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    • Preface
    • Component Model
    • Bond Graph Variables
    • Elementary Components
    • Control Signal Elementss
    • Pendulum Problem
    • Overview
    • Get Started
    • Creating Components
    • Component's Documents
    • Editing a Project
    • Completing the Model
    • Use of Libraries
    • Building the Mathematical Model
    • Running Simulatioon
    • Examples
    • Inroduction
    • XML for Articulated Mechnisms
    • Generating the Basic Shapes
    • Generating Robotic Objects
    • Generating 3D Scenes
    • Preparing IPC
    • Running a Robot in 3D Scene
    • Examples
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Get Started

We demonstrate use of BondSim on problem of Pendulum. We need to create the new project first. We can do it by clicking New project bitmap (see Figure 1. below at down-left), or by using menu Project/New. A dialog window opens and we type the new project name in the text box: Pendulum. Note there is a short vertical caret, which indicates where we may start writing the new project name. Down below there is a list box containing already existing projects. We click the OK button. If such a project does not exist the name is accepted and a new empty project document opens in the central part of the frame window (Figure 2 below on the right). Now we may start editing the project's Bond Graph model. Note, that we may adjust the document window size by putting the mouse cursor at the right-bottom corner, and when a double arrow appears press the left key and drag it. Note project Pendulum appears in Model View frame at the left of the BondSim central frame window as a child of Model View structure.

New Project Dialog

Figure 1

New Project Pendulum

Figure 2

As already discussed the pendulum consists of several functional blocks, which we model by the corresponding word models: Support, Rod, Particle, and Gravity. We will create these components using Edition Tools. First, we will expand the Ports and Bond Graph Components tools by clicking small '+' buttons ahead of them to enable the access to their contents (see Figure 2.).

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