config.example.json

{
  "serial": {
    "port": "COM3",
    "baudrate": 115200,
    "timeout": 1.0,
    "encoding": "utf-8"
  },
  "llm": {
    "api_key": "your-deepseek-api-key",
    "base_url": "https://api.deepseek.com",
    "model": "deepseek-reasoner",
    "model_fallback": "deepseek-chat",
    "temperature": 0.3,
    "max_tokens": 1024
  },
  "loops": {
    "speed": {
      "name": "速度环",
      "pid": {"kp": 1.0, "ki": 0.1, "kd": 0.05},
      "limits": {"kp": [0.01, 50.0], "ki": [0.0, 20.0], "kd": [0.0, 10.0]},
      "target_metrics": {
        "max_overshoot_pct": 5.0,
        "max_settling_time_s": 0.5,
        "max_sse_pct": 1.0
      },
      "description": "电机速度闭环控制，目标值为编码器反馈的转速(RPM或脉冲数/周期)"
    },
    "steering": {
      "name": "转向环",
      "pid": {"kp": 2.0, "ki": 0.0, "kd": 1.0},
      "limits": {"kp": [0.01, 100.0], "ki": [0.0, 10.0], "kd": [0.0, 50.0]},
      "target_metrics": {
        "max_overshoot_pct": 3.0,
        "max_settling_time_s": 0.3,
        "max_sse_pct": 0.5
      },
      "description": "舵机/差速转向控制，目标值为方向偏差"
    },
    "position": {
      "name": "位置环",
      "pid": {"kp": 0.5, "ki": 0.01, "kd": 0.2},
      "limits": {"kp": [0.001, 30.0], "ki": [0.0, 5.0], "kd": [0.0, 20.0]},
      "target_metrics": {
        "max_overshoot_pct": 2.0,
        "max_settling_time_s": 1.0,
        "max_sse_pct": 0.5
      },
      "description": "位置/里程闭环控制，目标值为编码器累计脉冲或距离"
    },
    "current": {
      "name": "电流环",
      "pid": {"kp": 0.3, "ki": 0.5, "kd": 0.01},
      "limits": {"kp": [0.001, 10.0], "ki": [0.0, 50.0], "kd": [0.0, 5.0]},
      "target_metrics": {
        "max_overshoot_pct": 5.0,
        "max_settling_time_s": 0.01,
        "max_sse_pct": 2.0
      },
      "description": "电机电流闭环控制，目标值为期望电流(mA)"
    }
  },
  "tuning": {
    "max_change_ratio": 0.2,
    "min_change_threshold": 0.01,
    "history_window": 10,
    "data_sample_count": 50,
    "convergence_patience": 3
  },
  "online": {
    "tune_interval_s": 10,
    "data_buffer_size": 200,
    "auto_apply": false
  }
}