jens
168f3661b9
git-svn-id: http://moon:8086/svn/projects/HendiControl@382 fda53097-d464-4ada-af97-ba876c37ca34
55 lines
779 B
JSON
Executable File
55 lines
779 B
JSON
Executable File
{
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"Controller" :
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{
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"dt" : 1.0,
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"P_min" : 0,
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"P_max" : 3500,
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"sim_warp_factor" : 100.0,
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"stirrer_name" : "Stirrer_sim",
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"plant_name" : "Plant_sim",
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"useKalman" : true,
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"kalman" : {
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"dt" : 1.0,
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"var_P" : 0,
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"var_Q" : 0.000001,
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"var_R" : 1,
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"var_Z" : 0.0
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},
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"Hold" : {
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"Pid" : {
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"kp" : 0.4,
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"ki" : 0.0002,
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"kd" : 0.0,
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"rho" : 1.0
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}
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},
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"Heat" : {
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"Pid" : {
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"kp" : 0.002,
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"ki" : 0.0002,
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"kd" : 0.0,
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"rho" : 1.0
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}
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}
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},
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"Plant" :
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{
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"dt" : 1.0,
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"theta_amb" : 15,
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"C" : 4190,
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"M" : 20,
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"L" : 0.1,
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"Td" : 60,
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"kn" : 0.2
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},
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"Stirrer" :
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{
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"dt" : 1.0,
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"port" : "/dev/ttyACM0",
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"speed" : "115200"
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}
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}
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