4Deux_pendules 0 0 library_path 'F:\bond graph'; type Mainmodel end; implementation bg submodels R1w1 180 217.5 library_path 'Bond Graph'; knot OneJunction ports power knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg bottom figures text '1' 180 217.5 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R2w2 180 450 library_path 'Bond Graph'; knot OneJunction ports power knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg top figures text '1' 180 450 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R1VG1y 472.5 217.5 library_path 'Bond Graph'; knot OneJunction ports power knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg top figures text '1' 472.5 217.5 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R2VG2y 472.5 450 library_path 'Bond Graph'; knot OneJunction ports power knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg bottom figures text '1' 472.5 450 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R1FO1y 367.5 217.5 library_path 'Bond Graph'; knot ZeroJunction ports power knot duplicatable none p [1]; signal knot out effort [1]; restrictions causality constraint one_in p; end; icon bg bottom figures text '0' 367.5 217.5 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; R2FO2y 367.5 450 library_path 'Bond Graph'; knot ZeroJunction ports power knot duplicatable none p [1]; signal knot out effort [1]; restrictions causality constraint one_in p; end; icon bg top figures text '0' 367.5 450 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; I1 90 217.5 library_path 'Bond Graph'; type I ports power in p; signal out state; restrictions causality preferred in p; parameters real i = 0.10667; end; icon bg bottom figures text 'I' 90 217.5 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; m2 555 510 library_path 'Bond Graph'; type I ports power in p; signal out state; restrictions causality preferred in p; parameters real i = 2.0; end; icon bg top figures text 'I' 555 510 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; I2 90 450 library_path 'Bond Graph'; type I ports power in p; signal out state; restrictions causality preferred in p; parameters real i = 0.10667; end; icon bg bottom figures text 'I' 90 450 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; m1 555 157.5 library_path 'Bond Graph'; type I ports power in p; signal out state; restrictions causality preferred in p; parameters real i = 2.0; end; icon bg bottom figures text 'I' 555 157.5 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; b1 270 217.5 library_path 'Bond Graph'; type TF ports power in p1; power out p2; restrictions causality constraint not_equal p1 p2; parameters real r = -0.2; end; icon bg bottom figures text 'TF' 270 217.5 18 bold; end; implementation eq equations p1.e = r * p2.e; p2.f = r * p1.f; implementation_end; b2 270 450 library_path 'Bond Graph'; type TF ports power in p1; power out p2; restrictions causality constraint not_equal p1 p2; parameters real r = -0.2; end; icon bg top figures text 'TF' 270 450 18 bold; end; implementation eq equations p1.e = r * p2.e; p2.f = r * p1.f; implementation_end; FR1 472.5 307.5 library_path 'Bond Graph'; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 472.5 307.5 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; FR2 472.5 375 library_path 'Bond Graph'; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg top figures text 'MSe' 472.5 375 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; k_b 142.5 337.5 library_path 'Signal\Block Diagram'; type Gain ports signal in input; signal out output; parameters real K = 20.0; end; icon bg bottom figures rectangle 127.6 322.5 157.4 352.5 fill 15132390; text 'K' 142.5 337.5 color 16711680 16 bold; end; implementation eq equations output = K * input; implementation_end; theta1 180 142.5 library_path 'Signal\Block Diagram'; type Integrate ports signal in input; signal out output; parameters real initial = 0.0; end; icon bg right figures rectangle 165 127.5 195 157.5 fill 15132390; text '' 180 140 color 16711680 'SymbolProp BT' 21 symbol; end; implementation eq equations output = int (input, initial); implementation_end; theta2 180 525 library_path 'Signal\Block Diagram'; type Integrate ports signal in input; signal out output; parameters real initial = 0.0; end; icon bg right figures rectangle 165 510 195 540 fill 15132390; text '' 180 522.5 color 16711680 'SymbolProp BT' 21 symbol; end; implementation eq equations output = int (input, initial); implementation_end; PlusMinus1 30 337.5 library_path 'Signal\Block Diagram'; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 22.5 330 37.5 345 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; Splitter1 232.5 337.5 library_path 'System'; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 229.5 334.5 235.5 340.5 color -1 fill 0; ellipse 228.5 333.5 236.5 341.5 color -1; terminals input 232.5 337.5 fixed; output 232.5 337.5 fixed; end; implementation eq equations collect (output) = input; implementation_end; m1g 622.5 292.5 library_path 'Signal\Block Diagram'; type Gain ports signal in input; signal out output; parameters real K = 20.0; end; icon bg bottom figures rectangle 607.6 277.5 637.4 307.5 fill 15132390; text 'K' 622.5 292.5 color 16711680 16 bold; end; implementation eq equations output = K * input; implementation_end; m2g 622.5 367.5 library_path 'Signal\Block Diagram'; type Gain ports signal in input; signal out output; parameters real K = 20.0; end; icon bg bottom figures rectangle 607.6 352.5 637.4 382.5 fill 15132390; text 'K' 622.5 367.5 color 16711680 16 bold; end; implementation eq equations output = K * input; implementation_end; Negate2 697.5 367.5 library_path 'Signal\Block Diagram'; type Negate ports signal in input; signal out output; end; icon bg figures rectangle 682.5 352.5 712.5 382.5 fill 15132390; text '-1' 697.5 367.5 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; Negate3 697.5 292.5 library_path 'Signal\Block Diagram'; type Negate ports signal in input; signal out output; end; icon bg figures rectangle 682.5 277.5 712.5 307.5 fill 15132390; text '-1' 697.5 292.5 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; Splitter2 180 592.5 library_path 'System'; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 177 589.5 183 595.5 color -1 fill 0; ellipse 176 588.5 184 596.5 color -1; terminals input 180 592.5 fixed; output 180 592.5 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter3 180 75 library_path 'System'; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 177 72 183 78 color -1 fill 0; ellipse 176 71 184 79 color -1; terminals input 180 75 fixed; output 180 75 fixed; end; implementation eq equations collect (output) = input; implementation_end; P2 562.5 367.5 library_path 'Bond Graph'; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg top figures text 'MSe' 562.5 367.5 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; P1 562.5 292.5 library_path 'Bond Graph'; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 562.5 292.5 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; Negate1 360 307.5 library_path 'Signal\Block Diagram'; type Negate ports signal in input; signal out output; end; icon bg figures rectangle 345 292.5 375 322.5 fill 15132390; text '-1' 360 307.5 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; end; connections R1w1\p => I1\p; R1w1\p => b1\p1; b1\p2 => R1FO1y\p; R1VG1y\p => R1FO1y\p; R1VG1y\p => m1\p; FR1\p => R1VG1y\p; R2w2\p => I2\p; R2w2\p => b2\p1; b2\p2 => R2FO2y\p; R2VG2y\p => R2FO2y\p; R2VG2y\p => m2\p; FR2\p => R2VG2y\p; R1w1\flow -> theta1\input; R2w2\flow -> theta2\input; PlusMinus1\output -> k_b\input; k_b\output -> Splitter1\input; Negate2\output -> m2g\input; Negate3\output -> m1g\input; m1g\output -> P1\effort; P1\p => R1VG1y\p; m2g\output -> P2\effort; P2\p => R2VG2y\p; Splitter3\output -> PlusMinus1\plus 30 75; Splitter2\output -> PlusMinus1\minus 30 592.5; Splitter3\output -> Negate3\input 697.5 75; Splitter2\output -> Negate2\input 697.5 592.5; Splitter1\output -> Negate1\input 232.5 307.5; Negate1\output -> FR1\effort; Splitter1\output -> FR2\effort 232.5 375; Splitter3\input <- theta1\output; Splitter2\input <- theta2\output; end; figures line 900 341 907.5 318.5 915 341 915 341 color 2673737 width 2; line 855 341.5 862.5 319 870 341.5 870 341.5 color 2673737 width 2; line 884.5 341.5 892 319 899.5 341.5 899.5 341.5 color 2673737 width 2; line 869.5 341 877 318.5 884.5 341 884.5 341 color 2673737 width 2; line 824.5 341.5 832 319 839.5 341.5 839.5 341.5 color 2673737 width 2; ellipse 847.7 209.7 862.2 225.2 width 3; line 780 223 855.5 437 color 255 width 3; text 'Deux pendules + ressort' 337.5 30 color 255 'Comic Sans MS' 24; line 855 221.5 967.5 427.5 color 16711680 width 3; ellipse 772.8 209.8 787.3 225.3 width 3; line 839.5 341 847 318.5 854.5 341 854.5 341 color 2673737 width 2; line 780 217.5 780 502.5 end; line 877.5 495 780 217.5 975 217.5 both; line 855 217.5 990 472.5 end; text 'O1' 780 187.5 15; text 'O1' 855 187.5 15; text 'G1' 810 345 15; text 'G2' 937.5 337.5 15; text 'x0' 795 517.5 15; text 'x1' 885 510 15; text 'x2' 997.5 487.5 15; text 'y0' 990 217.5 15; text 'theta1' 810 390 15; text 'theta2' 877.5 300 15; line 855 217.5 855 307.5; implementation_end;