Subblock-create-and-verify/Control System/ForceController.json

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{
2023-05-18 12:40:54 +03:00
"id": 140195507732592,
"scene_width": 64000,
"scene_height": 64000,
2023-05-18 12:40:54 +03:00
"scene_pos_x": 303.0,
"scene_pos_y": 223.0,
"nodes": [
{
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"id": 5,
"enable": true,
"is_invalid": false,
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"title": "EffortCompensationProcess",
"pos_x": 1325.0312500000002,
"pos_y": 194.6679687500001,
"inputs": [
{
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"id": 50001,
"index": 0,
"multi_edges": false,
"position": 0,
"socket_type": 1,
"link_id": -1,
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"text": "force",
"mode": "input",
"object": "value",
"true_type": "none",
"type": "float",
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"description": "\u0422\u0435\u043a\u0443\u0449\u0435\u0435 \u043b\u0438\u043d\u0435\u0439\u043d\u043e\u0435 \u0443\u0441\u0438\u043b\u0438\u0435 \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
},
{
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"id": 50002,
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"position": 0,
2023-05-18 12:40:54 +03:00
"socket_type": 1,
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2023-05-18 12:40:54 +03:00
"text": "speed",
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"object": "value",
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"type": "float",
"description": "\u0422\u0435\u043a\u0443\u0449\u0430\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c."
},
{
"id": 50003,
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"multi_edges": false,
"position": 0,
"socket_type": 3,
"link_id": 2,
"text": "params",
"mode": "input",
"object": "setting",
"true_type": "none",
"type": "processing::acs::EffortCompensationProcess",
"description": "\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u043f\u0440\u043e\u0446\u0435\u0441\u0441\u0430 \u043a\u043e\u043c\u043f\u0435\u043d\u0441\u0430\u0446\u0438\u0438 \u0443\u0441\u0438\u043b\u0438\u044f \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
},
{
"id": 50004,
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"text": "regulator",
"mode": "input",
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"object": "dynamic",
"true_type": "none",
2023-05-18 12:40:54 +03:00
"type": "control::regulator::ForceController",
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043d\u0430\u0431\u043e\u0440\u0430 \u0438 \u043f\u043e\u0434\u0434\u0435\u0440\u0436\u0430\u043d\u0438\u044f \u0443\u0441\u0438\u043b\u0438\u044f."
}
],
"outputs": [
{
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"id": 50101,
"index": 0,
"multi_edges": true,
"position": 2,
"socket_type": 2,
"link_id": 1,
"text": "control_process",
"mode": "output",
"object": "resource",
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"true_type": "processing::acs::EffortCompensationProcess",
"type": "processing::acs::ValueToPhaseSpaceUnitInterface",
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u043a\u043e\u043c\u043f\u0435\u043d\u0441\u0430\u0446\u0438\u0438 \u0443\u0441\u0438\u043b\u0438\u044f \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
},
{
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"id": 50102,
"index": 1,
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"socket_type": 1,
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2023-05-18 12:40:54 +03:00
"text": "demand",
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"object": "value",
"true_type": "const float &",
"type": "float",
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{
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"id": 50103,
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"socket_type": 1,
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"text": "compensation",
"mode": "output",
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"object": "value",
"true_type": "const float &",
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"description": "\u041a\u043e\u043c\u043f\u0435\u043d\u0441\u0430\u0446\u0438\u044f \u0443\u0441\u0438\u043b\u0438\u0435 \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
},
{
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"id": 50104,
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"link_id": 2,
"text": "efficienty",
"mode": "output",
"object": "resource",
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"true_type": "processing::acs::EffortCompensationProcess",
"type": "systemic::IValueType<float>",
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"description": "\u042d\u0444\u0444\u0435\u043a\u0442\u0438\u0432\u043d\u043e\u0441\u0442\u044c \u043f\u0435\u0440\u0435\u0434\u0430\u0447\u0438 \u0443\u0441\u0438\u043b\u0438\u044f (\u043a\u043f\u0434, \u0438\u0434\u0435\u0430\u043b\u044c\u043d\u043e\u0435 - 1)."
}
],
"content": {
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"id": 139948593740768
},
"alias": "",
"comment": "",
"params": {},
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"initializer_id": 313,
"process_settings": {
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"priority": 1,
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},
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"node_id": 717,
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},
{
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"id": 10,
"enable": true,
"is_invalid": false,
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"title": "control::regulator::ForceController",
"pos_x": 674.0312500000001,
"pos_y": -130.76953124999986,
"inputs": [],
"outputs": [
{
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"id": 100101,
"index": 0,
"multi_edges": true,
"position": 2,
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"socket_type": 3,
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"text": "",
"mode": "output",
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"object": "",
"true_type": "",
"type": "control::regulator::ForceController",
"description": ""
}
],
"content": {
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"id": 139948594038672
},
"alias": "",
"comment": "",
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"params": {
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"description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0434\u0438\u043d\u0430\u043c\u0438\u043a\u0438 \u0443\u0434\u0435\u0440\u0436\u0430\u043d\u0438\u044f \u0443\u0441\u0438\u043b\u0438\u044f (\u043a\u0433*\u043c/(\u041d*\u0441^2)).",
"min": 0.0,
"max": 1000000000000.0
},
"prop_mismatch": {
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"format": "f",
"description": "\u041e\u0448\u0438\u0431\u043a\u0430 \u0443\u0441\u0438\u043b\u0438\u044f \u043f\u043e\u0434\u043f\u043e\u0440\u0430 (\u043e\u043f\u0440\u0435\u0434\u0435\u043b\u044f\u0435\u0442 \u0434\u0438\u043d\u0430\u043c\u0438\u043a\u0443 \u043d\u0430\u0431\u043e\u0440\u0430 \u0443\u0441\u0438\u043b\u0438\u044f \u043f\u043e\u0434\u043f\u043e\u0440\u0430) (\u041d).",
"min": 0.1,
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"khardness": {
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"min": 0.1,
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"mass": {
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"min": 0.1,
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},
"dump_force": {
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"description": "\u041e\u0448\u0438\u0431\u043a\u0430 \u043f\u043e \u0443\u0441\u0438\u043b\u0438\u044e \u0441\u0431\u0440\u043e\u0441\u0430 \u043f\u043e\u0434\u043f\u043e\u0440\u0430 (\u041d).",
"min": 0.1,
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},
"hold_mismatch": {
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"description": "\u0414\u043e\u043f\u0443\u0441\u0442\u0438\u043c\u0430\u044f \u043e\u0448\u0438\u0431\u043a\u0430 \u043f\u043e \u0432\u044b\u0445\u043e\u0434\u0443 \u043d\u0430 \u0443\u0441\u0438\u043b\u0438\u0435 (\u041d)."
},
"dead_pos": {
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"format": "f",
"description": "\u0417\u043e\u043d\u0430 \u043e\u0442\u0441\u0443\u0442\u0441\u0442\u0432\u0438\u044f \u0440\u0435\u0430\u043a\u0446\u0438\u0438 \u043d\u0430 \u0441\u043d\u0438\u0436\u0435\u043d\u0438\u0435 \u0443\u0441\u0438\u043b\u0438\u044f (\u041d)."
},
"dead_neg": {
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},
"coeff_pos": {
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},
"coeff_neg": {
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"description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0441\u0431\u0440\u043e\u0441\u0430 \u0443\u0441\u0438\u043b\u0438\u044f (\u043c/(\u041d*\u0441))."
}
},
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"setting_name": "Force Controller Params",
"group": "Force Controller",
"level": 3
},
{
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"id": 11,
"enable": true,
"is_invalid": false,
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"title": "ForceControlProcess",
"pos_x": 1322.5625000000039,
"pos_y": 19.214843749996362,
"inputs": [
{
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"id": 110001,
"index": 0,
"multi_edges": false,
"position": 0,
"socket_type": 1,
"link_id": -1,
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"text": "force",
"mode": "input",
"object": "value",
"true_type": "none",
"type": "float",
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"description": "\u0422\u0435\u043a\u0443\u0449\u0435\u0435 \u043b\u0438\u043d\u0435\u0439\u043d\u043e\u0435 \u0443\u0441\u0438\u043b\u0438\u0435 \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
},
{
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"id": 110002,
"index": 1,
"multi_edges": false,
"position": 0,
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"socket_type": 3,
"link_id": 3,
"text": "params",
"mode": "input",
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"object": "setting",
"true_type": "none",
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"type": "processing::acs::ForceControlProcess",
"description": "\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u043f\u0440\u043e\u0446\u0435\u0441\u0441\u0430 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0443\u0441\u0438\u043b\u0438\u0435\u043c \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
},
{
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"id": 110003,
"index": 2,
"multi_edges": false,
"position": 0,
"socket_type": 2,
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"link_id": 6,
"text": "regulator",
"mode": "input",
"object": "static",
"true_type": "none",
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"type": "control::regulator::ForceController",
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043d\u0430\u0431\u043e\u0440\u0430 \u0438 \u043f\u043e\u0434\u0434\u0435\u0440\u0436\u0430\u043d\u0438\u044f \u0443\u0441\u0438\u043b\u0438\u044f."
}
],
"outputs": [
{
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"id": 110101,
"index": 0,
"multi_edges": true,
"position": 2,
"socket_type": 2,
"link_id": 3,
"text": "control_process",
"mode": "output",
"object": "resource",
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"true_type": "processing::acs::ForceControlProcess",
"type": "processing::acs::ValueToPhaseSpaceUnitInterface",
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0443\u0441\u0438\u043b\u0438\u0435\u043c \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
},
{
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"id": 110102,
"index": 1,
"multi_edges": true,
"position": 2,
"socket_type": 2,
2023-05-18 12:40:54 +03:00
"link_id": 4,
"text": "khardness",
"mode": "output",
"object": "resource",
"true_type": "systemic::IValueType<float>",
"type": "systemic::IValueType<float>",
2023-05-18 12:40:54 +03:00
"description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0436\u0435\u0441\u0442\u043a\u043e\u0441\u0442\u0438 \u0443\u043f\u043e\u0440\u0430."
},
{
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"id": 110103,
"index": 2,
"multi_edges": true,
"position": 2,
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"socket_type": 1,
"link_id": 3,
"text": "demand",
"mode": "output",
2023-05-18 12:40:54 +03:00
"object": "value",
"true_type": "const float &",
"type": "float",
"description": "\u0417\u0430\u0434\u0430\u043d\u043d\u043e\u0435 \u0443\u0441\u0438\u043b\u0438\u0435 \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
},
{
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"id": 110104,
"index": 3,
"multi_edges": true,
"position": 2,
2023-05-18 12:40:54 +03:00
"socket_type": 2,
"link_id": 5,
"text": "mass",
"mode": "output",
2023-05-18 12:40:54 +03:00
"object": "resource",
"true_type": "systemic::IValueType<float>",
"type": "systemic::IValueType<float>",
"description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0436\u0435\u0441\u0442\u043a\u043e\u0441\u0442\u0438 \u0443\u043f\u043e\u0440\u0430."
}
],
"content": {
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"id": 139948594039968
},
"alias": "",
"comment": "",
"params": {},
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"initializer_id": 312,
"process_settings": {
"processor_id": 2,
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"priority": 0,
"period": 0,
"phase": 0
},
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"node_id": 718,
"cpu_id": 0
},
{
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"id": 13,
"enable": true,
"is_invalid": false,
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"title": "ForceController",
"pos_x": 966.2812500000001,
"pos_y": -104.9414062500035,
"inputs": [
{
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"id": 130001,
"index": 0,
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"multi_edges": false,
"position": 0,
"socket_type": 3,
"link_id": 1,
"text": "params",
"mode": "input",
"object": "setting",
"true_type": "none",
2023-05-18 12:40:54 +03:00
"type": "control::regulator::ForceController",
"description": "\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0443\u0441\u0438\u043b\u0438\u044f."
}
],
"outputs": [
{
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"id": 130101,
"index": 0,
"multi_edges": true,
"position": 2,
"socket_type": 2,
2023-05-18 12:40:54 +03:00
"link_id": 6,
"text": "regulator",
"mode": "output",
2023-05-18 12:40:54 +03:00
"object": "resource",
"true_type": "control::regulator::ForceController",
"type": "control::regulator::ForceController",
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u0443\u0441\u0438\u043b\u0438\u044f \u043e\u0431\u0435\u0441\u043f\u0435\u0447\u0438\u0432\u0430\u044e\u0449\u0438\u0439 \u043d\u0430\u0431\u043e\u0440 \u0438 \u043f\u043e\u0434\u0434\u0435\u0440\u0436\u0430\u043d\u0438\u0435 \u0443\u0441\u0438\u043b\u0438\u044f."
}
],
"content": {
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"id": 139948594042560
},
"alias": "",
"comment": "",
"params": {},
2023-05-18 12:40:54 +03:00
"initializer_id": 311,
"process_settings": {
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"priority": null,
"period": null,
"phase": null
},
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"node_id": 719,
"cpu_id": 0
},
{
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"id": 1,
"enable": true,
"is_invalid": false,
"title": "Input",
2023-05-18 12:40:54 +03:00
"pos_x": 674.0312500000001,
"pos_y": 35.68749999999986,
"inputs": [],
"outputs": [
{
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"id": 10101,
"index": 0,
"multi_edges": true,
"position": 2,
"socket_type": 1,
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