dev(UML-1519): git init + create Position Regulator Entity
This commit is contained in:
protsenko
parent
728221bbbe
commit
ddd8ce70d3
822
PositionControlExample.json
Normal file
822
PositionControlExample.json
Normal file
@ -0,0 +1,822 @@
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{
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"id": 139836198082768,
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"scene_width": 64000,
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"scene_height": 64000,
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"scene_pos_x": -919.9218749999998,
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"scene_pos_y": -130.85937499999997,
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"nodes": [
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{
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"id": 1,
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"enable": true,
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"is_invalid": false,
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"title": "SpeedController",
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"pos_x": -1451.0,
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"pos_y": -420.0,
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"inputs": [],
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"outputs": [
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{
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"id": 10101,
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"index": 0,
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"multi_edges": true,
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"position": 2,
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"socket_type": 2,
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"link_id": 16385,
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"text": "Speed Regulator",
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"mode": "input",
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"object": "resource",
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"true_type": "control::regulator::SpeedController",
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"type": "control::regulator::SpeedController",
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"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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}
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],
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"content": {
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"id": 140116541672464
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},
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"alias": "",
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"comment": "",
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"params": {},
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"cpu_id": 0,
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"graph": "SpeedController.json",
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"offset": 16384
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},
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{
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"id": 2,
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"enable": true,
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"is_invalid": true,
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"title": "TorqueUnitTie",
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"pos_x": -437.68750000000006,
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"pos_y": -71.0,
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"inputs": [
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{
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"id": 20001,
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"index": 0,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": -1,
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"text": "Inverter Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "driver::IInverter",
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"description": "\u041a\u043e\u043d\u0435\u0447\u043d\u044b\u0439 \u0438\u043d\u0442\u0435\u0440\u0444\u0435\u0439\u0441 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f."
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},
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{
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"id": 20002,
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"index": 1,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": -1,
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"text": "Voltage Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "technological::adapter::PwmGenAdapter",
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"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
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},
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{
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"id": 20003,
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"index": 2,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 17921,
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"text": "Torque Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "processing::acs::PhaseSpaceToStandingVectorUnitInterface",
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"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
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}
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],
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"outputs": [
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{
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"id": 20101,
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"index": 0,
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"multi_edges": true,
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"position": 2,
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"socket_type": 2,
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"link_id": 16641,
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"text": "Speed Control State",
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"mode": "input",
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"object": "resource",
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"true_type": "technological::drivecontrol::state::ControlStatePositionControl",
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"type": "technological::IExecutorState",
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"description": "\u0421\u043e\u0441\u0442\u043e\u044f\u043d\u0438\u0435 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043f\u043e\u0437\u0438\u0446\u0438\u0435\u0439 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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}
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],
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"content": {
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"id": 140116542534656
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},
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"alias": "",
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"comment": "",
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"params": {},
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"cpu_id": 0,
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"graph": "TorqueUnitTie.json",
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"offset": 16640
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},
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{
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"id": 3,
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"enable": true,
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"is_invalid": false,
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"title": "TorqueRegulator",
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"pos_x": -1451.0,
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"pos_y": -505.0,
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"inputs": [],
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"outputs": [
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{
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"id": 30101,
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"index": 0,
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"multi_edges": true,
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"position": 2,
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"socket_type": 2,
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"link_id": 16897,
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"text": "Torque Regulator",
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"mode": "input",
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"object": "resource",
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"true_type": "control::regulator::PmsmMotorController_v2",
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"type": "control::regulator::PmsmMotorController_v2",
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"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043c\u043e\u043c\u0435\u043d\u0442\u0430 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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}
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],
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"content": {
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"id": 140116302654784
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},
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"alias": "",
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"comment": "",
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"params": {},
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"cpu_id": 0,
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"graph": "TorqueRegulator.json",
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"offset": 16896
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},
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{
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"id": 4,
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"enable": true,
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"is_invalid": true,
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"title": "SpeedUnitTie",
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"pos_x": -437.68750000000006,
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"pos_y": -266.0,
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"inputs": [
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{
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"id": 40001,
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"index": 0,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 17927,
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"text": "Torque Limit",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "systemic::IValueType<float>",
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"description": "\u041e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
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},
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{
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"id": 40002,
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"index": 1,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 17921,
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"text": "Speed Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
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"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
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},
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{
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"id": 40003,
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"index": 2,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": -1,
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"text": "Inverter Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "driver::IInverter",
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"description": "\u041a\u043e\u043d\u0435\u0447\u043d\u044b\u0439 \u0438\u043d\u0442\u0435\u0440\u0444\u0435\u0439\u0441 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f."
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},
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{
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"id": 40004,
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"index": 3,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 17928,
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"text": "Acceleration Limit",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "systemic::IValueType<float>",
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"description": "\u041e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
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},
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{
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"id": 40005,
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"index": 4,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": -1,
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"text": "Voltage Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "technological::adapter::PwmGenAdapter",
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"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
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},
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{
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"id": 40006,
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"index": 5,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 17921,
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"text": "Torque Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "processing::acs::PhaseSpaceToStandingVectorUnitInterface",
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"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
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}
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],
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"outputs": [
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{
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"id": 40101,
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"index": 0,
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"multi_edges": true,
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"position": 2,
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"socket_type": 2,
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"link_id": 17154,
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"text": "Speed Control State",
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"mode": "input",
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"object": "resource",
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"true_type": "technological::drivecontrol::state::ControlStatePositionControl",
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"type": "technological::IExecutorState",
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"description": "\u0421\u043e\u0441\u0442\u043e\u044f\u043d\u0438\u0435 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043f\u043e\u0437\u0438\u0446\u0438\u0435\u0439 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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}
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],
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"content": {
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"id": 140116302941632
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},
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"alias": "",
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"comment": "",
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"params": {},
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"cpu_id": 0,
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"graph": "SpeedUnitTie.json",
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"offset": 17152
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},
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{
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"id": 5,
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"enable": true,
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"is_invalid": true,
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"title": "PositionUnitTie",
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"pos_x": -437.68750000000006,
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"pos_y": -505.0,
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"inputs": [
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{
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"id": 50001,
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"index": 0,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 17923,
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"text": "Position Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
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"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
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},
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{
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"id": 50002,
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"index": 1,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 17927,
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"text": "Torque Limit",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "systemic::IValueType<float>",
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"description": "\u041e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
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},
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{
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"id": 50003,
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"index": 2,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 17921,
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"text": "Speed Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
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"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
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},
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{
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"id": 50004,
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"index": 3,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": -1,
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"text": "Inverter Control",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "driver::IInverter",
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"description": "\u041a\u043e\u043d\u0435\u0447\u043d\u044b\u0439 \u0438\u043d\u0442\u0435\u0440\u0444\u0435\u0439\u0441 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f."
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},
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{
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"id": 50005,
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"index": 4,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 17928,
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"text": "Acceleration Limit",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "systemic::IValueType<float>",
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"description": "\u041e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
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},
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{
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"id": 50006,
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"index": 5,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": -1,
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"text": "Speed Limit",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "systemic::IValueType<float>",
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"description": "\u041e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
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},
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{
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"id": 50007,
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"index": 6,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": -1,
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"text": "Voltage Control",
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"mode": "output",
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"object": "dynamic",
|
||||
"true_type": "none",
|
||||
"type": "technological::adapter::PwmGenAdapter",
|
||||
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
|
||||
},
|
||||
{
|
||||
"id": 50008,
|
||||
"index": 7,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 2,
|
||||
"link_id": 17921,
|
||||
"text": "Torque Control",
|
||||
"mode": "output",
|
||||
"object": "dynamic",
|
||||
"true_type": "none",
|
||||
"type": "processing::acs::PhaseSpaceToStandingVectorUnitInterface",
|
||||
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
|
||||
}
|
||||
],
|
||||
"outputs": [
|
||||
{
|
||||
"id": 50101,
|
||||
"index": 0,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17409,
|
||||
"text": "Position Control State",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "technological::drivecontrol::state::ControlStatePositionControl",
|
||||
"type": "technological::IExecutorState",
|
||||
"description": "\u0421\u043e\u0441\u0442\u043e\u044f\u043d\u0438\u0435 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043f\u043e\u0437\u0438\u0446\u0438\u0435\u0439 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
}
|
||||
],
|
||||
"content": {
|
||||
"id": 140116303096432
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"cpu_id": 0,
|
||||
"graph": "PositionUnitTie.json",
|
||||
"offset": 17408
|
||||
},
|
||||
{
|
||||
"id": 6,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "PositionRegulatorWithLimitedDynamics",
|
||||
"pos_x": -1451.0,
|
||||
"pos_y": -335.0,
|
||||
"inputs": [],
|
||||
"outputs": [
|
||||
{
|
||||
"id": 60101,
|
||||
"index": 0,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17665,
|
||||
"text": "Posititon Regulator",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "control::regulator::ParabolicPositionerWithLimitedDynamics",
|
||||
"type": "control::regulator::ParabolicPositioner",
|
||||
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043f\u043e\u0437\u0438\u0446\u0438\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
}
|
||||
],
|
||||
"content": {
|
||||
"id": 140116303451120
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"cpu_id": 0,
|
||||
"graph": "PositionRegulatorWithLimitedDynamics.json",
|
||||
"offset": 17664
|
||||
},
|
||||
{
|
||||
"id": 7,
|
||||
"enable": true,
|
||||
"is_invalid": true,
|
||||
"title": "PositionControlProcess",
|
||||
"pos_x": -1021.5625000000001,
|
||||
"pos_y": -505.0,
|
||||
"inputs": [
|
||||
{
|
||||
"id": 70001,
|
||||
"index": 0,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 2,
|
||||
"link_id": 16897,
|
||||
"text": "Torque regulator",
|
||||
"mode": "output",
|
||||
"object": "static",
|
||||
"true_type": "none",
|
||||
"type": "control::regulator::PmsmMotorController_v2",
|
||||
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043c\u043e\u043c\u0435\u043d\u0442\u0430."
|
||||
},
|
||||
{
|
||||
"id": 70002,
|
||||
"index": 1,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 2,
|
||||
"link_id": 16385,
|
||||
"text": "Speed Regulator",
|
||||
"mode": "output",
|
||||
"object": "static",
|
||||
"true_type": "none",
|
||||
"type": "control::regulator::SpeedController",
|
||||
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
|
||||
},
|
||||
{
|
||||
"id": 70003,
|
||||
"index": 2,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 2,
|
||||
"link_id": 17665,
|
||||
"text": "Position Regulator",
|
||||
"mode": "output",
|
||||
"object": "static",
|
||||
"true_type": "none",
|
||||
"type": "control::regulator::ParabolicPositioner",
|
||||
"description": "\u041f\u0430\u0440\u0430\u0431\u043e\u043b\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043f\u043e\u0437\u0438\u0446\u0438\u0438."
|
||||
},
|
||||
{
|
||||
"id": 70004,
|
||||
"index": 3,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": -1,
|
||||
"text": "Fast Voltage DC",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "none",
|
||||
"type": "float",
|
||||
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|
||||
},
|
||||
{
|
||||
"id": 70005,
|
||||
"index": 4,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": -1,
|
||||
"text": "Current Beta",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "none",
|
||||
"type": "float",
|
||||
"description": "\u0422\u0435\u043a\u0443\u0449\u0438\u0439 \u0442\u043e\u043a \u0432 \u0441\u0442\u0430\u043d\u0446\u0438\u043e\u043d\u0430\u0440\u043d\u044b\u0445 \u043e\u0441\u044f\u0445, \u0431\u0435\u0442\u0430."
|
||||
},
|
||||
{
|
||||
"id": 70006,
|
||||
"index": 5,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": -1,
|
||||
"text": "Current Alpha",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "none",
|
||||
"type": "float",
|
||||
"description": "\u0422\u0435\u043a\u0443\u0449\u0438\u0439 \u0442\u043e\u043a \u0432 \u0441\u0442\u0430\u043d\u0446\u0438\u043e\u043d\u0430\u0440\u043d\u044b\u0445 \u043e\u0441\u044f\u0445, \u0430\u043b\u044c\u0444\u0430."
|
||||
},
|
||||
{
|
||||
"id": 70007,
|
||||
"index": 6,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": -1,
|
||||
"text": "Theta",
|
||||
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|
||||
"object": "value",
|
||||
"true_type": "none",
|
||||
"type": "float",
|
||||
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|
||||
},
|
||||
{
|
||||
"id": 70008,
|
||||
"index": 7,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": -1,
|
||||
"text": "Omega",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "none",
|
||||
"type": "float",
|
||||
"description": "\u0422\u0435\u043a\u0443\u0449\u0438\u0439 \u044d\u043b\u0435\u043a\u0442\u0440\u0438\u0447\u0435\u0441\u043a\u0430\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c."
|
||||
},
|
||||
{
|
||||
"id": 70009,
|
||||
"index": 8,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": -1,
|
||||
"text": "Rotor Speed",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "none",
|
||||
"type": "float",
|
||||
"description": "\u0422\u0435\u043a\u0443\u0449\u0430\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
},
|
||||
{
|
||||
"id": 70010,
|
||||
"index": 9,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": -1,
|
||||
"text": "Rotor Position",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "none",
|
||||
"type": "float",
|
||||
"description": "\u0422\u0435\u043a\u0443\u0449\u0430\u044f \u043f\u043e\u0437\u0438\u0446\u0438\u044f \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
}
|
||||
],
|
||||
"outputs": [
|
||||
{
|
||||
"id": 70101,
|
||||
"index": 0,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17921,
|
||||
"text": "Torque control process",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "processing::acs::TorqueControlProcess",
|
||||
"type": "processing::acs::PhaseSpaceToStandingVectorUnitInterface",
|
||||
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043c\u043e\u043c\u0435\u043d\u0442\u043e\u043c \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
},
|
||||
{
|
||||
"id": 70102,
|
||||
"index": 1,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17927,
|
||||
"text": "Torque limit",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "systemic::IValueType<float>",
|
||||
"type": "systemic::IValueType<float>",
|
||||
"description": "\u041e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u043f\u043e\u043b\u043d\u043e\u0433\u043e \u0442\u043e\u043a\u0430."
|
||||
},
|
||||
{
|
||||
"id": 70103,
|
||||
"index": 2,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17921,
|
||||
"text": "Speed Control Process",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "processing::acs::SpeedControlProcess",
|
||||
"type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
|
||||
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|
||||
},
|
||||
{
|
||||
"id": 70104,
|
||||
"index": 3,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17921,
|
||||
"text": "Torque up Limit",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "systemic::IValueType<float>",
|
||||
"type": "systemic::IValueType<float>",
|
||||
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|
||||
},
|
||||
{
|
||||
"id": 70105,
|
||||
"index": 4,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17922,
|
||||
"text": "Torque down Limit",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "systemic::IValueType<float>",
|
||||
"type": "systemic::IValueType<float>",
|
||||
"description": "\u041d\u0438\u0436\u043d\u0435\u0435 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0437\u0430\u0434\u0430\u043d\u043d\u043e\u0433\u043e \u043c\u043e\u043c\u0435\u043d\u0442\u0430 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
},
|
||||
{
|
||||
"id": 70106,
|
||||
"index": 5,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17923,
|
||||
"text": "Position Control Process",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "processing::acs::PositionControlProcess",
|
||||
"type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
|
||||
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043f\u043e\u0437\u0438\u0446\u0438\u0435\u0439 \u043d\u0430 \u043e\u0441\u043d\u043e\u0432\u0435 \u043f\u0430\u0440\u0430\u0431\u043e\u043b\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u0438."
|
||||
},
|
||||
{
|
||||
"id": 70107,
|
||||
"index": 6,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17928,
|
||||
"text": "Acceleration Limit",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "systemic::IValueType<float>",
|
||||
"type": "systemic::IValueType<float>",
|
||||
"description": ""
|
||||
},
|
||||
{
|
||||
"id": 70108,
|
||||
"index": 7,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17929,
|
||||
"text": "Speed Limit",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "systemic::IValueType<float>",
|
||||
"type": "systemic::IValueType<float>",
|
||||
"description": ""
|
||||
},
|
||||
{
|
||||
"id": 70109,
|
||||
"index": 8,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17921,
|
||||
"text": "Feedforward",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "systemic::IValueType<control::PhaseSpacePoint<float>>",
|
||||
"type": "systemic::IValueType<control::PhaseSpacePoint<float>>",
|
||||
"description": "\u0422\u0440\u0430\u043a\u0442 \u043f\u0440\u044f\u043c\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043c\u043e\u043c\u0435\u043d\u0442\u043e\u043c."
|
||||
},
|
||||
{
|
||||
"id": 70110,
|
||||
"index": 9,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 17923,
|
||||
"text": "Inertia",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "systemic::IValueType<float>",
|
||||
"type": "systemic::IValueType<float>",
|
||||
"description": "\u041f\u0440\u0438\u0432\u0435\u0434\u0435\u043d\u043d\u044b\u0439 \u043c\u043e\u043c\u0435\u043d\u0442 \u0438\u043d\u0435\u0440\u0446\u0438\u0438 \u0441\u0438\u0441\u0442\u0435\u043c\u044b."
|
||||
}
|
||||
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|
||||
"content": {
|
||||
"id": 140116303461632
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"cpu_id": 0,
|
||||
"graph": "PositionControlProcess.json",
|
||||
"offset": 17920
|
||||
}
|
||||
],
|
||||
"edges": [
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
"start": 70106,
|
||||
"end": 50001
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
]
|
||||
}
|
||||
1307
PositionControlProcess.json
Normal file
1307
PositionControlProcess.json
Normal file
File diff suppressed because it is too large
Load Diff
339
PositionRegulatorWithLimitedDynamics.json
Normal file
339
PositionRegulatorWithLimitedDynamics.json
Normal file
@ -0,0 +1,339 @@
|
||||
{
|
||||
"id": 140568870538064,
|
||||
"scene_width": 64000,
|
||||
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|
||||
"scene_pos_x": -346.0,
|
||||
"scene_pos_y": -2038.0,
|
||||
"nodes": [
|
||||
{
|
||||
"id": 29,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "PositionControllerWithLimitedDynamics",
|
||||
"pos_x": -482.59281063078384,
|
||||
"pos_y": -2137.087890624998,
|
||||
"inputs": [
|
||||
{
|
||||
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|
||||
"index": 0,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 3,
|
||||
"link_id": 8,
|
||||
"text": "params",
|
||||
"mode": "input",
|
||||
"object": "setting",
|
||||
"true_type": "none",
|
||||
"type": "control::regulator::ParabolicPositioner",
|
||||
"description": "\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
},
|
||||
{
|
||||
"id": 290002,
|
||||
"index": 1,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 3,
|
||||
"link_id": 6,
|
||||
"text": "limits",
|
||||
"mode": "input",
|
||||
"object": "setting",
|
||||
"true_type": "none",
|
||||
"type": "control::regulator::ParabolicPositionerWithLimitedDynamics",
|
||||
"description": "\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u044f \u0434\u0438\u043d\u0430\u043c\u0438\u043a\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
}
|
||||
],
|
||||
"outputs": [
|
||||
{
|
||||
"id": 290101,
|
||||
"index": 0,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 1,
|
||||
"text": "regulator",
|
||||
"mode": "output",
|
||||
"object": "resource",
|
||||
"true_type": "control::regulator::ParabolicPositionerWithLimitedDynamics",
|
||||
"type": "control::regulator::ParabolicPositioner",
|
||||
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043f\u043e\u0437\u0438\u0446\u0438\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
},
|
||||
{
|
||||
"id": 290102,
|
||||
"index": 1,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 1,
|
||||
"link_id": 22,
|
||||
"text": "proportional_part",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "const float &",
|
||||
"type": "float",
|
||||
"description": "\u041f\u0440\u043e\u043f\u043e\u0446\u0438\u043e\u043d\u0430\u043b\u044c\u043d\u0430\u044f \u0441\u043e\u0441\u0442\u0430\u0432\u043b\u044f\u044e\u0449\u0430\u044f \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u0438."
|
||||
},
|
||||
{
|
||||
"id": 290103,
|
||||
"index": 2,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 1,
|
||||
"link_id": 23,
|
||||
"text": "output",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "const float &",
|
||||
"type": "float",
|
||||
"description": "\u0412\u044b\u0445\u043e\u0434 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u0438."
|
||||
}
|
||||
],
|
||||
"content": {
|
||||
"id": 140116303452272
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"initializer_id": 65,
|
||||
"process_settings": {
|
||||
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|
||||
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|
||||
"period": null,
|
||||
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|
||||
},
|
||||
"node_id": 7,
|
||||
"cpu_id": 0
|
||||
},
|
||||
{
|
||||
"id": 41,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "control::regulator::ParabolicPositionerWithLimitedDynamics",
|
||||
"pos_x": -768.4053106307838,
|
||||
"pos_y": -2032.0878906249982,
|
||||
"inputs": [],
|
||||
"outputs": [
|
||||
{
|
||||
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|
||||
"index": 0,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 3,
|
||||
"link_id": 6,
|
||||
"text": "",
|
||||
"mode": "output",
|
||||
"object": "",
|
||||
"true_type": "",
|
||||
"type": "control::regulator::ParabolicPositionerWithLimitedDynamics",
|
||||
"description": ""
|
||||
}
|
||||
],
|
||||
"content": {
|
||||
"id": 140116303454288
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {
|
||||
"minimal_time": {
|
||||
"value": 0.1,
|
||||
"format": "f",
|
||||
"description": "\u041c\u0438\u043d\u0438\u043c\u0430\u043b\u044c\u043d\u043e\u0435 \u0432\u0440\u0435\u043c\u044f \u043f\u0435\u0440\u0435\u043c\u0435\u0449\u0435\u043d\u0438\u044f."
|
||||
}
|
||||
},
|
||||
"setting_name": "Position Regulator limits",
|
||||
"group": "Control System",
|
||||
"level": 3
|
||||
},
|
||||
{
|
||||
"id": 44,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "control::regulator::ParabolicPositioner",
|
||||
"pos_x": -768.4053106307838,
|
||||
"pos_y": -2137.087890624998,
|
||||
"inputs": [],
|
||||
"outputs": [
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"text": "",
|
||||
"mode": "output",
|
||||
"object": "",
|
||||
"true_type": "",
|
||||
"type": "control::regulator::ParabolicPositioner",
|
||||
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|
||||
}
|
||||
],
|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
"params": {
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
"format": "f",
|
||||
"description": "\u041c\u0430\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u043e\u0435 \u0443\u0441\u043a\u043e\u0440\u0435\u043d\u0438\u0435 \u0440\u0430\u0437\u0433\u043e\u043d\u0430.",
|
||||
"alias": "",
|
||||
"min": 0.0,
|
||||
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|
||||
},
|
||||
"max_dec": {
|
||||
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|
||||
"format": "f",
|
||||
"description": "\u041c\u0430\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u043e\u0435 \u0443\u0441\u043a\u043e\u0440\u0435\u043d\u0438\u0435 \u0442\u043e\u0440\u043c\u043e\u0436\u0435\u043d\u0438\u044f.",
|
||||
"alias": "",
|
||||
"min": 0.0,
|
||||
"max": 25000.0
|
||||
},
|
||||
"Kp_lin": {
|
||||
"value": 150.0,
|
||||
"format": "f",
|
||||
"description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u044f \u0432 \u0441\u043b\u0435\u0434\u044f\u0449\u0435\u043c \u0440\u0435\u0436\u0438\u043c\u0435.",
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||||
"alias": "",
|
||||
"min": 0.0,
|
||||
"max": 1200.0
|
||||
}
|
||||
},
|
||||
"setting_name": "Position Regulator",
|
||||
"group": "Control System",
|
||||
"level": 3
|
||||
},
|
||||
{
|
||||
"id": 35,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "Signal",
|
||||
"pos_x": -103.88763427734307,
|
||||
"pos_y": -2052.087890624998,
|
||||
"inputs": [
|
||||
{
|
||||
"id": 350001,
|
||||
"index": 0,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": 22,
|
||||
"text": "",
|
||||
"mode": "",
|
||||
"object": "",
|
||||
"true_type": "",
|
||||
"type": "float",
|
||||
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|
||||
}
|
||||
],
|
||||
"outputs": [],
|
||||
"content": {
|
||||
"id": 140116303456880
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"object_name": "Position regulator Proportional",
|
||||
"group": "Control System"
|
||||
},
|
||||
{
|
||||
"id": 23,
|
||||
"enable": true,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
}
|
||||
],
|
||||
"outputs": [],
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||||
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|
||||
"id": 140116303098016
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"object_name": "Reference Position",
|
||||
"group": "Control System"
|
||||
},
|
||||
{
|
||||
"id": 28,
|
||||
"enable": true,
|
||||
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|
||||
"title": "Output",
|
||||
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|
||||
"pos_y": -2137.087890624998,
|
||||
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|
||||
{
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
],
|
||||
"outputs": [],
|
||||
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|
||||
"id": 140116303459328
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"object_name": "Posititon Regulator",
|
||||
"group": "PositionControllerWithLimitedDynamics"
|
||||
}
|
||||
],
|
||||
"edges": [
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 290002,
|
||||
"end": 410101
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 290001,
|
||||
"end": 440101
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 290102,
|
||||
"end": 350001
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 290103,
|
||||
"end": 230001
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 290101,
|
||||
"end": 280001
|
||||
}
|
||||
]
|
||||
}
|
||||
876
PositionUnitTie.json
Normal file
876
PositionUnitTie.json
Normal file
@ -0,0 +1,876 @@
|
||||
{
|
||||
"id": 140568379505152,
|
||||
"scene_width": 64000,
|
||||
"scene_height": 64000,
|
||||
"scene_pos_x": -38.0,
|
||||
"scene_pos_y": -645.0,
|
||||
"nodes": [
|
||||
{
|
||||
"id": 1,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "Output",
|
||||
"pos_x": 59.6445312500004,
|
||||
"pos_y": -1111.140625,
|
||||
"inputs": [
|
||||
{
|
||||
"id": 10001,
|
||||
"index": 0,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 2,
|
||||
"link_id": 1,
|
||||
"text": "",
|
||||
"mode": "input",
|
||||
"object": "resource",
|
||||
"true_type": "technological::drivecontrol::state::ControlStatePositionControl",
|
||||
"type": "technological::IExecutorState",
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||||
{
|
||||
"edge_type": 2,
|
||||
"start": 150002,
|
||||
"end": 50101
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 40101,
|
||||
"end": 20001
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 100101,
|
||||
"end": 30001
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 150005,
|
||||
"end": 170101
|
||||
}
|
||||
]
|
||||
}
|
||||
516
SpeedController.json
Normal file
516
SpeedController.json
Normal file
@ -0,0 +1,516 @@
|
||||
{
|
||||
"id": 140667921584560,
|
||||
"scene_width": 64000,
|
||||
"scene_height": 64000,
|
||||
"scene_pos_x": -451.0,
|
||||
"scene_pos_y": 87.0,
|
||||
"nodes": [
|
||||
{
|
||||
"id": 1,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "Signal",
|
||||
"pos_x": -446.5879025459359,
|
||||
"pos_y": 99.0,
|
||||
"inputs": [
|
||||
{
|
||||
"id": 10001,
|
||||
"index": 0,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": 5,
|
||||
"text": "",
|
||||
"mode": "",
|
||||
"object": "",
|
||||
"true_type": "",
|
||||
"type": "float",
|
||||
"description": ""
|
||||
}
|
||||
],
|
||||
"outputs": [],
|
||||
"content": {
|
||||
"id": 140116542372112
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"object_name": "Anti windup",
|
||||
"group": "Control System"
|
||||
},
|
||||
{
|
||||
"id": 2,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "Signal",
|
||||
"pos_x": -446.5879025459359,
|
||||
"pos_y": -241.0,
|
||||
"inputs": [
|
||||
{
|
||||
"id": 20001,
|
||||
"index": 0,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": 1,
|
||||
"text": "",
|
||||
"mode": "",
|
||||
"object": "",
|
||||
"true_type": "",
|
||||
"type": "float",
|
||||
"description": ""
|
||||
}
|
||||
],
|
||||
"outputs": [],
|
||||
"content": {
|
||||
"id": 140116542373408
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"object_name": "Speed reg Integral",
|
||||
"group": "Control System"
|
||||
},
|
||||
{
|
||||
"id": 3,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "control::regulator::SpeedController",
|
||||
"pos_x": -1116.0400881767196,
|
||||
"pos_y": -56.10172653198242,
|
||||
"inputs": [],
|
||||
"outputs": [
|
||||
{
|
||||
"id": 30101,
|
||||
"index": 0,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 3,
|
||||
"link_id": 1,
|
||||
"text": "",
|
||||
"mode": "output",
|
||||
"object": "",
|
||||
"true_type": "",
|
||||
"type": "control::regulator::SpeedController",
|
||||
"description": ""
|
||||
}
|
||||
],
|
||||
"content": {
|
||||
"id": 140116542522272
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {
|
||||
"reg_speed_Kp": {
|
||||
"value": 0.3,
|
||||
"format": "f",
|
||||
"description": "\u041f\u0440\u043e\u043f\u043e\u0440\u0446\u0438\u043e\u043d\u0430\u043b\u044c\u043d\u044b\u0439 \u043a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438.",
|
||||
"alias": "srf_proportional_speed_coeff",
|
||||
"min": 0.0
|
||||
},
|
||||
"reg_speed_Ki": {
|
||||
"value": 128.0,
|
||||
"format": "f",
|
||||
"description": "\u0418\u043d\u0442\u0435\u0433\u0440\u0430\u043b\u044c\u043d\u044b\u0439 \u043a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438.",
|
||||
"alias": "srf_integral_speed_coeff",
|
||||
"min": 0.0
|
||||
},
|
||||
"reg_speed_Ktr": {
|
||||
"value": 1.0,
|
||||
"format": "f",
|
||||
"description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0437\u0430\u0449\u0438\u0442\u044b \u043e\u0442 \u043f\u0435\u0440\u0435\u043f\u043e\u043b\u043d\u0435\u043d\u0438\u044f \u0438\u043d\u0442\u0435\u0433\u0440\u0430\u043b\u044c\u043d\u043e\u0439 \u0441\u0443\u043c\u043c\u044b \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438.",
|
||||
"alias": "",
|
||||
"min": 0.0,
|
||||
"max": 1.0
|
||||
},
|
||||
"reg_speed_Im": {
|
||||
"value": 27.0,
|
||||
"format": "f",
|
||||
"description": "\u041e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0438\u043d\u0442\u0435\u0433\u0440\u0430\u043b\u044c\u043d\u043e\u0439 \u0441\u0443\u043c\u043c\u044b \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438.",
|
||||
"alias": "srf_integral_restriction",
|
||||
"min": 0.0
|
||||
},
|
||||
"max_torque": {
|
||||
"value": 31.0,
|
||||
"format": "f",
|
||||
"description": "\u041c\u0430\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u044b\u0439 \u043c\u043e\u043c\u0435\u043d\u0442 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f.",
|
||||
"alias": "srf_torque_restriction",
|
||||
"min": 0.0,
|
||||
"max": 70.0
|
||||
},
|
||||
"max_dtorque": {
|
||||
"value": 100000.0,
|
||||
"format": "f",
|
||||
"description": "\u041c\u0430\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u043e\u0435 \u043f\u0440\u0438\u0440\u0430\u0449\u0435\u043d\u0438\u0435 \u043c\u043e\u043c\u0435\u043d\u0442\u0430 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f.",
|
||||
"alias": "srf_increment_restriction",
|
||||
"min": 0.0
|
||||
},
|
||||
"reg_speed_Kd_stp": {
|
||||
"value": 1.0,
|
||||
"format": "f",
|
||||
"description": "\u0414\u0438\u0444\u0444\u0435\u0440\u0435\u043d\u0446\u0438\u0430\u043b\u044c\u043d\u044b\u0439 \u043a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u043f\u0440\u0438\u0440\u0430\u0449\u0435\u043d\u0438\u044f \u0437\u0430\u0434\u0430\u043d\u0438\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438.",
|
||||
"alias": "srf_diff_speed_coeff",
|
||||
"min": 0.0,
|
||||
"max": 1.0
|
||||
},
|
||||
"base_Jp": {
|
||||
"value": 0.0022,
|
||||
"format": "f",
|
||||
"description": "\u0411\u0430\u0437\u043e\u0432\u044b\u0439 \u043f\u0440\u0438\u0432\u0435\u0434\u0435\u043d\u043d\u044b\u0439 \u043c\u043e\u043c\u0435\u043d\u0442 \u0438\u043d\u0435\u0440\u0446\u0438\u0438.",
|
||||
"alias": "ms_moment_of_inertia",
|
||||
"min": 0.0,
|
||||
"max": 2.0
|
||||
}
|
||||
},
|
||||
"setting_name": "Speed Regulator",
|
||||
"group": "Control System",
|
||||
"level": 3
|
||||
},
|
||||
{
|
||||
"id": 4,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "Signal",
|
||||
"pos_x": -446.5879025459359,
|
||||
"pos_y": -154.0,
|
||||
"inputs": [
|
||||
{
|
||||
"id": 40001,
|
||||
"index": 0,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": 2,
|
||||
"text": "",
|
||||
"mode": "",
|
||||
"object": "",
|
||||
"true_type": "",
|
||||
"type": "float",
|
||||
"description": ""
|
||||
}
|
||||
],
|
||||
"outputs": [],
|
||||
"content": {
|
||||
"id": 140116542523568
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"object_name": "Speed reg Proportional",
|
||||
"group": "Control System"
|
||||
},
|
||||
{
|
||||
"id": 5,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "SpeedController",
|
||||
"pos_x": -830.2275881767198,
|
||||
"pos_y": -27.777507781981512,
|
||||
"inputs": [
|
||||
{
|
||||
"id": 50001,
|
||||
"index": 0,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 3,
|
||||
"link_id": 1,
|
||||
"text": "params",
|
||||
"mode": "input",
|
||||
"object": "setting",
|
||||
"true_type": "none",
|
||||
"type": "control::regulator::SpeedController",
|
||||
"description": "\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
}
|
||||
],
|
||||
"outputs": [
|
||||
{
|
||||
"id": 50101,
|
||||
"index": 0,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 2,
|
||||
"link_id": 1,
|
||||
"text": "regulator",
|
||||
"mode": "output",
|
||||
"object": "resource",
|
||||
"true_type": "control::regulator::SpeedController",
|
||||
"type": "control::regulator::SpeedController",
|
||||
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
|
||||
},
|
||||
{
|
||||
"id": 50102,
|
||||
"index": 1,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 1,
|
||||
"link_id": 1,
|
||||
"text": "integral_part",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "const float &",
|
||||
"type": "float",
|
||||
"description": "\u0418\u043d\u0442\u0435\u0433\u0440\u0430\u043b\u044c\u043d\u0430\u044f \u0441\u043e\u0441\u0442\u0430\u0432\u043b\u044f\u044e\u0449\u0430\u044f \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
|
||||
},
|
||||
{
|
||||
"id": 50103,
|
||||
"index": 2,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 1,
|
||||
"link_id": 2,
|
||||
"text": "proportional_part",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "const float &",
|
||||
"type": "float",
|
||||
"description": "\u041f\u0440\u043e\u043f\u043e\u0446\u0438\u043e\u043d\u0430\u043b\u044c\u043d\u0430\u044f \u0441\u043e\u0441\u0442\u0430\u0432\u043b\u044f\u044e\u0449\u0430\u044f \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
|
||||
},
|
||||
{
|
||||
"id": 50104,
|
||||
"index": 3,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 1,
|
||||
"link_id": 3,
|
||||
"text": "output",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "const float &",
|
||||
"type": "float",
|
||||
"description": "\u0412\u044b\u0445\u043e\u0434 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
|
||||
},
|
||||
{
|
||||
"id": 50105,
|
||||
"index": 4,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 1,
|
||||
"link_id": 4,
|
||||
"text": "unbounded_output",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "const float &",
|
||||
"type": "float",
|
||||
"description": "\u0412\u044b\u0445\u043e\u0434 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438 \u0431\u0435\u0437 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0439."
|
||||
},
|
||||
{
|
||||
"id": 50106,
|
||||
"index": 5,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 1,
|
||||
"link_id": 5,
|
||||
"text": "derivative_part",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "const float &",
|
||||
"type": "float",
|
||||
"description": "\u0414\u0438\u0444\u0444\u0435\u0440\u0435\u043d\u0446\u0438\u0430\u043b\u044c\u043d\u0430\u044f \u0441\u043e\u0441\u0442\u0430\u0432\u043b\u044f\u044e\u0449\u0430\u044f \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
|
||||
},
|
||||
{
|
||||
"id": 50107,
|
||||
"index": 6,
|
||||
"multi_edges": true,
|
||||
"position": 2,
|
||||
"socket_type": 5,
|
||||
"link_id": 1,
|
||||
"text": "limited",
|
||||
"mode": "output",
|
||||
"object": "value",
|
||||
"true_type": "unknow",
|
||||
"type": "bool",
|
||||
"description": "\u041f\u0440\u0438\u0437\u043d\u0430\u043a \u0442\u043e\u0433\u043e \u0447\u0442\u043e \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u0443\u0448\u0435\u043b \u0432 \u043d\u0430\u0441\u044b\u0449\u0435\u043d\u0438\u0435."
|
||||
}
|
||||
],
|
||||
"content": {
|
||||
"id": 140116542524864
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"initializer_id": 31,
|
||||
"process_settings": {
|
||||
"processor_id": null,
|
||||
"priority": null,
|
||||
"period": null,
|
||||
"phase": null
|
||||
},
|
||||
"node_id": 1,
|
||||
"cpu_id": 0
|
||||
},
|
||||
{
|
||||
"id": 6,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "Signal",
|
||||
"pos_x": -446.5879025459359,
|
||||
"pos_y": -71.0,
|
||||
"inputs": [
|
||||
{
|
||||
"id": 60001,
|
||||
"index": 0,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 1,
|
||||
"link_id": 3,
|
||||
"text": "",
|
||||
"mode": "",
|
||||
"object": "",
|
||||
"true_type": "",
|
||||
"type": "float",
|
||||
"description": ""
|
||||
}
|
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
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|
||||
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|
||||
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|
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
708
SpeedUnitTie.json
Normal file
708
SpeedUnitTie.json
Normal file
@ -0,0 +1,708 @@
|
||||
{
|
||||
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|
||||
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||||
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|
||||
"mode": "input",
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
"alias": "",
|
||||
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|
||||
"params": {},
|
||||
"object_name": "Speed Control State",
|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
"enable": true,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
"text": "control_process",
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||||
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||||
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||||
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|
||||
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||||
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||||
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{
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||||
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||||
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|
||||
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|
||||
"position": 0,
|
||||
"socket_type": 2,
|
||||
"link_id": 1,
|
||||
"text": "output",
|
||||
"mode": "input",
|
||||
"object": "static",
|
||||
"true_type": "none",
|
||||
"type": "technological::adapter::TieInterface<driver::IInverter>",
|
||||
"description": "\u041f\u043e\u0434\u0447\u0438\u043d\u0435\u043d\u043d\u044b\u0439 (\u0432\u043b\u043e\u0436\u0435\u043d\u043d\u044b\u0439) \u043a\u043e\u043d\u0442\u0443\u0440 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f."
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||||
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||||
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||||
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||||
{
|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
"link_id": 1,
|
||||
"text": "control_unit",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
"alias": "",
|
||||
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|
||||
"params": {},
|
||||
"object_name": "Inverter Control",
|
||||
"group": "InverterEndpoint"
|
||||
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|
||||
{
|
||||
"id": 8,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
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|
||||
"pos_x": -636.81640625,
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"object_name": "Acceleration Limit",
|
||||
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|
||||
},
|
||||
{
|
||||
"id": 10,
|
||||
"enable": true,
|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"socket_type": 2,
|
||||
"link_id": -1,
|
||||
"text": "",
|
||||
"mode": "output",
|
||||
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|
||||
"true_type": "none",
|
||||
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|
||||
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||||
}
|
||||
],
|
||||
"content": {
|
||||
"id": 140116302953008
|
||||
},
|
||||
"alias": "",
|
||||
"comment": "",
|
||||
"params": {},
|
||||
"object_name": "Voltage Control",
|
||||
"group": "PwmGenerationAdapterTie"
|
||||
},
|
||||
{
|
||||
"id": 11,
|
||||
"enable": true,
|
||||
"is_invalid": false,
|
||||
"title": "PhaseSpaceToStandingVectorUnitTie",
|
||||
"pos_x": -277.3554687499998,
|
||||
"pos_y": -775.140625,
|
||||
"inputs": [
|
||||
{
|
||||
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|
||||
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|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
"socket_type": 2,
|
||||
"link_id": -1,
|
||||
"text": "control_process",
|
||||
"mode": "input",
|
||||
"object": "dynamic",
|
||||
"true_type": "none",
|
||||
"type": "processing::acs::PhaseSpaceToStandingVectorUnitInterface",
|
||||
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
|
||||
},
|
||||
{
|
||||
"id": 110002,
|
||||
"index": 1,
|
||||
"multi_edges": false,
|
||||
"position": 0,
|
||||
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850
TorqueRegulator.json
Normal file
850
TorqueRegulator.json
Normal file
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493
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493
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"end": 110001
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 100101,
|
||||
"end": 30001
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 90101,
|
||||
"end": 40002
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 110101,
|
||||
"end": 40001
|
||||
},
|
||||
{
|
||||
"edge_type": 2,
|
||||
"start": 40101,
|
||||
"end": 10001
|
||||
}
|
||||
]
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user