Ü[ericc_3 0 0 library_path 'f:\bond graph'; type Mainmodel end; implementation bg submodels R2w2 112.5 607.5 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' 112.5 607.5 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; J2 22.5 667.5 library_path 'Bond Graph'; type I ports power in p; signal out state; restrictions causality preferred in p; parameters real i = 0.0643; end; icon bg bottom figures text 'I' 22.5 667.5 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; R2 22.5 547.5 library_path 'Bond Graph'; type R ports power in p; parameters real r = 0.5; end; icon bg bottom figures text 'R' 22.5 547.5 18 bold; end; implementation eq equations p.e = r * p.f; implementation_end; C2 112.5 675 library_path 'Bond Graph'; type Se ports power out p; restrictions causality fixed out p; parameters real effort = -6.02; end; icon bg left figures text 'Se' 112.5 675 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; ZeroJunction1 112.5 360 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 figures text '0' 112.5 360 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; R3w2pw3 112.5 157.5 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 left figures text '1' 112.5 157.5 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; J3 22.5 210 library_path 'Bond Graph'; type I ports power in p; signal out state; restrictions causality preferred in p; parameters real i = 0.414; end; icon bg bottom figures text 'I' 22.5 210 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; R3 22.5 90 library_path 'Bond Graph'; type R ports power in p; parameters real r = 0.5; end; icon bg bottom figures text 'R' 22.5 90 18 bold; end; implementation eq equations p.e = r * p.f; implementation_end; O3G3 217.5 225 library_path 'Bond Graph'; type TF ports power in p1; power out p2; restrictions causality constraint not_equal p1 p2; parameters real r = 0.172; end; icon bg bottom figures text 'TF' 217.5 225 18 bold; end; implementation eq equations p1.e = r * p2.e; p2.f = r * p1.f; implementation_end; O3G2 187.5 547.5 library_path 'Bond Graph'; type TF ports power in p1; power out p2; restrictions causality constraint not_equal p1 p2; parameters real r = -0.344; end; icon bg bottom figures text 'TF' 187.5 547.5 18 bold; end; implementation eq equations p1.e = r * p2.e; p2.f = r * p1.f; implementation_end; O2G2 187.5 675 library_path 'Bond Graph'; type TF ports power in p1; power out p2; restrictions causality constraint not_equal p1 p2; parameters real r = -0.064; end; icon bg top figures text 'TF' 187.5 675 18 bold; end; implementation eq equations p1.e = r * p2.e; p2.f = r * p1.f; implementation_end; m2Z 202.5 615 library_path 'Bond Graph'; type I ports power in p; signal out state; restrictions causality preferred in p; parameters real i = 15.5; end; icon bg left figures text 'I' 202.5 615 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; R2FO3Z 292.5 547.5 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 right figures text '0' 292.5 547.5 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; R2FO2Z 292.5 675 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 right figures text '0' 292.5 675 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; MSe1 420 615 library_path 'Bond Graph'; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg figures text 'MSe' 420 615 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; R2VO3Z 292.5 420 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 left figures text '1' 292.5 420 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R2VG2Z 292.5 615 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' 292.5 615 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; MTF1 292.5 360 library_path 'Bond Graph'; type MTF ports power in p1; power out p2; signal in r; restrictions causality constraint not_equal p1 p2; end; icon bg figures text 'MTF' 292.5 360 18 bold; end; implementation eq equations p1.e = r * p2.e; p2.f = r * p1.f; implementation_end; MTF2 427.5 420 library_path 'Bond Graph'; type MTF ports power in p1; power out p2; signal in r; restrictions causality constraint not_equal p1 p2; end; icon bg figures text 'MTF' 427.5 420 18 bold; end; implementation eq equations p1.e = r * p2.e; p2.f = r * p1.f; implementation_end; R3VO3X 427.5 292.5 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 right figures text '1' 427.5 292.5 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R3VG3X 427.5 157.5 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' 427.5 157.5 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; m3X 525 157.5 library_path 'Bond Graph'; type I ports power in p; signal out state; restrictions causality preferred in p; parameters real i = 3.5; end; icon bg right figures text 'I' 525 157.5 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; m3Xg 525 105 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' 525 105 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; m3Zg 390 105 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' 390 105 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; m3Z 202.5 157.5 library_path 'Bond Graph'; type I ports power in p; signal out state; restrictions causality preferred in p; parameters real i = 3.5; end; icon bg left figures text 'I' 202.5 157.5 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; R3VG3Z 292.5 157.5 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' 292.5 157.5 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; R3FO3 292.5 225 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 right figures text '0' 292.5 225 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; MGY1 360 157.5 library_path 'Bond Graph'; type MGY ports power in p1; power out p2; signal in r; restrictions causality constraint equal p1 p2; end; icon bg figures text 'MGY' 360 157.5 18 bold; end; implementation eq equations p1.e = r * p2.f; p2.e = r * p1.f; implementation_end; R3VO3Z 292.5 292.5 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 left figures text '1' 292.5 292.5 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Integrate1 112.5 15 library_path 'Signal\Block Diagram'; type Integrate ports signal in input; signal out output; parameters real initial = 0.0; end; icon bg figures rectangle 97.5 0 127.5 30 fill 15132390; text 'ò' 112.5 12.5 color 16711680 'SymbolProp BT' 21 symbol; end; implementation eq equations output = int (input, initial); implementation_end; Integrate2 165 487.5 library_path 'Signal\Block Diagram'; type Integrate ports signal in input; signal out output; parameters real initial = 0.0; end; icon bg figures rectangle 150 472.5 180 502.5 fill 15132390; text 'ò' 165 485 color 16711680 'SymbolProp BT' 21 symbol; end; implementation eq equations output = int (input, initial); implementation_end; m3gZ 390 15 library_path 'Signal\Block Diagram'; type Gain ports signal in input; signal out output; parameters real K = -35.0; end; icon bg right figures rectangle 375.1 0 404.9 30 fill 15132390; text 'K' 390 15 color 16711680 16 bold; end; implementation eq equations output = K * input; implementation_end; m3gX 525 60 library_path 'Signal\Block Diagram'; type Gain ports signal in input; signal out output; parameters real K = -35.0; end; icon bg top figures rectangle 510.1 45 539.9 75 fill 15132390; text 'K' 525 60 color 16711680 16 bold; end; implementation eq equations output = K * input; implementation_end; m3 277.5 105 library_path 'Signal\Block Diagram'; type Gain ports signal in input; signal out output; parameters real K = 3.5; end; icon bg bottom figures rectangle 262.6 90 292.4 120 fill 15132390; text 'K' 277.5 105 color 16711680 16 bold; end; implementation eq equations output = K * input; implementation_end; m2gZ 420 487.5 library_path 'Signal\Block Diagram'; type Gain ports signal in input; signal out output; parameters real K = -155.0; end; icon bg right figures rectangle 405.1 472.5 434.9 502.5 fill 15132390; text 'K' 420 487.5 color 16711680 16 bold; end; implementation eq equations output = K * input; implementation_end; Function1 337.5 487.5 library_path 'Signal\Block Diagram Non-Linear'; type 'Function-Cosine' ports signal in input; signal out output; end; icon bg figures rectangle 322.5 472.5 352.5 502.5 fill 15132390; text 'cos' 338.5 486.5 color 16711680 14; end; implementation eq equations output = cos (input); implementation_end; Function2 255 390 library_path 'Signal\Block Diagram Non-Linear'; type 'Function-Cosine' ports signal in input; signal out output; end; icon bg figures rectangle 240 375 270 405 fill 15132390; text 'cos' 256 389 color 16711680 14; end; implementation eq equations output = cos (input); implementation_end; Function4 255 15 library_path 'Signal\Block Diagram Non-Linear'; type 'Function-Sine' ports signal in input; signal out output; end; icon bg figures rectangle 240 0 270 30 fill 15132390; text 'sin' 256 14 color 16711680 14; end; implementation eq equations output = sin (input); implementation_end; Function5 255 60 library_path 'Signal\Block Diagram Non-Linear'; type 'Function-Cosine' ports signal in input; signal out output; end; icon bg figures rectangle 240 45 270 75 fill 15132390; text 'cos' 256 59 color 16711680 14; end; implementation eq equations output = cos (input); implementation_end; C3 30 360 library_path 'Bond Graph'; type Se ports power out p; restrictions causality fixed out p; parameters real effort = -6.02; end; icon bg bottom figures text 'Se' 30 360 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; Function3 255 322.5 library_path 'Signal\Block Diagram Non-Linear'; type Function ports signal in input; signal out output; end; icon bg figures rectangle 240 307.5 270 337.5 fill 15132390; text 'sin' 256 321.5 color 16711680 14; end; implementation eq equations output = sin (input); implementation_end; Negate3 322.5 15 library_path 'Signal\Block Diagram'; type Negate ports signal in input; signal out output; end; icon bg figures rectangle 307.5 0 337.5 30 fill 15132390; text '-1' 322.5 15 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; Negate4 360 390 library_path 'Signal\Block Diagram'; type Negate ports signal in input; signal out output; end; icon bg figures rectangle 345 375 375 405 fill 15132390; text '-1' 360 390 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; Splitter3 202.5 352.5 library_path 'System'; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 199.5 349.5 205.5 355.5 color -1 fill 0; ellipse 198.5 348.5 206.5 356.5 color -1; terminals input 202.5 352.5 fixed; output 202.5 352.5 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter4 112.5 105 library_path 'System'; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 109.5 102 115.5 108 color -1 fill 0; ellipse 108.5 101 116.5 109 color -1; terminals input 112.5 105 fixed; output 112.5 105 fixed; end; implementation eq equations collect (output) = input; implementation_end; Negate6 360 322.5 library_path 'Signal\Block Diagram'; type Negate ports signal in input; signal out output; end; icon bg figures rectangle 345 307.5 375 337.5 fill 15132390; text '-1' 360 322.5 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; Negate1 427 60.5 library_path 'Signal\Block Diagram'; type Negate ports signal in input; signal out output; end; icon bg figures rectangle 412 45.5 442 75.5 fill 15132390; text '-1' 427 60.5 color 16711680 16 bold; end; implementation eq equations output = - input; implementation_end; Splitter1 187.5 15 library_path 'System'; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 184.5 12 190.5 18 color -1 fill 0; ellipse 183.5 11 191.5 19 color -1; terminals input 187.5 15 fixed; output 187.5 15 fixed; end; implementation eq equations collect (output) = input; implementation_end; theta3 150 352.5 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 right figures ellipse 142.5 345 157.5 360 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; Splitter2 150 15 library_path 'System'; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 147 12 153 18 color -1 fill 0; ellipse 146 11 154 19 color -1; terminals input 150 15 fixed; output 150 15 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter7 202.5 487.5 library_path 'System'; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 199.5 484.5 205.5 490.5 color -1 fill 0; ellipse 198.5 483.5 206.5 491.5 color -1; terminals input 202.5 487.5 fixed; output 202.5 487.5 fixed; end; implementation eq equations collect (output) = input; implementation_end; end; connections R2w2\p => J2\p; R2w2\p => R2\p; C2\p => R2w2\p; R2w2\p => O2G2\p1; R2w2\p => O3G2\p1; R3w2pw3\p => J3\p; R3w2pw3\p => R3\p; O3G2\p2 => R2FO3Z\p; O2G2\p2 => R2FO2Z\p; R2VG2Z\p => R2FO2Z\p; R2VG2Z\p => R2FO3Z\p; R2FO3Z\p => R2VO3Z\p; R2VG2Z\p => m2Z\p; MSe1\p => R2VG2Z\p; R2VO3Z\p => MTF1\p1; R2VO3Z\p => MTF2\p1; R3VG3X\p => m3X\p; m3Xg\p => R3VG3X\p; R3VG3Z\p => m3Z\p; O3G3\p2 => R3FO3\p; R3VG3Z\p => R3FO3\p; m3Zg\p => R3VG3Z\p; Function1\output -> m2gZ\input; m2gZ\output -> MSe1\effort; R3VG3X\p => R3VO3X\p; m3gZ\output -> m3Zg\effort; m3gX\output -> m3Xg\effort; R3FO3\p => R3VO3Z\p; m3\output -> MGY1\r; ZeroJunction1\p => R3w2pw3\p; C3\p => ZeroJunction1\p; MTF1\p2 => R3VO3Z\p; MTF2\p2 => R3VO3X\p; Function4\output -> Negate3\input; Negate3\output -> m3gZ\input; Negate4\output -> MTF2\r; Function2\output -> Negate4\input; Splitter3\output -> Function3\input; Splitter3\output -> Function2\input; Splitter4\output -> Integrate1\input; Function3\output -> Negate6\input; Negate6\output -> MTF1\r; Function5\output -> Negate1\input; Negate1\output -> m3gX\input; R3VG3X\p => MGY1\p1; MGY1\p2 => R3VG3Z\p; R3w2pw3\p => O3G3\p1; m3\input <- Splitter4\output; R2w2\flow -> Integrate2\input; Splitter1\output -> Function5\input; R3w2pw3\flow -> Splitter4\input; Splitter2\input <- Integrate1\output; Splitter1\output -> Function4\input; Splitter2\output -> theta3\plus; Splitter7\input <- Integrate2\output; Splitter7\output -> Function1\input; Splitter7\output -> theta3\minus 202.5 435 150 435; theta3\output -> Splitter3\input; R2w2\p => ZeroJunction1\p; Splitter2\output -> Splitter1\input; end; figures ellipse 742.5 247 757.5 263 color 255 width 4; line 537 373 750 255 915 332 color 255 width 4; ellipse 768.5 404 735 427.5 color 255 width 4; ellipse 592.5 329.5 607.5 345.5 color 255 width 4; line 983 338 600.5 338 600.5 180.5 width 2 both; line 607 336 847 203 color 16711680 width 2 end; line 600 335 525 231 color 16711680 width 2 end; line 749 255 1017 379 color 2673737 width 2 end; line 750.5 255 797 144 color 2673737 width 2 end; text 'x2' 834 196 color 16711680 14; text 'x1' 984 321 14; text 'z1' 603 168 14; text 'z2' 527 214 color 16711680 14; text 'z3' 810 129 color 2005303 14; text 'x3' 1013 361 color 2005303 14; text 'O2' 579 334 color -1; text 'O3' 739 238 color -1; text 'O4' 916 317 color -1; text 'G2' 527 364 color -1; text 'G3' 875 295 color -1; text 'theta2' 668 324 color 16711680; line 750 256 804 329 color 16711680; text 'theta3' 807 300 color 16711680; text 'ERICC 3' 765 60 color 255 'Comic Sans MS' 27 bold; text 'm2 = 15,5 kg ' 765 412.5 color 16711680; text 'm3 = 3,5 kg' 757.5 435 color 16711680; text 'O3G2 = -0,344 m' 765 480 color 16711680; text 'O2G2 = -0,064 m' 765 457.5 color 16711680; text 'O3G3 = 0,172 m' 765 502.5 color 16711680; text 'Chaînes d énergie épaule et coude' 772.5 97.5 color 255 'Comic Sans MS' 20; text 'les valeurs entrées correspondent à l équilibre du robot' 765 547.5 color -1 16; implementation_end;