{ "id": 140195507732592, "scene_width": 64000, "scene_height": 64000, "scene_pos_x": 303.0, "scene_pos_y": 223.0, "nodes": [ { "id": 5, "enable": true, "is_invalid": false, "title": "EffortCompensationProcess", "pos_x": 1325.0312500000002, "pos_y": 194.6679687500001, "inputs": [ { "id": 50001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 1, "link_id": -1, "text": "force", "mode": "input", "object": "value", "true_type": "none", "type": "float", "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." }, { "id": 50002, "index": 1, "multi_edges": false, "position": 0, "socket_type": 1, "link_id": -1, "text": "speed", "mode": "input", "object": "value", "true_type": "none", "type": "float", "description": "\u0422\u0435\u043a\u0443\u0449\u0430\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c." }, { "id": 50003, "index": 2, "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, "index": 3, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 6, "text": "regulator", "mode": "input", "object": "dynamic", "true_type": "none", "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": [ { "id": 50101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 1, "text": "control_process", "mode": "output", "object": "resource", "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." }, { "id": 50102, "index": 1, "multi_edges": true, "position": 2, "socket_type": 1, "link_id": 1, "text": "demand", "mode": "output", "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." }, { "id": 50103, "index": 2, "multi_edges": true, "position": 2, "socket_type": 1, "link_id": 2, "text": "compensation", "mode": "output", "object": "value", "true_type": "const float &", "type": "float", "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." }, { "id": 50104, "index": 3, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 2, "text": "efficienty", "mode": "output", "object": "resource", "true_type": "processing::acs::EffortCompensationProcess", "type": "systemic::IValueType", "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": { "id": 139948593740768 }, "alias": "", "comment": "", "params": {}, "initializer_id": 313, "process_settings": { "processor_id": 2, "priority": 1, "period": 0, "phase": 0 }, "node_id": 717, "cpu_id": 0 }, { "id": 10, "enable": true, "is_invalid": false, "title": "control::regulator::ForceController", "pos_x": 674.0312500000001, "pos_y": -130.76953124999986, "inputs": [], "outputs": [ { "id": 100101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 3, "link_id": 1, "text": "", "mode": "output", "object": "", "true_type": "", "type": "control::regulator::ForceController", "description": "" } ], "content": { "id": 139948594038672 }, "alias": "", "comment": "", "params": { "linear_coeff": { "value": 0.5, "format": "f", "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": { "value": 150.0, "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, "max": 1000000000000.0 }, "khardness": { "value": 2709450.0, "format": "f", "description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0436\u0435\u0441\u0442\u043a\u043e\u0441\u0442\u0438 (\u041d/\u043c).", "min": 0.1, "max": 1000000000000.0 }, "mass": { "value": 504.3, "format": "f", "description": "\u0418\u043d\u0435\u0440\u0446\u0438\u043e\u043d\u043d\u0430\u044f \u043c\u0430\u0441\u0441\u0430 (\u043a\u0433).", "min": 0.1, "max": 1000000000000.0 }, "dump_force": { "value": 500.0, "format": "f", "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, "max": 1000000000000.0 }, "hold_mismatch": { "value": 25.0, "format": "f", "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": { "value": 5.0, "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": { "value": 5.0, "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 \u043f\u0440\u0435\u0432\u044b\u0448\u0435\u043d\u0438\u0435 \u0443\u0441\u0438\u043b\u0438\u044f (\u041d)." }, "coeff_pos": { "value": 4e-05, "format": "f", "description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0432\u043e\u0441\u0441\u0442\u0430\u043d\u043e\u0432\u043b\u0435\u043d\u0438\u044f \u0443\u0441\u0438\u043b\u0438\u044f (\u043c/(\u041d*\u0441))." }, "coeff_neg": { "value": 4e-05, "format": "f", "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))." } }, "setting_name": "Force Controller Params", "group": "Force Controller", "level": 3 }, { "id": 11, "enable": true, "is_invalid": false, "title": "ForceControlProcess", "pos_x": 1322.5625000000039, "pos_y": 19.214843749996362, "inputs": [ { "id": 110001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 1, "link_id": -1, "text": "force", "mode": "input", "object": "value", "true_type": "none", "type": "float", "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." }, { "id": 110002, "index": 1, "multi_edges": false, "position": 0, "socket_type": 3, "link_id": 3, "text": "params", "mode": "input", "object": "setting", "true_type": "none", "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." }, { "id": 110003, "index": 2, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 6, "text": "regulator", "mode": "input", "object": "static", "true_type": "none", "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": [ { "id": 110101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 3, "text": "control_process", "mode": "output", "object": "resource", "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." }, { "id": 110102, "index": 1, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 4, "text": "khardness", "mode": "output", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "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." }, { "id": 110103, "index": 2, "multi_edges": true, "position": 2, "socket_type": 1, "link_id": 3, "text": "demand", "mode": "output", "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." }, { "id": 110104, "index": 3, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 5, "text": "mass", "mode": "output", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "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": { "id": 139948594039968 }, "alias": "", "comment": "", "params": {}, "initializer_id": 312, "process_settings": { "processor_id": 2, "priority": 0, "period": 0, "phase": 0 }, "node_id": 718, "cpu_id": 0 }, { "id": 13, "enable": true, "is_invalid": false, "title": "ForceController", "pos_x": 966.2812500000001, "pos_y": -104.9414062500035, "inputs": [ { "id": 130001, "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::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": [ { "id": 130101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 6, "text": "regulator", "mode": "output", "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": { "id": 139948594042560 }, "alias": "", "comment": "", "params": {}, "initializer_id": 311, "process_settings": { "processor_id": null, "priority": null, "period": null, "phase": null }, "node_id": 719, "cpu_id": 0 }, { "id": 1, "enable": true, "is_invalid": false, "title": "Input", "pos_x": 674.0312500000001, "pos_y": 35.68749999999986, "inputs": [], "outputs": [ { "id": 10101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 1, "link_id": -1, "text": "", "mode": "output", "object": "value", "true_type": "none", "type": "float", "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." } ], "content": { "id": 139948594043712 }, "alias": "", "comment": "", "params": {}, "object_name": "Force Predicted", "group": "EffortCompensationProcess" }, { "id": 3, "enable": true, "is_invalid": false, "title": "Input", "pos_x": 674.0312500000001, "pos_y": 135.62500000000003, "inputs": [], "outputs": [ { "id": 30101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 1, "link_id": -1, "text": "", "mode": "output", "object": "value", "true_type": "none", "type": "float", "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." } ], "content": { "id": 139948594045008 }, "alias": "", "comment": "", "params": {}, "object_name": "Rotor Speed", "group": "SpeedControlProcess" }, { "id": 4, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1314.5, "pos_y": -153.375, "inputs": [ { "id": 40001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 6, "text": "", "mode": "input", "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." } ], "outputs": [], "content": { "id": 139948594046304 }, "alias": "", "comment": "", "params": {}, "object_name": "Diagnostic", "group": "ForceController" }, { "id": 6, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1793.75, "pos_y": -104.75000000000003, "inputs": [ { "id": 60001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 3, "text": "", "mode": "input", "object": "resource", "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." } ], "outputs": [], "content": { "id": 139948594047600 }, "alias": "", "comment": "", "params": {}, "object_name": "Force Control", "group": "ForceControlProcess" }, { "id": 7, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1790.0, "pos_y": 251.0, "inputs": [ { "id": 70001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 1, "text": "", "mode": "input", "object": "resource", "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." } ], "outputs": [], "content": { "id": 139948594048896 }, "alias": "", "comment": "", "params": {}, "object_name": "EffortCompensation", "group": "EffortCompensationProcess" }, { "id": 9, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1791.2500000000002, "pos_y": 4.25, "inputs": [ { "id": 90001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 4, "text": "", "mode": "input", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "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." } ], "outputs": [], "content": { "id": 139948594050192 }, "alias": "", "comment": "", "params": {}, "object_name": "Khardness", "group": "ForceControlProcess" }, { "id": 12, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1790.0, "pos_y": 93.0, "inputs": [ { "id": 120001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 5, "text": "", "mode": "input", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "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." } ], "outputs": [], "content": { "id": 139948594051488 }, "alias": "", "comment": "", "params": {}, "object_name": "Mass", "group": "ForceControlProcess" }, { "id": 14, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1788.7500000000005, "pos_y": 358.25000000000006, "inputs": [ { "id": 140001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 2, "text": "", "mode": "input", "object": "resource", "true_type": "processing::acs::EffortCompensationProcess", "type": "systemic::IValueType", "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)." } ], "outputs": [], "content": { "id": 139948594052784 }, "alias": "", "comment": "", "params": {}, "object_name": "Efficienty", "group": "EffortCompensationProcess" }, { "id": 2, "enable": true, "is_invalid": false, "title": "processing::acs::EffortCompensationProcess", "pos_x": 674.0312500000001, "pos_y": 419.25, "inputs": [], "outputs": [ { "id": 20101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 3, "link_id": 2, "text": "", "mode": "output", "object": "", "true_type": "", "type": "processing::acs::EffortCompensationProcess", "description": "" } ], "content": { "id": 139948594267184 }, "alias": "", "comment": "", "params": { "transmission_ratio": { "value": 0.00018568076694054457, "format": "f", "description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0432\u0440\u0430\u0449\u0430\u0442\u0435\u043b\u044c\u043d\u043e-\u043f\u043e\u0441\u0442\u0443\u043f\u0430\u0442\u0435\u043b\u044c\u043d\u043e\u0439 \u043f\u0435\u0440\u0435\u0434\u0430\u0447\u0438." }, "efficiency": { "value": 0.7, "format": "f", "description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u043f\u0440\u0435\u043e\u0431\u0440\u0430\u0437\u043e\u0432\u0430\u043d\u0438\u044f \u043c\u043e\u043c\u0435\u043d\u0442\u0430 \u0432 \u0443\u0441\u0438\u043b\u0438\u0435 (\u043a\u043f\u0434)." } }, "setting_name": "Effort Compensation Process", "group": "Force Controller", "level": 3 }, { "id": 8, "enable": true, "is_invalid": false, "title": "processing::acs::ForceControlProcess", "pos_x": 674.03125, "pos_y": 310.5, "inputs": [], "outputs": [ { "id": 80101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 3, "link_id": 3, "text": "", "mode": "output", "object": "", "true_type": "", "type": "processing::acs::ForceControlProcess", "description": "" } ], "content": { "id": 139948594268480 }, "alias": "", "comment": "", "params": { "transmission_ratio": { "value": 0.00018568076694054457, "format": "f", "description": "" } }, "setting_name": "Force Control Process Params", "group": "Force Controller", "level": 3 }, { "id": 15, "enable": true, "is_invalid": false, "title": "SpeedControlProcess", "pos_x": 1335.9375000000002, "pos_y": 693.7500000000001, "inputs": [ { "id": 150001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 1, "link_id": -1, "text": "speed", "mode": "input", "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": 150002, "index": 1, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": -1, "text": "regulator", "mode": "input", "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." } ], "outputs": [ { "id": 150101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 7, "text": "control_process", "mode": "output", "object": "resource", "true_type": "processing::acs::SpeedControlProcess", "type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface", "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c\u044e \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f." }, { "id": 150102, "index": 1, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 8, "text": "torque_up_limit", "mode": "output", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "description": "\u0412\u0435\u0440\u0445\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": 150103, "index": 2, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 9, "text": "torque_down_limit", "mode": "output", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "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": 150104, "index": 3, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 10, "text": "inertia", "mode": "output", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "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." }, { "id": 150105, "index": 4, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": 11, "text": "feedforward", "mode": "output", "object": "resource", "true_type": "systemic::IValueType>", "type": "systemic::IValueType>", "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": 150106, "index": 5, "multi_edges": true, "position": 2, "socket_type": 1, "link_id": 4, "text": "demand", "mode": "output", "object": "value", "true_type": "const float &", "type": "float", "description": "\u0417\u0430\u0434\u0430\u043d\u043d\u0430\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f." } ], "content": { "id": 139948594269776 }, "alias": "", "comment": "", "params": {}, "initializer_id": 30, "process_settings": { "processor_id": 2, "priority": 7, "period": 0, "phase": 0 }, "node_id": 720, "cpu_id": 0 }, { "id": 17, "enable": true, "is_invalid": false, "title": "Input", "pos_x": 682.5000000000002, "pos_y": 710.8593750000002, "inputs": [], "outputs": [ { "id": 170101, "index": 0, "multi_edges": true, "position": 2, "socket_type": 2, "link_id": -1, "text": "", "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." } ], "content": { "id": 139948594272656 }, "alias": "", "comment": "", "params": {}, "object_name": "Speed Regulator", "group": "SpeedControlProcess" }, { "id": 16, "enable": true, "is_invalid": false, "title": "Signal", "pos_x": 1800.7812499999995, "pos_y": 1110.9374999999995, "inputs": [ { "id": 160001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 1, "link_id": 4, "text": "", "mode": "", "object": "", "true_type": "", "type": "float", "description": "" } ], "outputs": [], "content": { "id": 139948594273952 }, "alias": "", "comment": "", "params": {}, "object_name": "Reference Force Rotor Speed", "group": "Control System" }, { "id": 18, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1800.7812499999995, "pos_y": 685.9374999999997, "inputs": [ { "id": 180001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 7, "text": "", "mode": "input", "object": "resource", "true_type": "processing::acs::SpeedControlProcess", "type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface", "description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c\u044e \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f." } ], "outputs": [], "content": { "id": 139948594275392 }, "alias": "", "comment": "", "params": {}, "object_name": "Force Speed Control Process", "group": "SpeedControlProcess" }, { "id": 19, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1800.7812499999993, "pos_y": 857.1874999999997, "inputs": [ { "id": 190001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 9, "text": "", "mode": "input", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "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." } ], "outputs": [], "content": { "id": 139948594276688 }, "alias": "", "comment": "", "params": {}, "object_name": "Force Torque down Limit", "group": "SpeedControlProcess" }, { "id": 20, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1800.7812499999995, "pos_y": 1025.9374999999995, "inputs": [ { "id": 200001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 11, "text": "", "mode": "input", "object": "resource", "true_type": "systemic::IValueType>", "type": "systemic::IValueType>", "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." } ], "outputs": [], "content": { "id": 139948594277840 }, "alias": "", "comment": "", "params": {}, "object_name": "Force Feedforward", "group": "SpeedControlProcess" }, { "id": 21, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1800.7812499999995, "pos_y": 770.9374999999997, "inputs": [ { "id": 210001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 8, "text": "", "mode": "input", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "description": "\u0412\u0435\u0440\u0445\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." } ], "outputs": [], "content": { "id": 139948594279136 }, "alias": "", "comment": "", "params": {}, "object_name": "Force Torque up Limit", "group": "SpeedControlProcess" }, { "id": 22, "enable": true, "is_invalid": false, "title": "Output", "pos_x": 1800.7812499999995, "pos_y": 940.9374999999997, "inputs": [ { "id": 220001, "index": 0, "multi_edges": false, "position": 0, "socket_type": 2, "link_id": 10, "text": "", "mode": "input", "object": "resource", "true_type": "systemic::IValueType", "type": "systemic::IValueType", "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." } ], "outputs": [], "content": { "id": 139948594280432 }, "alias": "", "comment": "", "params": {}, "object_name": "Force Inertia", "group": "SpeedControlProcess" } ], "edges": [ { "edge_type": 2, "start": 130101, "end": 50004 }, { "edge_type": 2, "start": 100101, "end": 130001 }, { "edge_type": 2, "start": 130101, "end": 110003 }, { "edge_type": 2, "start": 10101, "end": 110001 }, { "edge_type": 2, "start": 10101, "end": 50001 }, { "edge_type": 2, "start": 30101, "end": 50002 }, { "edge_type": 2, "start": 130101, "end": 40001 }, { "edge_type": 2, "start": 110101, "end": 60001 }, { "edge_type": 2, "start": 50101, "end": 70001 }, { "edge_type": 2, "start": 110102, "end": 90001 }, { "edge_type": 2, "start": 110104, "end": 120001 }, { "edge_type": 2, "start": 50104, "end": 140001 }, { "edge_type": 2, "start": 80101, "end": 110002 }, { "edge_type": 2, "start": 20101, "end": 50003 }, { "edge_type": 2, "start": 150001, "end": 30101 }, { "edge_type": 2, "start": 170101, "end": 150002 }, { "edge_type": 2, "start": 150101, "end": 180001 }, { "edge_type": 2, "start": 150102, "end": 210001 }, { "edge_type": 2, "start": 190001, "end": 150103 }, { "edge_type": 2, "start": 150104, "end": 220001 }, { "edge_type": 2, "start": 200001, "end": 150105 }, { "edge_type": 2, "start": 150106, "end": 160001 } ] }