{
"version": "0.10.24",
"allow_edit": true,
"plugins": [],
"panes": [
{
"title": "Contrôle de l'application",
"width": 1,
"row": {
"3": 1,
"4": 1,
"5": 1
},
"col": {
"3": 2,
"4": 1,
"5": 1
},
"col_width": 1,
"widgets": [
{
"type": "pythoncommand",
"settings": {
"title": "Marche / arrêt",
"scriptfile": "./python/scripts/TourelleDeuxAxes/AsservissementVitesse.py",
"ontext": "ON",
"offtext": "OFF",
"arguments": [
"datasources[\"loc\"][\"simulation\"]",
"0",
"0"
],
"variable": [
"datasources[\"loc\"][\"onoff\"]",
"datasources[\"ws\"][\"apionoff\"]"
],
"onvalue": 0,
"offvalue": 1,
"variablestateoff": "",
"switchoff_when_select_changed": true,
"title2": "Réel ou simulation",
"selectvariable": [
"datasources[\"loc\"][\"simulation\"]"
],
"listcaptions": "Tourelle réelle,Tourelle simulée",
"listvalues": "0,1",
"selectdefaultvalue": "0",
"state_text": "loc_simulation = datasources[\"loc\"][\"simulation\"];\n\nif (loc_simulation == 1) {\n message = \"
\";\n}\nelse {\n message = \"Port série: \" + default_serial_value + \"
(Paramètres → Port série par défaut)
\";\n}\n\nif (datasources[\"loc\"][\"onoff\"] == 0) {\n if (datasources[\"ws\"][\"initOK\"] == 0) {\n \treturn message + \"Init en cours: recherche de butée\";\n }\n else if (datasources[\"ws\"][\"initOK\"] == 1) {\n return message;\n }\n else {\n return message + \"Attente de démarrage\";\n }\n}\nelse {\n return message;\n}",
"listerrorcodes": "1,2,3,4,5,6",
"listerrortextes": ",Connexion impossible au port série,Fichier de licence absent,Code de licence incorrect,Licence expirée,Licence incorrecte pour cet ordinateur",
"height": 1,
"refresh_iframes": false,
"parameters_title": "Moteur et mécanique Pan",
"parameters": [
"datasources[\"ws\"][\"J\"]",
"datasources[\"ws\"][\"K\"]",
"datasources[\"ws\"][\"R\"]",
"datasources[\"ws\"][\"d\"]",
"datasources[\"ws\"][\"Tstat\"]",
"datasources[\"ws\"][\"Ms\"]"
],
"parameters_initialvalues": "4e-7,0.019,53,0.34,0.12,0.",
"parameters_names": "Inertie,Constante de couple,Résistance,Frottement visqueux,Frottement sec,Masse smartphone",
"parameters_units": "kg.m^2,N.m/A,ohms,N.m.s/rad,N.m,kg",
"parameters_localstoragenames": "Tourelle_J,Tourelle_K,Tourelle_R,Tourelle_d,Tourelle_Ts,Tourelle_Ms",
"parameters_popupurl": "parampopup_tourelle.html"
}
},
{
"type": "plotexplore",
"settings": {
"title": "Résultats",
"type1": "save",
"useplotdata1": true,
"explore_with_qats1": false,
"disablereset1": "",
"value1": [
"datasources[\"ws\"][\"Temps\"]",
"datasources[\"ws\"][\"omegaref_1\"]",
"datasources[\"ws\"][\"omegaref_2\"]",
"datasources[\"ws\"][\"omegaref_3\"]",
"datasources[\"ws\"][\"omega_1\"]",
"datasources[\"ws\"][\"omega_2\"]",
"datasources[\"ws\"][\"omega_3\"]",
"datasources[\"ws\"][\"commande_1\"]",
"datasources[\"ws\"][\"commande_2\"]",
"datasources[\"ws\"][\"commande_3\"]",
"datasources[\"ws\"][\"courant_1\"]",
"datasources[\"ws\"][\"courant_2\"]",
"datasources[\"ws\"][\"courant_3\"]"
],
"legends1": "Temps (s),Vcons 1 (rad/s),Vcons 2 (rad/s),Vcons 3 (rad/s),V1 (rad/s),V2 (rad/s),V3 (rad/s),U1 (V),U2 (V),U3 (V),I1(A),I2(A),I3(A)",
"caption1": "Enregistrer",
"numberoflegendcolumns1": 2,
"disable_variable1": "if ((datasources[\"loc\"][\"onoff_1\"] == 1) || (datasources[\"loc\"][\"onoff_2\"] == 1) || (datasources[\"loc\"][\"onoff_3\"] == 1)) {\n return 1;\n}\nelse {\n return 0;\n}",
"re_enable_variable1": "if ((datasources[\"loc\"][\"onoff_1\"] == 0) && (datasources[\"loc\"][\"onoff_2\"] == 0) && (datasources[\"loc\"][\"onoff_3\"] == 0)) {\n return 1;\n}\nelse {\n return 0;\n}",
"type2": "plot",
"useplotdata2": true,
"explore_with_qats2": true,
"text_compare2": "Simulé,Réel",
"reset_compare2": "loc_simulation = datasources[\"loc\"][\"simulation\"];\nif (loc_simulation == 0) {\n return 1;\n}\nelse {\n return 0;\n}",
"disablereset2": "",
"value2": [
"datasources[\"ws\"][\"Temps\"]",
"datasources[\"ws\"][\"omegaref_1\"]",
"datasources[\"ws\"][\"omegaref_2\"]",
"datasources[\"ws\"][\"omegaref_3\"]",
"datasources[\"ws\"][\"omega_1\"]",
"datasources[\"ws\"][\"omega_2\"]",
"datasources[\"ws\"][\"omega_3\"]",
"datasources[\"ws\"][\"commande_1\"]",
"datasources[\"ws\"][\"commande_2\"]",
"datasources[\"ws\"][\"commande_3\"]",
"datasources[\"ws\"][\"courant_1\"]",
"datasources[\"ws\"][\"courant_2\"]",
"datasources[\"ws\"][\"courant_3\"]"
],
"legends2": "Vcons 1 (rad/s),Vcons 2 (rad/s),Vcons 3 (rad/s),V1 (rad/s),V2 (rad/s),V3 (rad/s),U1 (V),U2 (V),U3 (V),I1(A),I2(A),I3(A)",
"caption2": "Tracer",
"title2": "Vitesse (rad/s), tension de commande (V) et courant (A)",
"numberoflegendcolumns2": 6,
"disable_variable2": "if ((datasources[\"loc\"][\"onoff_1\"] == 1) || (datasources[\"loc\"][\"onoff_2\"] == 1) || (datasources[\"loc\"][\"onoff_3\"] == 1)) {\n return 1;\n}\nelse {\n return 0;\n}",
"re_enable_variable2": "if ((datasources[\"loc\"][\"onoff_1\"] == 0) && (datasources[\"loc\"][\"onoff_2\"] == 0) && (datasources[\"loc\"][\"onoff_3\"] == 0)) {\n return 1;\n}\nelse {\n return 0;\n}"
}
}
]
},
{
"title": "Vitesse (rad/s), tension de commande (V) et courant (A) du \"Pan\"",
"width": 1,
"row": {
"2": 9,
"3": 17,
"4": 1,
"5": 1
},
"col": {
"2": 2,
"3": 1,
"4": 2,
"5": 2
},
"col_width": "3",
"widgets": [
{
"type": "plot",
"settings": {
"title": "",
"xaxis": "datasource_column",
"time": "datasources[\"ws\"][\"Temps\"]",
"legendX": "Temps (s)",
"time_window": "10",
"value": [
"datasources[\"ws\"][\"omegaref_1\"]",
"datasources[\"ws\"][\"omegaref_2\"]",
"datasources[\"ws\"][\"omegaref_3\"]",
"datasources[\"ws\"][\"omega_1\"]",
"datasources[\"ws\"][\"omega_2\"]",
"datasources[\"ws\"][\"omega_3\"]"
],
"y_axis_min_range": "-0.4,0.4",
"offset_y": "mean_value",
"y2value": [
"datasources[\"ws\"][\"commande_1\"]",
"datasources[\"ws\"][\"commande_2\"]",
"datasources[\"ws\"][\"commande_3\"]",
"datasources[\"ws\"][\"courant_1\"]",
"datasources[\"ws\"][\"courant_2\"]",
"datasources[\"ws\"][\"courant_3\"]"
],
"y2_axis_min_range": "-4,4",
"offset_y2": "mean_value",
"include_legend": true,
"legendStr": "Vcons 1 (rad/s),Vcons 2 (rad/s),Vcons 3 (rad/s),V1 (rad/s),V2 (rad/s),V3 (rad/s),U1 (V),U2 (V),U3 (V),I1 (A),I2 (A),I3 (A)",
"height": 6,
"pausable": false,
"legendoutside": true,
"numberofcolumns": 6,
"refreshperiod": 100
}
}
]
},
{
"title": "Initialisation de l'angle (deg)",
"width": 1,
"row": {
"3": 8,
"4": 9,
"5": 9,
"6": 9
},
"col": {
"3": 1,
"4": 1,
"5": 1,
"6": 1
},
"col_width": 1,
"widgets": [
{
"type": "slider",
"settings": {
"variable": "datasources[\"ws\"][\"thetaref\"]",
"initialvalue": 180,
"min": 30,
"max": 270,
"resolution": 1,
"resetvalue": 180,
"resetcaption": "Réinitialisation",
"continuous_update": true
}
},
{
"type": "buttonled",
"settings": {
"title": "Initialiser avant chaque essai",
"variable1": [
"datasources[\"ws\"][\"initPos\"]"
],
"offvalue1": 0,
"onvalue1": 1,
"caption1": "Initialiser",
"value": "if (datasources[\"ws\"][\"initPosOK\"] == 1) {\n return 1;\n}\nelse {\n return 0;\n}",
"on_text": "Init. angle terminée",
"disable_variable": "if ((datasources[\"loc\"][\"onoff\"] == 1) || (datasources[\"ws\"][\"initOK\"] != 1) || (datasources[\"loc\"][\"onoff_1\"] == 1) || (datasources[\"loc\"][\"onoff_2\"] == 1) || (datasources[\"loc\"][\"onoff_3\"] == 1)) {\n return 1;\n}",
"re_enable_variable": "if ((datasources[\"loc\"][\"onoff\"] == 0) && (datasources[\"ws\"][\"initOK\"] == 1) && (datasources[\"loc\"][\"onoff_1\"] == 0) && (datasources[\"loc\"][\"onoff_2\"] == 0) && (datasources[\"loc\"][\"onoff_3\"] == 0)) {\n return 1;\n}",
"state_text": "if (datasources[\"ws\"][\"initPosOK\"] == 2) {\n return \"Initialisation en cours\";\n}\nelse {\n return \"\";\n}"
}
}
]
},
{
"title": "Essai 2",
"width": 1,
"row": {
"3": 35,
"4": 15,
"5": 19,
"6": 19
},
"col": {
"3": 2,
"4": 3,
"5": 2,
"6": 2
},
"col_width": 1,
"widgets": [
{
"type": "switchbutton",
"settings": {
"title": "Exécution possible si durée non infinie",
"variable": [
"datasources[\"ws\"][\"onoff_2\"]",
"datasources[\"loc\"][\"onoff_2\"]"
],
"yestext": "ON",
"yesvalue": "1",
"notext": "OFF",
"novalue": "0",
"initialstate": false,
"variablestateoff": "if (datasources[\"loc\"][\"onoff\"] == 1) {\n return 1;\n}\nelse {\n if (datasources[\"ws\"][\"switchoff_2\"] == 1) {\n \treturn 1;\n }\n else{\n return 0;\n }\n}",
"disable_variable": "if ((datasources[\"loc\"][\"onoff_1\"] == 1) || (datasources[\"loc\"][\"onoff_3\"] == 1) || (datasources[\"ws\"][\"essai1fini\"] == 0) || (datasources[\"ws\"][\"essai2fini\"] == 1) || (datasources[\"loc\"][\"duree\"] == 0) || (datasources[\"ws\"][\"initPosOK\"] != 1)) {\n \treturn 1;\n}",
"re_enable_variable": "if (datasources[\"loc\"][\"onoff_2\"] == 1) {\n return 1;\n}\nif ((datasources[\"loc\"][\"onoff_1\"] == 0) && (datasources[\"loc\"][\"onoff_3\"] == 0) && (datasources[\"ws\"][\"essai1fini\"] == 1) && (datasources[\"ws\"][\"essai2fini\"] == 0) && (datasources[\"loc\"][\"duree\"] > 0) && (datasources[\"ws\"][\"initPosOK\"] == 1)) {\n return 1;\n}",
"switch_off_on_disable": false,
"state_text": "if (datasources[\"ws\"][\"essai2fini\"] == 1) {\n return \"Exécution essai2 terminée\";\n}\nelse {\n return \"\";\n}",
"text_aside": true,
"refresh_iframes": false,
"height": 1
}
},
{
"type": "slider",
"settings": {
"title": "Consigne moteur pan (rad/s)",
"variable": "datasources[\"ws\"][\"amplitude_2\"]",
"initialvalue": 0,
"min": -1,
"max": 1,
"resolution": 2,
"resetvalue": 0,
"resetcaption": "Réinitialisation",
"continuous_update": true
}
},
{
"type": "triplecompactslider",
"settings": {
"title": "Gains du PID",
"ST1variable": "datasources[\"ws\"][\"Kp_2\"]",
"ST1variablename": "Kp",
"ST1initialvalue": 7,
"ST1min": 2,
"ST1max": 10,
"ST1resolution": 2,
"ST1resetvalue": 7,
"ST1resetcaption": "Réinitialisation",
"ST2variable": "datasources[\"ws\"][\"Ki_2\"]",
"ST2variablename": "Ki",
"ST2initialvalue": 50,
"ST2min": 0,
"ST2max": 80,
"ST2resolution": 1,
"ST2resetvalue": 200,
"ST2resetcaption": "Réinitialisation",
"ST3variable": "datasources[\"ws\"][\"Kd_2\"]",
"ST3variablename": "Kd",
"ST3initialvalue": 0,
"ST3min": 0,
"ST3max": 1,
"ST3resolution": 2,
"ST3resetvalue": 0,
"ST3resetcaption": "Réinitialisation"
}
}
]
},
{
"title": "Essai 3",
"width": 1,
"row": {
"3": 35,
"4": 15,
"5": 19,
"6": 19
},
"col": {
"3": 3,
"4": 4,
"5": 3,
"6": 3
},
"col_width": 1,
"widgets": [
{
"type": "switchbutton",
"settings": {
"title": "Exécution possible si durée non infinie",
"variable": [
"datasources[\"ws\"][\"onoff_3\"]",
"datasources[\"loc\"][\"onoff_3\"]"
],
"yestext": "ON",
"yesvalue": "1",
"notext": "OFF",
"novalue": "0",
"initialstate": false,
"variablestateoff": "if (datasources[\"loc\"][\"onoff\"] == 1) {\n return 1;\n}\nelse {\n if (datasources[\"ws\"][\"switchoff_3\"] == 1) {\n \treturn 1;\n }\n else{\n return 0;\n }\n}",
"disable_variable": "if ((datasources[\"loc\"][\"onoff_1\"] == 1) || (datasources[\"loc\"][\"onoff_2\"] == 1) || (datasources[\"ws\"][\"essai1fini\"] == 0) || (datasources[\"ws\"][\"essai3fini\"] == 1) || (datasources[\"ws\"][\"essai2fini\"] == 0) || (datasources[\"loc\"][\"duree\"] == 0) || (datasources[\"ws\"][\"initPosOK\"] != 1)) {\n\treturn 1;\n}",
"re_enable_variable": "if (datasources[\"loc\"][\"onoff_3\"] == 1) {\n return 1;\n}\nif ((datasources[\"loc\"][\"onoff_1\"] == 0) && (datasources[\"loc\"][\"onoff_2\"] == 0) && (datasources[\"ws\"][\"essai1fini\"] == 1) && (datasources[\"ws\"][\"essai3fini\"] == 0) && (datasources[\"ws\"][\"essai2fini\"] == 1) && (datasources[\"loc\"][\"duree\"] > 0) && (datasources[\"ws\"][\"initPosOK\"] == 1)) {\n return 1;\n}",
"switch_off_on_disable": false,
"state_text": "if (datasources[\"ws\"][\"essai3fini\"] == 1) {\n return \"Exécution essai3 terminée\";\n}\nelse {\n return \"\";\n}",
"text_aside": true,
"refresh_iframes": false,
"height": 1
}
},
{
"type": "slider",
"settings": {
"title": "Consigne moteur pan (rad/s)",
"variable": "datasources[\"ws\"][\"amplitude_3\"]",
"initialvalue": 0,
"min": -1,
"max": 1,
"resolution": 2,
"resetvalue": 0,
"resetcaption": "Réinitialisation",
"continuous_update": true
}
},
{
"type": "triplecompactslider",
"settings": {
"title": "Gains du PID",
"ST1variable": "datasources[\"ws\"][\"Kp_3\"]",
"ST1variablename": "Kp",
"ST1initialvalue": 7,
"ST1min": 2,
"ST1max": 10,
"ST1resolution": 2,
"ST1resetvalue": 7,
"ST1resetcaption": "Réinitialisation",
"ST2variable": "datasources[\"ws\"][\"Ki_3\"]",
"ST2variablename": "Ki",
"ST2initialvalue": 50,
"ST2min": 0,
"ST2max": 80,
"ST2resolution": 1,
"ST2resetvalue": 50,
"ST2resetcaption": "Réinitialisation",
"ST3variable": "datasources[\"ws\"][\"Kd_3\"]",
"ST3variablename": "Kd",
"ST3initialvalue": 0,
"ST3min": 0,
"ST3max": 1,
"ST3resolution": 2,
"ST3resetvalue": 0,
"ST3resetcaption": "Réinitialisation"
}
}
]
},
{
"title": "Essai 1",
"width": 1,
"row": {
"3": 52,
"4": 15,
"5": 19,
"6": 19
},
"col": {
"3": 3,
"4": 2,
"5": 1,
"6": 1
},
"col_width": 1,
"widgets": [
{
"type": "switchbutton",
"settings": {
"title": "Exécution possible quelque soit la durée",
"variable": [
"datasources[\"ws\"][\"onoff_1\"]",
"datasources[\"loc\"][\"onoff_1\"]"
],
"yestext": "ON",
"yesvalue": "1",
"notext": "OFF",
"novalue": "0",
"initialstate": false,
"variablestateoff": "if (datasources[\"loc\"][\"onoff\"] == 1) {\n return 1;\n}\nelse {\n if (datasources[\"ws\"][\"switchoff_1\"] == 1) {\n \treturn 1;\n }\n else{\n return 0;\n }\n}",
"disable_variable": "if ((datasources[\"ws\"][\"initOK\"] != 1) || (datasources[\"loc\"][\"onoff\"] == 1) || (datasources[\"loc\"][\"onoff_2\"] == 1) || (datasources[\"loc\"][\"onoff_3\"] == 1) || (datasources[\"ws\"][\"initPosOK\"] != 1)) {\n return 1;\n}",
"re_enable_variable": "if (datasources[\"loc\"][\"onoff_1\"] == 1) {\n return 1;\n}\nif ((datasources[\"ws\"][\"initOK\"] == 1) && (datasources[\"loc\"][\"onoff\"] == 0) && (datasources[\"loc\"][\"onoff_2\"] == 0) && (datasources[\"loc\"][\"onoff_3\"] == 0) && (datasources[\"ws\"][\"initPosOK\"] == 1)) {\n return 1;\n}",
"switch_off_on_disable": false,
"state_text": "if (datasources[\"ws\"][\"essai1fini\"] == 1) {\n return \"Exécution essai1 terminée\";\n}\nelse {\n return \"\";\n}",
"text_aside": true,
"refresh_iframes": false,
"height": 1
}
},
{
"type": "slider",
"settings": {
"title": "Consigne moteur pan (rad/s)",
"variable": "datasources[\"ws\"][\"amplitude_1\"]",
"initialvalue": 0,
"min": -1,
"max": 1,
"resolution": 2,
"resetvalue": 0,
"resetcaption": "Réinitialisation",
"continuous_update": true
}
},
{
"type": "triplecompactslider",
"settings": {
"title": "Gains du PID",
"ST1variable": "datasources[\"ws\"][\"Kp_1\"]",
"ST1variablename": "Kp",
"ST1initialvalue": 7,
"ST1min": 2,
"ST1max": 10,
"ST1resolution": 2,
"ST1resetvalue": 7,
"ST1resetcaption": "Réinitialisation",
"ST2variable": "datasources[\"ws\"][\"Ki_1\"]",
"ST2variablename": "Ki",
"ST2initialvalue": 50,
"ST2min": 0,
"ST2max": 80,
"ST2resolution": 1,
"ST2resetvalue": 50,
"ST2resetcaption": "Réinitialisation",
"ST3variable": "datasources[\"ws\"][\"Kd_1\"]",
"ST3variablename": "Kd",
"ST3initialvalue": 0,
"ST3min": 0,
"ST3max": 1,
"ST3resolution": 2,
"ST3resetvalue": 0,
"ST3resetcaption": "Réinitialisation"
}
}
]
},
{
"title": "Tilt",
"width": 1,
"row": {
"3": 35,
"4": 17,
"5": 1,
"6": 1
},
"col": {
"3": 1,
"4": 1,
"5": 5,
"6": 5
},
"col_width": 1,
"widgets": [
{
"type": "buttondouble",
"settings": {
"variable1": "datasources[\"ws\"][\"tilt_pos\"]",
"variable2": "datasources[\"ws\"][\"tilt_neg\"]",
"offvalue1": 0,
"offvalue2": 0,
"onvalue1": 1,
"onvalue2": 1,
"caption1": "Positif",
"caption2": "Négatif"
}
}
]
},
{
"title": "Générateur de signal",
"width": 1,
"row": {
"3": 52,
"4": 21,
"5": 5,
"6": 5
},
"col": {
"3": 2,
"4": 1,
"5": 5,
"6": 5
},
"col_width": 1,
"widgets": [
{
"type": "select",
"settings": {
"title": "Type de signal",
"variable": "datasources[\"ws\"][\"typeSignal\"]",
"listcaptions": "Echelon,Sinus,Trapèze",
"listvalues": "0,1,2",
"defaultvalue": "0"
}
},
{
"type": "compactslider",
"settings": {
"title": "",
"SC1variable": "datasources[\"ws\"][\"frequence\"]",
"SC1variablename": "Fréq: (Hz)",
"SC1initialvalue": 0,
"SC1min": 0,
"SC1max": 5,
"SC1resolution": 2,
"SC1resetvalue": 0,
"SC1resetcaption": "Réinitialisation"
}
},
{
"type": "textinput",
"settings": {
"title": "Durée (s). 0: infini (uniquement avec l'essai 1)",
"variable": [
"datasources[\"ws\"][\"duree\"]",
"datasources[\"loc\"][\"duree\"]"
],
"initialvalue": "2",
"min": 0,
"max": 100,
"resetvalue": "2",
"resetcaption": "Réinitialisation",
"must_be_numeric": true
}
}
]
}
],
"datasources": [
{
"name": "ws",
"type": "websocket",
"settings": {
"host": "ws://127.0.0.1:9090/ws",
"portisunique": false,
"variables_to_send": "duree,onoff_1,onoff_2,onoff_3,typeSignal,frequence,Kp_1,Ki_1,Kd_1,amplitude_1,Kp_2,Ki_2,Kd_2,amplitude_2,Kp_3,Ki_3,Kd_3,amplitude_3,tilt_pos,tilt_neg,initPos,thetaref,apionoff,J,K,R,d,Tstat,Ms,modeAPI",
"refresh_rate": "100",
"checksum": "sum",
"variable1": "datasources[\"ws\"][\"modeAPI\"]",
"value1": "0",
"switchoff_variable1": "0"
}
},
{
"name": "loc",
"type": "local",
"settings": {
"variables": "onoff,onoff_1,onoff_2,onoff_3,duree,simulation",
"refresh_rate": 100
}
}
],
"columns": 4
}