jens
4e884cae91
git-svn-id: http://moon:8086/svn/projects/HendiControl@220 fda53097-d464-4ada-af97-ba876c37ca34
77 lines
1.0 KiB
Templ
77 lines
1.0 KiB
Templ
{
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"Controller" :
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{
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"dt" : 1.0,
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"cont_ctrl" : true,
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"P_min" : 0,
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"P_max" : 3000,
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"P_q_W" : 100,
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"theta_lock_K" : 0.5,
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"sim_warp_factor" : 1.0,
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"stirrer_name" : "Stirrer",
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"plant_name" : "Mass",
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"useKalman" : true,
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"kalman" : {
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"dt" : 1,
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"var_P" : 0,
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"var_Q" : 0.0001,
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"var_R" : 1,
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"var_Z" : 0
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},
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"Hold" : {
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"Acqu": {
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"Pid" : {
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"kp" : 4,
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"ki" : 0.01,
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"kd" : 400,
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"rho" : 0.999
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}
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},
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"Track": {
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"Pid" : {
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"kp" : 4,
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"ki" : 0.01,
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"kd" : 400,
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"rho" : 0.999
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}
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}
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},
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"Heat" : {
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"Acqu": {
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"Pid" : {
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"kp" : 4,
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"ki" : 0.02,
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"kd" : 4,
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"rho" : 0.999
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}
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},
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"Track": {
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"Pid" : {
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"kp" : 1,
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"ki" : 0.02,
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"kd" : 4,
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"rho" : 0.999
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}
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}
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}
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},
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"WaterSim" :
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{
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"dt" : 1.0,
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"theta_amb" : 20,
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"C" : 4190,
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"M" : 20,
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"L" : 0.3,
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"Td" : 60,
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"kn" : 0
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},
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"Stirrer" :
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{
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"dt" : 1.0
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}
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}
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