<!DOCTYPE OMNotebook>
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    <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;">DC Motor with Backclash&lt;/p>&lt;/body>&lt;/html></Text>
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     <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;">Standard Modelica Library Components&lt;/p>&lt;/body>&lt;/html></Text>
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     <Input>model DCMotorCircuit
  Modelica.Mechanics.Rotational.Inertia          inertia1;
  Modelica.Electrical.Analog.Basic.Inductor       inductor1;
  Modelica.Electrical.Analog.Basic.Resistor       resistor1;
  Modelica.Electrical.Analog.Basic.Ground         ground1;
  Modelica.Electrical.Analog.Basic.EMF            emf1;
  Modelica.Blocks.Sources.Step               step1;
  Modelica.Electrical.Analog.Sources.SignalVoltage   signalVoltage1;

equation 
  connect(step1.outPort, signalVoltage1.inPort);
  connect(signalVoltage1.n, resistor1.p);
  connect(resistor1.n, inductor1.p);
  connect(signalVoltage1.p, ground1.p);
  connect(ground1.p, emf1.n);
  connect(inductor1.n, emf1.p);
  connect(emf1.flange_b, inertia1.flange_a);
end DCMotorCircuit;</Input>
     <Output></Output>
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      <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;">Simulation of DCMotorCircuit&lt;/p>&lt;/body>&lt;/html></Text>
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      <Input>simulate( DCMotorCircuit, stopTime=10 );</Input>
      <Output></Output>
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      <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>
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     <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;">Modelica.Mechanics.Rotational.ElastoBacklash&lt;/p>&lt;/body>&lt;/html></Text>
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     <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;">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;">This element consists of a backlash element connected in series to a spring and damper element which are connected in parallel. The spring constant shall be non-zero, otherwise the component cannot be used. &lt;br />In combination with components IdealGear, the ElastoBacklash model can be used to model a gear box with backlash, elasticity and damping.&lt;br />The parameters are: NameDefaultDescriptionb0Total backlash [rad]c1.e5Spring constant (c &amp;gt; 0 required) [N.m/rad]phi_rel00Unstretched spring angle [rad]d0Damping constant [N.m.s/rad]&lt;span style=" font-size:14pt;">&lt;br />&lt;/span>&lt;/p>&lt;/body>&lt;/html></Text>
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     <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/13.png" width="460" height="169" />&lt;/p>&lt;/body>&lt;/html></Text>
      <Image name="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/13.png" >[encoded data, 4468 characters]</Image>
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     <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;">Source Code&lt;/p>&lt;/body>&lt;/html></Text>
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     <InputCell style="Input" closed="true" >
      <Input>model DCMotorCircuitBacklash
  Modelica.Mechanics.Rotational.Inertia          inertia1(J=1),
                            inertia2(J=6);
  Modelica.Electrical.Analog.Basic.Inductor       inductor1;
  Modelica.Electrical.Analog.Basic.Resistor       resistor1;
  Modelica.Electrical.Analog.Basic.Ground         ground1;
  Modelica.Electrical.Analog.Basic.EMF            emf1;
  Modelica.Blocks.Sources.Step               step1;
  Modelica.Electrical.Analog.Sources.SignalVoltage   signalVoltage1;
  Modelica.Mechanics.Rotational.ElastoBacklash    elastoBacklash( b=3, c=10, d=0.8 );

equation 
  connect(step1.outPort, signalVoltage1.inPort);
  connect(signalVoltage1.n, resistor1.p);
  connect(resistor1.n, inductor1.p);
  connect(signalVoltage1.p, ground1.p);
  connect(ground1.p, emf1.n);
  connect(inductor1.n, emf1.p);
  
  //connect(emf1.flange_b, inertia1.flange_a);
  
  connect(emf1.flange_b,inertia1.flange_a);
  connect(inertia1.flange_b, elastoBacklash.flange_a);
  connect(elastoBacklash.flange_b,inertia2.flange_a);
  
end DCMotorCircuitBacklash;</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;">Simulation of DCMotorCircuitBackClash&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>simulate( DCMotorCircuitBacklash, stopTime=25 );</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( elastoBacklash.w_rel );</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="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=" 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;img src="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/14.png" width="288" height="214" />&lt;/p>&lt;/body>&lt;/html></Text>
      <Image name="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/14.png" >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</Image>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>plot( elastoBacklash.phi_rel );</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="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=" 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;img src="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/15.png" width="288" height="214" />&lt;/p>&lt;/body>&lt;/html></Text>
      <Image name="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/15.png" >AAAAAYlQTkcNChoKAAAADUlIRFIAAAEgAAAA1ggDAAAARuGvAgAAAwBQTFRFAAAAAAD/2dnZAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAqOCPfgAAAAlwSFlzAAALEwAACxMBAJqcGAAABQVJREFUeJztnYuSqjAQRAP//9G3XBEmz04Qr5g5XRZC0mHh7GTAkHXDipoK3z6AuwtAQgASApAQgIQAJAQgIQAJAUgIQEIAEgKQEICEACQEICEACQFICEBCABICkBCAhPoA7a7Q8oeQVm/bWat8N3vJ3X5jXccTiqt5QcjqQ0ergQP5gnqOy4bBaz1sARO2sNkWYa/dPFtF0mo1sRZC3DYp/7Yqx7BsOjyv8zja2YJgXqtdsVjjVgeJqO1xQHfAMxBBtrPsv9xQfG2x8zSERqs124mt+TFAq+ka4dW7nuWvZbC169OyFluFvcLu+Hh/6TPnPKTRJP2tQ/iaBi/znziCWwRKVbc+uDsIQEIAEgKQEICEACQEICEACQFICEBCABICkBCAhAAkBCAhAAlpQM4RAkjIPGWxq+ZR1b1HRD+u4kPT7dFLSB0eVQS0bcQP/YraHi1OrAog8+yu9dRh+XtNrQagqKOV5QnQ/jz0KNZdzBOgM45lBVDzMg8g4QCQcCz7Yl59BNAy0e3R2zmoAGiqa9s7EbSYZVIOoIcqgObKTO8Dyli4A1S1tABNQ+j6CCqVLr97XfsvgP5uKH+U0McAmeKf7nMX5KDk1GuAbMHyO30uPXuLI/7jg1xtQEd16nsWWEI3xpWdfjaC9j6guOpg8cSyRZMJquVOEdYE1B4wy0gkG3mKyk482Y7+hGYZVfM8T6sFSIxJL1kfSjYKyfmDcTEMtI9sA5Aak85iJV2f4pY6Of1oZLq3i9UAPeLl1/m8cx9UBJQk7Luk2vN64z6oA9AE+mwETSAACV0CqHJLNIUuyUHOAVXKi9d2AB0qfcCYjw+AlM7noNJneJ+AKuUFQL9/35zrKkDTTmS4DtAEH0xLuioHzdm/1so86X24ozEeNCeOXKfnSbsG1DOJ0zegYN4rY9KuAe19ixxUnidtv7gNQCcdANodZQuA2g4vfACkdLaLAUg4ACQcABIOAB0OctAZB4CEA0DCAaDDQQ6q1jU+zQNor/QdQABS6gBUSkIAOiqJoGqV/fcGiQAkHAAyjpIFQMIBoLbDDx8AKZ3LQQASDgAJB4CEA0DWQQ4adjjiAyAlAAmdykE+AVW/Ljlv5BJQyNer04DdA1pf81sjxyEAvVbL04A98WkBqk4D9gko+jqK9kx7p4D6HQCKHZkFQMIBIOEAkHAAKHaQg0YdAGo7XPE508UAJBwAEg4ACQeAEgc5KNq2Yx7FIVdffNLTj0aFykOuADo2iuNBAEpq0yFXACXrRFC8HbJlbHDGZ/w+CECZw3UKIoKUACQ0Csgbn+EcBCDhAJBwAEg4AJQ7rMUdn9EIApBwAEg4AFRwkIO2tWg0+rnMxoMcA+qbBgwgW5wPmPnjUwEUzLsdkwaQLSyMSXsGZMehq98G7BpQh8Mhn7H7IAAJB4DaDo98AKQ0koMA1Ha45AMgJQAJDeQgALUdPvkASKkbkFM+3Tlo0v8/p9UbQW74ZHMSu1p0x4/e3c3N2/ezdu7qz708FOZXBcjwDLPZFdKQ6mnhSsmkVQAJAUjI+elrXQso5H9kX3Uey25zl/viPV8MaMyaXjHa++22hu49F56NFn/0ZeoOoFOAOnd+7Z6vzkHd+xs/jU7zK9r6zc09Xwqo+4TXE4D6e82l5i91se3mvjftDpq7j6TDzGVeCEBCABICkBCAhAAkBCAhAAkBSAhAQgASApAQgIQAJPQPFzrYViI3h5cAAAAASUVORK5CYII=</Image>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>plot( { inertia1.w, inertia2.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="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=" 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;img src="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/16.png" width="288" height="214" />&lt;/p>&lt;/body>&lt;/html></Text>
      <Image name="file:///C:/OpenModelica132/bin/OMNoteboook_tempfiles/16.png" >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</Image>
     </TextCell>
     <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 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;">Erik (2004-02-03)&lt;/span>&lt;/p>&lt;/body>&lt;/html></Text>
     </TextCell>
     <InputCell style="Input" closed="true" >
      <Input>model DCMotorCircuitBacklash2 =
  DCMotorCircuitBacklash( inertia1(J=1), inertia2(J=1), elastoBacklash( b=1, c=1e5, d=0 ) );</Input>
      <Output></Output>
     </InputCell>
     <InputCell style="Input" closed="true" >
      <Input>simulate( DCMotorCircuitBacklash2, stopTime=25 );</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, inertia2.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="Output" >
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      <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;">SimpleElastoBacklash&lt;/p>&lt;/body>&lt;/html></Text>
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     <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;">Most properties of the elastic transmission with backlash, both continuous and discrete, are represented in the partial model SimpleElastoBacklash below. This is a typical hybrid mode switching model, with the finite state automaton represented by the equations for the Boolean variables backward, forward and slack and the conditional equation for the torque tau having different right hand side expressions in the three operationg modes.&lt;/p>&lt;/body>&lt;/html></Text>
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      <Input>partial model SimpleElastoBacklash
  Boolean backward, slack, forward;      // Mode variables
  parameter Real  b                    "Size of backlash region";
  parameter Real  c = 1.e5             "Spring constant (c>0), N.m/rad";
  Flange_a        flange_a             "(left) driving flange - connector";
  Flange_b        flange_b             "(right) driven flange - connector";
  parameter Real  phi_rel0 = 0         "Angle when spring exerts no torque";
  Real            phi_rel              "Relative rotation angle betw. flanges";
  Real            phi_dev              "Angle deviation from zero-torque pos";
  Real            tau                  "Torque between flanges";
equation
  phi_rel   = flange_b.phi - flange_a.phi;
  phi_dev   = phi_rel - phi_rel0;
  backward  = phi_rel &lt; -b/2;          // Backward angle gives torque tau&lt;0
  forward   = phi_rel > b/2;           // Forward angle gives torque tau>0
  slack     = not (backward or forward);    // Slack angle gives no torque
  tau = if forward then                    // Forward angle gives
          c*(phi_dev - b/2)                //   positive driving torque
        else (if backward then             // Backward angle gives
          c*(phi_dev + b/2)                //   negative braking torque
        else                               // Slack gives
          0);                              //   zero torque
end SimpleElastoBacklash;</Input>
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      <Input>model ElastoBacklash 
  "Backlash connected in series to linear spring and damper 
   (backlash is modeled with elasticity)"
  extends Modelica.Mechanics.Rotational.Interfaces.Compliant;
  parameter SIunits.Angle  b = 0          "Backlash size parameter";
  parameter Real           c = 1.e5       "Spring constant (c>0), N.m/rad";
  parameter SIunits.Angle  phi_rel0 = 0   "Angle with zero spring torque";
  parameter Real           d = 0          "Damping constant, N.m.s/rad";
  SIunits.Angle            phi_dev        "Angle deviation from zero pos";
  SIunits.AngularVelocity  w_rel          "Relative rotation speed
                                           between flange_b and flange_a";
 protected 
  SIunits.Angle            b2 = b/2       "Half backlash";
  constant SIunits.Angle   b_min = 1.e-10   "minimum backlash";
equation 
  w_rel = der(phi_rel);
  phi_dev   = phi_rel - phi_rel0;
  tau = if b2 > b_min               // Slack behavior enabled
    then (if phi_dev > b2                 // Forward angle gives
      then c*(phi_dev - b2) + d*w_rel     //   positive torque
      else (if phi_dev &lt; -b2              // Backward angle gives
        then c*(phi_dev + b2)+ d*w_rel    //   negative torque
        else 0)                           // Slack gives zero torque
      ) 
    else 
      c*phi_dev + d*w_rel;           // Slack behavior disabled if b/2 &lt;= b_min
end ElastoBacklash;
</Input>
      <Output></Output>
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