- added

git-svn-id: http://moon:8086/svn/projects/HendiControl@382 fda53097-d464-4ada-af97-ba876c37ca34
2020-04-20 16:49:33 +00:00
parent 39af4d962c
commit 168f3661b9
1 changed files with 54 additions and 0 deletions
@@ -0,0 +1,54 @@
+{
+
+	"Controller" :
+	{
+		"dt"				: 1.0,
+		"P_min"				: 0,
+		"P_max"				: 3500,
+		"sim_warp_factor"	: 100.0,
+		"stirrer_name"      : "Stirrer_sim",
+		"plant_name"        : "Plant_sim",
+		"useKalman"			: true,
+		"kalman" 			: {
+			"dt"				: 1.0,
+			"var_P"				: 0,
+			"var_Q"				: 0.000001,
+			"var_R"				: 1,
+			"var_Z"				: 0.0
+		},
+		"Hold" : {
+				"Pid" : {
+					"kp"	: 0.4,
+					"ki"	: 0.0002,
+					"kd"	: 0.0,
+					"rho"	: 1.0
+				}
+		},
+		"Heat" : {
+				"Pid" : {
+					"kp"	: 0.002,
+					"ki"	: 0.0002,
+					"kd"	: 0.0,
+					"rho"	: 1.0
+				}
+		}
+	},
+	"Plant" :
+	{
+		"dt"			: 1.0,
+		"theta_amb"		: 15,
+		"C"				: 4190,
+		"M"				: 20,
+		"L"				: 0.1,
+		"Td"			: 60,
+		"kn"			: 0.2
+	},
+
+	"Stirrer" :
+	{
+		"dt"			: 1.0,
+		"port"			: "/dev/ttyACM0",
+		"speed"			: "115200"
+	}
+}
+