '<Information>

  1217.  <Description>

  1218.     <Version>4.8</Version>

  1219. <IsMainModel>1</IsMainModel>

  1220.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1221.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1222. </Description>

  1223. </Information>';

  1224.     type 'Submodel-v3'

  1225.      ports

  1226.       power in Pin [6,1];

  1227.       power in Pdiff [6,1];

  1228.       signal in Hin [4,4];

  1229.       signal out Hout [4,4];

  1230.       signal out Hdiff [4,4];

  1231.       power out Pout [6,1];

  1232.     end;

  1233.     icon bg bottom

  1234.      figures

  1235.       rectangle 584 72 632 136 color 0 fill 14745599;

  1236.       text 'Joint' 608 104 color 0 'Clear Sans' 16;

  1237.      terminals

  1238.       Pin 632 88 fixed;

  1239.       Hin 584 120 fixed;

  1240.       Hout 632 120 fixed;

  1241.       Pout 584 88 fixed;

  1242.     end;

  1243.     implementation bg

  1244.      submodels

  1245.       AdHji 424 424

  1246.        description '<Description>

  1247.  <Version>4.0</Version>

  1248.  <IsMainModel>1</IsMainModel>

  1249.  <KeepParameterValues>False</KeepParameterValues>

  1250.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1251.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1252.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1253. </Description>';

  1254.        type MTF

  1255.         ports

  1256.          power out p1 [6,1];

  1257.          power in p2 [6,1];

  1258.          signal in H [4,4];

  1259.         restrictions

  1260.          causality constraint not_equal p1 p2;

  1261.        end;

  1262.        icon bg bottom

  1263.         figures

  1264.          text 'MTF' 424 424 color 0 18 bold;

  1265.        end;

  1266.        implementation eq

  1267. equations					

  1268. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1269. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1270.       FlowSensor2 184 311.9

  1271.        description '<Information>

  1272.  <Description>

  1273.     <Version>4.2</Version>

  1274. <IsMainModel>1</IsMainModel>

  1275.   <KeepParameterValues>False</KeepParameterValues>

  1276.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1277.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1278. </Description>

  1279. </Information>';

  1280.        knot FlowSensor

  1281.         ports

  1282.          power knot in p1 [6,1];

  1283.          power knot out p2 [6,1];

  1284.          signal knot out flow [6,1];

  1285.         restrictions

  1286.          causality constraint not_equal p1 p2;

  1287.        end;

  1288.        icon bg ellipse

  1289.         figures

  1290.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1291.          text 'f' 184 311.2 color 0;

  1292.        end;

  1293.        implementation eq

  1294. equations

  1295. 	p2.f = p1.f;

  1296. 	p1.e = p2.e;

  1297. 	flow = p1.f;

  1298. implementation_end;

  1299.       Hmatrix 256 312

  1300.        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>';

  1301.        type 'Submodel-Equation'

  1302.         ports

  1303.          signal in flow [6,1];

  1304.          signal out H [4,4];

  1305.        end;

  1306.        icon bg

  1307.         figures

  1308.          rectangle 224 296 288 328 color 0 fill 15132390;

  1309.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1310.        end;

  1311.        implementation eq

  1312. parameters

  1313. 	real init[4] = [1;0;0;0];

  1314. variables

  1315. 	real q[4];		//quaternions

  1316. 	real W[3,4];	//Quaternion Rates Matrix

  1317. 	real R[3,3];	//Rotation Matrix

  1318. 	real p[3];		//Position Vector

  1319. 	real dq[4];

  1320. 	real Wb[3,4];

  1321. equations

  1322. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1323. 	q = int(dq,init);

  1324. 	p = int(flow[4:6]);

  1325. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1326. 		 -q[3],	q[4],	q[1],	-q[2];

  1327. 		 -q[4],	-q[3],	q[2],	q[1]];

  1328. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1329. 	   		-q[3], -q[4],  q[1],  q[2];

  1330. 	   		-q[4],  q[3], -q[2],  q[1]];

  1331.  	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]);

  1332. 		  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]);

  1333. 		  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];

  1334. 	H = homogeneous(R,p);

  1335. 	implementation_end;

  1336.       MatrixMul 320 576

  1337.        description '<Description>

  1338.  <Version>4.0</Version>

  1339.  <IsMainModel>1</IsMainModel>

  1340.  <KeepParameterValues>False</KeepParameterValues>

  1341.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1342.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1343.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1344. </Description>';

  1345.        type Gain

  1346.         ports

  1347.          signal in input1 [4,4];

  1348.          signal out output [4,4];

  1349.          signal in input2 [4,4];

  1350.        end;

  1351.        icon bg bottom

  1352.         figures

  1353.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1354.          text 'X' 320 576 color 16711680 16 bold;

  1355.        end;

  1356.        implementation eq

  1357. equations

  1358. 	output = input2*input1;    implementation_end;

  1359.       plug Pin 492.1 424;

  1360.       plug Pdiff 184 225;

  1361.       plug Hin 130.8 576;

  1362.       plug Hout 478.4 576;

  1363.       plug Hdiff 320 222;

  1364.       plug Pout 134.7 424;

  1365.       Splitter2 320 312

  1366.        description '<Description><Version>4.0</Version>

  1367.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1368.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1369. <IsMainModel>1</IsMainModel>

  1370.  <KeepParameterValues>False</KeepParameterValues>

  1371. </Description>';

  1372.        knot Splitter

  1373.         ports

  1374.          signal knot duplicatable out output [4,4];

  1375.          signal knot in input [4,4];

  1376.        end;

  1377.        icon bg ellipse

  1378.         figures

  1379.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1380.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1381.         terminals

  1382.          input 320 312 fixed;

  1383.        end;

  1384.        implementation eq

  1385. equations

  1386.     collect (output) = input;

  1387. implementation_end;

  1388.       Wbai 184 424

  1389.        description '<Description>

  1390.  <Version>4.0</Version>

  1391.  <IsMainModel>1</IsMainModel>

  1392.  <KeepParameterValues>False</KeepParameterValues>

  1393.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1394.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1395.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1396. </Description>';

  1397.        knot ZeroJunction

  1398.         ports

  1399.          power knot duplicatable none p [6,1];

  1400.          signal knot out effort [6,1];

  1401.         restrictions

  1402.          causality constraint one_in p;

  1403.        end;

  1404.        icon bg bottom

  1405.         figures

  1406.          text '0' 184 424 color 0 18 bold;

  1407.        end;

  1408.        implementation eq

  1409. equations

  1410. 	sum (direct (p.f)) = 0;

  1411. 	equal (collect (p.e));

  1412. 	effort = first (p.e);

  1413. implementation_end;

  1414.      end;

  1415.      connections

  1416.       FlowSensor2\flow -> Hmatrix\flow;

  1417.       FlowSensor2\p2 => Wbai\p;

  1418.       Hin -> MatrixMul\input2;

  1419.       Hmatrix\H -> Splitter2\input;

  1420.       MatrixMul\output -> Hout;

  1421.       Pdiff => FlowSensor2\p1;

  1422.       Pin => AdHji\p2;

  1423.       Splitter2\output -> AdHji\H 424 312;

  1424.       Splitter2\output -> Hdiff;

  1425.       Splitter2\output -> MatrixMul\input1;

  1426.       Wbai\p <= AdHji\p1;

  1427.       Wbai\p => Pout;

  1428.      end;

  1429.     implementation_end;

  1430.    Link 360 104

  1431.     description '<Information>

  1432.  <Description>

  1433.     <Version>4.8</Version>

  1434.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  1435. <IsMainModel>1</IsMainModel>

  1436.   <KeepParameterValues>False</KeepParameterValues>

  1437.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  1438. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1439.  </Description>

  1440. </Information>';

  1441.     type 'Submodel-Equation'

  1442.      ports

  1443.       signal in Hin [4,4];

  1444.       signal out Hout [4,4];

  1445.       power in Pin [6,1];

  1446.       power out Pout [6,1];

  1447.      restrictions

  1448.       causality constraint not_equal Pin Pout;

  1449.     end;

  1450.     icon bg bottom

  1451.      figures

  1452.       rectangle 328 80 392 128 color 0 fill 8454041;

  1453.       text 'Link' 360 104 color 0 'Clear Sans' 16;

  1454.      terminals

  1455.       Hin 328 120 fixed;

  1456.       Hout 392 120 fixed;

  1457.       Pin 392 88 fixed;

  1458.       Pout 328 88 fixed;

  1459.     end;

  1460.     implementation eq

  1461. parameters

  1462. 	real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1

  1463. variables

  1464. 	real Hab[4,4];

  1465. 	real AdHab[6,6];

  1466. 	real R[3,3];

  1467. 	real omega[3];

  1468. initialequations

  1469. 	omega = offset[1:3];

  1470. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  1471. 	Hab = homogeneous(R,offset[4:6]);

  1472. 	AdHab = Adjoint(Hab);

  1473. equations

  1474. 	Hout = Hin * Hab;

  1475. 	Pout.e = transpose(AdHab) * Pin.e;

  1476. 	Pin.f = AdHab * Pout.f;

  1477. 

  1478.     implementation_end;

  1479.    Link1 528 104

  1480.     description '<Information>

  1481.  <Description>

  1482.     <Version>4.8</Version>

  1483.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  1484. <IsMainModel>1</IsMainModel>

  1485.   <KeepParameterValues>False</KeepParameterValues>

  1486.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  1487. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1488.  </Description>

  1489. </Information>';

  1490.     type 'Submodel-Equation'

  1491.      ports

  1492.       signal in Hin [4,4];

  1493.       signal out Hout [4,4];

  1494.       power in Pin [6,1];

  1495.       power out Pout [6,1];

  1496.      restrictions

  1497.       causality constraint not_equal Pin Pout;

  1498.     end;

  1499.     icon bg bottom

  1500.      figures

  1501.       rectangle 496 80 560 128 color 0 fill 8454041;

  1502.       text 'Link' 528 104 color 0 'Clear Sans' 16;

  1503.      terminals

  1504.       Hin 496 120 fixed;

  1505.       Hout 560 120 fixed;

  1506.       Pin 560 88 fixed;

  1507.       Pout 496 88 fixed;

  1508.     end;

  1509.     implementation eq

  1510. parameters

  1511. 	real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1

  1512. variables

  1513. 	real Hab[4,4];

  1514. 	real AdHab[6,6];

  1515. 	real R[3,3];

  1516. 	real omega[3];

  1517. initialequations

  1518. 	omega = offset[1:3];

  1519. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZr',omega);

  1520. 	Hab = homogeneous(R,offset[4:6]);

  1521. 	AdHab = Adjoint(Hab);

  1522. equations

  1523. 	Hout = Hin * Hab;

  1524. 	Pout.e = transpose(AdHab) * Pin.e;

  1525. 	Pin.f = AdHab * Pout.f;

  1526. 

  1527.     implementation_end;

  1528.    Link2 696 104

  1529.     description '<Information>

  1530.  <Description>

  1531.     <Version>4.8</Version>

  1532.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  1533. <IsMainModel>1</IsMainModel>

  1534.   <KeepParameterValues>False</KeepParameterValues>

  1535.     <TimeStamp>2020-7-19 15:22:34</TimeStamp>

  1536. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1537.  </Description>

  1538. </Information>';

  1539.     type 'Submodel-Equation'

  1540.      ports

  1541.       signal in Hin [4,4];

  1542.       signal out Hout [4,4];

  1543.       power in Pin [6,1];

  1544.       power out Pout [6,1];

  1545.      restrictions

  1546.       causality constraint not_equal Pin Pout;

  1547.     end;

  1548.     icon bg bottom

  1549.      figures

  1550.       rectangle 664 80 728 128 color 0 fill 8454041;

  1551.       text 'Link' 696 104 color 0 'Clear Sans' 16;

  1552.      terminals

  1553.       Hin 664 120 fixed;

  1554.       Hout 728 120 fixed;

  1555.       Pin 728 88 fixed;

  1556.       Pout 664 88 fixed;

  1557.     end;

  1558.     implementation eq

  1559. parameters

  1560. 	real offset[3]= [0;0.025;0]; //coordinates of joint_1 

  1561. variables

  1562. 	real Hab[4,4];

  1563. 	real AdHab[6,6];

  1564. equations

  1565. 	Hab = homogeneous(eye(3),offset);

  1566. 	AdHab = Adjoint(eye(3),offset);

  1567. 	Hout = Hin * Hab;

  1568. 	Pout.e = transpose(AdHab) * Pin.e;

  1569. 	Pin.f = AdHab * Pout.f;

  1570. 

  1571.     implementation_end;

  1572.    Link3 872 104

  1573.     description '<Information>

  1574.  <Description>

  1575.     <Version>4.8</Version>

  1576.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  1577. <IsMainModel>1</IsMainModel>

  1578.   <KeepParameterValues>False</KeepParameterValues>

  1579.     <TimeStamp>2020-7-19 15:22:34</TimeStamp>

  1580. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1581.  </Description>

  1582. </Information>';

  1583.     type 'Submodel-Equation'

  1584.      ports

  1585.       signal in Hin [4,4];

  1586.       signal out Hout [4,4];

  1587.       power in Pin [6,1];

  1588.       power out Pout [6,1];

  1589.      restrictions

  1590.       causality constraint not_equal Pin Pout;

  1591.     end;

  1592.     icon bg bottom

  1593.      figures

  1594.       rectangle 840 80 904 128 color 0 fill 8454041;

  1595.       text 'Link' 872 104 color 0 'Clear Sans' 16;

  1596.      terminals

  1597.       Hin 840 120 fixed;

  1598.       Hout 904 120 fixed;

  1599.       Pin 904 88 fixed;

  1600.       Pout 840 88 fixed;

  1601.     end;

  1602.     implementation eq

  1603. parameters

  1604. 	real offset[3]= [0;0.025;0]; //coordinates of joint_1 

  1605. variables

  1606. 	real Hab[4,4];

  1607. 	real AdHab[6,6];

  1608. equations

  1609. 	Hab = homogeneous(eye(3),offset);

  1610. 	AdHab = Adjoint(eye(3),offset);

  1611. 	Hout = Hin * Hab;

  1612. 	Pout.e = transpose(AdHab) * Pin.e;

  1613. 	Pin.f = AdHab * Pout.f;

  1614. 

  1615.     implementation_end;

  1616.    Negate1 344 456

  1617.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1618.    <LibraryPath>Signal\Block Diagram\Negate.emx</LibraryPath>

  1619.   <TimeStamp>2007-9-26 12:14:11</TimeStamp>

  1620. </Description>';

  1621.     type Negate

  1622.      ports

  1623.       signal in input;

  1624.       signal out output;

  1625.     end;

  1626.     icon bg bottom

  1627.      figures

  1628.       rectangle 328 440 360 472 color 0 fill 15132390;

  1629.       text '-1' 344 456 color 16711680 16 bold;

  1630.     end;

  1631.     implementation eq

  1632. equations

  1633. 	output = - input;

  1634.      implementation_end;

  1635.    Negate2 592 536

  1636.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1637.    <LibraryPath>Signal\Block Diagram\Negate.emx</LibraryPath>

  1638.   <TimeStamp>2007-9-26 12:14:11</TimeStamp>

  1639. </Description>';

  1640.     type Negate

  1641.      ports

  1642.       signal in input;

  1643.       signal out output;

  1644.     end;

  1645.     icon bg bottom

  1646.      figures

  1647.       rectangle 576 520 608 552 color 0 fill 15132390;

  1648.       text '-1' 592 536 color 16711680 16 bold;

  1649.     end;

  1650.     implementation eq

  1651. equations

  1652. 	output = - input;

  1653.      implementation_end;

  1654.    new_joint1 448 264

  1655.     description '<Description><Version>4.0</Version>

  1656.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  1657. <IsMainModel>1</IsMainModel>

  1658.  <KeepParameterValues>False</KeepParameterValues>

  1659.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  1660.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1661. </Description>';

  1662.     type 'Submodel-Equation'

  1663.      ports

  1664.       signal in input [4,4];

  1665.     end;

  1666.     implementation eq

  1667. variables

  1668. 	real position[3];

  1669. 	real rotation[3];

  1670. 	real R[3,3];

  1671. equations

  1672. 	position = input[1:3,4];

  1673. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  1674. 	//[input[3,2];input[1,3];input[2,1]];

  1675. 	R = input[1:3,1:3];implementation_end;

  1676.    new_joint2 792 240

  1677.     description '<Description><Version>4.0</Version>

  1678.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  1679. <IsMainModel>1</IsMainModel>

  1680.  <KeepParameterValues>False</KeepParameterValues>

  1681.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  1682.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1683. </Description>';

  1684.     type 'Submodel-Equation'

  1685.      ports

  1686.       signal in input [4,4];

  1687.     end;

  1688.     implementation eq

  1689. variables

  1690. 	real position[3];

  1691. 	real rotation[3];

  1692. 	real R[3,3];

  1693. equations

  1694. 	// start typing here

  1695. 	position = input[1:3,4];

  1696. 	rotation = [input[3,2];input[1,3];input[2,1]];

  1697. 	R = input[1:3,1:3];implementation_end;

  1698.    new_joint3 1088 168

  1699.     description '<Description><Version>4.0</Version>

  1700.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  1701. <IsMainModel>1</IsMainModel>

  1702.  <KeepParameterValues>False</KeepParameterValues>

  1703.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  1704.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  1705. </Description>';

  1706.     type 'Submodel-Equation'

  1707.      ports

  1708.       signal in input [4,4];

  1709.     end;

  1710.     implementation eq

  1711. variables

  1712. 	real position[3];

  1713. 	real rotation[3];

  1714. 	real R[3,3];

  1715. equations

  1716. 	position = input[1:3,4];

  1717. 	rotation = [input[3,2];input[1,3];input[2,1]];

  1718. 	R = input[1:3,1:3];implementation_end;

  1719.    OneJunction1 432 88

  1720.     description '<Information>

  1721.  <Description>

  1722.     <Version>4.2</Version>

  1723. <IsMainModel>1</IsMainModel>

  1724.   <KeepParameterValues>False</KeepParameterValues>

  1725.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1726.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1727. </Description>

  1728. </Information>';

  1729.     knot OneJunction

  1730.      ports

  1731.       power knot duplicatable none p [6,1];

  1732.       signal knot out flow [6,1];

  1733.      restrictions

  1734.       causality constraint one_out p;

  1735.     end;

  1736.     icon bg

  1737.      figures

  1738.       text '1' 432 88 color 0 18 bold;

  1739.     end;

  1740.     implementation eq

  1741. equations

  1742. 	sum (direct (p.e)) = 0;

  1743. 	equal (collect (p.f));

  1744. 	flow = first (p.f);

  1745. implementation_end;

  1746.    OneJunction11 592 336

  1747.     description '<Information>

  1748.  <Description>

  1749.     <Version>4.2</Version>

  1750. <IsMainModel>1</IsMainModel>

  1751.   <KeepParameterValues>False</KeepParameterValues>

  1752.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1753.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1754. </Description>

  1755. </Information>';

  1756.     knot OneJunction

  1757.      ports

  1758.       rotation knot duplicatable none p [1];

  1759.       signal knot out flow [1];

  1760.      restrictions

  1761.       causality constraint one_out p;

  1762.     end;

  1763.     icon bg

  1764.      figures

  1765.       text '1' 592 336 color 0 18 bold;

  1766.     end;

  1767.     implementation eq

  1768. equations

  1769. 	sum (direct (p.e)) = 0;

  1770. 	equal (collect (p.f));

  1771. 	flow = first (p.f);

  1772. implementation_end;

  1773.    OneJunction12 960 88

  1774.     description '<Information>

  1775.  <Description>

  1776.     <Version>4.2</Version>

  1777. <IsMainModel>1</IsMainModel>

  1778.   <KeepParameterValues>False</KeepParameterValues>

  1779.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1780.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1781. </Description>

  1782. </Information>';

  1783.     knot OneJunction

  1784.      ports

  1785.       power knot duplicatable none p [6,1];

  1786.       signal knot out flow [6,1];

  1787.      restrictions

  1788.       causality constraint one_out p;

  1789.     end;

  1790.     icon bg

  1791.      figures

  1792.       text '1' 960 88 color 0 18 bold;

  1793.     end;

  1794.     implementation eq

  1795. equations

  1796. 	sum (direct (p.e)) = 0;

  1797. 	equal (collect (p.f));

  1798. 	flow = first (p.f);

  1799. implementation_end;

  1800.    OneJunction14 184 328

  1801.     description '<Information>

  1802.  <Description>

  1803.     <Version>4.2</Version>

  1804. <IsMainModel>1</IsMainModel>

  1805.   <KeepParameterValues>False</KeepParameterValues>

  1806.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1807.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1808. </Description>

  1809. </Information>';

  1810.     knot OneJunction

  1811.      ports

  1812.       rotation knot duplicatable none p [1];

  1813.       signal knot out flow [1];

  1814.      restrictions

  1815.       causality constraint one_out p;

  1816.     end;

  1817.     icon bg

  1818.      figures

  1819.       text '1' 184 328 color 0 18 bold;

  1820.     end;

  1821.     implementation eq

  1822. equations

  1823. 	sum (direct (p.e)) = 0;

  1824. 	equal (collect (p.f));

  1825. 	flow = first (p.f);

  1826. implementation_end;

  1827.    OneJunction17 528 264

  1828.     description '<Information>

  1829.  <Description>

  1830.     <Version>4.2</Version>

  1831. <IsMainModel>1</IsMainModel>

  1832.   <KeepParameterValues>False</KeepParameterValues>

  1833.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1834.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1835. </Description>

  1836. </Information>';

  1837.     knot OneJunction

  1838.      ports

  1839.       rotation knot duplicatable none p [1];

  1840.       signal knot out flow [1];

  1841.      restrictions

  1842.       causality constraint one_out p;

  1843.     end;

  1844.     icon bg

  1845.      figures

  1846.       text '1' 528 264 color 0 18 bold;

  1847.     end;

  1848.     implementation eq

  1849. equations

  1850. 	sum (direct (p.e)) = 0;

  1851. 	equal (collect (p.f));

  1852. 	flow = first (p.f);

  1853. implementation_end;

  1854.    OneJunction3 776 88

  1855.     description '<Information>

  1856.  <Description>

  1857.     <Version>4.2</Version>

  1858. <IsMainModel>1</IsMainModel>

  1859.   <KeepParameterValues>False</KeepParameterValues>

  1860.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1861.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1862. </Description>

  1863. </Information>';

  1864.     knot OneJunction

  1865.      ports

  1866.       power knot duplicatable none p [6,1];

  1867.       signal knot out flow [6,1];

  1868.      restrictions

  1869.       causality constraint one_out p;

  1870.     end;

  1871.     icon bg

  1872.      figures

  1873.       text '1' 776 88 color 0 18 bold;

  1874.     end;

  1875.     implementation eq

  1876. equations

  1877. 	sum (direct (p.e)) = 0;

  1878. 	equal (collect (p.f));

  1879. 	flow = first (p.f);

  1880. implementation_end;

  1881.    OneJunction4 664 216

  1882.     description '<Information>

  1883.  <Description>

  1884.     <Version>4.2</Version>

  1885. <IsMainModel>1</IsMainModel>

  1886.   <KeepParameterValues>False</KeepParameterValues>

  1887.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1888.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1889. </Description>

  1890. </Information>';

  1891.     knot OneJunction

  1892.      ports

  1893.       power knot duplicatable none p [2,1];

  1894.       signal knot out flow [2,1];

  1895.      restrictions

  1896.       causality constraint one_out p;

  1897.     end;

  1898.     icon bg

  1899.      figures

  1900.       text '1' 664 216 color 0 18 bold;

  1901.     end;

  1902.     implementation eq

  1903. equations

  1904. 	sum (direct (p.e)) = 0;

  1905. 	equal (collect (p.f));

  1906. 	flow = first (p.f);

  1907. implementation_end;

  1908.    OneJunction5 329 224

  1909.     description '<Information>

  1910.  <Description>

  1911.     <Version>4.2</Version>

  1912. <IsMainModel>1</IsMainModel>

  1913.   <KeepParameterValues>False</KeepParameterValues>

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

  1915.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1916. </Description>

  1917. </Information>';

  1918.     knot OneJunction

  1919.      ports

  1920.       power knot duplicatable none p [2,1];

  1921.       signal knot out flow [2,1];

  1922.      restrictions

  1923.       causality constraint one_out p;

  1924.     end;

  1925.     icon bg

  1926.      figures

  1927.       text '1' 329 224 color 0 18 bold;

  1928.     end;

  1929.     implementation eq

  1930. equations

  1931. 	sum (direct (p.e)) = 0;

  1932. 	equal (collect (p.f));

  1933. 	flow = first (p.f);

  1934. implementation_end;

  1935.    OneJunction6 329 240

  1936.     description '<Information>

  1937.  <Description>

  1938.     <Version>4.2</Version>

  1939. <IsMainModel>1</IsMainModel>

  1940.   <KeepParameterValues>False</KeepParameterValues>

  1941.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1942.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1943. </Description>

  1944. </Information>';

  1945.     knot OneJunction

  1946.      ports

  1947.       power knot duplicatable none p [3,1];

  1948.       signal knot out flow [3,1];

  1949.      restrictions

  1950.       causality constraint one_out p;

  1951.     end;

  1952.     icon bg

  1953.      figures

  1954.       text '1' 329 240 color 0 18 bold;

  1955.     end;

  1956.     implementation eq

  1957. equations

  1958. 	sum (direct (p.e)) = 0;

  1959. 	equal (collect (p.f));

  1960. 	flow = first (p.f);

  1961. implementation_end;

  1962.    OneJunction7 664 232

  1963.     description '<Information>

  1964.  <Description>

  1965.     <Version>4.2</Version>

  1966. <IsMainModel>1</IsMainModel>

  1967.   <KeepParameterValues>False</KeepParameterValues>

  1968.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1969.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1970. </Description>

  1971. </Information>';

  1972.     knot OneJunction

  1973.      ports

  1974.       power knot duplicatable none p [3,1];

  1975.       signal knot out flow [3,1];

  1976.      restrictions

  1977.       causality constraint one_out p;

  1978.     end;

  1979.     icon bg

  1980.      figures

  1981.       text '1' 664 232 color 0 18 bold;

  1982.     end;

  1983.     implementation eq

  1984. equations

  1985. 	sum (direct (p.e)) = 0;

  1986. 	equal (collect (p.f));

  1987. 	flow = first (p.f);

  1988. implementation_end;

  1989.    OneJunction8 104 264

  1990.     description '<Information>

  1991.  <Description>

  1992.     <Version>4.2</Version>

  1993. <IsMainModel>1</IsMainModel>

  1994.   <KeepParameterValues>False</KeepParameterValues>

  1995.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1996.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1997. </Description>

  1998. </Information>';

  1999.     knot OneJunction

  2000.      ports

  2001.       rotation knot duplicatable none p [1];

  2002.       signal knot out flow [1];

  2003.      restrictions

  2004.       causality constraint one_out p;

  2005.     end;

  2006.     icon bg

  2007.      figures

  2008.       text '1' 104 264 color 0 18 bold;

  2009.     end;

  2010.     implementation eq

  2011. equations

  2012. 	sum (direct (p.e)) = 0;

  2013. 	equal (collect (p.f));

  2014. 	flow = first (p.f);

  2015. implementation_end;

  2016.    PowerMux 264 198

  2017. 			specifications active 'rot_x'

  2018. 				specification 'rot_x'

  2019.  description '<Information>

  2020.  <Description>

  2021.     <Version>4.8</Version>

  2022.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2023.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  2024. <IsMainModel>1</IsMainModel>

  2025.   <KeepParameterValues>False</KeepParameterValues>

  2026.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2027.  </Description>

  2028. </Information>';

  2029.  type 'PowerMux-Rotation'

  2030.   ports

  2031.    power in input;

  2032.    power out output [6,1];

  2033.    power in input_rot2 [2,1];

  2034.    power in input_pos3 [3,1];

  2035.   restrictions

  2036.    causality constraint not_equal input output;

  2037.    causality constraint not_equal input_rot2 output;

  2038.    causality constraint not_equal input_pos3 output;

  2039.  end;

  2040.  icon bg bottom

  2041.   figures

  2042.    line 240 200 288 200 color 0 width 2;

  2043.    rectangle 240 192 288 204 color -1;

  2044.    text '1' 258 195 color 8421504 8;

  2045.   terminals

  2046.    input 248 200 fixed;

  2047.    output 264 200 fixed;

  2048.    input_rot2 280 200 fixed;

  2049.    input_pos3 264 200 fixed;

  2050.  end;

  2051.  implementation eq

  2052. equations

  2053. 	output.e[1] = input.e;

  2054. 	output.e[2:3] = input_rot2.e;

  2055. 	output.e[4:6] = input_pos3.e;

  2056. 	output.f[1] = input.f;

  2057. 	output.f[2:3] = input_rot2.f;

  2058. 	output.f[4:6] = input_pos3.f;implementation_end;

  2059. specification_end;

  2060. 				specification 'rot_y'

  2061. description '<Description>

  2062.    <Version>4.1</Version>

  2063.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  2064.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  2065. <IsMainModel>1</IsMainModel>

  2066.  <KeepParameterValues>False</KeepParameterValues>

  2067.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2068. </Description>';

  2069.  type PowerMux

  2070.   ports

  2071.    power in input;

  2072.    power out output [6,1];

  2073.    power in input_rot2 [2,1];

  2074.    power in input_pos3 [3,1];

  2075.   restrictions

  2076.    causality constraint not_equal input output;

  2077.  end;

  2078.  icon bg bottom

  2079.   figures

  2080.    line 808 216 808 264 color 0 width 2;

  2081.    rectangle 804 216 816 264 color -1;

  2082.    text '1' 813 234 color 8421504 8;

  2083.   terminals

  2084.    input 808 224 fixed;

  2085.    output 808 240 fixed;

  2086.    input_rot2 808 256 fixed;

  2087.    input_pos3 808 240 fixed;

  2088.  end;

  2089.  implementation eq

  2090. equations

  2091. 	output.e[1] = input_rot2.e[1];

  2092. 	output.e[2] = input.e;

  2093. 	output.e[3] = input_rot2.e[2];

  2094. 	output.e[4:6] = input_pos3.e;

  2095. 	output.f[1] = input_rot2.f[1];

  2096. 	output.f[2] = input.f;

  2097. 	output.f[3] = input_rot2.f[2];

  2098. 	output.f[4:6] = input_pos3.f;implementation_end;

  2099. specification_end;

  2100. 				specification 'rot_z'

  2101. description '<Description>

  2102.    <Version>4.1</Version>

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

  2104.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  2105. <IsMainModel>1</IsMainModel>

  2106.  <KeepParameterValues>False</KeepParameterValues>

  2107.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2108. </Description>';

  2109.  type PowerMux

  2110.   ports

  2111.    power in input;

  2112.    power out output [6,1];

  2113.    power in input_rot2 [2,1];

  2114.    power in input_pos3 [3,1];

  2115.   restrictions

  2116.    causality constraint not_equal input output;

  2117.  end;

  2118.  icon bg bottom

  2119.   figures

  2120.    line 808 216 808 264 color 0 width 2;

  2121.    rectangle 804 216 816 264 color -1;

  2122.    text '1' 813 234 color 8421504 8;

  2123.   terminals

  2124.    input 808 224 fixed;

  2125.    output 808 240 fixed;

  2126.    input_rot2 808 256 fixed;

  2127.    input_pos3 808 240 fixed;

  2128.  end;

  2129.  implementation eq

  2130. equations

  2131. 	output.e[3] = input.e;

  2132. 	output.e[1:2] = input_rot2.e;

  2133. 	output.e[4:6] = input_pos3.e;

  2134. 	output.f[3] = input.f;

  2135. 	output.f[1:2] = input_rot2.f;

  2136. 	output.f[4:6] = input_pos3.f;implementation_end;

  2137. specification_end;

  2138. 			end;

  2139.    PowerMux1 608 190

  2140. 			specifications active 'rot_x'

  2141. 				specification 'rot_x'

  2142.  description '<Information>

  2143.  <Description>

  2144.     <Version>4.8</Version>

  2145.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2146.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  2147. <IsMainModel>1</IsMainModel>

  2148.   <KeepParameterValues>False</KeepParameterValues>

  2149.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2150.  </Description>

  2151. </Information>';

  2152.  type 'PowerMux-Rotation'

  2153.   ports

  2154.    power in input;

  2155.    power out output [6,1];

  2156.    power in input_rot2 [2,1];

  2157.    power in input_pos3 [3,1];

  2158.   restrictions

  2159.    causality constraint not_equal input output;

  2160.    causality constraint not_equal input_rot2 output;

  2161.    causality constraint not_equal input_pos3 output;

  2162.  end;

  2163.  icon bg bottom

  2164.   figures

  2165.    line 584 192 632 192 color 0 width 2;

  2166.    rectangle 584 184 632 196 color -1;

  2167.    text '1' 602 187 color 8421504 8;

  2168.   terminals

  2169.    input 592 192 fixed;

  2170.    output 608 192 fixed;

  2171.    input_rot2 624 192 fixed;

  2172.    input_pos3 608 192 fixed;

  2173.  end;

  2174.  implementation eq

  2175. equations

  2176. 	output.e[1] = input.e;

  2177. 	output.e[2:3] = input_rot2.e;

  2178. 	output.e[4:6] = input_pos3.e;

  2179. 	output.f[1] = input.f;

  2180. 	output.f[2:3] = input_rot2.f;

  2181. 	output.f[4:6] = input_pos3.f;implementation_end;

  2182. specification_end;

  2183. 				specification 'rot_y'

  2184. description '<Description>

  2185.    <Version>4.1</Version>

  2186.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  2187.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  2188. <IsMainModel>1</IsMainModel>

  2189.  <KeepParameterValues>False</KeepParameterValues>

  2190.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2191. </Description>';

  2192.  type PowerMux

  2193.   ports

  2194.    power in input;

  2195.    power out output [6,1];

  2196.    power in input_rot2 [2,1];

  2197.    power in input_pos3 [3,1];

  2198.   restrictions

  2199.    causality constraint not_equal input output;

  2200.  end;

  2201.  icon bg bottom

  2202.   figures

  2203.    line 808 216 808 264 color 0 width 2;

  2204.    rectangle 804 216 816 264 color -1;

  2205.    text '1' 813 234 color 8421504 8;

  2206.   terminals

  2207.    input 808 224 fixed;

  2208.    output 808 240 fixed;

  2209.    input_rot2 808 256 fixed;

  2210.    input_pos3 808 240 fixed;

  2211.  end;

  2212.  implementation eq

  2213. equations

  2214. 	output.e[1] = input_rot2.e[1];

  2215. 	output.e[2] = input.e;

  2216. 	output.e[3] = input_rot2.e[2];

  2217. 	output.e[4:6] = input_pos3.e;

  2218. 	output.f[1] = input_rot2.f[1];

  2219. 	output.f[2] = input.f;

  2220. 	output.f[3] = input_rot2.f[2];

  2221. 	output.f[4:6] = input_pos3.f;implementation_end;

  2222. specification_end;

  2223. 				specification 'rot_z'

  2224. description '<Description>

  2225.    <Version>4.1</Version>

  2226.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  2227.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  2228. <IsMainModel>1</IsMainModel>

  2229.  <KeepParameterValues>False</KeepParameterValues>

  2230.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2231. </Description>';

  2232.  type PowerMux

  2233.   ports

  2234.    power in input;

  2235.    power out output [6,1];

  2236.    power in input_rot2 [2,1];

  2237.    power in input_pos3 [3,1];

  2238.   restrictions

  2239.    causality constraint not_equal input output;

  2240.  end;

  2241.  icon bg bottom

  2242.   figures

  2243.    line 808 216 808 264 color 0 width 2;

  2244.    rectangle 804 216 816 264 color -1;

  2245.    text '1' 813 234 color 8421504 8;

  2246.   terminals

  2247.    input 808 224 fixed;

  2248.    output 808 240 fixed;

  2249.    input_rot2 808 256 fixed;

  2250.    input_pos3 808 240 fixed;

  2251.  end;

  2252.  implementation eq

  2253. equations

  2254. 	output.e[3] = input.e;

  2255. 	output.e[1:2] = input_rot2.e;

  2256. 	output.e[4:6] = input_pos3.e;

  2257. 	output.f[3] = input.f;

  2258. 	output.f[1:2] = input_rot2.f;

  2259. 	output.f[4:6] = input_pos3.f;implementation_end;

  2260. specification_end;

  2261. 			end;

  2262.    R1 528 312

  2263.     description '<Information>

  2264.  <Description>

  2265.     <Version>4.2</Version>

  2266. <IsMainModel>1</IsMainModel>

  2267.   <KeepParameterValues>False</KeepParameterValues>

  2268.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  2269.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  2270. </Description>

  2271. </Information>';

  2272.     type R

  2273.      ports

  2274.       power in p;

  2275.     end;

  2276.     icon bg bottom

  2277.      figures

  2278.       text 'R' 528 312 color 0 18 bold;

  2279.     end;

  2280.     implementation eq

  2281. parameters

  2282. 	real r = 25;

  2283. equations

  2284. 	p.e = r * p.f;

  2285. implementation_end;

  2286.    R2 329 168

  2287.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2288.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  2289.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  2290. </Description>';

  2291.     type 'R-2'

  2292.      ports

  2293.       power in p [2,1];

  2294.     end;

  2295.     icon bg bottom

  2296.      figures

  2297.       text 'R' 329 168 color 0 18 bold;

  2298.     end;

  2299.     implementation eq

  2300. parameters

  2301. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  2302. equations					

  2303. 	p.e = r * p.f;

  2304. implementation_end;

  2305.    R3 329 296

  2306.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2307.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  2308.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  2309. </Description>';

  2310.     type 'R-3'

  2311.      ports

  2312.       power in p [3,1];

  2313.     end;

  2314.     icon bg bottom

  2315.      figures

  2316.       text 'R' 329 296 color 0 18 bold;

  2317.     end;

  2318.     implementation eq

  2319. parameters

  2320. 	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};

  2321. equations					

  2322. 	p.e = r * p.f;

  2323. implementation_end;

  2324.    R4 664 160

  2325.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2326.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  2327.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  2328. </Description>';

  2329.     type 'R-2'

  2330.      ports

  2331.       power in p [2,1];

  2332.     end;

  2333.     icon bg top

  2334.      figures

  2335.       text 'R' 664 160 color 0 18 bold;

  2336.     end;

  2337.     implementation eq

  2338. parameters

  2339. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  2340. equations					

  2341. 	p.e = r * p.f;

  2342. implementation_end;

  2343.    R5 664 280

  2344.     description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2345.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  2346.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  2347. </Description>';

  2348.     type 'R-3'

  2349.      ports

  2350.       power in p [3,1];

  2351.     end;

  2352.     icon bg bottom

  2353.      figures

  2354.       text 'R' 664 280 color 0 18 bold;

  2355.     end;

  2356.     implementation eq

  2357. parameters

  2358. 	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};

  2359. equations					

  2360. 	p.e = r * p.f;

  2361. implementation_end;

  2362.    R6 104 312

  2363.     description '<Information>

  2364.  <Description>

  2365.     <Version>4.2</Version>

  2366. <IsMainModel>1</IsMainModel>

  2367.   <KeepParameterValues>False</KeepParameterValues>

  2368.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  2369.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  2370. </Description>

  2371. </Information>';

  2372.     type R

  2373.      ports

  2374.       power in p;

  2375.     end;

  2376.     icon bg bottom

  2377.      figures

  2378.       text 'R' 104 312 color 0 18 bold;

  2379.     end;

  2380.     implementation eq

  2381. parameters

  2382. 	real r = 25;

  2383. equations

  2384. 	p.e = r * p.f;

  2385. implementation_end;

  2386.    rectanglepath 176 536

  2387.     description '<Information>

  2388.  <Description>

  2389.     <Version>4.8</Version>

  2390.   <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>

  2391. <IsMainModel>1</IsMainModel>

  2392.   <KeepParameterValues>False</KeepParameterValues>

  2393.     <TimeStamp>2020-7-10 12:30:38</TimeStamp>

  2394. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  2395.  </Description>

  2396. </Information>';

  2397.     type 'Submodel-Equation'

  2398.      ports

  2399.       signal out output [2,1];

  2400.     end;

  2401.     implementation eq

  2402. /* 

  2403. This will generate coordinates for the box that has to be drawn

  2404. */

  2405. parameters

  2406. 	real w = 0.07{m} ;

  2407. 	real h = 0.05 {m};

  2408. 	real t  = 0.5 {s};

  2409. 	real origin[2] = [0.01,0.03]{m};

  2410. variables

  2411. 	real v {m/s};

  2412. 	real t_w {s};

  2413. 	real t_h {s};

  2414. 	real period {s};

  2415. initialequations

  2416. 	v = (2*w + 2*h)/t;

  2417. 	t_w = w / v;

  2418. 	t_h = h / v;

  2419. equations

  2420. 	period = floor(time / t) * t;

  2421. 	output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];

  2422. 	output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];

  2423. implementation_end;

  2424.    rectanglepath1 344 640

  2425.     description '<Information>

  2426.  <Description>

  2427.     <Version>4.8</Version>

  2428.   <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>

  2429. <IsMainModel>1</IsMainModel>

  2430.   <KeepParameterValues>False</KeepParameterValues>

  2431.     <TimeStamp>2020-7-10 12:30:38</TimeStamp>

  2432. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  2433.  </Description>

  2434. </Information>';

  2435.     type 'Submodel-Equation'

  2436.      ports

  2437.       signal out output [2,1];

  2438.     end;

  2439.     icon bg

  2440.      figures

  2441.       rectangle 288 624 400 656 color 0 fill 15132390;

  2442.       text 'name' 344 640 color 0 'Clear Sans' 16;

  2443.     end;

  2444.     implementation eq

  2445. /* 

  2446. This will generate coordinates for the box that has to be drawn

  2447. */

  2448. parameters

  2449. 	real w = 0.07{m} ;

  2450. 	real h = 0.05 {m};

  2451. 	real t  = 1 {s};

  2452. 	real origin[2] = [0.01,0.03]{m};

  2453. variables

  2454. 	real v {m/s};

  2455. 	real t_w {s};

  2456. 	real t_h {s};

  2457. 	real period {s};

  2458. 	boolean y;

  2459. initialequations

  2460. 	v = (2*w + 2*h)/t;

  2461. 	t_w = w / v;

  2462. 	t_h = h / v;

  2463. code

  2464. y = frequencyevent (t,0);

  2465. period = t - time + floor(time / t) * t;

  2466. 

  2467. if period < t_w or time < 4 then

  2468. 	output = origin;

  2469. else

  2470. 	if period < t_w + t_h then

  2471. 		output = origin + [w;0];

  2472. 	else	

  2473. 		if period < 2 * t_w + t_h then

  2474. 			output = origin + [w;h];

  2475. 		else

  2476. 			output = origin + [0;h];

  2477. 		end;

  2478. 	end;

  2479. end;

  2480. 

  2481. 

  2482. 

  2483. 	//output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];

  2484. 	//output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];

  2485. implementation_end;

  2486.    Splitter1 464 120

  2487.     description '<Description><Version>4.0</Version>

  2488.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2489.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2490. <IsMainModel>1</IsMainModel>

  2491.  <KeepParameterValues>False</KeepParameterValues>

  2492. </Description>';

  2493.     knot Splitter

  2494.      ports

  2495.       signal knot duplicatable out output [4,4];

  2496.       signal knot in input [4,4];

  2497.     end;

  2498.     icon bg ellipse

  2499.      figures

  2500.       ellipse 460.8 116.8 467.2 123.2 color -1 fill 0;

  2501.       ellipse 459.7 115.7 468.3 124.3 color -1;

  2502.      terminals

  2503.       input 464 120 fixed;

  2504.     end;

  2505.     implementation eq

  2506. equations

  2507.     collect (output) = input;

  2508. implementation_end;

  2509.    Splitter2 808 120

  2510.     description '<Description><Version>4.0</Version>

  2511.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2512.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2513. <IsMainModel>1</IsMainModel>

  2514.  <KeepParameterValues>False</KeepParameterValues>

  2515. </Description>';

  2516.     knot Splitter

  2517.      ports

  2518.       signal knot duplicatable out output [4,4];

  2519.       signal knot in input [4,4];

  2520.     end;

  2521.     icon bg ellipse

  2522.      figures

  2523.       ellipse 804.8 116.8 811.2 123.2 color -1 fill 0;

  2524.       ellipse 803.7 115.7 812.3 124.3 color -1;

  2525.      terminals

  2526.       input 808 120 fixed;

  2527.     end;

  2528.     implementation eq

  2529. equations

  2530.     collect (output) = input;

  2531. implementation_end;

  2532.    stepper_control 184 456

  2533.     description '<Information>

  2534.  <Description>

  2535.     <Version>4.8</Version>

  2536. <IsMainModel>1</IsMainModel>

  2537.     <LibraryPath>Motor\stepper_control.emx</LibraryPath>

  2538.   <TimeStamp>2020-7-22 15:25:26</TimeStamp>

  2539. </Description>

  2540. </Information>';

  2541.     type Submodel

  2542.      ports

  2543.       signal in setpoint {rad} ;

  2544.       signal out output {rad} ;

  2545.     end;

  2546.     implementation bg

  2547.      submodels

  2548.       Acceleration_int 648 336

  2549.        description '<Information>

  2550.  <Description>

  2551.     <Version>4.3</Version>

  2552. <IsMainModel>1</IsMainModel>

  2553.   <KeepParameterValues>False</KeepParameterValues>

  2554.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  2555.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  2556. </Description>

  2557. </Information>';

  2558.        type Integrate

  2559.         ports

  2560.          signal in input;

  2561.          signal out output;

  2562.        end;

  2563.        icon bg bottom

  2564.         figures

  2565.          rectangle 632 320 664 352 color 0 fill 15132390;

  2566.          text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  2567.        end;

  2568.        implementation eq

  2569. parameters

  2570. 	real initial = 0;		// initial value

  2571. equations

  2572. 	output = int (input, initial);

  2573.      implementation_end;

  2574.       Acceleration_limit 568 336

  2575.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2576.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  2577.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  2578. </Description>';

  2579.        type 'SignalLimiter-Limit'

  2580.         ports

  2581.          signal in input;

  2582.          signal out output;

  2583.        end;

  2584.        icon bg bottom

  2585.         figures

  2586.          group

  2587.           rectangle 552 320 584 352 color 0 fill 15132390;

  2588.           line 567.9 324.5 567.9 349 color 0 fill 15132390;

  2589.           line 555 336.2 580.7 336.2 color 0 fill 15132390;

  2590.           spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  2591.           spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  2592.           spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  2593.          end;

  2594.        end;

  2595.        implementation eq

  2596. parameters

  2597. 	real maximum = 300;

  2598. 	real minimum = -300;

  2599. equations

  2600. 	output = limit (input, minimum, maximum);

  2601.   implementation_end;

  2602.       plug setpoint 136 336;

  2603.       plug output 791 336;

  2604.       PlusMinus1 240 336

  2605.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2606.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  2607.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  2608. </Description>';

  2609.        knot PlusMinus

  2610.         ports

  2611.          signal knot duplicatable in plus [1];

  2612.          signal knot duplicatable in minus [1];

  2613.          signal knot out output [1];

  2614.        end;

  2615.        icon bg ellipse

  2616.         figures

  2617.          ellipse 232 328 248 344 color 0 fill 16777215;

  2618.        end;

  2619.        implementation eq

  2620. equations

  2621.     output = sum (collect (plus)) - sum (collect (minus));

  2622.     implementation_end;

  2623.       PlusMinus2 432 336

  2624.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2625.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  2626.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  2627. </Description>';

  2628.        knot PlusMinus

  2629.         ports

  2630.          signal knot duplicatable in plus [1];

  2631.          signal knot duplicatable in minus [1];

  2632.          signal knot out output [1];

  2633.        end;

  2634.        icon bg ellipse

  2635.         figures

  2636.          ellipse 424 328 440 344 color 0 fill 16777215;

  2637.        end;

  2638.        implementation eq

  2639. equations

  2640.     output = sum (collect (plus)) - sum (collect (minus));

  2641.     implementation_end;

  2642.       Position_control 296 336

  2643.        description '<Description>

  2644.  <Version>4.0</Version>

  2645.  <IsMainModel>1</IsMainModel>

  2646.  <KeepParameterValues>False</KeepParameterValues>

  2647.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  2648.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  2649. </Description>';

  2650.        type PD

  2651.         ports

  2652.          signal in error;

  2653.          signal out output;

  2654.        end;

  2655.        icon bg bottom

  2656.         figures

  2657.          rectangle 280 320 312 352 color 0 fill 15132390;

  2658.          text 'PD' 296.5 336.1 color 16711680 18 bold;

  2659.        end;

  2660.        implementation eq

  2661. parameters

  2662. 	real kp = 4 {};			// Proportional gain

  2663. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  2664. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  2665. 	real maximum = 25;

  2666. variables

  2667. 	real state, rate;

  2668. equations

  2669. 	rate = (kp * error - output) / (beta * tauD);

  2670. 	state = int (rate);

  2671. 	output = state + kp * error /  beta;

  2672.       implementation_end;

  2673.       Splitter3 688 336

  2674.        description '<Description><Version>4.0</Version>

  2675.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2676.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2677. <IsMainModel>1</IsMainModel>

  2678.  <KeepParameterValues>False</KeepParameterValues>

  2679. </Description>';

  2680.        knot Splitter

  2681.         ports

  2682.          signal knot duplicatable out output [1];

  2683.          signal knot in input [1];

  2684.        end;

  2685.        icon bg ellipse

  2686.         figures

  2687.          ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  2688.          ellipse 683.7 331.7 692.3 340.3 color -1;

  2689.         terminals

  2690.          input 688 336 fixed;

  2691.        end;

  2692.        implementation eq

  2693. equations

  2694.     collect (output) = input;

  2695. implementation_end;

  2696.       Splitter4 752 336

  2697.        description '<Description><Version>4.0</Version>

  2698.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2699.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2700. <IsMainModel>1</IsMainModel>

  2701.  <KeepParameterValues>False</KeepParameterValues>

  2702. </Description>';

  2703.        knot Splitter

  2704.         ports

  2705.          signal knot duplicatable out output [1];

  2706.          signal knot in input [1];

  2707.        end;

  2708.        icon bg ellipse

  2709.         figures

  2710.          ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  2711.          ellipse 747.7 331.7 756.3 340.3 color -1;

  2712.         terminals

  2713.          input 752 336 fixed;

  2714.        end;

  2715.        implementation eq

  2716. equations

  2717.     collect (output) = input;

  2718. implementation_end;

  2719.       Velocity_control 480 336

  2720.        description '<Description>

  2721.  <Version>4.0</Version>

  2722.  <IsMainModel>1</IsMainModel>

  2723.  <KeepParameterValues>False</KeepParameterValues>

  2724.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  2725.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  2726. </Description>';

  2727.        type PD

  2728.         ports

  2729.          signal in error;

  2730.          signal out output;

  2731.        end;

  2732.        icon bg bottom

  2733.         figures

  2734.          rectangle 464 320 496 352 color 0 fill 15132390;

  2735.          text 'PD' 480.5 336.1 color 16711680 18 bold;

  2736.        end;

  2737.        implementation eq

  2738. parameters

  2739. 	real kp = 12 {};			// Proportional gain

  2740. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  2741. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  2742. 	real maximum = 100;

  2743. variables

  2744. 	real state, rate;

  2745. equations

  2746. 	rate = (kp * error - output) / (beta * tauD);

  2747. 	state = int (rate);

  2748. 	output = state + kp * error /  beta;

  2749.       implementation_end;

  2750.       Velocity_int 720 336

  2751.        description '<Information>

  2752.  <Description>

  2753.     <Version>4.3</Version>

  2754. <IsMainModel>1</IsMainModel>

  2755.   <KeepParameterValues>False</KeepParameterValues>

  2756.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  2757.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  2758. </Description>

  2759. </Information>';

  2760.        type Integrate

  2761.         ports

  2762.          signal in input;

  2763.          signal out output;

  2764.        end;

  2765.        icon bg bottom

  2766.         figures

  2767.          rectangle 704 320 736 352 color 0 fill 15132390;

  2768.          text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  2769.        end;

  2770.        implementation eq

  2771. parameters

  2772. 	real initial = 0;		// initial value

  2773. equations

  2774. 	output = int (input, initial);

  2775.      implementation_end;

  2776.       Velocity_limit 376 336

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

  2778.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  2779.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  2780. </Description>';

  2781.        type 'SignalLimiter-Limit'

  2782.         ports

  2783.          signal in input;

  2784.          signal out output;

  2785.        end;

  2786.        icon bg bottom

  2787.         figures

  2788.          group

  2789.           rectangle 360 320 392 352 color 0 fill 15132390;

  2790.           line 375.9 324.5 375.9 349 color 0 fill 15132390;

  2791.           line 363 336.2 388.7 336.2 color 0 fill 15132390;

  2792.           spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  2793.           spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  2794.           spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  2795.          end;

  2796.        end;

  2797.        implementation eq

  2798. parameters

  2799. 	real maximum = 25;

  2800. 	real minimum = -25;

  2801. equations

  2802. 	output = limit (input, minimum, maximum);

  2803.   implementation_end;

  2804.      end;

  2805.      connections

  2806.       Acceleration_int\output -> Splitter3\input;

  2807.       Acceleration_limit\output -> Acceleration_int\input;

  2808.       PlusMinus1\output -> Position_control\error;

  2809.       PlusMinus2\output -> Velocity_control\error;

  2810.       Position_control\output -> Velocity_limit\input;

  2811.       setpoint -> PlusMinus1\plus;

  2812.       Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  2813.       Splitter3\output -> Velocity_int\input;

  2814.       Splitter4\output -> output;

  2815.       Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  2816.       Velocity_control\output -> Acceleration_limit\input;

  2817.       Velocity_int\output -> Splitter4\input;

  2818.       Velocity_limit\output -> PlusMinus2\plus;

  2819.      end;

  2820.     implementation_end;

  2821.    stepper_control1 592 456

  2822.     description '<Information>

  2823.  <Description>

  2824.     <Version>4.8</Version>

  2825. <IsMainModel>1</IsMainModel>

  2826.     <LibraryPath>Motor\stepper_control.emx</LibraryPath>

  2827.   <TimeStamp>2020-7-22 15:25:26</TimeStamp>

  2828. </Description>

  2829. </Information>';

  2830.     type Submodel

  2831.      ports

  2832.       signal in setpoint {rad} ;

  2833.       signal out output {rad} ;

  2834.     end;

  2835.     implementation bg

  2836.      submodels

  2837.       Acceleration_int 648 336

  2838.        description '<Information>

  2839.  <Description>

  2840.     <Version>4.3</Version>

  2841. <IsMainModel>1</IsMainModel>

  2842.   <KeepParameterValues>False</KeepParameterValues>

  2843.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  2844.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  2845. </Description>

  2846. </Information>';

  2847.        type Integrate

  2848.         ports

  2849.          signal in input;

  2850.          signal out output;

  2851.        end;

  2852.        icon bg bottom

  2853.         figures

  2854.          rectangle 632 320 664 352 color 0 fill 15132390;

  2855.          text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;

  2856.        end;

  2857.        implementation eq

  2858. parameters

  2859. 	real initial = 0;		// initial value

  2860. equations

  2861. 	output = int (input, initial);

  2862.      implementation_end;

  2863.       Acceleration_limit 568 336

  2864.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2865.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  2866.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  2867. </Description>';

  2868.        type 'SignalLimiter-Limit'

  2869.         ports

  2870.          signal in input;

  2871.          signal out output;

  2872.        end;

  2873.        icon bg bottom

  2874.         figures

  2875.          group

  2876.           rectangle 552 320 584 352 color 0 fill 15132390;

  2877.           line 567.9 324.5 567.9 349 color 0 fill 15132390;

  2878.           line 555 336.2 580.7 336.2 color 0 fill 15132390;

  2879.           spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;

  2880.           spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;

  2881.           spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;

  2882.          end;

  2883.        end;

  2884.        implementation eq

  2885. parameters

  2886. 	real maximum = 300;

  2887. 	real minimum = -300;

  2888. equations

  2889. 	output = limit (input, minimum, maximum);

  2890.   implementation_end;

  2891.       plug setpoint 136 336;

  2892.       plug output 791 336;

  2893.       PlusMinus1 240 336

  2894.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2895.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  2896.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  2897. </Description>';

  2898.        knot PlusMinus

  2899.         ports

  2900.          signal knot duplicatable in plus [1];

  2901.          signal knot duplicatable in minus [1];

  2902.          signal knot out output [1];

  2903.        end;

  2904.        icon bg ellipse

  2905.         figures

  2906.          ellipse 232 328 248 344 color 0 fill 16777215;

  2907.        end;

  2908.        implementation eq

  2909. equations

  2910.     output = sum (collect (plus)) - sum (collect (minus));

  2911.     implementation_end;

  2912.       PlusMinus2 432 336

  2913.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2914.    <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>

  2915.   <TimeStamp>2007-9-27 10:15:13</TimeStamp>

  2916. </Description>';

  2917.        knot PlusMinus

  2918.         ports

  2919.          signal knot duplicatable in plus [1];

  2920.          signal knot duplicatable in minus [1];

  2921.          signal knot out output [1];

  2922.        end;

  2923.        icon bg ellipse

  2924.         figures

  2925.          ellipse 424 328 440 344 color 0 fill 16777215;

  2926.        end;

  2927.        implementation eq

  2928. equations

  2929.     output = sum (collect (plus)) - sum (collect (minus));

  2930.     implementation_end;

  2931.       Position_control 296 336

  2932.        description '<Description>

  2933.  <Version>4.0</Version>

  2934.  <IsMainModel>1</IsMainModel>

  2935.  <KeepParameterValues>False</KeepParameterValues>

  2936.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  2937.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  2938. </Description>';

  2939.        type PD

  2940.         ports

  2941.          signal in error;

  2942.          signal out output;

  2943.        end;

  2944.        icon bg bottom

  2945.         figures

  2946.          rectangle 280 320 312 352 color 0 fill 15132390;

  2947.          text 'PD' 296.5 336.1 color 16711680 18 bold;

  2948.        end;

  2949.        implementation eq

  2950. parameters

  2951. 	real kp = 4 {};			// Proportional gain

  2952. 	real tauD = 100 {s};		// Derivative time constant: tauD > 0

  2953. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  2954. 	real maximum = 25;

  2955. variables

  2956. 	real state, rate;

  2957. equations

  2958. 	rate = (kp * error - output) / (beta * tauD);

  2959. 	state = int (rate);

  2960. 	output = state + kp * error /  beta;

  2961.       implementation_end;

  2962.       Splitter3 688 336

  2963.        description '<Description><Version>4.0</Version>

  2964.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2965.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2966. <IsMainModel>1</IsMainModel>

  2967.  <KeepParameterValues>False</KeepParameterValues>

  2968. </Description>';

  2969.        knot Splitter

  2970.         ports

  2971.          signal knot duplicatable out output [1];

  2972.          signal knot in input [1];

  2973.        end;

  2974.        icon bg ellipse

  2975.         figures

  2976.          ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;

  2977.          ellipse 683.7 331.7 692.3 340.3 color -1;

  2978.         terminals

  2979.          input 688 336 fixed;

  2980.        end;

  2981.        implementation eq

  2982. equations

  2983.     collect (output) = input;

  2984. implementation_end;

  2985.       Splitter4 752 336

  2986.        description '<Description><Version>4.0</Version>

  2987.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2988.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2989. <IsMainModel>1</IsMainModel>

  2990.  <KeepParameterValues>False</KeepParameterValues>

  2991. </Description>';

  2992.        knot Splitter

  2993.         ports

  2994.          signal knot duplicatable out output [1];

  2995.          signal knot in input [1];

  2996.        end;

  2997.        icon bg ellipse

  2998.         figures

  2999.          ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;

  3000.          ellipse 747.7 331.7 756.3 340.3 color -1;

  3001.         terminals

  3002.          input 752 336 fixed;

  3003.        end;

  3004.        implementation eq

  3005. equations

  3006.     collect (output) = input;

  3007. implementation_end;

  3008.       Velocity_control 480 336

  3009.        description '<Description>

  3010.  <Version>4.0</Version>

  3011.  <IsMainModel>1</IsMainModel>

  3012.  <KeepParameterValues>False</KeepParameterValues>

  3013.    <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>

  3014.   <TimeStamp>2008-1-17 10:49:7</TimeStamp>

  3015. </Description>';

  3016.        type PD

  3017.         ports

  3018.          signal in error;

  3019.          signal out output;

  3020.        end;

  3021.        icon bg bottom

  3022.         figures

  3023.          rectangle 464 320 496 352 color 0 fill 15132390;

  3024.          text 'PD' 480.5 336.1 color 16711680 18 bold;

  3025.        end;

  3026.        implementation eq

  3027. parameters

  3028. 	real kp = 12 {};			// Proportional gain

  3029. 	real tauD = 10 {s};		// Derivative time constant: tauD > 0

  3030. 	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1

  3031. 	real maximum = 100;

  3032. variables

  3033. 	real state, rate;

  3034. equations

  3035. 	rate = (kp * error - output) / (beta * tauD);

  3036. 	state = int (rate);

  3037. 	output = state + kp * error /  beta;

  3038.       implementation_end;

  3039.       Velocity_int 720 336

  3040.        description '<Information>

  3041.  <Description>

  3042.     <Version>4.3</Version>

  3043. <IsMainModel>1</IsMainModel>

  3044.   <KeepParameterValues>False</KeepParameterValues>

  3045.     <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>

  3046.   <TimeStamp>2013-3-8 14:47:42</TimeStamp>

  3047. </Description>

  3048. </Information>';

  3049.        type Integrate

  3050.         ports

  3051.          signal in input;

  3052.          signal out output;

  3053.        end;

  3054.        icon bg bottom

  3055.         figures

  3056.          rectangle 704 320 736 352 color 0 fill 15132390;

  3057.          text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;

  3058.        end;

  3059.        implementation eq

  3060. parameters

  3061. 	real initial = 0;		// initial value

  3062. equations

  3063. 	output = int (input, initial);

  3064.      implementation_end;

  3065.       Velocity_limit 376 336

  3066.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3067.    <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>

  3068.   <TimeStamp>2007-9-26 12:47:40</TimeStamp>

  3069. </Description>';

  3070.        type 'SignalLimiter-Limit'

  3071.         ports

  3072.          signal in input;

  3073.          signal out output;

  3074.        end;

  3075.        icon bg bottom

  3076.         figures

  3077.          group

  3078.           rectangle 360 320 392 352 color 0 fill 15132390;

  3079.           line 375.9 324.5 375.9 349 color 0 fill 15132390;

  3080.           line 363 336.2 388.7 336.2 color 0 fill 15132390;

  3081.           spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;

  3082.           spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;

  3083.           spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;

  3084.          end;

  3085.        end;

  3086.        implementation eq

  3087. parameters

  3088. 	real maximum = 25;

  3089. 	real minimum = -25;

  3090. equations

  3091. 	output = limit (input, minimum, maximum);

  3092.   implementation_end;

  3093.      end;

  3094.      connections

  3095.       Acceleration_int\output -> Splitter3\input;

  3096.       Acceleration_limit\output -> Acceleration_int\input;

  3097.       PlusMinus1\output -> Position_control\error;

  3098.       PlusMinus2\output -> Velocity_control\error;

  3099.       Position_control\output -> Velocity_limit\input;

  3100.       setpoint -> PlusMinus1\plus;

  3101.       Splitter3\output -> PlusMinus2\minus 688 288 432 288;

  3102.       Splitter3\output -> Velocity_int\input;

  3103.       Splitter4\output -> output;

  3104.       Splitter4\output -> PlusMinus1\minus 752 400 240 400;

  3105.       Velocity_control\output -> Acceleration_limit\input;

  3106.       Velocity_int\output -> Splitter4\input;

  3107.       Velocity_limit\output -> PlusMinus2\plus;

  3108.      end;

  3109.     implementation_end;

  3110.    stepper_model 184 376

  3111.     description '<Information>

  3112.  <Description>

  3113.     <Version>4.8</Version>

  3114. <IsMainModel>1</IsMainModel>

  3115.     <LibraryPath>Motor\stepper_model.emx</LibraryPath>

  3116.   <TimeStamp>2020-7-22 15:25:37</TimeStamp>

  3117. </Description>

  3118.  <Attributes>

  3119.   <GlobalRelations>parameters 

  3120. 	real I_phase = 3.4 {mH};

  3121. 	real R_phase = 2.9 {ohm};

  3122. 	real u_max = 3.4 {V};

  3123. 	real RotorInertia = 5.6e-6 {kg.m2};

  3124. 	real StepperMass = 0.29 {kg};

  3125. 	real angle_step = 1.8 {deg};

  3126. 	real n_phase = 2 {none};

  3127. 	real fluxLinkage = 0.0022 {Wb};

  3128. 	real detentTorque = 0.01 {N.m};

  3129. variables

  3130. 	real omega;

  3131. 	real p; // rotor division

  3132. initialequations

  3133. 	p = 2 * pi / (2 * n_phase * angle_step);

  3134. 	omega = 200;</GlobalRelations>

  3135.  </Attributes>

  3136. </Information>';

  3137.     type Submodel

  3138.      ports

  3139.       signal in angle;

  3140.       rotation out p;

  3141.     end;

  3142.     implementation bg

  3143.      submodels

  3144.       I 224 104

  3145.        description '<Information>

  3146.  <Description>

  3147.     <Version>4.2</Version>

  3148. <IsMainModel>1</IsMainModel>

  3149.   <KeepParameterValues>False</KeepParameterValues>

  3150.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3151.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3152. </Description>

  3153. </Information>';

  3154.        type I

  3155.         ports

  3156.          power in p;

  3157.          signal out state;

  3158.         restrictions

  3159.          causality preferred in p;

  3160.        end;

  3161.        icon bg bottom

  3162.         figures

  3163.          text 'I' 224 104 color 0 18 bold;

  3164.        end;

  3165.        implementation eq

  3166. parameters

  3167. 	real global I_phase;

  3168. equations

  3169.     state = int(p.e);

  3170.     p.f = state / I_phase;

  3171. implementation_end;

  3172.       I1 272 328

  3173.        description '<Information>

  3174.  <Description>

  3175.     <Version>4.2</Version>

  3176. <IsMainModel>1</IsMainModel>

  3177.   <KeepParameterValues>False</KeepParameterValues>

  3178.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3179.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3180. </Description>

  3181. </Information>';

  3182.        type I

  3183.         ports

  3184.          power in p;

  3185.          signal out state;

  3186.         restrictions

  3187.          causality preferred in p;

  3188.        end;

  3189.        icon bg bottom

  3190.         figures

  3191.          text 'I' 272 328 color 0 18 bold;

  3192.        end;

  3193.        implementation eq

  3194. parameters

  3195. 	real global I_phase;

  3196. equations

  3197.     state = int(p.e);

  3198.     p.f = state / I_phase;

  3199. implementation_end;

  3200.       I2 416 160

  3201.        description '<Information>

  3202.  <Description>

  3203.     <Version>4.2</Version>

  3204. <IsMainModel>1</IsMainModel>

  3205.   <KeepParameterValues>False</KeepParameterValues>

  3206.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3207.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3208. </Description>

  3209. </Information>';

  3210.        type I

  3211.         ports

  3212.          power in p;

  3213.          signal out state;

  3214.         restrictions

  3215.          causality preferred in p;

  3216.        end;

  3217.        icon bg bottom

  3218.         figures

  3219.          text 'I' 416 160 color 0 18 bold;

  3220.        end;

  3221.        implementation eq

  3222. parameters

  3223. 	real i = 8e-5 {kg.m2};

  3224. 	real global RotorInertia;

  3225. equations

  3226.     state = int(p.e);

  3227.     p.f = state / (RotorInertia);

  3228. implementation_end;

  3229.       MGY_a 320 160

  3230.        description '<Information>

  3231.  <Description>

  3232.     <Version>4.2</Version>

  3233. <IsMainModel>1</IsMainModel>

  3234.   <KeepParameterValues>False</KeepParameterValues>

  3235.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3236.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3237. </Description>

  3238. </Information>';

  3239.        type MGY

  3240.         ports

  3241.          power in p1;

  3242.          power out p2;

  3243.          signal in r;

  3244.         restrictions

  3245.          causality constraint equal p1 p2;

  3246.        end;

  3247.        icon bg bottom

  3248.         figures

  3249.          text 'MGY' 320 160 color 0 18 bold;

  3250.        end;

  3251.        implementation eq

  3252. equations

  3253. 	p1.e = r * p2.f;

  3254. 	p2.e = r * p1.f;

  3255. implementation_end;

  3256.       MGY_b 320 272

  3257.        description '<Information>

  3258.  <Description>

  3259.     <Version>4.2</Version>

  3260. <IsMainModel>1</IsMainModel>

  3261.   <KeepParameterValues>False</KeepParameterValues>

  3262.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3263.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3264. </Description>

  3265. </Information>';

  3266.        type MGY

  3267.         ports

  3268.          power in p1;

  3269.          power out p2;

  3270.          signal in r;

  3271.         restrictions

  3272.          causality constraint equal p1 p2;

  3273.        end;

  3274.        icon bg bottom

  3275.         figures

  3276.          text 'MGY' 320 272 color 0 18 bold;

  3277.        end;

  3278.        implementation eq

  3279. equations

  3280. 	p1.e = r * p2.f;

  3281. 	p2.e = r * p1.f;

  3282. implementation_end;

  3283.       MSe_a 176 160

  3284.        description '<Information>

  3285.  <Description>

  3286.     <Version>4.2</Version>

  3287. <IsMainModel>1</IsMainModel>

  3288.   <KeepParameterValues>False</KeepParameterValues>

  3289.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3290.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3291. </Description>

  3292. </Information>';

  3293.        type MSe

  3294.         ports

  3295.          electric out p;

  3296.          signal in effort;

  3297.         restrictions

  3298.          causality fixed out p;

  3299.        end;

  3300.        icon bg bottom

  3301.         figures

  3302.          text 'MSe' 176 160 color 0 18 bold;

  3303.        end;

  3304.        implementation eq

  3305. variables

  3306. 	real flow;

  3307. equations

  3308. 	p.e = effort;

  3309. 	flow = p.f;

  3310. implementation_end;

  3311.       MSe_b 176 272

  3312.        description '<Information>

  3313.  <Description>

  3314.     <Version>4.2</Version>

  3315. <IsMainModel>1</IsMainModel>

  3316.   <KeepParameterValues>False</KeepParameterValues>

  3317.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3318.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3319. </Description>

  3320. </Information>';

  3321.        type MSe

  3322.         ports

  3323.          electric out p;

  3324.          signal in effort;

  3325.         restrictions

  3326.          causality fixed out p;

  3327.        end;

  3328.        icon bg bottom

  3329.         figures

  3330.          text 'MSe' 176 272 color 0 18 bold;

  3331.        end;

  3332.        implementation eq

  3333. variables

  3334. 	real flow;

  3335. equations

  3336. 	p.e = effort;

  3337. 	flow = p.f;

  3338. implementation_end;

  3339.       plug angle 72 216;

  3340.       plug p 560 216;

  3341.       OneJunction1 504 216

  3342.        description '<Information>

  3343.  <Description>

  3344.     <Version>4.2</Version>

  3345. <IsMainModel>1</IsMainModel>

  3346.   <KeepParameterValues>False</KeepParameterValues>

  3347.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3348.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3349. </Description>

  3350. </Information>';

  3351.        knot OneJunction

  3352.         ports

  3353.          rotation knot duplicatable none p [1];

  3354.          signal knot out flow [1];

  3355.         restrictions

  3356.          causality constraint one_out p;

  3357.        end;

  3358.        icon bg

  3359.         figures

  3360.          text '1' 504 216 color 0 18 bold;

  3361.        end;

  3362.        implementation eq

  3363. equations

  3364. 	sum (direct (p.e)) = 0;

  3365. 	equal (collect (p.f));

  3366. 	flow = first (p.f);

  3367. implementation_end;

  3368.       OneJunction2 248 160

  3369.        description '<Information>

  3370.  <Description>

  3371.     <Version>4.2</Version>

  3372. <IsMainModel>1</IsMainModel>

  3373.   <KeepParameterValues>False</KeepParameterValues>

  3374.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3375.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3376. </Description>

  3377. </Information>';

  3378.        knot OneJunction

  3379.         ports

  3380.          electric knot duplicatable none p [1];

  3381.          signal knot out flow [1];

  3382.         restrictions

  3383.          causality constraint one_out p;

  3384.        end;

  3385.        icon bg

  3386.         figures

  3387.          text '1' 248 160 color 0 18 bold;

  3388.        end;

  3389.        implementation eq

  3390. equations

  3391. 	sum (direct (p.e)) = 0;

  3392. 	equal (collect (p.f));

  3393. 	flow = first (p.f);

  3394. implementation_end;

  3395.       OneJunction3 248 272

  3396.        description '<Information>

  3397.  <Description>

  3398.     <Version>4.2</Version>

  3399. <IsMainModel>1</IsMainModel>

  3400.   <KeepParameterValues>False</KeepParameterValues>

  3401.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3402.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3403. </Description>

  3404. </Information>';

  3405.        knot OneJunction

  3406.         ports

  3407.          electric knot duplicatable none p [1];

  3408.          signal knot out flow [1];

  3409.         restrictions

  3410.          causality constraint one_out p;

  3411.        end;

  3412.        icon bg

  3413.         figures

  3414.          text '1' 248 272 color 0 18 bold;

  3415.        end;

  3416.        implementation eq

  3417. equations

  3418. 	sum (direct (p.e)) = 0;

  3419. 	equal (collect (p.f));

  3420. 	flow = first (p.f);

  3421. implementation_end;

  3422.       OneJunction4 416 216

  3423.        description '<Information>

  3424.  <Description>

  3425.     <Version>4.2</Version>

  3426. <IsMainModel>1</IsMainModel>

  3427.   <KeepParameterValues>False</KeepParameterValues>

  3428.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3429.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3430. </Description>

  3431. </Information>';

  3432.        knot OneJunction

  3433.         ports

  3434.          rotation knot duplicatable none p [1];

  3435.          signal knot out flow [1];

  3436.         restrictions

  3437.          causality constraint one_out p;

  3438.        end;

  3439.        icon bg

  3440.         figures

  3441.          text '1' 416 216 color 0 18 bold;

  3442.        end;

  3443.        implementation eq

  3444. equations

  3445. 	sum (direct (p.e)) = 0;

  3446. 	equal (collect (p.f));

  3447. 	flow = first (p.f);

  3448. implementation_end;

  3449.       phase_control 176 216

  3450.        description '<Description><Version>4.0</Version>

  3451.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  3452. <IsMainModel>1</IsMainModel>

  3453.  <KeepParameterValues>False</KeepParameterValues>

  3454.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  3455.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3456. </Description>';

  3457.        type Submodel

  3458.         ports

  3459.          signal in angle;

  3460.          signal out a;

  3461.          signal out b;

  3462.        end;

  3463.        icon bg

  3464.         figures

  3465.          rectangle 136 200 216 232 color 0 fill 15132390;

  3466.          text 'name' 176 216 color 0 'Clear Sans' 16;

  3467.        end;

  3468.        implementation eq

  3469. parameters

  3470. 	real global u_max {V};

  3471. 	real global angle_step;

  3472. 	real max_a {m/s2};

  3473. variables

  3474. 	real current_angle;

  3475. 	real c,s;

  3476. 	real global p;

  3477. 	boolean hidden eventa, eventb;

  3478. equations

  3479. 	a = u_max * (cos (p*angle));

  3480. 	eventa = event(a);

  3481. 	b = u_max * -(sin (p*angle));

  3482. 	eventb = event(b);

  3483. 	current_angle = angle;

  3484. 

  3485. 	

  3486. 	

  3487.  implementation_end;

  3488.       R 272 104

  3489.        description '<Information>

  3490.  <Description>

  3491.     <Version>4.2</Version>

  3492. <IsMainModel>1</IsMainModel>

  3493.   <KeepParameterValues>False</KeepParameterValues>

  3494.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3495.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3496. </Description>

  3497. </Information>';

  3498.        type R

  3499.         ports

  3500.          power in p;

  3501.        end;

  3502.        icon bg bottom

  3503.         figures

  3504.          text 'R' 272 104 color 0 18 bold;

  3505.        end;

  3506.        implementation eq

  3507. parameters

  3508. 	real global R_phase;

  3509. equations

  3510. 	p.e = R_phase * p.f;

  3511. implementation_end;

  3512.       R1 224 328

  3513.        description '<Information>

  3514.  <Description>

  3515.     <Version>4.2</Version>

  3516. <IsMainModel>1</IsMainModel>

  3517.   <KeepParameterValues>False</KeepParameterValues>

  3518.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3519.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3520. </Description>

  3521. </Information>';

  3522.        type R

  3523.         ports

  3524.          power in p;

  3525.        end;

  3526.        icon bg bottom

  3527.         figures

  3528.          text 'R' 224 328 color 0 18 bold;

  3529.        end;

  3530.        implementation eq

  3531. parameters

  3532. 	real global R_phase;

  3533. equations

  3534. 	p.e = R_phase * p.f;

  3535. implementation_end;

  3536.       R2 488 264

  3537.        description '<Information>

  3538.  <Description>

  3539.     <Version>4.2</Version>

  3540. <IsMainModel>1</IsMainModel>

  3541.   <KeepParameterValues>False</KeepParameterValues>

  3542.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3543.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3544. </Description>

  3545. </Information>';

  3546.        type R

  3547.         ports

  3548.          power in p;

  3549.        end;

  3550.        icon bg bottom

  3551.         figures

  3552.          text 'R' 488 264 color 0 18 bold;

  3553.        end;

  3554.        implementation eq

  3555. parameters

  3556. 	real r = 1.0e-3;

  3557. equations

  3558. 	p.e = r * p.f;

  3559. implementation_end;

  3560.       RotorAngle 320 216

  3561.        description '<Description><Version>4.0</Version>

  3562.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  3563. <IsMainModel>1</IsMainModel>

  3564.  <KeepParameterValues>False</KeepParameterValues>

  3565.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  3566.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3567. </Description>';

  3568.        type Submodel

  3569.         ports

  3570.          signal out output_b;

  3571.          signal out output_a;

  3572.          signal in omega {rad/s} ;

  3573.          signal out output_d;

  3574.        end;

  3575.        icon bg

  3576.         figures

  3577.          rectangle 280 200 360 232 color 0 fill 15132390;

  3578.          text 'name' 320 216 color 0 'Clear Sans' 16;

  3579.        end;

  3580.        implementation eq

  3581. parameters

  3582. 	real global fluxLinkage;

  3583. 	real global detentTorque;

  3584. variables

  3585. 	real global p;

  3586. 	real angle {rad};

  3587. equations

  3588. 	angle = int(omega);

  3589. 	output_a = -p * fluxLinkage * sin(p * angle);

  3590. 	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);

  3591. 	output_d =  detentTorque * sin(2 * p * angle);

  3592.  implementation_end;

  3593.       Se 416 272

  3594.        description '<Information>

  3595.  <Description>

  3596.     <Version>4.2</Version>

  3597. <IsMainModel>1</IsMainModel>

  3598.   <KeepParameterValues>False</KeepParameterValues>

  3599.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3600.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3601. </Description>

  3602. </Information>';

  3603.        type MSe

  3604.         ports

  3605.          power out p;

  3606.          signal in effort;

  3607.         restrictions

  3608.          causality fixed out p;

  3609.        end;

  3610.        icon bg bottom

  3611.         figures

  3612.          text 'MSe' 416 272 color 0 18 bold;

  3613.        end;

  3614.        implementation eq

  3615. 

  3616. variables

  3617. 	real flow;

  3618. equations

  3619. 	p.e = effort;

  3620. 	flow = p.f;

  3621. implementation_end;

  3622.      end;

  3623.      connections

  3624.       angle -> phase_control\angle;

  3625.       I2\p <= OneJunction4\p;

  3626.       MGY_a\p2 => OneJunction4\p;

  3627.       MGY_b\p2 => OneJunction4\p;

  3628.       MSe_b\p => OneJunction3\p;

  3629.       OneJunction1\p => p;

  3630.       OneJunction2\p <= MSe_a\p;

  3631.       OneJunction2\p => I\p;

  3632.       OneJunction2\p => MGY_a\p1;

  3633.       OneJunction2\p => R\p;

  3634.       OneJunction3\p => I1\p;

  3635.       OneJunction3\p => MGY_b\p1;

  3636.       OneJunction3\p => R1\p;

  3637.       OneJunction4\flow -> RotorAngle\omega;

  3638.       OneJunction4\p => OneJunction1\p;

  3639.       OneJunction4\p => R2\p;

  3640.       phase_control\a -> MSe_a\effort;

  3641.       phase_control\b -> MSe_b\effort;

  3642.       RotorAngle\output_a -> MGY_a\r;

  3643.       RotorAngle\output_b -> MGY_b\r;

  3644.       RotorAngle\output_d -> Se\effort;

  3645.       Se\p => OneJunction4\p;

  3646.      end;

  3647.     implementation_end;

  3648.    stepper_model1 592 376

  3649.     description '<Information>

  3650.  <Description>

  3651.     <Version>4.8</Version>

  3652. <IsMainModel>1</IsMainModel>

  3653.     <LibraryPath>Motor\stepper_model.emx</LibraryPath>

  3654.   <TimeStamp>2020-7-22 15:25:37</TimeStamp>

  3655. </Description>

  3656.  <Attributes>

  3657.   <GlobalRelations>parameters 

  3658. 	real I_phase = 3.4 {mH};

  3659. 	real R_phase = 2.9 {ohm};

  3660. 	real u_max = 3.4 {V};

  3661. 	real RotorInertia = 5.6e-6 {kg.m2};

  3662. 	real StepperMass = 0.29 {kg};

  3663. 	real angle_step = 1.8 {deg};

  3664. 	real n_phase = 2 {none};

  3665. 	real fluxLinkage = 0.0022 {Wb};

  3666. 	real detentTorque = 0.01 {N.m};

  3667. variables

  3668. 	real omega;

  3669. 	real p; // rotor division

  3670. initialequations

  3671. 	p = 2 * pi / (2 * n_phase * angle_step);

  3672. 	omega = 200;</GlobalRelations>

  3673.  </Attributes>

  3674. </Information>';

  3675.     type Submodel

  3676.      ports

  3677.       signal in angle;

  3678.       rotation out p;

  3679.     end;

  3680.     implementation bg

  3681.      submodels

  3682.       I 560 104

  3683.        description '<Information>

  3684.  <Description>

  3685.     <Version>4.2</Version>

  3686. <IsMainModel>1</IsMainModel>

  3687.   <KeepParameterValues>False</KeepParameterValues>

  3688.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3689.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3690. </Description>

  3691. </Information>';

  3692.        type I

  3693.         ports

  3694.          power in p;

  3695.          signal out state;

  3696.         restrictions

  3697.          causality preferred in p;

  3698.        end;

  3699.        icon bg bottom

  3700.         figures

  3701.          text 'I' 560 104 color 0 18 bold;

  3702.        end;

  3703.        implementation eq

  3704. parameters

  3705. 	real global I_phase;

  3706. equations

  3707.     state = int(p.e);

  3708.     p.f = state / I_phase;

  3709. implementation_end;

  3710.       I1 608 328

  3711.        description '<Information>

  3712.  <Description>

  3713.     <Version>4.2</Version>

  3714. <IsMainModel>1</IsMainModel>

  3715.   <KeepParameterValues>False</KeepParameterValues>

  3716.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3717.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3718. </Description>

  3719. </Information>';

  3720.        type I

  3721.         ports

  3722.          power in p;

  3723.          signal out state;

  3724.         restrictions

  3725.          causality preferred in p;

  3726.        end;

  3727.        icon bg bottom

  3728.         figures

  3729.          text 'I' 608 328 color 0 18 bold;

  3730.        end;

  3731.        implementation eq

  3732. parameters

  3733. 	real global I_phase;

  3734. equations

  3735.     state = int(p.e);

  3736.     p.f = state / I_phase;

  3737. implementation_end;

  3738.       I2 752 160

  3739.        description '<Information>

  3740.  <Description>

  3741.     <Version>4.2</Version>

  3742. <IsMainModel>1</IsMainModel>

  3743.   <KeepParameterValues>False</KeepParameterValues>

  3744.     <LibraryPath>Bond Graph\I.emx</LibraryPath>

  3745.   <TimeStamp>2011-11-29 15:55:55</TimeStamp>

  3746. </Description>

  3747. </Information>';

  3748.        type I

  3749.         ports

  3750.          power in p;

  3751.          signal out state;

  3752.         restrictions

  3753.          causality preferred in p;

  3754.        end;

  3755.        icon bg bottom

  3756.         figures

  3757.          text 'I' 752 160 color 0 18 bold;

  3758.        end;

  3759.        implementation eq

  3760. parameters

  3761. 	real i = 8e-5 {kg.m2};

  3762. 	real global RotorInertia;

  3763. equations

  3764.     state = int(p.e);

  3765.     p.f = state / (RotorInertia);

  3766. implementation_end;

  3767.       MGY_a 656 160

  3768.        description '<Information>

  3769.  <Description>

  3770.     <Version>4.2</Version>

  3771. <IsMainModel>1</IsMainModel>

  3772.   <KeepParameterValues>False</KeepParameterValues>

  3773.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3774.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3775. </Description>

  3776. </Information>';

  3777.        type MGY

  3778.         ports

  3779.          power in p1;

  3780.          power out p2;

  3781.          signal in r;

  3782.         restrictions

  3783.          causality constraint equal p1 p2;

  3784.        end;

  3785.        icon bg bottom

  3786.         figures

  3787.          text 'MGY' 656 160 color 0 18 bold;

  3788.        end;

  3789.        implementation eq

  3790. equations

  3791. 	p1.e = r * p2.f;

  3792. 	p2.e = r * p1.f;

  3793. implementation_end;

  3794.       MGY_b 656 272

  3795.        description '<Information>

  3796.  <Description>

  3797.     <Version>4.2</Version>

  3798. <IsMainModel>1</IsMainModel>

  3799.   <KeepParameterValues>False</KeepParameterValues>

  3800.     <LibraryPath>Bond Graph\MGY.emx</LibraryPath>

  3801.   <TimeStamp>2011-11-29 16:03:53</TimeStamp>

  3802. </Description>

  3803. </Information>';

  3804.        type MGY

  3805.         ports

  3806.          power in p1;

  3807.          power out p2;

  3808.          signal in r;

  3809.         restrictions

  3810.          causality constraint equal p1 p2;

  3811.        end;

  3812.        icon bg bottom

  3813.         figures

  3814.          text 'MGY' 656 272 color 0 18 bold;

  3815.        end;

  3816.        implementation eq

  3817. equations

  3818. 	p1.e = r * p2.f;

  3819. 	p2.e = r * p1.f;

  3820. implementation_end;

  3821.       MSe_a 512 160

  3822.        description '<Information>

  3823.  <Description>

  3824.     <Version>4.2</Version>

  3825. <IsMainModel>1</IsMainModel>

  3826.   <KeepParameterValues>False</KeepParameterValues>

  3827.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3828.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3829. </Description>

  3830. </Information>';

  3831.        type MSe

  3832.         ports

  3833.          electric out p;

  3834.          signal in effort;

  3835.         restrictions

  3836.          causality fixed out p;

  3837.        end;

  3838.        icon bg bottom

  3839.         figures

  3840.          text 'MSe' 512 160 color 0 18 bold;

  3841.        end;

  3842.        implementation eq

  3843. variables

  3844. 	real flow;

  3845. equations

  3846. 	p.e = effort;

  3847. 	flow = p.f;

  3848. implementation_end;

  3849.       MSe_b 512 272

  3850.        description '<Information>

  3851.  <Description>

  3852.     <Version>4.2</Version>

  3853. <IsMainModel>1</IsMainModel>

  3854.   <KeepParameterValues>False</KeepParameterValues>

  3855.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  3856.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  3857. </Description>

  3858. </Information>';

  3859.        type MSe

  3860.         ports

  3861.          electric out p;

  3862.          signal in effort;

  3863.         restrictions

  3864.          causality fixed out p;

  3865.        end;

  3866.        icon bg bottom

  3867.         figures

  3868.          text 'MSe' 512 272 color 0 18 bold;

  3869.        end;

  3870.        implementation eq

  3871. variables

  3872. 	real flow;

  3873. equations

  3874. 	p.e = effort;

  3875. 	flow = p.f;

  3876. implementation_end;

  3877.       plug angle 200 216;

  3878.       plug p 1472 216;

  3879.       OneJunction1 840 216

  3880.        description '<Information>

  3881.  <Description>

  3882.     <Version>4.2</Version>

  3883. <IsMainModel>1</IsMainModel>

  3884.   <KeepParameterValues>False</KeepParameterValues>

  3885.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3886.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3887. </Description>

  3888. </Information>';

  3889.        knot OneJunction

  3890.         ports

  3891.          rotation knot duplicatable none p [1];

  3892.          signal knot out flow [1];

  3893.         restrictions

  3894.          causality constraint one_out p;

  3895.        end;

  3896.        icon bg

  3897.         figures

  3898.          text '1' 840 216 color 0 18 bold;

  3899.        end;

  3900.        implementation eq

  3901. equations

  3902. 	sum (direct (p.e)) = 0;

  3903. 	equal (collect (p.f));

  3904. 	flow = first (p.f);

  3905. implementation_end;

  3906.       OneJunction2 584 160

  3907.        description '<Information>

  3908.  <Description>

  3909.     <Version>4.2</Version>

  3910. <IsMainModel>1</IsMainModel>

  3911.   <KeepParameterValues>False</KeepParameterValues>

  3912.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3913.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3914. </Description>

  3915. </Information>';

  3916.        knot OneJunction

  3917.         ports

  3918.          electric knot duplicatable none p [1];

  3919.          signal knot out flow [1];

  3920.         restrictions

  3921.          causality constraint one_out p;

  3922.        end;

  3923.        icon bg

  3924.         figures

  3925.          text '1' 584 160 color 0 18 bold;

  3926.        end;

  3927.        implementation eq

  3928. equations

  3929. 	sum (direct (p.e)) = 0;

  3930. 	equal (collect (p.f));

  3931. 	flow = first (p.f);

  3932. implementation_end;

  3933.       OneJunction3 584 272

  3934.        description '<Information>

  3935.  <Description>

  3936.     <Version>4.2</Version>

  3937. <IsMainModel>1</IsMainModel>

  3938.   <KeepParameterValues>False</KeepParameterValues>

  3939.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3940.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3941. </Description>

  3942. </Information>';

  3943.        knot OneJunction

  3944.         ports

  3945.          electric knot duplicatable none p [1];

  3946.          signal knot out flow [1];

  3947.         restrictions

  3948.          causality constraint one_out p;

  3949.        end;

  3950.        icon bg

  3951.         figures

  3952.          text '1' 584 272 color 0 18 bold;

  3953.        end;

  3954.        implementation eq

  3955. equations

  3956. 	sum (direct (p.e)) = 0;

  3957. 	equal (collect (p.f));

  3958. 	flow = first (p.f);

  3959. implementation_end;

  3960.       OneJunction4 752 216

  3961.        description '<Information>

  3962.  <Description>

  3963.     <Version>4.2</Version>

  3964. <IsMainModel>1</IsMainModel>

  3965.   <KeepParameterValues>False</KeepParameterValues>

  3966.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3967.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3968. </Description>

  3969. </Information>';

  3970.        knot OneJunction

  3971.         ports

  3972.          rotation knot duplicatable none p [1];

  3973.          signal knot out flow [1];

  3974.         restrictions

  3975.          causality constraint one_out p;

  3976.        end;

  3977.        icon bg

  3978.         figures

  3979.          text '1' 752 216 color 0 18 bold;

  3980.        end;

  3981.        implementation eq

  3982. equations

  3983. 	sum (direct (p.e)) = 0;

  3984. 	equal (collect (p.f));

  3985. 	flow = first (p.f);

  3986. implementation_end;

  3987.       phase_control 512 216

  3988.        description '<Description><Version>4.0</Version>

  3989.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  3990. <IsMainModel>1</IsMainModel>

  3991.  <KeepParameterValues>False</KeepParameterValues>

  3992.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  3993.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  3994. </Description>';

  3995.        type Submodel

  3996.         ports

  3997.          signal in angle;

  3998.          signal out a;

  3999.          signal out b;

  4000.        end;

  4001.        icon bg

  4002.         figures

  4003.          rectangle 472 200 552 232 color 0 fill 15132390;

  4004.          text 'name' 512 216 color 0 'Clear Sans' 16;

  4005.        end;

  4006.        implementation eq

  4007. parameters

  4008. 	real global u_max {V};

  4009. 	real global angle_step;

  4010. 	real max_a {m/s2};

  4011. variables

  4012. 	real current_angle;

  4013. 	real c,s;

  4014. 	real global p;

  4015. 	boolean hidden eventa, eventb;

  4016. equations

  4017. 	a = u_max * (cos (p*angle));

  4018. 	eventa = event(a);

  4019. 	b = u_max * -(sin (p*angle));

  4020. 	eventb = event(b);

  4021. 	current_angle = angle;

  4022. 

  4023. 	

  4024. 	

  4025.  implementation_end;

  4026.       R 608 104

  4027.        description '<Information>

  4028.  <Description>

  4029.     <Version>4.2</Version>

  4030. <IsMainModel>1</IsMainModel>

  4031.   <KeepParameterValues>False</KeepParameterValues>

  4032.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4033.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4034. </Description>

  4035. </Information>';

  4036.        type R

  4037.         ports

  4038.          power in p;

  4039.        end;

  4040.        icon bg bottom

  4041.         figures

  4042.          text 'R' 608 104 color 0 18 bold;

  4043.        end;

  4044.        implementation eq

  4045. parameters

  4046. 	real global R_phase;

  4047. equations

  4048. 	p.e = R_phase * p.f;

  4049. implementation_end;

  4050.       R1 560 328

  4051.        description '<Information>

  4052.  <Description>

  4053.     <Version>4.2</Version>

  4054. <IsMainModel>1</IsMainModel>

  4055.   <KeepParameterValues>False</KeepParameterValues>

  4056.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4057.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4058. </Description>

  4059. </Information>';

  4060.        type R

  4061.         ports

  4062.          power in p;

  4063.        end;

  4064.        icon bg bottom

  4065.         figures

  4066.          text 'R' 560 328 color 0 18 bold;

  4067.        end;

  4068.        implementation eq

  4069. parameters

  4070. 	real global R_phase;

  4071. equations

  4072. 	p.e = R_phase * p.f;

  4073. implementation_end;

  4074.       R2 824 264

  4075.        description '<Information>

  4076.  <Description>

  4077.     <Version>4.2</Version>

  4078. <IsMainModel>1</IsMainModel>

  4079.   <KeepParameterValues>False</KeepParameterValues>

  4080.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4081.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4082. </Description>

  4083. </Information>';

  4084.        type R

  4085.         ports

  4086.          power in p;

  4087.        end;

  4088.        icon bg bottom

  4089.         figures

  4090.          text 'R' 824 264 color 0 18 bold;

  4091.        end;

  4092.        implementation eq

  4093. parameters

  4094. 	real r = 1.0e-3;

  4095. equations

  4096. 	p.e = r * p.f;

  4097. implementation_end;

  4098.       RotorAngle 656 216

  4099.        description '<Description><Version>4.0</Version>

  4100.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  4101. <IsMainModel>1</IsMainModel>

  4102.  <KeepParameterValues>False</KeepParameterValues>

  4103.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  4104.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4105. </Description>';

  4106.        type Submodel

  4107.         ports

  4108.          signal out output_b;

  4109.          signal out output_a;

  4110.          signal in omega {rad/s} ;

  4111.          signal out output_d;

  4112.        end;

  4113.        icon bg

  4114.         figures

  4115.          rectangle 616 200 696 232 color 0 fill 15132390;

  4116.          text 'name' 656 216 color 0 'Clear Sans' 16;

  4117.        end;

  4118.        implementation eq

  4119. parameters

  4120. 	real global fluxLinkage;

  4121. 	real global detentTorque;

  4122. variables

  4123. 	real global p;

  4124. 	real angle {rad};

  4125. equations

  4126. 	angle = int(omega);

  4127. 	output_a = -p * fluxLinkage * sin(p * angle);

  4128. 	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);

  4129. 	output_d =  detentTorque * sin(2 * p * angle);

  4130.  implementation_end;

  4131.       Se 752 272

  4132.        description '<Information>

  4133.  <Description>

  4134.     <Version>4.2</Version>

  4135. <IsMainModel>1</IsMainModel>

  4136.   <KeepParameterValues>False</KeepParameterValues>

  4137.     <LibraryPath>Bond Graph\MSe.emx</LibraryPath>

  4138.   <TimeStamp>2011-11-29 16:12:33</TimeStamp>

  4139. </Description>

  4140. </Information>';

  4141.        type MSe

  4142.         ports

  4143.          power out p;

  4144.          signal in effort;

  4145.         restrictions

  4146.          causality fixed out p;

  4147.        end;

  4148.        icon bg bottom

  4149.         figures

  4150.          text 'MSe' 752 272 color 0 18 bold;

  4151.        end;

  4152.        implementation eq

  4153. 

  4154. variables

  4155. 	real flow;

  4156. equations

  4157. 	p.e = effort;

  4158. 	flow = p.f;

  4159. implementation_end;

  4160.      end;

  4161.      connections

  4162.       angle -> phase_control\angle;

  4163.       I2\p <= OneJunction4\p;

  4164.       MGY_a\p2 => OneJunction4\p;

  4165.       MGY_b\p2 => OneJunction4\p;

  4166.       MSe_b\p => OneJunction3\p;

  4167.       OneJunction1\p => p;

  4168.       OneJunction2\p <= MSe_a\p;

  4169.       OneJunction2\p => I\p;

  4170.       OneJunction2\p => MGY_a\p1;

  4171.       OneJunction2\p => R\p;

  4172.       OneJunction3\p => I1\p;

  4173.       OneJunction3\p => MGY_b\p1;

  4174.       OneJunction3\p => R1\p;

  4175.       OneJunction4\flow -> RotorAngle\omega;

  4176.       OneJunction4\p => OneJunction1\p;

  4177.       OneJunction4\p => R2\p;

  4178.       phase_control\a -> MSe_a\effort;

  4179.       phase_control\b -> MSe_b\effort;

  4180.       RotorAngle\output_a -> MGY_a\r;

  4181.       RotorAngle\output_b -> MGY_b\r;

  4182.       RotorAngle\output_d -> Se\effort;

  4183.       Se\p => OneJunction4\p;

  4184.      end;

  4185.     implementation_end;

  4186.    ZeroJunction2 592 264

  4187.     description '<Information>

  4188.  <Description>

  4189.     <Version>4.2</Version>

  4190. <IsMainModel>1</IsMainModel>

  4191.   <KeepParameterValues>False</KeepParameterValues>

  4192.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  4193.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  4194. </Description>

  4195. </Information>';

  4196.     knot ZeroJunction

  4197.      ports

  4198.       rotation knot duplicatable none p [1];

  4199.       signal knot out effort [1];

  4200.      restrictions

  4201.       causality constraint one_in p;

  4202.     end;

  4203.     icon bg

  4204.      figures

  4205.       text '0' 592 264 color 0 18 bold;

  4206.     end;

  4207.     implementation eq

  4208. equations

  4209. 	sum (direct (p.f)) = 0;

  4210. 	equal (collect (p.e));

  4211. 	effort = first (p.e);

  4212. implementation_end;

  4213.    ZeroJunction3 184 264

  4214.     description '<Information>

  4215.  <Description>

  4216.     <Version>4.2</Version>

  4217. <IsMainModel>1</IsMainModel>

  4218.   <KeepParameterValues>False</KeepParameterValues>

  4219.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  4220.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  4221. </Description>

  4222. </Information>';

  4223.     knot ZeroJunction

  4224.      ports

  4225.       rotation knot duplicatable none p [1];

  4226.       signal knot out effort [1];

  4227.      restrictions

  4228.       causality constraint one_in p;

  4229.     end;

  4230.     icon bg

  4231.      figures

  4232.       text '0' 184 264 color 0 18 bold;

  4233.     end;

  4234.     implementation eq

  4235. equations

  4236. 	sum (direct (p.f)) = 0;

  4237. 	equal (collect (p.e));

  4238. 	effort = first (p.e);

  4239. implementation_end;

  4240.   end;

  4241.   connections

  4242.    C1\p <= OneJunction7\p;

  4243.    C2\p <= OneJunction6\p;

  4244.    COM\Hout -> new_joint1\input;

  4245.    COM1\Hout -> new_joint2\input;

  4246.    COM2\Hin <- Link3\Hout 992 120;

  4247.    COM2\Hout -> new_joint3\input;

  4248.    COM2\p => OneJunction12\p;

  4249.    Ground\output -> Joint\Hin;

  4250.    inverse_kinematics1\angle1 -> Negate1\input;

  4251.    inverse_kinematics1\angle2 -> Negate2\input;

  4252.    Joint\Hout -> Link\Hin;

  4253.    Joint\Pdiff <= PowerMux\output;

  4254.    Joint\Pin <= Link\Pout;

  4255.    Joint\Pout => Ground\p;

  4256.    Link\Pin <= OneJunction1\p;

  4257.    Link1\Hout -> Joint1\Hin;

  4258.    Link1\Pin <= Joint1\Pout;

  4259.    Link1\Pout => OneJunction1\p;

  4260.    Link2\Hin <- Joint1\Hout;

  4261.    Link2\Hout -> Splitter2\input;

  4262.    Link2\Pin <= OneJunction3\p;

  4263.    Link2\Pout => Joint1\Pin;

  4264.    Link3\Pin <= OneJunction12\p;

  4265.    Link3\Pout => OneJunction3\p;

  4266.    Negate1\output -> stepper_control\setpoint;

  4267.    Negate2\output -> stepper_control1\setpoint;

  4268.    OneJunction1\p <= COM\p;

  4269.    OneJunction11\p => ZeroJunction2\p;

  4270.    OneJunction14\p => ZeroJunction3\p;

  4271.    OneJunction17\p => C\p;

  4272.    OneJunction3\p <= COM1\p;

  4273.    OneJunction4\p => C4\p;

  4274.    OneJunction4\p => R4\p;

  4275.    OneJunction5\p => C3\p;

  4276.    OneJunction5\p => R2\p;

  4277.    OneJunction6\p => R3\p;

  4278.    OneJunction7\p => R5\p;

  4279.    OneJunction8\p => C5\p;

  4280.    PowerMux\input_pos3 <= OneJunction6\p;

  4281.    PowerMux\input_rot2 <= OneJunction5\p;

  4282.    PowerMux1\input_pos3 <= OneJunction7\p;

  4283.    PowerMux1\input_rot2 <= OneJunction4\p;

  4284.    PowerMux1\output => Joint1\Pdiff;

  4285.    R1\p <= OneJunction17\p;

  4286.    R6\p <= OneJunction8\p;

  4287.    rectanglepath1\output -> inverse_kinematics1\input;

  4288.    Splitter1\input <- Link\Hout;

  4289.    Splitter1\output -> COM\Hin;

  4290.    Splitter1\output -> Link1\Hin;

  4291.    Splitter2\output -> COM1\Hin;

  4292.    Splitter2\output -> Link3\Hin;

  4293.    stepper_control\output -> stepper_model\angle;

  4294.    stepper_control1\output -> stepper_model1\angle;

  4295.    stepper_model\p => OneJunction14\p;

  4296.    stepper_model1\p => OneJunction11\p;

  4297.    ZeroJunction2\p => OneJunction17\p;

  4298.    ZeroJunction2\p => PowerMux1\input;

  4299.    ZeroJunction3\p => OneJunction8\p;

  4300.    ZeroJunction3\p => PowerMux\input;

  4301.   end;

  4302.  implementation_end;

  4303. ]]>

  4304. </Sidops>

  4305.  </Model>

  4306.  <Experiments>

  4307.      <DefaultExperiment><![CDATA[Experiment 1]]>

  4308. </DefaultExperiment>

  4309.   <Experiment>

  4310.     <Name>Experiment 1</Name>

  4311.     <CreatedBy></CreatedBy>

  4312.     <Info></Info>

  4313. <ExpData>

  4314.   <VersionNumber>4.8</VersionNumber>

  4315.   <ModelProperties>

  4316.     <ModelProperty section="GenSimProps" entry="ClearVarsAtStart" value="1"/>

  4317.   </ModelProperties>

  4318.   <Variables>

  4319.    <Constants>

  4320.    </Constants>

  4321.    <Parameters>

  4322.     <Variable>

  4323.      <Name>stepper_model\phase_control\max_a</Name>

  4324.      <Unit>m/s2</Unit>

  4325.      <Value>0</Value>

  4326.     </Variable>

  4327.     <Variable>

  4328.      <Name>stepper_model1\phase_control\max_a</Name>

  4329.      <Unit>m/s2</Unit>

  4330.      <Value>0</Value>

  4331.     </Variable>

  4332.    </Parameters>

  4333.    <Initials>

  4334.     <Variable>

  4335.      <Name>C1\state_initial</Name>

  4336.      <Rows>3</Rows>

  4337.      <Columns>1</Columns>

  4338.      <Value>0 0 0</Value>

  4339.     </Variable>

  4340.     <Variable>

  4341.      <Name>C2\state_initial</Name>

  4342.      <Rows>3</Rows>

  4343.      <Columns>1</Columns>

  4344.      <Value>0 0 0</Value>

  4345.     </Variable>

  4346.     <Variable>

  4347.      <Name>C3\state_initial</Name>

  4348.      <Rows>2</Rows>

  4349.      <Columns>1</Columns>

  4350.      <Value>0 0</Value>

  4351.     </Variable>

  4352.     <Variable>

  4353.      <Name>C4\state_initial</Name>

  4354.      <Rows>2</Rows>

  4355.      <Columns>1</Columns>

  4356.      <Value>0 0</Value>

  4357.     </Variable>

  4358.     <Variable>

  4359.      <Name>C5\state_initial</Name>

  4360.      <Value>0</Value>

  4361.     </Variable>

  4362.     <Variable>

  4363.      <Name>COM1\InertialTensor\state_initial</Name>

  4364.      <Rows>6</Rows>

  4365.      <Columns>1</Columns>

  4366.      <Value>0 0 0 0 0 0</Value>

  4367.     </Variable>

  4368.     <Variable>

  4369.      <Name>COM\InertialTensor\state_initial</Name>

  4370.      <Rows>6</Rows>

  4371.      <Columns>1</Columns>

  4372.      <Value>0 0 0 0 0 0</Value>

  4373.     </Variable>

  4374.     <Variable>

  4375.      <Name>C\state_initial</Name>

  4376.      <Value>0</Value>

  4377.     </Variable>

  4378.     <Variable>

  4379.      <Name>Joint1\Hmatrix\p_initial</Name>

  4380.      <Rows>3</Rows>

  4381.      <Columns>1</Columns>

  4382.      <Value>0 0 0</Value>

  4383.     </Variable>

  4384.     <Variable>

  4385.      <Name>Joint\Hmatrix\p_initial</Name>

  4386.      <Rows>3</Rows>

  4387.      <Columns>1</Columns>

  4388.      <Value>0 0 0</Value>

  4389.     </Variable>

  4390.     <Variable>

  4391.      <Name>stepper_control1\Position_control\state_initial</Name>

  4392.      <Value>0</Value>

  4393.     </Variable>

  4394.     <Variable>

  4395.      <Name>stepper_control1\Velocity_control\state_initial</Name>

  4396.      <Value>0</Value>

  4397.     </Variable>

  4398.     <Variable>

  4399.      <Name>stepper_control\Position_control\state_initial</Name>

  4400.      <Value>0</Value>

  4401.     </Variable>

  4402.     <Variable>

  4403.      <Name>stepper_control\Velocity_control\state_initial</Name>

  4404.      <Value>0</Value>

  4405.     </Variable>

  4406.     <Variable>

  4407.      <Name>stepper_model1\I1\state_initial</Name>

  4408.      <Value>0</Value>

  4409.     </Variable>

  4410.     <Variable>

  4411.      <Name>stepper_model1\I2\state_initial</Name>

  4412.      <Value>0</Value>

  4413.     </Variable>

  4414.     <Variable>

  4415.      <Name>stepper_model1\I\state_initial</Name>

  4416.      <Value>0</Value>

  4417.     </Variable>

  4418.     <Variable>

  4419.      <Name>stepper_model1\RotorAngle\angle_initial</Name>

  4420.      <Unit>rad</Unit>

  4421.      <Value>0</Value>

  4422.     </Variable>

  4423.     <Variable>

  4424.      <Name>stepper_model\I1\state_initial</Name>

  4425.      <Value>0</Value>

  4426.     </Variable>

  4427.     <Variable>

  4428.      <Name>stepper_model\I2\state_initial</Name>

  4429.      <Value>0</Value>

  4430.     </Variable>

  4431.     <Variable>

  4432.      <Name>stepper_model\I\state_initial</Name>

  4433.      <Value>0</Value>

  4434.     </Variable>

  4435.     <Variable>

  4436.      <Name>stepper_model\RotorAngle\angle_initial</Name>

  4437.      <Unit>rad</Unit>

  4438.      <Value>0</Value>

  4439.     </Variable>

  4440.     <Variable>

  4441.      <Name>COM2\InertialTensor\p.e_initial</Name>

  4442.      <Rows>6</Rows>

  4443.      <Columns>1</Columns>

  4444.      <Value>0 0 0 0 0 0</Value>

  4445.     </Variable>

  4446.    </Initials>

  4447.   </Variables>

  4448.   <PlotSpecs>

  4449.    <VarNames>

  4450.     <VarName>time</VarName>

  4451.     <VarName>new_joint1\position[1]</VarName>

  4452.     <VarName>new_joint1\position[2]</VarName>

  4453.     <VarName>new_joint1\position[3]</VarName>

  4454.     <VarName>new_joint1\R[1,3]</VarName>

  4455.     <VarName>new_joint1\R[2,3]</VarName>

  4456.     <VarName>new_joint1\R[3,3]</VarName>

  4457.     <VarName>new_joint1\R[1,2]</VarName>

  4458.     <VarName>new_joint1\R[2,2]</VarName>

  4459.     <VarName>new_joint1\R[3,2]</VarName>

  4460.     <VarName>new_joint2\R[1,3]</VarName>

  4461.     <VarName>new_joint2\R[2,3]</VarName>

  4462.     <VarName>new_joint2\R[3,3]</VarName>

  4463.     <VarName>new_joint2\R[1,2]</VarName>

  4464.     <VarName>new_joint2\R[2,2]</VarName>

  4465.     <VarName>new_joint2\R[3,2]</VarName>

  4466.     <VarName>new_joint2\position[1]</VarName>

  4467.     <VarName>new_joint2\position[2]</VarName>

  4468.     <VarName>new_joint2\position[3]</VarName>

  4469.     <VarName>new_joint3\position[3]</VarName>

  4470.     <VarName>new_joint3\position[2]</VarName>

  4471.     <VarName>rectanglepath1\output[2]</VarName>

  4472.     <VarName>rectanglepath1\output[1]</VarName>

  4473.     <VarName>stepper_control\Acceleration_int\output</VarName>

  4474.     <VarName>stepper_control\Acceleration_int\input</VarName>

  4475.     <VarName>stepper_control\Velocity_int\output</VarName>

  4476.     <VarName>stepper_control1\Acceleration_int\output</VarName>

  4477.     <VarName>stepper_control1\Acceleration_int\input</VarName>

  4478.     <VarName>stepper_control1\Velocity_int\output</VarName>

  4479.     <VarName>Submodel3\dimension[1]</VarName>

  4480.     <VarName>Submodel3\dimension[2]</VarName>

  4481.     <VarName>Submodel3\dimension[3]</VarName>

  4482.     <VarName>Submodel4\dimension[1]</VarName>

  4483.     <VarName>Submodel4\dimension[2]</VarName>

  4484.     <VarName>Submodel4\dimension[3]</VarName>

  4485.     <VarName>Step\output</VarName>

  4486.     <VarName>Integrate2\output</VarName>

  4487.     <VarName>motor_joint2\SignalLimiter2\output</VarName>

  4488.    </VarNames>

  4489.    <Plots>

  4490.     <Plot>

  4491.      <PlotType>D3DPlot</PlotType>

  4492.      <BasePlot>

  4493.        <PlotId>1</PlotId>

  4494.        <UseWindowsBGColor>false</UseWindowsBGColor>

  4495.        <BGColor>16777215</BGColor>

  4496.        <PlotIsVisible>true</PlotIsVisible>

  4497.      </BasePlot>

  4498.      <PlotTitle>3D Animation</PlotTitle>

  4499.      <RenderQuality>137</RenderQuality>

  4500.      <ShowGrid>true</ShowGrid>

  4501.      <ShowFPS>false</ShowFPS>

  4502.      <BackgroundColor>4294967295</BackgroundColor>

  4503.      <SceneBackgroundImage>Gradients\BlueWhite.png</SceneBackgroundImage>

  4504.      <ApplyTextureBackground>true</ApplyTextureBackground>

  4505.      <FrameScale>1.0</FrameScale>

  4506.      <FrameThickness>1.0</FrameThickness>

  4507.      <MainFrame>

  4508.       <Frame>

  4509.        <ScaleValue>

  4510.         <X>

  4511.          <Value>1</Value>

  4512.         </X>

  4513.         <Y>

  4514.          <Value>1</Value>

  4515.         </Y>

  4516.         <Z>

  4517.          <Value>1</Value>

  4518.         </Z>

  4519.        </ScaleValue>

  4520.        <ShowReferenceFrame>true</ShowReferenceFrame>

  4521.        <Name>Reference Frame</Name>

  4522.        <Position>

  4523.        </Position>

  4524.        <Orientation>

  4525.         <Angles>

  4526.         </Angles>

  4527.         <OrientationType>Bryant</OrientationType>

  4528.        </Orientation>

  4529.        <LockX>false</LockX>

  4530.        <LockY>false</LockY>

  4531.        <LockZ>false</LockZ>

  4532.        <LockXPitch>false</LockXPitch>

  4533.        <LockYYaw>false</LockYYaw>

  4534.        <LockZRoll>false</LockZRoll>

  4535.        <Childs>

  4536.         <Frame>

  4537.          <ScaleValue>

  4538.      <X>

  4539.       <Value>1</Value>

  4540.      </X>

  4541.      <Y>

  4542.       <Value>1</Value>

  4543.      </Y>

  4544.      <Z>

  4545.       <Value>1</Value>

  4546.      </Z>

  4547.          </ScaleValue>

  4548.          <ShowReferenceFrame>false</ShowReferenceFrame>

  4549.          <Name>Default Lights and Cameras</Name>

  4550.          <Position>

  4551.          </Position>

  4552.          <Orientation>

  4553.      <Angles>

  4554.      </Angles>

  4555.      <OrientationType>Bryant</OrientationType>

  4556.          </Orientation>

  4557.          <LockX>false</LockX>

  4558.          <LockY>false</LockY>

  4559.          <LockZ>false</LockZ>

  4560.          <LockXPitch>false</LockXPitch>

  4561.          <LockYYaw>false</LockYYaw>

  4562.          <LockZRoll>false</LockZRoll>

  4563.          <Childs>

  4564.      <Light>

  4565.       <ShowReferenceFrame>false</ShowReferenceFrame>

  4566.       <Name>Ambient</Name>

  4567.       <Position>

  4568.       </Position>

  4569.       <Orientation>

  4570.        <ZAxis>

  4571.         <Z>

  4572.          <Value>1</Value>

  4573.         </Z>

  4574.        </ZAxis>

  4575.        <YAxis>

  4576.         <Y>

  4577.          <Value>1</Value>

  4578.         </Y>

  4579.        </YAxis>

  4580.        <OrientationType>Direct3D</OrientationType>

  4581.       </Orientation>

  4582.       <LockX>false</LockX>

  4583.       <LockY>false</LockY>

  4584.       <LockZ>false</LockZ>

  4585.       <LockXPitch>false</LockXPitch>

  4586.       <LockYYaw>false</LockYYaw>

  4587.       <LockZRoll>false</LockZRoll>

  4588.       <Childs>

  4589.       </Childs>

  4590.       <LightType>0</LightType>

  4591.       <LightColor>

  4592.        <Color>

  4593.         <X>

  4594.          <Value>0.3</Value>

  4595.         </X>

  4596.         <Y>

  4597.          <Value>0.3</Value>

  4598.         </Y>

  4599.         <Z>

  4600.          <Value>0.3</Value>

  4601.         </Z>

  4602.        </Color>

  4603.        <Offset>

  4604.        </Offset>

  4605.        <Multipliers>

  4606.         <X>

  4607.          <Value>1</Value>

  4608.         </X>

  4609.         <Y>

  4610.          <Value>1</Value>

  4611.         </Y>

  4612.         <Z>

  4613.          <Value>1</Value>

  4614.         </Z>

  4615.        </Multipliers>

  4616.        <Direct3DColorRange>true</Direct3DColorRange>

  4617.       </LightColor>

  4618.       <AmbientLight>

  4619.        <Color>

  4620.         <X>

  4621.          <Value>0.3</Value>

  4622.         </X>

  4623.         <Y>

  4624.          <Value>0.3</Value>

  4625.         </Y>

  4626.         <Z>

  4627.          <Value>0.3</Value>

  4628.         </Z>

  4629.        </Color>

  4630.        <Offset>

  4631.        </Offset>

  4632.        <Multipliers>

  4633.         <X>

  4634.          <Value>1</Value>

  4635.         </X>

  4636.         <Y>

  4637.          <Value>1</Value>

  4638.         </Y>

  4639.         <Z>

  4640.          <Value>1</Value>

  4641.         </Z>

  4642.        </Multipliers>

  4643.        <Direct3DColorRange>true</Direct3DColorRange>

  4644.       </AmbientLight>

  4645.       <AmbientOn>true</AmbientOn>

  4646.       <DiffuseOn>false</DiffuseOn>

  4647.       <SpecularOn>false</SpecularOn>

  4648.      </Light>

  4649.      <Light>

  4650.       <ShowReferenceFrame>false</ShowReferenceFrame>

  4651.       <Name>Parallel</Name>

  4652.       <Position>

  4653.        <X>

  4654.         <Value>-3</Value>

  4655.        </X>

  4656.        <Y>

  4657.         <Value>5</Value>

  4658.        </Y>

  4659.        <Z>

  4660.         <Value>3</Value>

  4661.        </Z>

  4662.       </Position>

  4663.       <Orientation>

  4664.        <ZAxis>

  4665.         <X>

  4666.          <Value>0.457495710997814</Value>

  4667.         </X>

  4668.         <Y>

  4669.          <Value>-0.762492851663023</Value>

  4670.         </Y>

  4671.         <Z>

  4672.          <Value>-0.457495710997814</Value>

  4673.         </Z>

  4674.        </ZAxis>

  4675.        <YAxis>

  4676.         <X>

  4677.          <Value>0.235379601434674</Value>

  4678.         </X>

  4679.         <Y>

  4680.          <Value>-0.392299335724456</Value>

  4681.         </Y>

  4682.         <Z>

  4683.          <Value>0.889211827642101</Value>

  4684.         </Z>

  4685.        </YAxis>

  4686.        <OrientationType>Direct3D</OrientationType>

  4687.       </Orientation>

  4688.       <LockX>false</LockX>

  4689.       <LockY>false</LockY>

  4690.       <LockZ>false</LockZ>

  4691.       <LockXPitch>false</LockXPitch>

  4692.       <LockYYaw>false</LockYYaw>

  4693.       <LockZRoll>false</LockZRoll>

  4694.       <Childs>

  4695.       </Childs>

  4696.       <LightType>3</LightType>

  4697.       <LightColor>

  4698.        <Color>

  4699.         <X>

  4700.          <Value>0.5</Value>

  4701.         </X>

  4702.         <Y>

  4703.          <Value>0.5</Value>

  4704.         </Y>

  4705.         <Z>

  4706.          <Value>0.5</Value>

  4707.         </Z>

  4708.        </Color>

  4709.        <Offset>

  4710.        </Offset>

  4711.        <Multipliers>

  4712.         <X>

  4713.          <Value>1</Value>

  4714.         </X>

  4715.         <Y>

  4716.          <Value>1</Value>

  4717.         </Y>

  4718.         <Z>

  4719.          <Value>1</Value>

  4720.         </Z>

  4721.        </Multipliers>

  4722.        <Direct3DColorRange>true</Direct3DColorRange>

  4723.       </LightColor>

  4724.       <Attenuation>

  4725.        <Constant>

  4726.         <Value>1.0</Value>

  4727.        </Constant>

  4728.        <Linear>

  4729.         <Value>0.0</Value>

  4730.        </Linear>

  4731.        <Quadratic>

  4732.         <Value>0.0</Value>

  4733.        </Quadratic>

  4734.       </Attenuation>

  4735.       <DiffuseLight>

  4736.        <Color>

  4737.         <X>

  4738.          <Value>0.5</Value>

  4739.         </X>

  4740.         <Y>

  4741.          <Value>0.5</Value>

  4742.         </Y>

  4743.         <Z>

  4744.          <Value>0.5</Value>

  4745.         </Z>

  4746.        </Color>

  4747.        <Offset>

  4748.        </Offset>

  4749.        <Multipliers>

  4750.         <X>

  4751.          <Value>1</Value>

  4752.         </X>

  4753.         <Y>

  4754.          <Value>1</Value>

  4755.         </Y>

  4756.         <Z>

  4757.          <Value>1</Value>

  4758.         </Z>

  4759.        </Multipliers>

  4760.        <Direct3DColorRange>true</Direct3DColorRange>

  4761.       </DiffuseLight>

  4762.       <SpecularLight>

  4763.        <Color>

  4764.         <X>

  4765.          <Value>0.5</Value>

  4766.         </X>

  4767.         <Y>

  4768.          <Value>0.5</Value>

  4769.         </Y>

  4770.         <Z>

  4771.          <Value>0.5</Value>

  4772.         </Z>

  4773.        </Color>

  4774.        <Offset>

  4775.        </Offset>

  4776.        <Multipliers>

  4777.         <X>

  4778.          <Value>1</Value>

  4779.         </X>

  4780.         <Y>

  4781.          <Value>1</Value>

  4782.         </Y>

  4783.         <Z>

  4784.          <Value>1</Value>

  4785.         </Z>

  4786.        </Multipliers>

  4787.        <Direct3DColorRange>true</Direct3DColorRange>

  4788.       </SpecularLight>

  4789.       <AmbientOn>false</AmbientOn>

  4790.       <DiffuseOn>true</DiffuseOn>

  4791.       <SpecularOn>true</SpecularOn>

  4792.      </Light>

  4793.      <Light>

  4794.       <ShowReferenceFrame>false</ShowReferenceFrame>

  4795.       <Name>Spot Light 1</Name>

  4796.       <Position>

  4797.        <X>

  4798.         <Value>-3</Value>

  4799.        </X>

  4800.        <Y>

  4801.         <Value>-5</Value>

  4802.        </Y>

  4803.        <Z>

  4804.         <Value>1</Value>

  4805.        </Z>

  4806.       </Position>

  4807.       <Orientation>

  4808.        <ZAxis>

  4809.         <X>

  4810.          <Value>0.50709255283711</Value>

  4811.         </X>

  4812.         <Y>

  4813.          <Value>0.845154254728517</Value>

  4814.         </Y>

  4815.         <Z>

  4816.          <Value>-0.169030850945703</Value>

  4817.         </Z>

  4818.        </ZAxis>

  4819.        <YAxis>

  4820.         <X>

  4821.          <Value>0.0869656553478673</Value>

  4822.         </X>

  4823.         <Y>

  4824.          <Value>0.144942758913112</Value>

  4825.         </Y>

  4826.         <Z>

  4827.          <Value>0.985610760609162</Value>

  4828.         </Z>

  4829.        </YAxis>

  4830.        <OrientationType>Direct3D</OrientationType>

  4831.       </Orientation>

  4832.       <LockX>false</LockX>

  4833.       <LockY>false</LockY>

  4834.       <LockZ>false</LockZ>

  4835.       <LockXPitch>false</LockXPitch>

  4836.       <LockYYaw>false</LockYYaw>

  4837.       <LockZRoll>false</LockZRoll>

  4838.       <Childs>

  4839.       </Childs>

  4840.       <LightType>2</LightType>

  4841.       <LightColor>

  4842.        <Color>

  4843.         <X>

  4844.          <Value>0.5</Value>

  4845.         </X>

  4846.         <Y>

  4847.          <Value>0.5</Value>

  4848.         </Y>

  4849.         <Z>

  4850.          <Value>0.5</Value>

  4851.         </Z>

  4852.        </Color>

  4853.        <Offset>

  4854.        </Offset>

  4855.        <Multipliers>

  4856.         <X>

  4857.          <Value>1</Value>

  4858.         </X>

  4859.         <Y>

  4860.          <Value>1</Value>

  4861.         </Y>

  4862.         <Z>

  4863.          <Value>1</Value>

  4864.         </Z>

  4865.        </Multipliers>

  4866.        <Direct3DColorRange>true</Direct3DColorRange>

  4867.       </LightColor>

  4868.       <Attenuation>

  4869.        <Constant>

  4870.         <Value>1.0</Value>

  4871.        </Constant>

  4872.        <Linear>

  4873.         <Value>0.05</Value>

  4874.        </Linear>

  4875.        <Quadratic>

  4876.         <Value>0.05</Value>

  4877.        </Quadratic>

  4878.       </Attenuation>

  4879.       <Umbra>

  4880.        <Value>1.0471975511965976</Value>

  4881.       </Umbra>

  4882.       <Penumbra>

  4883.        <Value>1.0471975511965976</Value>

  4884.       </Penumbra>

  4885.       <SpotExponent>0.0</SpotExponent>

  4886.       <DiffuseLight>

  4887.        <Color>

  4888.         <X>

  4889.          <Value>0.5</Value>

  4890.         </X>

  4891.         <Y>

  4892.          <Value>0.5</Value>

  4893.         </Y>

  4894.         <Z>

  4895.          <Value>0.5</Value>

  4896.         </Z>

  4897.        </Color>

  4898.        <Offset>

  4899.        </Offset>

  4900.        <Multipliers>

  4901.         <X>

  4902.          <Value>1</Value>

  4903.         </X>

  4904.         <Y>

  4905.          <Value>1</Value>

  4906.         </Y>

  4907.         <Z>

  4908.          <Value>1</Value>

  4909.         </Z>

  4910.        </Multipliers>

  4911.        <Direct3DColorRange>true</Direct3DColorRange>

  4912.       </DiffuseLight>

  4913.       <SpecularLight>

  4914.        <Color>

  4915.         <X>

  4916.          <Value>0.5</Value>

  4917.         </X>

  4918.         <Y>

  4919.          <Value>0.5</Value>

  4920.         </Y>

  4921.         <Z>

  4922.          <Value>0.5</Value>

  4923.         </Z>

  4924.        </Color>

  4925.        <Offset>

  4926.        </Offset>

  4927.        <Multipliers>

  4928.         <X>

  4929.          <Value>1</Value>

  4930.         </X>

  4931.         <Y>

  4932.          <Value>1</Value>

  4933.         </Y>

  4934.         <Z>

  4935.          <Value>1</Value>

  4936.         </Z>

  4937.        </Multipliers>

  4938.        <Direct3DColorRange>true</Direct3DColorRange>

  4939.       </SpecularLight>

  4940.       <AmbientOn>false</AmbientOn>

  4941.       <DiffuseOn>true</DiffuseOn>

  4942.       <SpecularOn>true</SpecularOn>

  4943.      </Light>

  4944.      <Light>

  4945.       <ShowReferenceFrame>false</ShowReferenceFrame>

  4946.       <Name>Spot Light 2</Name>

  4947.       <Position>

  4948.        <X>

  4949.         <Value>2</Value>

  4950.        </X>

  4951.        <Y>

  4952.         <Value>-3</Value>

  4953.        </Y>

  4954.        <Z>

  4955.         <Value>-1</Value>

  4956.        </Z>

  4957.       </Position>

  4958.       <Orientation>

  4959.        <ZAxis>

  4960.         <X>

  4961.          <Value>-0.534522483824849</Value>

  4962.         </X>

  4963.         <Y>

  4964.          <Value>0.801783725737273</Value>

  4965.         </Y>

  4966.         <Z>

  4967.          <Value>0.267261241912424</Value>

  4968.         </Z>

  4969.        </ZAxis>

  4970.        <YAxis>

  4971.         <X>

  4972.          <Value>0.14824986333222</Value>

  4973.         </X>

  4974.         <Y>

  4975.          <Value>-0.22237479499833</Value>

  4976.         </Y>

  4977.         <Z>

  4978.          <Value>0.963624111659432</Value>

  4979.         </Z>

  4980.        </YAxis>

  4981.        <OrientationType>Direct3D</OrientationType>

  4982.       </Orientation>

  4983.       <LockX>false</LockX>

  4984.       <LockY>false</LockY>

  4985.       <LockZ>false</LockZ>

  4986.       <LockXPitch>false</LockXPitch>

  4987.       <LockYYaw>false</LockYYaw>

  4988.       <LockZRoll>false</LockZRoll>

  4989.       <Childs>

  4990.       </Childs>

  4991.       <LightType>2</LightType>

  4992.       <LightColor>

  4993.        <Color>

  4994.         <X>

  4995.          <Value>1</Value>

  4996.         </X>

  4997.         <Y>

  4998.          <Value>1</Value>

  4999.         </Y>

  5000.         <Z>

  5001.          <Value>1</Value>

  5002.         </Z>

  5003.        </Color>

  5004.        <Offset>

  5005.        </Offset>

  5006.        <Multipliers>

  5007.         <X>

  5008.          <Value>1</Value>

  5009.         </X>

  5010.         <Y>

  5011.          <Value>1</Value>

  5012.         </Y>

  5013.         <Z>

  5014.          <Value>1</Value>

  5015.         </Z>

  5016.        </Multipliers>

  5017.        <Direct3DColorRange>true</Direct3DColorRange>

  5018.       </LightColor>

  5019.       <Attenuation>

  5020.        <Constant>

  5021.         <Value>1.0</Value>

  5022.        </Constant>

  5023.        <Linear>

  5024.         <Value>0.05</Value>

  5025.        </Linear>

  5026.        <Quadratic>

  5027.         <Value>0.05</Value>

  5028.        </Quadratic>

  5029.       </Attenuation>

  5030.       <Umbra>

  5031.        <Value>1.5707963267948966</Value>

  5032.       </Umbra>

  5033.       <Penumbra>

  5034.        <Value>1.5707963267948966</Value>

  5035.       </Penumbra>

  5036.       <SpotExponent>0.0</SpotExponent>

  5037.       <DiffuseLight>

  5038.        <Color>

  5039.         <X>

  5040.          <Value>1</Value>

  5041.         </X>

  5042.         <Y>

  5043.          <Value>1</Value>

  5044.         </Y>

  5045.         <Z>

  5046.          <Value>1</Value>

  5047.         </Z>

  5048.        </Color>

  5049.        <Offset>

  5050.        </Offset>

  5051.        <Multipliers>

  5052.         <X>

  5053.          <Value>1</Value>

  5054.         </X>

  5055.         <Y>

  5056.          <Value>1</Value>

  5057.         </Y>

  5058.         <Z>

  5059.          <Value>1</Value>

  5060.         </Z>

  5061.        </Multipliers>

  5062.        <Direct3DColorRange>true</Direct3DColorRange>

  5063.       </DiffuseLight>

  5064.       <SpecularLight>

  5065.        <Color>

  5066.         <X>

  5067.          <Value>0.5</Value>

  5068.         </X>

  5069.         <Y>

  5070.          <Value>0.5</Value>

  5071.         </Y>

  5072.         <Z>

  5073.          <Value>0.5</Value>

  5074.         </Z>

  5075.        </Color>

  5076.        <Offset>

  5077.        </Offset>

  5078.        <Multipliers>

  5079.         <X>

  5080.          <Value>1</Value>

  5081.         </X>

  5082.         <Y>

  5083.          <Value>1</Value>

  5084.         </Y>

  5085.         <Z>

  5086.          <Value>1</Value>

  5087.         </Z>

  5088.        </Multipliers>

  5089.        <Direct3DColorRange>true</Direct3DColorRange>

  5090.       </SpecularLight>

  5091.       <AmbientOn>false</AmbientOn>

  5092.       <DiffuseOn>true</DiffuseOn>

  5093.       <SpecularOn>true</SpecularOn>

  5094.      </Light>

  5095.      <Camera>

  5096.       <ShowReferenceFrame>false</ShowReferenceFrame>

  5097.       <Name>Camera Looking at Origin</Name>

  5098.       <Position>

  5099.        <X>

  5100.         <Value>3.04292494817788</Value>

  5101.        </X>

  5102.        <Y>

  5103.         <Value>-0.198158420944799</Value>

  5104.        </Y>

  5105.        <Z>

  5106.         <Value>2.86669745787175</Value>

  5107.        </Z>

  5108.       </Position>

  5109.       <Orientation>

  5110.        <ZAxis>

  5111.         <X>

  5112.          <Value>-0.727053165168863</Value>

  5113.         </X>

  5114.         <Y>

  5115.          <Value>0.0473464543511177</Value>

  5116.         </Y>

  5117.         <Z>

  5118.          <Value>-0.684946719298892</Value>

  5119.         </Z>

  5120.        </ZAxis>

  5121.        <YAxis>

  5122.         <X>

  5123.          <Value>-0.6834989786941</Value>

  5124.         </X>

  5125.         <Y>

  5126.          <Value>0.0445101606651553</Value>

  5127.         </Y>

  5128.         <Z>

  5129.          <Value>0.728593159260835</Value>

  5130.         </Z>

  5131.        </YAxis>

  5132.        <OrientationType>Direct3D</OrientationType>

  5133.       </Orientation>

  5134.       <LockX>false</LockX>

  5135.       <LockY>false</LockY>

  5136.       <LockZ>false</LockZ>

  5137.       <LockXPitch>false</LockXPitch>

  5138.       <LockYYaw>false</LockYYaw>

  5139.       <LockZRoll>false</LockZRoll>

  5140.       <Childs>

  5141.       </Childs>

  5142.       <FrontPlane>0.01</FrontPlane>

  5143.       <BackPlane>100.0</BackPlane>

  5144.       <AutoFrontBack>true</AutoFrontBack>

  5145.       <Field>0.003926990816987242</Field>

  5146.       <Fieldy>45.0</Fieldy>

  5147.       <PlaneLeft>-10.0</PlaneLeft>

  5148.       <PlaneRight>10.0</PlaneRight>

  5149.       <PlaneTop>10.0</PlaneTop>

  5150.       <PlaneBottom>-10.0</PlaneBottom>

  5151.       <UseLookatPosition>true</UseLookatPosition>

  5152.       <LookatPosition>

  5153.        <X>

  5154.         <Value>-9.99200722162641e-016</Value>

  5155.        </X>

  5156.        <Y>

  5157.         <Value>1.76247905159244e-015</Value>

  5158.        </Y>

  5159.        <Z>

  5160.         <Value>-3.05678199886544e-015</Value>

  5161.        </Z>

  5162.       </LookatPosition>

  5163.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  5164.       <LookUpVector>

  5165.        <Z>

  5166.         <Value>1</Value>

  5167.        </Z>

  5168.       </LookUpVector>

  5169.       <RightHand>true</RightHand>

  5170.       <Perspective>true</Perspective>

  5171.       <IsSelectedCamera>true</IsSelectedCamera>

  5172.      </Camera>

  5173.      <Camera>

  5174.       <ShowReferenceFrame>false</ShowReferenceFrame>

  5175.       <Name>Front(XY)-Camera</Name>

  5176.       <Position>

  5177.        <Z>

  5178.         <Value>10</Value>

  5179.        </Z>

  5180.       </Position>

  5181.       <Orientation>

  5182.        <ZAxis>

  5183.         <Z>

  5184.          <Value>-1</Value>

  5185.         </Z>

  5186.        </ZAxis>

  5187.        <YAxis>

  5188.         <Y>

  5189.          <Value>1</Value>

  5190.         </Y>

  5191.        </YAxis>

  5192.        <OrientationType>Direct3D</OrientationType>

  5193.       </Orientation>

  5194.       <LockX>false</LockX>

  5195.       <LockY>false</LockY>

  5196.       <LockZ>false</LockZ>

  5197.       <LockXPitch>false</LockXPitch>

  5198.       <LockYYaw>false</LockYYaw>

  5199.       <LockZRoll>false</LockZRoll>

  5200.       <Childs>

  5201.       </Childs>

  5202.       <FrontPlane>0.01</FrontPlane>

  5203.       <BackPlane>100.0</BackPlane>

  5204.       <AutoFrontBack>true</AutoFrontBack>

  5205.       <Field>9.999999999999998</Field>

  5206.       <Fieldy>45.0</Fieldy>

  5207.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  5208.       <PlaneRight>9.999999999999998</PlaneRight>

  5209.       <PlaneTop>9.999999999999998</PlaneTop>

  5210.       <PlaneBottom>-9.999999999999998</PlaneBottom>

  5211.       <UseLookatPosition>true</UseLookatPosition>

  5212.       <LookatPosition>

  5213.       </LookatPosition>

  5214.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  5215.       <LookUpVector>

  5216.        <Y>

  5217.         <Value>1</Value>

  5218.        </Y>

  5219.       </LookUpVector>

  5220.       <RightHand>true</RightHand>

  5221.       <Perspective>false</Perspective>

  5222.       <IsSelectedCamera>false</IsSelectedCamera>

  5223.      </Camera>

  5224.      <Camera>

  5225.       <ShowReferenceFrame>false</ShowReferenceFrame>

  5226.       <Name>Side(YZ)-Camera</Name>

  5227.       <Position>

  5228.        <X>

  5229.         <Value>10</Value>

  5230.        </X>

  5231.       </Position>

  5232.       <Orientation>

  5233.        <ZAxis>

  5234.         <X>

  5235.          <Value>-1</Value>

  5236.         </X>

  5237.        </ZAxis>

  5238.        <YAxis>

  5239.         <Z>

  5240.          <Value>1</Value>

  5241.         </Z>

  5242.        </YAxis>

  5243.        <OrientationType>Direct3D</OrientationType>

  5244.       </Orientation>

  5245.       <LockX>false</LockX>

  5246.       <LockY>false</LockY>

  5247.       <LockZ>false</LockZ>

  5248.       <LockXPitch>false</LockXPitch>

  5249.       <LockYYaw>false</LockYYaw>

  5250.       <LockZRoll>false</LockZRoll>

  5251.       <Childs>

  5252.       </Childs>

  5253.       <FrontPlane>0.01</FrontPlane>

  5254.       <BackPlane>100.0</BackPlane>

  5255.       <AutoFrontBack>true</AutoFrontBack>

  5256.       <Field>9.999999999999998</Field>

  5257.       <Fieldy>45.0</Fieldy>

  5258.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  5259.       <PlaneRight>9.999999999999998</PlaneRight>

  5260.       <PlaneTop>9.999999999999998</PlaneTop>

  5261.       <PlaneBottom>-9.999999999999998</PlaneBottom>

  5262.       <UseLookatPosition>true</UseLookatPosition>

  5263.       <LookatPosition>

  5264.       </LookatPosition>

  5265.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  5266.       <LookUpVector>

  5267.        <Z>

  5268.         <Value>1</Value>

  5269.        </Z>

  5270.       </LookUpVector>

  5271.       <RightHand>true</RightHand>

  5272.       <Perspective>false</Perspective>

  5273.       <IsSelectedCamera>false</IsSelectedCamera>

  5274.      </Camera>

  5275.      <Camera>

  5276.       <ShowReferenceFrame>false</ShowReferenceFrame>

  5277.       <Name>Top(XZ)-Camera</Name>

  5278.       <Position>

  5279.        <Y>

  5280.         <Value>10</Value>

  5281.        </Y>

  5282.       </Position>

  5283.       <Orientation>

  5284.        <ZAxis>

  5285.         <Y>

  5286.          <Value>-1</Value>

  5287.         </Y>

  5288.        </ZAxis>

  5289.        <YAxis>

  5290.         <X>

  5291.          <Value>1</Value>

  5292.         </X>

  5293.        </YAxis>

  5294.        <OrientationType>Direct3D</OrientationType>

  5295.       </Orientation>

  5296.       <LockX>false</LockX>

  5297.       <LockY>false</LockY>

  5298.       <LockZ>false</LockZ>

  5299.       <LockXPitch>false</LockXPitch>

  5300.       <LockYYaw>false</LockYYaw>

  5301.       <LockZRoll>false</LockZRoll>

  5302.       <Childs>

  5303.       </Childs>

  5304.       <FrontPlane>0.01</FrontPlane>

  5305.       <BackPlane>100.0</BackPlane>

  5306.       <AutoFrontBack>true</AutoFrontBack>

  5307.       <Field>9.999999999999998</Field>

  5308.       <Fieldy>45.0</Fieldy>

  5309.       <PlaneLeft>-9.999999999999998</PlaneLeft>

  5310.       <PlaneRight>9.999999999999998</PlaneRight>

  5311.       <PlaneTop>9.999999999999998</PlaneTop>

  5312.       <PlaneBottom>-9.999999999999998</PlaneBottom>

  5313.       <UseLookatPosition>true</UseLookatPosition>

  5314.       <LookatPosition>

  5315.       </LookatPosition>

  5316.       <UseAlwaysLookUp>true</UseAlwaysLookUp>

  5317.       <LookUpVector>

  5318.        <X>

  5319.         <Value>1</Value>

  5320.        </X>

  5321.       </LookUpVector>

  5322.       <RightHand>true</RightHand>

  5323.       <Perspective>false</Perspective>

  5324.       <IsSelectedCamera>false</IsSelectedCamera>

  5325.      </Camera>

  5326.          </Childs>

  5327.         </Frame>

  5328.         <Frame>

  5329.          <ScaleValue>

  5330.      <X>

  5331.       <Value>1</Value>

  5332.      </X>

  5333.      <Y>

  5334.       <Value>1</Value>

  5335.      </Y>

  5336.      <Z>

  5337.       <Value>1</Value>

  5338.      </Z>

  5339.          </ScaleValue>

  5340.          <ShowReferenceFrame>false</ShowReferenceFrame>

  5341.          <Name>Scenery</Name>

  5342.          <Position>

  5343.          </Position>

  5344.          <Orientation>

  5345.      <Angles>

  5346.      </Angles>

  5347.      <OrientationType>Bryant</OrientationType>

  5348.          </Orientation>

  5349.          <LockX>false</LockX>

  5350.          <LockY>false</LockY>

  5351.          <LockZ>false</LockZ>

  5352.          <LockXPitch>false</LockXPitch>

  5353.          <LockYYaw>false</LockYYaw>

  5354.          <LockZRoll>false</LockZRoll>

  5355.          <Childs>

  5356.      <Frame>

  5357.       <ScaleValue>

  5358.        <X>

  5359.         <Value>10</Value>

  5360.        </X>

  5361.        <Y>

  5362.         <Value>10</Value>

  5363.        </Y>

  5364.        <Z>

  5365.         <Value>10</Value>

  5366.        </Z>

  5367.       </ScaleValue>

  5368.       <ShowReferenceFrame>false</ShowReferenceFrame>

  5369.       <Name>Reference Frame</Name>

  5370.       <Position>

  5371.       </Position>

  5372.       <Orientation>

  5373.        <Angles>

  5374.        </Angles>

  5375.        <OrientationType>Bryant</OrientationType>

  5376.       </Orientation>

  5377.       <LockX>false</LockX>

  5378.       <LockY>false</LockY>

  5379.       <LockZ>false</LockZ>

  5380.       <LockXPitch>false</LockXPitch>

  5381.       <LockYYaw>false</LockYYaw>

  5382.       <LockZRoll>false</LockZRoll>

  5383.       <Childs>

  5384.        <Cube>

  5385.         <Center>Center</Center>

  5386.         <RibLength>1.0</RibLength>

  5387.         <ShowInnerSide>true</ShowInnerSide>

  5388.         <Accuracy>4</Accuracy>

  5389.         <ScaleValue>

  5390.          <X>

  5391.      <VariableName>Submodel3\dimension[1]</VariableName>

  5392.      <Value>0.005</Value>

  5393.          </X>

  5394.          <Y>

  5395.      <VariableName>Submodel3\dimension[2]</VariableName>

  5396.      <Value>0.065</Value>

  5397.          </Y>

  5398.          <Z>

  5399.      <VariableName>Submodel3\dimension[3]</VariableName>

  5400.      <Value>0.01</Value>

  5401.          </Z>

  5402.         </ScaleValue>

  5403.         <OverrideColor>true</OverrideColor>

  5404.         <MeshColor>

  5405.          <X>

  5406.      <Value>1</Value>

  5407.          </X>

  5408.          <Y>

  5409.      <Value>1</Value>

  5410.          </Y>

  5411.          <Z>

  5412.      <Value>1</Value>

  5413.          </Z>

  5414.         </MeshColor>

  5415.         <Alpha>1.0</Alpha>

  5416.         <MeshColorMultipliers>

  5417.          <X>

  5418.      <Value>1</Value>

  5419.          </X>

  5420.          <Y>

  5421.      <Value>1</Value>

  5422.          </Y>

  5423.          <Z>

  5424.      <Value>1</Value>

  5425.          </Z>

  5426.         </MeshColorMultipliers>

  5427.         <MeshColorOffsets>

  5428.         </MeshColorOffsets>

  5429.         <Direct3DColorRange>true</Direct3DColorRange>

  5430.         <SpecularColor>

  5431.          <X>

  5432.      <Value>0.498039215686275</Value>

  5433.          </X>

  5434.          <Y>

  5435.      <Value>0.498039215686275</Value>

  5436.          </Y>

  5437.          <Z>

  5438.      <Value>0.498039215686275</Value>

  5439.          </Z>

  5440.         </SpecularColor>

  5441.         <EmissiveColor>

  5442.         </EmissiveColor>

  5443.         <ShininessPower>

  5444.          <Value>14.298713684082</Value>

  5445.         </ShininessPower>

  5446.         <OverrideQuality>false</OverrideQuality>

  5447.         <ShowReferenceFrame>false</ShowReferenceFrame>

  5448.         <Name>Block</Name>

  5449.         <Position>

  5450.          <X>

  5451.      <VariableName>new_joint1\position[1]</VariableName>

  5452.      <Value>0.0</Value>

  5453.          </X>

  5454.          <Y>

  5455.      <VariableName>new_joint1\position[2]</VariableName>

  5456.      <Value>0.004779004084536204</Value>

  5457.          </Y>

  5458.          <Z>

  5459.      <VariableName>new_joint1\position[3]</VariableName>

  5460.      <Value>0.032131984037075616</Value>

  5461.          </Z>

  5462.         </Position>

  5463.         <Orientation>

  5464.          <ZAxis>

  5465.      <X>

  5466.       <VariableName>new_joint1\R[1,3]</VariableName>

  5467.       <Value>0.0</Value>

  5468.      </X>

  5469.      <Y>

  5470.       <VariableName>new_joint1\R[2,3]</VariableName>

  5471.       <Value>-0.9891507613546217</Value>

  5472.      </Y>

  5473.      <Z>

  5474.       <VariableName>new_joint1\R[3,3]</VariableName>

  5475.       <Value>0.14690395267511475</Value>

  5476.      </Z>

  5477.          </ZAxis>

  5478.          <YAxis>

  5479.      <X>

  5480.       <VariableName>new_joint1\R[1,2]</VariableName>

  5481.       <Value>0.0</Value>

  5482.      </X>

  5483.      <Y>

  5484.       <VariableName>new_joint1\R[2,2]</VariableName>

  5485.       <Value>0.14690395267511475</Value>

  5486.      </Y>

  5487.      <Z>

  5488.       <VariableName>new_joint1\R[3,2]</VariableName>

  5489.       <Value>0.9891507613546217</Value>

  5490.      </Z>

  5491.          </YAxis>

  5492.          <OrientationType>Matrix</OrientationType>

  5493.         </Orientation>

  5494.         <LockX>false</LockX>

  5495.         <LockY>false</LockY>

  5496.         <LockZ>false</LockZ>

  5497.         <LockXPitch>false</LockXPitch>

  5498.         <LockYYaw>false</LockYYaw>

  5499.         <LockZRoll>false</LockZRoll>

  5500.         <Childs>

  5501.         </Childs>

  5502.        </Cube>

  5503.        <Cube>

  5504.         <Center>Center</Center>

  5505.         <RibLength>1.0</RibLength>

  5506.         <ShowInnerSide>true</ShowInnerSide>

  5507.         <Accuracy>4</Accuracy>

  5508.         <ScaleValue>

  5509.          <X>

  5510.      <VariableName>Submodel4\dimension[1]</VariableName>

  5511.      <Value>0.005</Value>

  5512.          </X>

  5513.          <Y>

  5514.      <VariableName>Submodel4\dimension[2]</VariableName>

  5515.      <Value>0.05</Value>

  5516.          </Y>

  5517.          <Z>

  5518.      <VariableName>Submodel4\dimension[3]</VariableName>

  5519.      <Value>0.01</Value>

  5520.          </Z>

  5521.         </ScaleValue>

  5522.         <OverrideColor>true</OverrideColor>

  5523.         <MeshColor>

  5524.          <X>

  5525.      <Value>1</Value>

  5526.          </X>

  5527.          <Y>

  5528.      <Value>1</Value>

  5529.          </Y>

  5530.          <Z>

  5531.      <Value>1</Value>

  5532.          </Z>

  5533.         </MeshColor>

  5534.         <Alpha>1.0</Alpha>

  5535.         <MeshColorMultipliers>

  5536.          <X>

  5537.      <Value>1</Value>

  5538.          </X>

  5539.          <Y>

  5540.      <Value>1</Value>

  5541.          </Y>

  5542.          <Z>

  5543.      <Value>1</Value>

  5544.          </Z>

  5545.         </MeshColorMultipliers>

  5546.         <MeshColorOffsets>

  5547.         </MeshColorOffsets>

  5548.         <Direct3DColorRange>true</Direct3DColorRange>

  5549.         <SpecularColor>

  5550.          <X>

  5551.      <Value>0.5</Value>

  5552.          </X>

  5553.          <Y>

  5554.      <Value>0.5</Value>

  5555.          </Y>

  5556.          <Z>

  5557.      <Value>0.5</Value>

  5558.          </Z>

  5559.         </SpecularColor>

  5560.         <EmissiveColor>

  5561.         </EmissiveColor>

  5562.         <ShininessPower>

  5563.          <Value>15</Value>

  5564.         </ShininessPower>

  5565.         <OverrideQuality>false</OverrideQuality>

  5566.         <ShowReferenceFrame>false</ShowReferenceFrame>

  5567.         <Name>Block</Name>

  5568.         <Position>

  5569.          <X>

  5570.      <VariableName>new_joint2\position[1]</VariableName>

  5571.      <Value>0.0</Value>

  5572.          </X>

  5573.          <Y>

  5574.      <VariableName>new_joint2\position[2]</VariableName>

  5575.      <Value>0.03341576943552989</Value>

  5576.          </Y>

  5577.          <Z>

  5578.      <VariableName>new_joint2\position[3]</VariableName>

  5579.      <Value>0.05682777438151479</Value>

  5580.          </Z>

  5581.         </Position>

  5582.         <Orientation>

  5583.          <ZAxis>

  5584.      <X>

  5585.       <VariableName>new_joint2\R[1,3]</VariableName>

  5586.       <Value>0.0</Value>

  5587.      </X>

  5588.      <Y>

  5589.       <VariableName>new_joint2\R[2,3]</VariableName>

  5590.       <Value>0.29812485436275077</Value>

  5591.      </Y>

  5592.      <Z>

  5593.       <VariableName>new_joint2\R[3,3]</VariableName>

  5594.       <Value>0.9545268834407906</Value>

  5595.      </Z>

  5596.          </ZAxis>

  5597.          <YAxis>

  5598.      <X>

  5599.       <VariableName>new_joint2\R[1,2]</VariableName>

  5600.       <Value>0.0</Value>

  5601.      </X>

  5602.      <Y>

  5603.       <VariableName>new_joint2\R[2,2]</VariableName>

  5604.       <Value>0.9545268834407906</Value>

  5605.      </Y>

  5606.      <Z>

  5607.       <VariableName>new_joint2\R[3,2]</VariableName>

  5608.       <Value>-0.29812485436275077</Value>

  5609.      </Z>

  5610.          </YAxis>

  5611.          <OrientationType>Matrix</OrientationType>

  5612.         </Orientation>

  5613.         <LockX>false</LockX>

  5614.         <LockY>false</LockY>

  5615.         <LockZ>false</LockZ>

  5616.         <LockXPitch>false</LockXPitch>

  5617.         <LockYYaw>false</LockYYaw>

  5618.         <LockZRoll>false</LockZRoll>

  5619.         <Childs>

  5620.         </Childs>

  5621.        </Cube>

  5622.       </Childs>

  5623.      </Frame>

  5624.          </Childs>

  5625.         </Frame>

  5626.        </Childs>

  5627.       </Frame>

  5628.      </MainFrame>

  5629.     </Plot>

  5630.     <Plot>

  5631.      <PlotType>GraphPlot</PlotType>

  5632.      <BasePlot>

  5633.        <PlotId>2</PlotId>

  5634.        <UseWindowsBGColor>false</UseWindowsBGColor>

  5635.        <BGColor>16777215</BGColor>

  5636.        <PlotIsVisible>true</PlotIsVisible>

  5637.      </BasePlot>

  5638.      <Grid>

  5639.       <DrawGrid>true</DrawGrid>

  5640.       <GridColor>15780518</GridColor>

  5641.       <GridBorderLineColor>12624260</GridBorderLineColor>

  5642.       <GridZeroLineColor>0</GridZeroLineColor>

  5643.       <XTicks>10</XTicks>

  5644.       <YTicks>10</YTicks>

  5645.       <ZTicks>10</ZTicks>

  5646.       <Use3DLook>false</Use3DLook>

  5647.      </Grid>

  5648.      <PlotBGColor>16777215</PlotBGColor>

  5649.      <ShowPlotTitle>true</ShowPlotTitle>

  5650.      <TitlePosition>1</TitlePosition>

  5651.      <PlotTitle>model(2)</PlotTitle>

  5652.      <ShowXValues>true</ShowXValues>

  5653.      <Fonts>

  5654.       <TitleFont>

  5655.        <Name>Arial</Name>

  5656.        <Height>12</Height>

  5657.        <PitchFamily>34</PitchFamily>

  5658.        <Weight>400</Weight>

  5659.        <Italic>0</Italic>

  5660.        <UnderLine>0</UnderLine>

  5661.        <StrikeOut>0</StrikeOut>

  5662.        <Color>0</Color>

  5663.       </TitleFont>

  5664.       <LabelFont>

  5665.        <Name>Arial</Name>

  5666.        <Height>12</Height>

  5667.        <PitchFamily>34</PitchFamily>

  5668.        <Weight>400</Weight>

  5669.        <Italic>0</Italic>

  5670.        <UnderLine>0</UnderLine>

  5671.        <StrikeOut>0</StrikeOut>

  5672.        <Color>0</Color>

  5673.       </LabelFont>

  5674.       <ValuesFont>

  5675.        <Name>Arial</Name>

  5676.        <Height>10</Height>

  5677.        <PitchFamily>34</PitchFamily>

  5678.        <Weight>400</Weight>

  5679.        <Italic>0</Italic>

  5680.        <UnderLine>0</UnderLine>

  5681.        <StrikeOut>0</StrikeOut>

  5682.        <Color>0</Color>

  5683.       </ValuesFont>

  5684.       <LegendFont>

  5685.        <Name>Arial</Name>

  5686.        <Height>12</Height>

  5687.        <PitchFamily>34</PitchFamily>

  5688.        <Weight>400</Weight>

  5689.        <Italic>0</Italic>

  5690.        <UnderLine>0</UnderLine>

  5691.        <StrikeOut>0</StrikeOut>

  5692.        <Color>0</Color>

  5693.       </LegendFont>

  5694.      </Fonts>

  5695.      <SharedXAxis>true</SharedXAxis>

  5696.      <SharedYAxis>true</SharedYAxis>

  5697.      <SharedZAxis>false</SharedZAxis>

  5698.      <XAxes>

  5699.       <Axis>

  5700.        <Minimum>-0.04000000000000001</Minimum>

  5701.        <Maximum>0.15999999999999998</Maximum>

  5702.        <Linear>true</Linear>

  5703.        <Scaling>1</Scaling>

  5704.        <Label>position[2]</Label>

  5705.       </Axis>

  5706.      </XAxes>

  5707.      <YAxes>

  5708.       <Axis>

  5709.        <Minimum>-0.020000000000000004</Minimum>

  5710.        <Maximum>0.07999999999999999</Maximum>

  5711.        <Linear>true</Linear>

  5712.        <Scaling>1</Scaling>

  5713.        <Label>Simulated path</Label>

  5714.       </Axis>

  5715.       <Axis>

  5716.        <Minimum>-0.06</Minimum>

  5717.        <Maximum>0.14</Maximum>

  5718.        <Linear>true</Linear>

  5719.        <Scaling>1</Scaling>

  5720.        <Label>Given Path</Label>

  5721.       </Axis>

  5722.      </YAxes>

  5723.      <ZAxes>

  5724.      </ZAxes>

  5725.      <Curves>

  5726.       <Curve>

  5727.        <LineColor>3355111</LineColor>

  5728.        <LineStyle>1</LineStyle>

  5729.        <TickColor>3355111</TickColor>

  5730.        <TickStyle>0</TickStyle>

  5731.        <CurveVisible>true</CurveVisible>

  5732.        <PixelThresshold>1</PixelThresshold>

  5733.        <LineThickness>1</LineThickness>

  5734.        <LineOrder>1</LineOrder>

  5735.        <ShowYValues>true</ShowYValues>

  5736.        <XCurveData>

  5737.         <ShowUnit>true</ShowUnit>

  5738.         <VarName>new_joint3\position[2]</VarName>

  5739.        </XCurveData>

  5740.        <YCurveData>

  5741.         <ShowUnit>true</ShowUnit>

  5742.         <VarName>new_joint3\position[3]</VarName>

  5743.        </YCurveData>

  5744.       </Curve>

  5745.       <Curve>

  5746.        <LineColor>6076255</LineColor>

  5747.        <LineStyle>1</LineStyle>

  5748.        <TickColor>6076255</TickColor>

  5749.        <TickStyle>0</TickStyle>

  5750.        <CurveVisible>true</CurveVisible>

  5751.        <PixelThresshold>1</PixelThresshold>

  5752.        <LineThickness>1</LineThickness>

  5753.        <LineOrder>1</LineOrder>

  5754.        <ShowYValues>true</ShowYValues>

  5755.        <XCurveData>

  5756.         <ShowUnit>true</ShowUnit>

  5757.         <VarName>rectanglepath1\output[1]</VarName>

  5758.        </XCurveData>

  5759.        <YCurveData>

  5760.         <ShowUnit>true</ShowUnit>

  5761.         <VarName>rectanglepath1\output[2]</VarName>

  5762.        </YCurveData>

  5763.       </Curve>

  5764.      </Curves>

  5765.      <Legenda>

  5766.       <ShowLegenda>true</ShowLegenda>

  5767.       <BorderPenColor>0</BorderPenColor>

  5768.       <BackgroundColor>16777215</BackgroundColor>

  5769.      </Legenda>

  5770.     </Plot>

  5771.     <Plot>

  5772.      <PlotType>GraphPlot</PlotType>

  5773.      <BasePlot>

  5774.        <PlotId>4</PlotId>

  5775.        <UseWindowsBGColor>false</UseWindowsBGColor>

  5776.        <BGColor>16777215</BGColor>

  5777.        <PlotIsVisible>true</PlotIsVisible>

  5778.      </BasePlot>

  5779.      <Grid>

  5780.       <DrawGrid>true</DrawGrid>

  5781.       <GridColor>15780518</GridColor>

  5782.       <GridBorderLineColor>12624260</GridBorderLineColor>

  5783.       <GridZeroLineColor>0</GridZeroLineColor>

  5784.       <XTicks>10</XTicks>

  5785.       <YTicks>10</YTicks>

  5786.       <ZTicks>10</ZTicks>

  5787.       <Use3DLook>false</Use3DLook>

  5788.      </Grid>

  5789.      <PlotBGColor>16777215</PlotBGColor>

  5790.      <ShowPlotTitle>true</ShowPlotTitle>

  5791.      <TitlePosition>1</TitlePosition>

  5792.      <PlotTitle>model</PlotTitle>

  5793.      <ShowXValues>true</ShowXValues>

  5794.      <Fonts>

  5795.       <TitleFont>

  5796.        <Name>Arial</Name>

  5797.        <Height>12</Height>

  5798.        <PitchFamily>34</PitchFamily>

  5799.        <Weight>400</Weight>

  5800.        <Italic>0</Italic>

  5801.        <UnderLine>0</UnderLine>

  5802.        <StrikeOut>0</StrikeOut>

  5803.        <Color>0</Color>

  5804.       </TitleFont>

  5805.       <LabelFont>

  5806.        <Name>Arial</Name>

  5807.        <Height>12</Height>

  5808.        <PitchFamily>34</PitchFamily>

  5809.        <Weight>400</Weight>

  5810.        <Italic>0</Italic>

  5811.        <UnderLine>0</UnderLine>

  5812.        <StrikeOut>0</StrikeOut>

  5813.        <Color>0</Color>

  5814.       </LabelFont>

  5815.       <ValuesFont>

  5816.        <Name>Arial</Name>

  5817.        <Height>10</Height>

  5818.        <PitchFamily>34</PitchFamily>

  5819.        <Weight>400</Weight>

  5820.        <Italic>0</Italic>

  5821.        <UnderLine>0</UnderLine>

  5822.        <StrikeOut>0</StrikeOut>

  5823.        <Color>0</Color>

  5824.       </ValuesFont>

  5825.       <LegendFont>

  5826.        <Name>Arial</Name>

  5827.        <Height>12</Height>

  5828.        <PitchFamily>34</PitchFamily>

  5829.        <Weight>400</Weight>

  5830.        <Italic>0</Italic>

  5831.        <UnderLine>0</UnderLine>

  5832.        <StrikeOut>0</StrikeOut>

  5833.        <Color>0</Color>

  5834.       </LegendFont>

  5835.      </Fonts>

  5836.      <SharedXAxis>true</SharedXAxis>

  5837.      <SharedYAxis>true</SharedYAxis>

  5838.      <SharedZAxis>false</SharedZAxis>

  5839.      <XAxes>

  5840.       <Axis>

  5841.        <Minimum>0.8</Minimum>

  5842.        <Maximum>1.5</Maximum>

  5843.        <Linear>true</Linear>

  5844.        <Scaling>0</Scaling>

  5845.        <Label>time</Label>

  5846.       </Axis>

  5847.      </XAxes>

  5848.      <YAxes>

  5849.       <Axis>

  5850.        <Minimum>-1.7999999999999985</Minimum>

  5851.        <Maximum>-0.7999999999999988</Maximum>

  5852.        <Linear>true</Linear>

  5853.        <Scaling>1</Scaling>

  5854.        <Label>output</Label>

  5855.       </Axis>

  5856.       <Axis>

  5857.        <Minimum>-2.5</Minimum>

  5858.        <Maximum>2.5</Maximum>

  5859.        <Linear>true</Linear>

  5860.        <Scaling>1</Scaling>

  5861.        <Label>output</Label>

  5862.       </Axis>

  5863.       <Axis>

  5864.        <Minimum>-2.5</Minimum>

  5865.        <Maximum>2.5</Maximum>

  5866.        <Linear>true</Linear>

  5867.        <Scaling>1</Scaling>

  5868.        <Label>output</Label>

  5869.       </Axis>

  5870.      </YAxes>

  5871.      <ZAxes>

  5872.      </ZAxes>

  5873.      <Curves>

  5874.       <Curve>

  5875.        <LineColor>3355111</LineColor>

  5876.        <LineStyle>1</LineStyle>

  5877.        <TickColor>3355111</TickColor>

  5878.        <TickStyle>0</TickStyle>

  5879.        <CurveVisible>true</CurveVisible>

  5880.        <PixelThresshold>1</PixelThresshold>

  5881.        <LineThickness>1</LineThickness>

  5882.        <LineOrder>1</LineOrder>

  5883.        <ShowYValues>true</ShowYValues>

  5884.        <XCurveData>

  5885.         <ShowUnit>true</ShowUnit>

  5886.         <VarName>time</VarName>

  5887.        </XCurveData>

  5888.        <YCurveData>

  5889.         <ShowUnit>true</ShowUnit>

  5890.         <VarName>Step\output</VarName>

  5891.        </YCurveData>

  5892.       </Curve>

  5893.       <Curve>

  5894.        <LineColor>6076255</LineColor>

  5895.        <LineStyle>1</LineStyle>

  5896.        <TickColor>6076255</TickColor>

  5897.        <TickStyle>0</TickStyle>

  5898.        <CurveVisible>true</CurveVisible>

  5899.        <PixelThresshold>1</PixelThresshold>

  5900.        <LineThickness>1</LineThickness>

  5901.        <LineOrder>1</LineOrder>

  5902.        <ShowYValues>true</ShowYValues>

  5903.        <XCurveData>

  5904.         <ShowUnit>true</ShowUnit>

  5905.         <VarName>time</VarName>

  5906.        </XCurveData>

  5907.        <YCurveData>

  5908.         <ShowUnit>true</ShowUnit>

  5909.         <VarName>Integrate2\output</VarName>

  5910.         <MulOffsetMValue>-1.0</MulOffsetMValue>

  5911.        </YCurveData>

  5912.       </Curve>

  5913.       <Curve>

  5914.        <LineColor>12553035</LineColor>

  5915.        <LineStyle>1</LineStyle>

  5916.        <TickColor>12553035</TickColor>

  5917.        <TickStyle>0</TickStyle>

  5918.        <CurveVisible>true</CurveVisible>

  5919.        <PixelThresshold>1</PixelThresshold>

  5920.        <LineThickness>1</LineThickness>

  5921.        <LineOrder>1</LineOrder>

  5922.        <ShowYValues>true</ShowYValues>

  5923.        <XCurveData>

  5924.         <ShowUnit>true</ShowUnit>

  5925.         <VarName>time</VarName>

  5926.        </XCurveData>

  5927.        <YCurveData>

  5928.         <ShowUnit>true</ShowUnit>

  5929.         <VarName>motor_joint2\SignalLimiter2\output</VarName>

  5930.        </YCurveData>

  5931.       </Curve>

  5932.      </Curves>

  5933.      <Legenda>

  5934.       <ShowLegenda>true</ShowLegenda>

  5935.       <Position>

  5936.        <X>0.9365808823529411</X>

  5937.        <Y>0.0811764705882353</Y>

  5938.       </Position>

  5939.       <BorderPenColor>0</BorderPenColor>

  5940.       <BackgroundColor>16777215</BackgroundColor>

  5941.      </Legenda>

  5942.     </Plot>

  5943.     <Plot>

  5944.      <PlotType>GraphPlot</PlotType>

  5945.      <BasePlot>

  5946.        <PlotId>5</PlotId>

  5947.        <UseWindowsBGColor>false</UseWindowsBGColor>

  5948.        <BGColor>16777215</BGColor>

  5949.        <PlotIsVisible>true</PlotIsVisible>

  5950.      </BasePlot>

  5951.      <Grid>

  5952.       <DrawGrid>true</DrawGrid>

  5953.       <GridColor>15780518</GridColor>

  5954.       <GridBorderLineColor>12624260</GridBorderLineColor>

  5955.       <GridZeroLineColor>0</GridZeroLineColor>

  5956.       <XTicks>10</XTicks>

  5957.       <YTicks>10</YTicks>

  5958.       <ZTicks>10</ZTicks>

  5959.       <Use3DLook>false</Use3DLook>

  5960.      </Grid>

  5961.      <PlotBGColor>16777215</PlotBGColor>

  5962.      <ShowPlotTitle>true</ShowPlotTitle>

  5963.      <TitlePosition>1</TitlePosition>

  5964.      <PlotTitle>model</PlotTitle>

  5965.      <ShowXValues>true</ShowXValues>

  5966.      <Fonts>

  5967.       <TitleFont>

  5968.        <Name>Arial</Name>

  5969.        <Height>12</Height>

  5970.        <PitchFamily>34</PitchFamily>

  5971.        <Weight>400</Weight>

  5972.        <Italic>0</Italic>

  5973.        <UnderLine>0</UnderLine>

  5974.        <StrikeOut>0</StrikeOut>

  5975.        <Color>0</Color>

  5976.       </TitleFont>

  5977.       <LabelFont>

  5978.        <Name>Arial</Name>

  5979.        <Height>12</Height>

  5980.        <PitchFamily>34</PitchFamily>

  5981.        <Weight>400</Weight>

  5982.        <Italic>0</Italic>

  5983.        <UnderLine>0</UnderLine>

  5984.        <StrikeOut>0</StrikeOut>

  5985.        <Color>0</Color>

  5986.       </LabelFont>

  5987.       <ValuesFont>

  5988.        <Name>Arial</Name>

  5989.        <Height>10</Height>

  5990.        <PitchFamily>34</PitchFamily>

  5991.        <Weight>400</Weight>

  5992.        <Italic>0</Italic>

  5993.        <UnderLine>0</UnderLine>

  5994.        <StrikeOut>0</StrikeOut>

  5995.        <Color>0</Color>

  5996.       </ValuesFont>

  5997.       <LegendFont>

  5998.        <Name>Arial</Name>

  5999.        <Height>12</Height>

  6000.        <PitchFamily>34</PitchFamily>

  6001.        <Weight>400</Weight>

  6002.        <Italic>0</Italic>

  6003.        <UnderLine>0</UnderLine>

  6004.        <StrikeOut>0</StrikeOut>

  6005.        <Color>0</Color>

  6006.       </LegendFont>

  6007.      </Fonts>

  6008.      <SharedXAxis>true</SharedXAxis>

  6009.      <SharedYAxis>true</SharedYAxis>

  6010.      <SharedZAxis>false</SharedZAxis>

  6011.      <XAxes>

  6012.       <Axis>

  6013.        <Minimum>0.0</Minimum>

  6014.        <Maximum>0.13434062268478064</Maximum>

  6015.        <Linear>true</Linear>

  6016.        <Scaling>3</Scaling>

  6017.        <Label>time</Label>

  6018.       </Axis>

  6019.      </XAxes>

  6020.      <YAxes>

  6021.       <Axis>

  6022.        <Minimum>-500.0</Minimum>

  6023.        <Maximum>500.0</Maximum>

  6024.        <Linear>true</Linear>

  6025.        <Scaling>1</Scaling>

  6026.        <Label>v 1</Label>

  6027.       </Axis>

  6028.       <Axis>

  6029.        <Minimum>-3.79912966828766</Minimum>

  6030.        <Maximum>0.0</Maximum>

  6031.        <Linear>true</Linear>

  6032.        <Scaling>1</Scaling>

  6033.        <Label>a 1</Label>

  6034.       </Axis>

  6035.       <Axis>

  6036.        <Minimum>-3.79912966828766</Minimum>

  6037.        <Maximum>0.0</Maximum>

  6038.        <Linear>true</Linear>

  6039.        <Scaling>1</Scaling>

  6040.        <Label>x 1</Label>

  6041.       </Axis>

  6042.       <Axis>

  6043.        <Minimum>-3.79912966828766</Minimum>

  6044.        <Maximum>0.0</Maximum>

  6045.        <Linear>true</Linear>

  6046.        <Scaling>1</Scaling>

  6047.        <Label>v 2</Label>

  6048.       </Axis>

  6049.       <Axis>

  6050.        <Minimum>-3.79912966828766</Minimum>

  6051.        <Maximum>0.0</Maximum>

  6052.        <Linear>true</Linear>

  6053.        <Scaling>1</Scaling>

  6054.        <Label>a 2</Label>

  6055.       </Axis>

  6056.       <Axis>

  6057.        <Minimum>-3.79912966828766</Minimum>

  6058.        <Maximum>0.0</Maximum>

  6059.        <Linear>true</Linear>

  6060.        <Scaling>1</Scaling>

  6061.        <Label>x 2</Label>

  6062.       </Axis>

  6063.      </YAxes>

  6064.      <ZAxes>

  6065.      </ZAxes>

  6066.      <Curves>

  6067.       <Curve>

  6068.        <LineColor>3355111</LineColor>

  6069.        <LineStyle>1</LineStyle>

  6070.        <TickColor>3355111</TickColor>

  6071.        <TickStyle>0</TickStyle>

  6072.        <CurveVisible>true</CurveVisible>

  6073.        <PixelThresshold>1</PixelThresshold>

  6074.        <LineThickness>1</LineThickness>

  6075.        <LineOrder>1</LineOrder>

  6076.        <ShowYValues>true</ShowYValues>

  6077.        <XCurveData>

  6078.         <ShowUnit>true</ShowUnit>

  6079.         <VarName>time</VarName>

  6080.        </XCurveData>

  6081.        <YCurveData>

  6082.         <ShowUnit>true</ShowUnit>

  6083.         <VarName>stepper_control\Acceleration_int\output</VarName>

  6084.        </YCurveData>

  6085.       </Curve>

  6086.       <Curve>

  6087.        <LineColor>6076255</LineColor>

  6088.        <LineStyle>1</LineStyle>

  6089.        <TickColor>6076255</TickColor>

  6090.        <TickStyle>0</TickStyle>

  6091.        <CurveVisible>true</CurveVisible>

  6092.        <PixelThresshold>1</PixelThresshold>

  6093.        <LineThickness>1</LineThickness>

  6094.        <LineOrder>1</LineOrder>

  6095.        <ShowYValues>true</ShowYValues>

  6096.        <XCurveData>

  6097.         <ShowUnit>true</ShowUnit>

  6098.         <VarName>time</VarName>

  6099.        </XCurveData>

  6100.        <YCurveData>

  6101.         <ShowUnit>true</ShowUnit>

  6102.         <VarName>stepper_control\Acceleration_int\input</VarName>

  6103.        </YCurveData>

  6104.       </Curve>

  6105.       <Curve>

  6106.        <LineColor>12553035</LineColor>

  6107.        <LineStyle>1</LineStyle>

  6108.        <TickColor>12553035</TickColor>

  6109.        <TickStyle>0</TickStyle>

  6110.        <CurveVisible>true</CurveVisible>

  6111.        <PixelThresshold>1</PixelThresshold>

  6112.        <LineThickness>1</LineThickness>

  6113.        <LineOrder>1</LineOrder>

  6114.        <ShowYValues>true</ShowYValues>

  6115.        <XCurveData>

  6116.         <ShowUnit>true</ShowUnit>

  6117.         <VarName>time</VarName>

  6118.        </XCurveData>

  6119.        <YCurveData>

  6120.         <ShowUnit>true</ShowUnit>

  6121.         <VarName>stepper_control\Velocity_int\output</VarName>

  6122.        </YCurveData>

  6123.       </Curve>

  6124.       <Curve>

  6125.        <LineColor>15086320</LineColor>

  6126.        <LineStyle>1</LineStyle>

  6127.        <TickColor>15086320</TickColor>

  6128.        <TickStyle>0</TickStyle>

  6129.        <CurveVisible>true</CurveVisible>

  6130.        <PixelThresshold>1</PixelThresshold>

  6131.        <LineThickness>1</LineThickness>

  6132.        <LineOrder>1</LineOrder>

  6133.        <ShowYValues>true</ShowYValues>

  6134.        <XCurveData>

  6135.         <ShowUnit>true</ShowUnit>

  6136.         <VarName>time</VarName>

  6137.        </XCurveData>

  6138.        <YCurveData>

  6139.         <ShowUnit>true</ShowUnit>

  6140.         <VarName>stepper_control1\Acceleration_int\output</VarName>

  6141.        </YCurveData>

  6142.       </Curve>

  6143.       <Curve>

  6144.        <LineColor>15790150</LineColor>

  6145.        <LineStyle>1</LineStyle>

  6146.        <TickColor>15790150</TickColor>

  6147.        <TickStyle>0</TickStyle>

  6148.        <CurveVisible>true</CurveVisible>

  6149.        <PixelThresshold>1</PixelThresshold>

  6150.        <LineThickness>1</LineThickness>

  6151.        <LineOrder>1</LineOrder>

  6152.        <ShowYValues>true</ShowYValues>

  6153.        <XCurveData>

  6154.         <ShowUnit>true</ShowUnit>

  6155.         <VarName>time</VarName>

  6156.        </XCurveData>

  6157.        <YCurveData>

  6158.         <ShowUnit>true</ShowUnit>

  6159.         <VarName>stepper_control1\Acceleration_int\input</VarName>

  6160.        </YCurveData>

  6161.       </Curve>

  6162.       <Curve>

  6163.        <LineColor>1696255</LineColor>

  6164.        <LineStyle>1</LineStyle>

  6165.        <TickColor>1696255</TickColor>

  6166.        <TickStyle>0</TickStyle>

  6167.        <CurveVisible>true</CurveVisible>

  6168.        <PixelThresshold>1</PixelThresshold>

  6169.        <LineThickness>1</LineThickness>

  6170.        <LineOrder>1</LineOrder>

  6171.        <ShowYValues>true</ShowYValues>

  6172.        <XCurveData>

  6173.         <ShowUnit>true</ShowUnit>

  6174.         <VarName>time</VarName>

  6175.        </XCurveData>

  6176.        <YCurveData>

  6177.         <ShowUnit>true</ShowUnit>

  6178.         <VarName>stepper_control1\Velocity_int\output</VarName>

  6179.        </YCurveData>

  6180.       </Curve>

  6181.      </Curves>

  6182.      <Legenda>

  6183.       <ShowLegenda>true</ShowLegenda>

  6184.       <BorderPenColor>0</BorderPenColor>

  6185.       <BackgroundColor>16777215</BackgroundColor>

  6186.      </Legenda>

  6187.     </Plot>

  6188.    </Plots>

  6189.    <PlotPanels>

  6190.     <PlotPanel>

  6191.      <PlotPanelId>1</PlotPanelId>

  6192.      <PlotPanelVisible>true</PlotPanelVisible>

  6193.      <Name>Window 1</Name>

  6194.      <Tiling>0</Tiling>

  6195.      <PlotIds>

  6196.        <PlotId>2</PlotId>

  6197.        <PlotId>4</PlotId>

  6198.      </PlotIds>

  6199.      <ToggleState>Base</ToggleState>

  6200.     </PlotPanel>

  6201.     <PlotPanel>

  6202.      <PlotPanelId>2</PlotPanelId>

  6203.      <PlotPanelVisible>true</PlotPanelVisible>

  6204.      <Name>Window 2</Name>

  6205.      <Tiling>0</Tiling>

  6206.      <PlotIds>

  6207.        <PlotId>1</PlotId>

  6208.      </PlotIds>

  6209.      <ToggleState>Base</ToggleState>

  6210.     </PlotPanel>

  6211.     <PlotPanel>

  6212.      <PlotPanelId>3</PlotPanelId>

  6213.      <PlotPanelVisible>true</PlotPanelVisible>

  6214.      <Name>Window 3</Name>

  6215.      <Tiling>2</Tiling>

  6216.      <PlotIds>

  6217.        <PlotId>5</PlotId>

  6218.      </PlotIds>

  6219.      <ToggleState>StripChart</ToggleState>

  6220.     </PlotPanel>

  6221.    </PlotPanels>

  6222.    <WindowRectangles virtualDesktopWidth="5760" virtualDesktopHeight="1080">

  6223.      <WindowRectangle monitor="2" left="1920" top="0" right="3840" bottom="1080" plotpanelid="1">

  6224. 0.0744792 0.00462963 0.86875 0.755556

  6225.      </WindowRectangle>

  6226.      <WindowRectangle monitor="1" left="-1920" top="0" right="0" bottom="1080" plotpanelid="2">

  6227. 0.130729 0.0842593 0.846354 0.864815

  6228.      </WindowRectangle>

  6229.      <WindowRectangle monitor="0" left="0" top="0" right="1920" bottom="1080" plotpanelid="3">

  6230. 0.05625 0.175926 0.806771 0.9

  6231.      </WindowRectangle>

  6232.    </WindowRectangles>

  6233.   </PlotSpecs>

  6234.   <RunSpecs>

  6235.    <SimulatorSettings>

  6236.     <StartTime>0.0</StartTime>

  6237.     <FinishTime>15.0</FinishTime>

  6238.     <AllowPassFinishTime>false</AllowPassFinishTime>

  6239.     <Warp>false</Warp>

  6240.     <FPGonio>false</FPGonio>

  6241.     <UseOutputAfterEach>false</UseOutputAfterEach>

  6242.     <OutputAfterEach>0.1</OutputAfterEach>

  6243.     <EventEpsilon>1.0e-6</EventEpsilon>

  6244.     <AlgebraicTolerance>1.0e-7</AlgebraicTolerance>

  6245.     <SteadyStateAnalysis>false</SteadyStateAnalysis>

  6246.     <UpdateHoldInstructions>true</UpdateHoldInstructions>

  6247.    </SimulatorSettings>

  6248.    <IntegrationMethods>

  6249.     <IntegrationMethod>

  6250.      <Name>Euler</Name>

  6251.      <StepSize>0.01</StepSize>

  6252.      <AutoStepSize>false</AutoStepSize>

  6253.     </IntegrationMethod>

  6254.     <IntegrationMethod>

  6255.      <Name>BackwardEuler</Name>

  6256.      <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>

  6257.      <RelativeTolerance>1.0e-5</RelativeTolerance>

  6258.      <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>

  6259.      <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>

  6260.      <StepSize>0.01</StepSize>

  6261.      <Alpha>1.0</Alpha>

  6262.     </IntegrationMethod>

  6263.     <IntegrationMethod>

  6264.      <Name>AdamsBashforth</Name>

  6265.      <StepSize>0.01</StepSize>

  6266.      <AutoStepSize>false</AutoStepSize>

  6267.     </IntegrationMethod>

  6268.     <IntegrationMethod>

  6269.      <Name>RungeKutta2</Name>

  6270.      <StepSize>0.01</StepSize>

  6271.      <AutoStepSize>false</AutoStepSize>

  6272.     </IntegrationMethod>

  6273.     <IntegrationMethod>

  6274.      <Name>RungeKutta4</Name>

  6275.      <StepSize>0.01</StepSize>

  6276.      <AutoStepSize>false</AutoStepSize>

  6277.     </IntegrationMethod>

  6278.     <IntegrationMethod>

  6279.      <Name>RungeKutta8</Name>

  6280.      <UseInitialStepSize>false</UseInitialStepSize>

  6281.      <InitialStepSize>0.0</InitialStepSize>

  6282.      <UseMaximumStepSize>false</UseMaximumStepSize>

  6283.      <MaximumStepSize>0.0</MaximumStepSize>

  6284.      <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>

  6285.      <RelativeTolerance>1.0e-6</RelativeTolerance>

  6286.      <SafetyFactor>0.9</SafetyFactor>

  6287.      <Factor1>0.33</Factor1>

  6288.      <Factor2>6.0</Factor2>

  6289.      <Beta>0.0</Beta>

  6290.      <UseMaxNrSteps>false</UseMaxNrSteps>

  6291.      <MaxNrSteps>100000</MaxNrSteps>

  6292.      <UseStiffDetection>false</UseStiffDetection>

  6293.      <MaxNrStiffnessSteps>1000</MaxNrStiffnessSteps>

  6294.     </IntegrationMethod>

  6295.     <IntegrationMethod>

  6296.      <Name>RungeKuttaFehlberg</Name>

  6297.      <UseInitialStepSize>false</UseInitialStepSize>

  6298.      <InitialStepSize>0.0</InitialStepSize>

  6299.      <UseMaximumStepSize>false</UseMaximumStepSize>

  6300.      <MaximumStepSize>0.0</MaximumStepSize>

  6301.      <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>

  6302.      <RelativeTolerance>1.0e-6</RelativeTolerance>

  6303.     </IntegrationMethod>

  6304.     <IntegrationMethod>

  6305.      <Name>VodeAdams</Name>

  6306.      <UseInitialStepSize>false</UseInitialStepSize>

  6307.      <InitialStepSize>0.0</InitialStepSize>

  6308.      <UseMaximumStepSize>false</UseMaximumStepSize>

  6309.      <MaximumStepSize>0.0</MaximumStepSize>

  6310.      <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>

  6311.      <RelativeTolerance>1.0e-6</RelativeTolerance>

  6312.      <VodeUseBDF>true</VodeUseBDF>

  6313.      <VodeUseNewton>true</VodeUseNewton>

  6314.     </IntegrationMethod>

  6315.     <IntegrationMethod>

  6316.      <Name>BDFMethod</Name>

  6317.      <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>

  6318.      <RelativeTolerance>1.0e-5</RelativeTolerance>

  6319.      <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>

  6320.      <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>

  6321.      <UseInitialStepSize>false</UseInitialStepSize>

  6322.      <InitialStepSize>0.0</InitialStepSize>

  6323.      <UseMaximumStepSize>false</UseMaximumStepSize>

  6324.      <MaximumStepSize>0.0</MaximumStepSize>

  6325.     </IntegrationMethod>

  6326.     <IntegrationMethod>

  6327.      <Name>MeBDFiMethod</Name>

  6328.      <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>

  6329.      <RelativeTolerance>1.0e-5</RelativeTolerance>

  6330.      <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>

  6331.      <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>

  6332.      <UseInitialStepSize>false</UseInitialStepSize>

  6333.      <InitialStepSize>0.0</InitialStepSize>

  6334.      <UseMaximumStepSize>false</UseMaximumStepSize>

  6335.      <MaximumStepSize>0.0</MaximumStepSize>

  6336.     </IntegrationMethod>

  6337.     <SelectedIntegrationMethod>8</SelectedIntegrationMethod>

  6338.    </IntegrationMethods>

  6339.   </RunSpecs>

  6340.   <MultipleRun>

  6341.    <NrSteps>10</NrSteps>

  6342.    <CopyFromStates>false</CopyFromStates>

  6343.    <JoinParameterVariation>true</JoinParameterVariation>

  6344.    <ClearAfterRun>true</ClearAfterRun>

  6345.    <RedrawAfterRun>false</RedrawAfterRun>

  6346.    <DrawDuringSimulation>true</DrawDuringSimulation>

  6347.    <ActionBeforeOptimization>0</ActionBeforeOptimization>

  6348.    <CompareValue>0.0</CompareValue>

  6349.    <UseCompareValue>true</UseCompareValue>

  6350.    <MultipleRunType>MultipleRun</MultipleRunType>

  6351.    <Minimize>true</Minimize>

  6352.    <OptimizationVariable></OptimizationVariable>

  6353.    <ResulVarUsage>UseEndValue</ResulVarUsage>

  6354.    <Tolerance>0.001</Tolerance>

  6355.    <OptimizationMethod>BroydonFletcherGoldfarbShanno</OptimizationMethod>

  6356.    <MultipleRunVariables>

  6357.    </MultipleRunVariables>

  6358.   </MultipleRun>

  6359.   <ExportData>

  6360.    <WriteAsText>true</WriteAsText>

  6361.    <ReadAsText>true</ReadAsText>

  6362.    <WriteHeader>true</WriteHeader>

  6363.    <ReadHeader>true</ReadHeader>

  6364.    <ReadFilename></ReadFilename>

  6365.    <WriteFilename></WriteFilename>

  6366.    <DoWrite>false</DoWrite>

  6367.    <ExportVariables>

  6368.    </ExportVariables>

  6369.    <ImportVariables>

  6370.    </ImportVariables>

  6371.   </ExportData>

  6372.   <BreakPoints>

  6373.   </BreakPoints>

  6374.   <AnimationPlayback>

  6375.    <PlaybackSpeed>1.0</PlaybackSpeed>

  6376.   </AnimationPlayback>

  6377. </ExpData>

  6378.   </Experiment>

  6379. </Experiments>

  6380. </Document>