<!DOCTYPE OMNotebook>
<Notebook>
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   <TextCell style="Title" >
    <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Arial; font-size:38pt; font-weight:600; color:#000000;">A DC-Motor by Connecting Components from Multiple Domains&lt;/p>&lt;/body>&lt;/html></Text>
   </TextCell>
   <GroupCell closed="false" >
    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">General Description&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">So far most of the presented models have been of the single domain type being constructed of components from a single application domain. However, one of the main advantages with Modelica is the ease of constructing multi-domain models simply by connecting components from different domains. A DC (direct current) motor is one of the simplest examples illustrating this capability. &lt;br />      &lt;br />This particular model contains components from the three domains: mechanical components such as inertia1,the electrical components resistor1, inductor1, signalVoltage1 and ground1 as well as pure signal components such as step1. &lt;br />&lt;/p>&lt;/body>&lt;/html></Text>
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     <Rule name="TextAlignment" >Center</Rule>
     <Rule name="CellTags" >Model1</Rule>
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    <TextCell style="" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p align='center' style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;">&lt;span style=" font-family:Times New Roman; font-size:12pt; color:#000000;">A multi-domain DC-MotorCircuit model with mechanical, electrical and signal block components&lt;/span>&lt;/p>&lt;/body>&lt;/html></Text>
     <Rule name="TextAlignment" >Center</Rule>
    </TextCell>
   </GroupCell>
   <GroupCell closed="true" >
    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">Types from Modelica.SIunits&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">The following are different types from the library &lt;span style=" font-family:Courier New;">Modelica.SIunits&lt;/span> used by the &lt;span style=" font-family:Courier New;">DCMotorCircuit&lt;/span>&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <GroupCell closed="true" >
     <TextCell style="Subsection" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:14pt; font-weight:600; color:#000000;">Electrical units&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>type ElectricPotential     = Real;
type ElectricCurrent     = Real(quantity = "ElectricCurrent", unit = "A");
type Resistance       = Real(quantity = "Resistance", unit = "Ohm", min = 0);
type Inductance       = Real(quantity = "Inductance", unit = "H", min = 0);
type Voltage         = ElectricPotential;
type Current         = ElectricCurrent;</Input>
      <Output></Output>
     </InputCell>
    </GroupCell>
    <GroupCell closed="true" >
     <TextCell style="Subsection" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:14pt; font-weight:600; color:#000000;">Mechanical units&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>type Force           = Real(quantity = "Force", unit = "N");
type Angle           = Real(quantity = "Angle", unit = "rad", displayUnit = "deg");
type Torque         = Real(quantity = "Torque", unit = "N.m");
type AngularVelocity     = Real(quantity = "AngularVelocity", unit = "rad/s", displayUnit = "rev/min");
type AngularAcceleration   = Real(quantity = "AngularAcceleration", unit = "rad/s2");
type MomentOfInertia     = Real(quantity = "MomentOfInertia", unit = "kg.m2");</Input>
      <Output></Output>
     </InputCell>
    </GroupCell>
    <GroupCell closed="true" >
     <TextCell style="Subsection" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:14pt; font-weight:600; color:#000000;">Other units&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>type Length         = Real(quantity = "Length", unit = "m");
type Time            = Real(quantity = "Time", unit = "s");
type Distance        = Length(min = 0);
type Position         = Length;</Input>
      <Output></Output>
     </InputCell>
    </GroupCell>
   </GroupCell>
   <GroupCell closed="true" >
    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">Electrical Connectors&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>connector Pin           "Pin of an electrical component"
   Voltage v           "Potential at the pin";
   flow Current i         "Current flowing into the pin";
end Pin;              //From Modelica.Electrical.Analog.Interfaces</Input>
     <Output></Output>
    </InputCell>
    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>connector PositivePin       "Positive pin of an electrical component"
   Voltage v           "Potential at the pin";
   flow Current i         "Current flowing into the pin";
end PositivePin;          //From Modelica.Electrical.Analog.Interfaces</Input>
     <Output></Output>
    </InputCell>
    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>connector NegativePin       "Negative pin of an electrical component"
   Voltage v           "Potential at the pin";
   flow Current i         "Current flowing into the pin";
end NegativePin;          //From Modelica.Electrical.Analog.Interfaces</Input>
     <Output></Output>
    </InputCell>
   </GroupCell>
   <GroupCell closed="true" >
    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;"> Mechanical Connectors&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>connector RotFlange_a       "1D rotational flange (filled square)"
   Angle phi           "Absolute rotational angle of flange";
   flow Torque tau         "Torque in the flange";
end RotFlange_a;        //From Modelica.Mechanics.Rotational.Interfaces</Input>
     <Output></Output>
    </InputCell>
    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>connector RotFlange_b       "1D rotational flange (filled square)"
   Angle phi           "Absolute rotational angle of flange";
   flow Torque tau         "Torque in the flange";
end RotFlange_b;        //From Modelica.Mechanics.Rotational.Interfaces</Input>
     <Output></Output>
    </InputCell>
   </GroupCell>
   <GroupCell closed="true" >
    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">Block Signal Connectors&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>connector InPort        "Connector with input signals of type Real"
  parameter Integer n = 1    "Dimension of signal vector";
  input Real     signal[n]  "Real input signals";
end InPort;            // From Modelica.Blocks.Interfaces</Input>
     <Output></Output>
    </InputCell>
    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>connector OutPort        "Connector with output signals of type Real"
  parameter Integer n = 1    "Dimension of signal vector";
  output Real     signal[n]  "Real output signals";
end OutPort;          // From Modelica.Blocks.Interfaces</Input>
     <Output></Output>
    </InputCell>
   </GroupCell>
   <GroupCell closed="true" >
    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">Components&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <GroupCell closed="true" >
     <TextCell style="Subsection" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:14pt; font-weight:600; color:#000000;">Electrical Components&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>partial model TwoPin          // Same as OnePort in Modelica.Electrical.Analog.Interfaces
                    "Component with two electrical pins p and n and current i from p to n"
  Voltage v                "Voltage drop between the two pins (= p.v - n.v)";
  Current i                "Current flowing from pin p to pin n";
  PositivePin p;
  NegativePin n;
equation
  v = p.v - n.v;
  0 = p.i + n.i;
  i = p.i;
end TwoPin;          </Input>
      <Output></Output>
     </InputCell>
     <TextCell style="Text" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>class Resistor               "Ideal linear electrical Resistor"
  extends TwoPin;            // Same as OnePort
  parameter Real R(unit = "Ohm")     "Resistance";
equation
  R*i = v;
end Resistor;                // From Modelica.Electrical.Analog.Basic </Input>
      <Output></Output>
     </InputCell>
     <TextCell style="Text" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>class Inductor               "Ideal linear electrical Inductor"
  extends TwoPin;            // Same as OnePort
  parameter Real L(unit = "H")       "Inductance";
equation
  v = L*der(i);
end Inductor;              // From Modelica.Electrical.Analog.Basic </Input>
      <Output></Output>
     </InputCell>
     <TextCell style="Text" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>class Ground               "Ground node"
  Pin p;
equation
  p.v = 0;
end Ground;                // From Modelica.Electrical.Analog.Basic </Input>
      <Output></Output>
     </InputCell>
     <TextCell style="Text" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>model SignalVoltage            "Generic Voltage source using the input signal as source Voltage"
  extends TwoPin;            // Same as OnePort
  InPort inPort(n=1);
equation
  inPort.signal[1] = v;
end SignalVoltage;            // From Modelica.Electrical.Analog.Sources</Input>
      <Output></Output>
     </InputCell>
    </GroupCell>
    <GroupCell closed="false" >
     <TextCell style="Subsection" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:14pt; font-weight:600; color:#000000;">Mechanical Components&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>partial model Rigid           // Rotational class Rigid
                    "Base class for the rigid connection of two rotational 1D flanges"
  Angle phi                "Absolute rotation angle of component";              
  RotFlange_a rotFlange_a        "(left) driving flange (axis directed into plane)";
  RotFlange_b rotFlange_b        "(right) driven flange (axis directed out of plane)";
equation
  rotFlange_a.phi = phi;
  rotFlange_b.phi = phi;
end Rigid;                // From Modelica.Mechanics.Rotational.Interfaces
</Input>
      <Output></Output>
     </InputCell>
     <TextCell style="Text" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>model Inertia              "1D rotational component with inertia"
  extends Rigid;
  parameter MomentOfInertia J = 1    "Moment of inertia";
  AngularVelocity     w          "Absolute angular velocity of component";
  AngularAcceleration a          "Absolute angular acceleration of component";
equation
  w = der(phi);
  a = der(w); 
  J*a = rotFlange_a.tau + rotFlange_b.tau;  
end Inertia;              //From Modelica.Mechanics.Rotational</Input>
      <Output></Output>
     </InputCell>
    </GroupCell>
    <GroupCell closed="true" >
     <TextCell style="Subsection" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:14pt; font-weight:600; color:#000000;">Electromechanical Components&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>model EMF                 "Electromotoric force (electric/mechanic transformer)"
  extends TwoPin;  
  parameter Real   k(unit = "N.m/A") = 1  "Transformation coefficient";
  AngularVelocity    w          "Angular velocity of rotFlange_b";
  RotFlange_b    rotFlange_b;    // Rotational Flange_b
equation
  w = der(rotFlange_b.phi);
  v = k*w;
  rotFlange_b.tau = - k*i;
end EMF;                // From Modelica.Electrical.Analog.Basic </Input>
      <Output></Output>
     </InputCell>
    </GroupCell>
    <GroupCell closed="true" >
     <TextCell style="Subsection" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:14pt; font-weight:600; color:#000000;">Signal Block Components&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>partial block MO             "Multiple Output continuous control block"
  parameter Integer nout = 1      "Number of outputs";
  OutPort       outPort(n = nout)  "Connector of Real output signals";
protected
  Real n[nout] = outPort.signal;
end MO;                  // From Modelica.Blocks.Interfaces</Input>
      <Output></Output>
     </InputCell>
     <TextCell style="Text" >
      <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>block Step                "Generate step signals of type Real"
  extends MO(nout = 1);
  parameter Real height = 1        "Height of steps";
  parameter Real offset = 0        "Offset of output signals";
  parameter Time startTime = 0      "Output = offset for time &lt; startTime";
equation
  outPort.signal[1] = offset + (if time &lt; startTime then 0 else height);
end Step;                // Version simplified from Step in Modelica.Blocks.Sources</Input>
      <Output></Output>
     </InputCell>
    </GroupCell>
   </GroupCell>
   <GroupCell closed="false" >
    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">DCMotor&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">This&lt;span style=" font-family:Courier New;"> DC&lt;/span> (direct current) &lt;span style=" font-family:Courier New;">motor&lt;/span> model contains component from three domains: mechanical, electrical and signal components. &lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>model DCMotorCircuit
  Resistor     resistor1(R=10);
  Inductor     inductor1(L=0.2);
  Ground     ground1;
  Inertia     inertia1(J=1);
  EMF       emf1;
  Step       step1;
  SignalVoltage signalVoltage1;
equation
  connect(step1.outPort, signalVoltage1.inPort);
  connect(signalVoltage1.p, resistor1.p);
  connect(resistor1.n, inductor1.p);
  connect(inductor1.n, emf1.p);
  connect(emf1.rotFlange_b, inertia1.rotFlange_a);
  connect(signalVoltage1.n, ground1.p);
  connect(ground1.p, emf1.n);
end DCMotorCircuit;</Input>
     <Output></Output>
    </InputCell>
   </GroupCell>
   <GroupCell closed="false" >
    <TextCell style="Section" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times; font-size:18pt; font-weight:600; color:#000000;">Simulation of DCMotorCircuit &lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>simulate( DCMotorCircuit, stopTime=150 );</Input>
     <Output></Output>
    </InputCell>
    <TextCell style="Output" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Courier New; font-size:11pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Text>
    </TextCell>
    <InputCell style="Input" closed="true" >
     <Input>plot( inertia1.w );</Input>
     <Output>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Courier New; font-size:11pt; color:#000000;">&lt;/p>&lt;/body>&lt;/html></Output>
    </InputCell>
    <TextCell style="Text" >
     <Text>&lt;html>&lt;head>&lt;meta name="qrichtext" content="1" />&lt;/head>&lt;body style=" white-space: pre-wrap; font-family:MS Shell Dlg; font-size:8.25pt; font-weight:400; font-style:normal; text-decoration:none;">&lt;p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:Times New Roman; font-size:12pt; color:#000000;">&lt;img src="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/11.png" width="288" height="214" />&lt;/p>&lt;/body>&lt;/html></Text>
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