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- updated template

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jens
2021-10-12 09:20:30 +02:00
parent 425567f3db
commit c4d886a390
1 changed files with 16 additions and 21 deletions
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config.json.templ
+16 -21
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@@ -1,60 +1,55 @@
{ {
"Controller" : { "Controller" : {
"dt": 1,
"sim_warp_factor": 10.0, "sim_warp_factor": 10.0,
"stirrer_name": "sim", "stirrer_name": "sim",
"heater_name": "sim", "heater_name": "sim",
"sensor_name": "sim", "sensor_name": "sim",
"plant_name": "sim", "plant_name": "sim",
"pid_type": "Normal" "pid_type": "Smith"
}, },
"TempCtrl": { "TempCtrl": {
"Model": {
"theta": 20,
"C": 4190,
"M": 25,
"L": 0.05,
"Td": 15,
"kn": 0.2,
"gain" : 0.8
},
"Kalman": { "Kalman": {
"dt": 1.0,
"var_P" : 1.0, "var_P" : 1.0,
"var_Q" : 0.0001, "var_Q" : 0.0001,
"var_R" : 1.0 "var_R" : 1.0
}, },
"Hold": { "Hold": {
"dt": 1.0, "kp": 0.4,
"kp": 1.0,
"ki": 0.0, "ki": 0.0,
"kd": 0.0, "kd": 0.0,
"kt": 0.0 "kt": 0.0
}, },
"Heat": { "Heat": {
"dt": 1.0, "kp": 0.05,
"kp": 0.1,
"ki": 0.01, "ki": 0.01,
"kd": 0.0, "kd": 0.0,
"kt": 1.0 "kt": 1.5
} }
}, },
"Plant": { "Model": {
"dt": 1.0,
"theta": 20, "theta": 20,
"C": 4190, "C": 4190,
"M": 25, "M": 25,
"L": 0.1, "L": 0.05,
"Td": 15,
"kn": 0.2,
"gain" : 0.8
},
"Plant": {
"theta": 20,
"C": 4190,
"M": 25,
"L": 0.05,
"Td": 15, "Td": 15,
"kn": 0.2, "kn": 0.2,
"gain" : 0.8 "gain" : 0.8
}, },
"Heater": { "Heater": {
"dt": 1.0,
"port": "/dev/ttyUSB0", "port": "/dev/ttyUSB0",
"speed": "115200" "speed": "115200"
}, },
"Stirrer": { "Stirrer": {
"dt": 1.0,
"port": "/dev/ttyACM0", "port": "/dev/ttyACM0",
"speed": "115200" "speed": "115200"
} }