diff --git a/data/flow_run_20260824_113812.csv b/data/flow_run_20260824_113812.csv new file mode 100644 index 0000000..e860c09 --- /dev/null +++ b/data/flow_run_20260824_113812.csv @@ -0,0 +1,1495 @@ +time_s,timestamp,target_flow_slm,measured_flow_slm,opening_pct,pressure_kpa,error_slm,motor_position,actual_dt_s,status +0.000000,1787542692.330298,90.000000,185.347985,98.000000,5.494505,-95.347985,20.000000,0.100000,OK +0.100817,1787542692.431115,90.000000,185.164835,95.990870,5.616606,-95.164835,40.091300,0.100457,OK +0.201097,1787542692.531395,90.000000,185.073260,93.986628,5.616606,-95.073260,60.133720,0.100212,OK +0.300664,1787542692.630963,90.000000,184.981685,91.995288,5.616606,-94.981685,80.047120,0.099567,OK +0.400461,1787542692.730759,90.000000,184.890110,89.993436,5.616606,-94.890110,100.065640,0.100093,OK +0.500583,1787542692.830881,90.000000,184.615385,87.996376,5.616606,-94.615385,120.036240,0.099853,OK 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+103.900556,1787542796.230855,60.000000,43.131868,8.570216,1.831502,16.868132,914.297837,0.099550,OK +104.001103,1787542796.331401,60.000000,52.289377,6.561112,2.075702,7.710623,934.388877,0.100455,OK +104.100885,1787542796.431184,60.000000,54.487179,5.737701,2.197802,5.512821,942.622988,0.099945,OK +104.201321,1787542796.531620,60.000000,61.630037,3.735215,2.197802,-1.630037,962.647848,0.100124,OK +104.300758,1787542796.631056,60.000000,64.194139,2.244297,2.197802,-4.194139,977.557028,0.099599,OK +104.401605,1787542796.731903,60.000000,70.329670,0.249395,1.953602,-10.329670,997.506048,0.099745,OK +104.503698,1787542796.833996,60.000000,71.794872,0.000000,0.854701,-11.794872,1000.000000,0.100436,OK +104.600930,1787542796.931228,60.000000,62.087912,1.998896,0.122100,-2.087912,980.011040,0.099945,OK +104.700646,1787542797.030944,60.000000,58.882784,3.657210,-0.122100,1.117216,963.427904,0.099801,OK +104.800614,1787542797.130912,60.000000,49.175824,5.657754,0.000000,10.824176,943.422464,0.100027,OK +104.900676,1787542797.230974,60.000000,44.322344,7.660248,0.732601,15.677656,923.397524,0.100125,OK +105.000581,1787542797.330879,60.000000,47.344322,6.781279,1.343101,12.655678,932.187213,0.099879,OK +105.100545,1787542797.430843,60.000000,48.168498,6.960182,1.831502,11.831502,930.398180,0.099901,OK +105.200588,1787542797.530886,60.000000,55.402930,4.960280,1.953602,4.597070,950.397200,0.099995,OK +105.300726,1787542797.631024,60.000000,58.333333,3.578719,2.075702,1.666667,964.212807,0.100369,OK +105.400954,1787542797.731252,60.000000,65.384615,1.579033,2.075702,-5.384615,984.209667,0.099984,OK +105.501109,1787542797.831407,60.000000,67.216117,0.302107,1.465201,-7.216117,996.978929,0.100102,OK +105.600316,1787542797.930614,60.000000,63.919414,1.755464,0.366300,-3.919414,982.445362,0.099502,OK +105.700745,1787542798.031043,60.000000,62.728938,2.214004,0.000000,-2.728938,977.859959,0.100184,OK +105.800726,1787542798.131024,60.000000,49.908425,4.217240,-0.122100,10.091575,957.827599,0.100162,OK +105.900703,1787542798.231002,60.000000,46.978022,6.214328,0.122100,13.021978,937.856719,0.099854,OK +106.000869,1787542798.331167,60.000000,41.941392,8.216804,0.976801,18.058608,917.831959,0.100124,OK +106.100577,1787542798.430876,60.000000,40.384615,9.974393,1.465201,19.615385,900.256067,0.099840,OK +106.201098,1787542798.531397,60.000000,45.787546,7.984336,1.831502,14.212454,920.156639,0.100111,OK +106.301112,1787542798.631410,60.000000,51.556777,5.982558,2.319902,8.443223,940.174419,0.100089,OK +106.400767,1787542798.731066,60.000000,58.699634,3.987502,2.564103,1.300366,960.124979,0.099753,OK +106.500880,1787542798.831178,60.000000,62.912088,1.982900,2.564103,-2.912088,980.170999,0.100230,OK +106.600519,1787542798.930817,60.000000,68.131868,0.000000,2.075702,-8.131868,1000.000000,0.099662,OK +106.700898,1787542799.031196,60.000000,72.893773,0.000000,0.854701,-12.893773,1000.000000,0.100440,OK +106.800265,1787542799.130563,60.000000,61.446886,1.993274,0.122100,-1.446886,980.067260,0.099664,OK +106.900467,1787542799.230765,60.000000,56.135531,3.992522,-0.122100,3.864469,960.074780,0.099962,OK +107.001029,1787542799.331328,60.000000,48.260073,6.000060,0.000000,11.739927,939.999400,0.100377,OK +107.100715,1787542799.431013,60.000000,42.490842,7.997594,0.854701,17.509158,920.024060,0.099877,OK +107.200961,1787542799.531259,60.000000,44.871795,7.565086,1.343101,15.128205,924.349145,0.100206,OK +107.300481,1787542799.630779,60.000000,47.527473,6.857177,1.831502,12.472527,931.428232,0.099407,OK +107.401281,1787542799.731580,60.000000,55.586081,4.844579,2.075702,4.413919,951.554212,0.100630,OK +107.500265,1787542799.830563,60.000000,58.058608,3.704857,2.075702,1.941392,962.951428,0.099457,OK +107.601068,1787542799.931366,60.000000,62.820513,1.693559,1.953602,-2.820513,983.064408,0.100565,OK +107.700640,1787542800.030939,60.000000,67.124542,0.000000,2.075702,-7.124542,1000.000000,0.099600,OK +107.800929,1787542800.131227,60.000000,69.963370,0.000000,0.854701,-9.963370,1000.000000,0.100088,OK +107.903262,1787542800.233561,60.000000,71.428571,0.000000,0.244200,-11.428571,1000.000000,0.099668,OK +108.000504,1787542800.330802,60.000000,58.516484,2.004428,-0.122100,1.483516,979.955720,0.100221,OK +108.100692,1787542800.430990,60.000000,52.472527,4.004378,-0.122100,7.527473,959.956220,0.099998,OK +108.200795,1787542800.531094,60.000000,44.413919,6.007704,0.122100,15.586081,939.922960,0.100166,OK +108.300589,1787542800.630887,60.000000,40.018315,8.003682,0.854701,19.981685,919.963180,0.099799,OK +108.400544,1787542800.730842,60.000000,44.047619,6.785968,1.465201,15.952381,932.140321,0.099915,OK +108.500704,1787542800.831002,60.000000,47.344322,5.771648,1.831502,12.655678,942.283521,0.100197,OK +108.600821,1787542800.931120,60.000000,51.923077,3.887153,2.075702,8.076923,961.128465,0.100257,OK +108.700155,1787542801.030453,60.000000,57.967033,1.899167,2.075702,2.032967,981.008325,0.099399,OK +108.800514,1787542801.130812,60.000000,63.186813,0.000000,1.587302,-3.186813,1000.000000,0.100418,OK +108.900759,1787542801.231057,60.000000,66.575092,0.000000,0.610501,-6.575092,1000.000000,0.099947,OK +109.000588,1787542801.330887,60.000000,59.157509,1.997532,0.122100,0.842491,980.024680,0.099877,OK +109.100985,1787542801.431283,60.000000,51.648352,4.003600,-0.122100,8.351648,959.964000,0.100303,OK +109.200868,1787542801.531166,60.000000,44.413919,5.993870,-0.122100,15.586081,940.061300,0.099513,OK +109.300520,1787542801.630819,60.000000,39.285714,7.997622,0.732601,20.714286,920.023780,0.100188,OK +109.400706,1787542801.731004,60.000000,41.849817,7.623719,1.465201,18.150183,923.762812,0.100070,OK +109.500867,1787542801.831165,60.000000,43.956044,7.373196,1.831502,16.043956,926.268039,0.100049,OK +109.600961,1787542801.931260,60.000000,49.084249,5.374896,1.953602,10.915751,946.251039,0.099915,OK +109.700614,1787542802.030912,60.000000,55.128205,3.374498,2.075702,4.871795,966.255019,0.100020,OK +109.800317,1787542802.130615,60.000000,60.622711,1.378716,2.197802,-0.622711,986.212839,0.099789,OK +109.900654,1787542802.230953,60.000000,64.194139,0.000000,1.465201,-4.194139,1000.000000,0.100329,OK +110.000801,1787542802.331099,60.000000,61.538462,1.250920,0.366300,-1.538462,987.490802,0.099995,OK +110.100302,1787542802.430600,60.000000,58.791209,2.684912,0.122100,1.208791,973.150881,0.099878,OK +110.201301,1787542802.531599,60.000000,49.358974,4.693416,-0.122100,10.641026,953.065840,0.100425,OK +110.300800,1787542802.631099,60.000000,44.322344,6.687098,0.366300,15.677656,933.129021,0.099684,OK +110.400185,1787542802.730483,60.000000,44.322344,7.468580,1.098901,15.677656,925.314203,0.099694,OK +110.500512,1787542802.830811,60.000000,44.413919,8.202495,1.587302,15.586081,917.975048,0.100051,OK +110.600651,1787542802.930949,60.000000,48.901099,6.514668,1.953602,11.098901,934.853321,0.100147,OK +110.700300,1787542803.030598,60.000000,55.036630,4.516626,2.075702,4.963370,954.833741,0.099902,OK +110.800500,1787542803.130799,60.000000,60.805861,2.515560,2.075702,-0.805861,974.844401,0.100053,OK +110.900347,1787542803.230645,60.000000,64.652015,0.519058,1.831502,-4.652015,994.809421,0.099825,OK +111.000662,1787542803.330960,60.000000,66.575092,0.000000,1.098901,-6.575092,1000.000000,0.100290,OK +111.100752,1787542803.431051,60.000000,68.772894,0.000000,0.366300,-8.772894,1000.000000,0.099941,OK +111.200691,1787542803.530990,60.000000,58.333333,1.997264,-0.122100,1.666667,980.027360,0.099863,OK +111.301444,1787542803.631742,60.000000,52.014652,3.998558,-0.122100,7.985348,960.014420,0.100065,OK +111.400057,1787542803.730355,60.000000,46.245421,5.994608,-0.122100,13.754579,940.053920,0.099803,OK +111.500535,1787542803.830833,60.000000,39.377289,7.999648,0.732601,20.622711,920.003520,0.100252,OK +111.600584,1787542803.930882,60.000000,42.124542,7.519785,1.343101,17.875458,924.802153,0.099999,OK +111.700500,1787542804.030798,60.000000,43.864469,7.455421,1.831502,16.135531,925.445792,0.099854,OK +111.801027,1787542804.131325,60.000000,49.633700,5.446515,1.953602,10.366300,945.534852,0.100445,OK +111.900558,1787542804.230857,60.000000,55.036630,3.454885,2.075702,4.963370,965.451152,0.099582,OK +112.000669,1787542804.330967,60.000000,60.989011,1.451473,2.075702,-0.989011,985.485272,0.100171,OK +112.100516,1787542804.430814,60.000000,64.102564,0.000000,1.587302,-4.102564,1000.000000,0.099822,OK +112.200533,1787542804.530832,60.000000,60.897436,1.557607,0.366300,-0.897436,984.423928,0.100190,OK +112.300402,1787542804.630700,60.000000,58.516484,2.822058,0.122100,1.483516,971.779422,0.099729,OK +112.400301,1787542804.730599,60.000000,51.831502,4.824180,-0.122100,8.168498,951.758202,0.100106,OK +112.500133,1787542804.830431,60.000000,44.139194,6.820692,0.610501,15.860806,931.793082,0.099826,OK +112.600249,1787542804.930547,60.000000,44.688645,7.312512,1.221001,15.311355,926.874881,0.100128,OK +112.700504,1787542805.030802,60.000000,45.054945,7.876697,1.709402,14.945055,921.233026,0.100011,OK +112.800631,1787542805.130929,60.000000,47.069597,7.517678,1.831502,12.930403,924.823221,0.100276,OK +112.901097,1787542805.231395,60.000000,55.494505,5.514064,2.075702,4.505495,944.859361,0.100181,OK +113.000680,1787542805.330979,60.000000,59.249084,3.674179,2.075702,0.750916,963.258206,0.099625,OK +113.100567,1787542805.430865,60.000000,65.109890,1.676967,2.197802,-5.109890,983.230326,0.099861,OK +113.200571,1787542805.530869,60.000000,67.124542,0.313187,1.465201,-7.124542,996.868133,0.100064,OK +113.300739,1787542805.631037,60.000000,72.435897,0.000000,0.488400,-12.435897,1000.000000,0.100107,OK +113.400634,1787542805.730932,60.000000,70.329670,0.537125,0.000000,-10.329670,994.628747,0.099904,OK +113.500826,1787542805.831124,60.000000,54.029304,2.544843,-0.244200,5.970696,974.551567,0.100386,OK +113.600670,1787542805.930968,60.000000,49.725275,4.538167,0.000000,10.274725,954.618327,0.099666,OK +113.700678,1787542806.030976,60.000000,40.934066,6.542113,0.488400,19.065934,934.578867,0.100197,OK +113.800566,1787542806.130864,60.000000,41.941392,6.938866,1.221001,18.058608,930.611339,0.099722,OK +113.900388,1787542806.230686,60.000000,44.139194,6.634142,1.587302,15.860806,933.658583,0.100143,OK +114.000705,1787542806.331004,60.000000,48.260073,5.161243,1.831502,11.739927,948.387568,0.100093,OK +114.113929,1787542806.444227,60.000000,54.853480,3.159841,1.953602,5.146520,968.401588,0.100070,OK +114.200725,1787542806.531023,60.000000,57.326007,2.057093,2.075702,2.673993,979.429069,0.099862,OK +114.301074,1787542806.631372,60.000000,63.736264,0.050573,1.465201,-3.736264,999.494269,0.100326,OK +114.400659,1787542806.730957,60.000000,62.362637,0.619870,0.488400,-2.362637,993.801302,0.099479,OK +114.500867,1787542806.831166,60.000000,60.989011,1.257054,0.000000,-0.989011,987.429462,0.100361,OK +114.600589,1787542806.930887,60.000000,56.135531,3.250724,0.122100,3.864469,967.492762,0.099684,OK +114.700580,1787542807.030878,60.000000,45.970696,5.253444,-0.122100,14.029304,947.465562,0.100136,OK +114.803109,1787542807.133407,60.000000,41.758242,7.258914,0.732601,18.241758,927.410862,0.100274,OK +114.900530,1787542807.230828,60.000000,37.271062,9.250466,1.343101,22.728938,907.495342,0.099578,OK +115.000446,1787542807.330744,60.000000,40.567766,8.573246,1.709402,19.432234,914.267541,0.099951,OK +115.100335,1787542807.430633,60.000000,48.626374,6.573050,2.197802,11.373626,934.269501,0.100010,OK +115.200340,1787542807.530638,60.000000,50.366300,6.184286,2.319902,9.633700,938.157135,0.099899,OK +115.301027,1787542807.631325,60.000000,59.981685,4.176122,2.319902,0.018315,958.238775,0.100408,OK +115.400687,1787542807.730985,60.000000,63.186813,2.414360,2.197802,-3.186813,975.856395,0.099910,OK +115.500979,1787542807.831277,60.000000,69.047619,0.410494,2.075702,-9.047619,995.895055,0.100193,OK +115.600134,1787542807.930432,60.000000,70.054945,0.000000,1.098901,-10.054945,1000.000000,0.099548,OK +115.700635,1787542808.030933,60.000000,72.985348,0.000000,0.244200,-12.985348,1000.000000,0.100324,OK +115.800615,1787542808.130913,60.000000,69.963370,1.013849,-0.122100,-9.963370,989.861513,0.099794,OK +115.900951,1787542808.231249,60.000000,53.571429,3.021783,-0.122100,6.428571,969.782173,0.100397,OK +116.000980,1787542808.331278,60.000000,49.633700,5.020649,-0.122100,10.366300,949.793513,0.099943,OK +116.100626,1787542808.430924,60.000000,40.476190,7.013393,0.488400,19.523810,929.866073,0.099637,OK +116.200752,1787542808.531051,60.000000,40.750916,7.839708,1.221001,19.249084,921.602924,0.100127,OK +116.300739,1787542808.631037,60.000000,41.483516,8.398482,1.709402,18.516484,916.015176,0.099919,OK +116.400307,1787542808.730605,60.000000,45.421245,7.158235,1.953602,14.578755,928.417651,0.099956,OK +116.500667,1787542808.830965,60.000000,52.930403,5.156847,2.197802,7.069597,948.431531,0.100069,OK +116.600849,1787542808.931148,60.000000,55.128205,4.301816,2.319902,4.871795,956.981840,0.100115,OK +116.700901,1787542809.031199,60.000000,63.095238,2.297322,2.319902,-3.095238,977.026780,0.100225,OK +116.800591,1787542809.130889,60.000000,66.483516,0.307118,2.197802,-6.483516,996.928821,0.099510,OK +116.900509,1787542809.230807,60.000000,71.062271,0.000000,1.221001,-11.062271,1000.000000,0.100078,OK +117.000041,1787542809.330340,60.000000,67.490842,1.411428,0.366300,-7.490842,985.885720,0.099932,OK +117.100739,1787542809.431037,60.000000,59.615385,3.414522,0.122100,0.384615,965.854780,0.100155,OK +117.200644,1787542809.530942,60.000000,57.417582,4.642473,-0.122100,2.582418,953.575265,0.099945,OK +117.300093,1787542809.630391,60.000000,44.780220,6.639759,0.610501,15.219780,933.602405,0.099864,OK +117.400695,1787542809.730994,60.000000,45.238095,7.151471,1.221001,14.761905,928.485292,0.100346,OK +117.500546,1787542809.830844,60.000000,47.985348,6.377024,1.587302,12.014652,936.229765,0.099741,OK +117.600578,1787542809.930876,60.000000,50.915751,5.367649,1.831502,9.084249,946.323512,0.100355,OK +117.700607,1787542810.030905,60.000000,58.333333,3.372527,2.075702,1.666667,966.274732,0.099756,OK +117.800642,1787542810.130940,60.000000,60.989011,1.995213,2.075702,-0.989011,980.047873,0.100050,OK +117.900673,1787542810.230971,60.000000,67.399267,0.000000,1.343101,-7.399267,1000.000000,0.100037,OK +118.000486,1787542810.330784,60.000000,64.102564,1.443167,0.366300,-4.102564,985.568332,0.100028,OK +118.103437,1787542810.433735,60.000000,59.615385,3.443391,0.122100,0.384615,965.566092,0.100011,OK +118.200744,1787542810.531042,60.000000,56.410256,5.225650,-0.122100,3.589744,947.743499,0.100116,OK +118.300588,1787542810.630887,60.000000,45.054945,7.220698,0.610501,14.945055,927.793019,0.099752,OK +118.400873,1787542810.731171,60.000000,46.886447,6.962372,1.343101,13.113553,930.376277,0.100266,OK +118.500360,1787542810.830658,60.000000,49.450549,6.205647,1.709402,10.549451,937.943533,0.099593,OK +118.600636,1787542810.930935,60.000000,52.564103,5.021080,1.831502,7.435897,949.789204,0.100112,OK +118.700464,1787542811.030762,60.000000,59.340659,3.021396,1.953602,0.659341,969.786044,0.099984,OK +118.800838,1787542811.131136,60.000000,60.622711,2.349150,2.075702,-0.622711,976.508505,0.100273,OK +118.900538,1787542811.230836,60.000000,68.040293,0.353900,1.587302,-8.040293,996.461005,0.099763,OK +119.000463,1787542811.330761,60.000000,66.483516,0.807823,0.488400,-6.483516,991.921765,0.100089,OK +119.100491,1787542811.430789,60.000000,63.644689,2.045350,0.000000,-3.644689,979.546501,0.099810,OK 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+125.500657,1787542817.830956,60.000000,44.139194,4.125688,-0.122100,15.860806,958.743120,0.099665,OK +125.600660,1787542817.930958,60.000000,43.956044,5.021881,0.122100,16.043956,949.781189,0.100302,OK +125.700806,1787542818.031104,60.000000,33.974359,7.021387,0.854701,26.025641,929.786129,0.099975,OK +125.800504,1787542818.130802,60.000000,33.791209,8.420350,1.465201,26.208791,915.796502,0.099767,OK +125.900257,1787542818.230555,60.000000,43.864469,6.420394,1.831502,16.135531,935.796062,0.099998,OK +126.000731,1787542818.331029,60.000000,43.956044,7.179088,2.197802,16.043956,928.209121,0.100285,OK +126.100282,1787542818.430580,60.000000,54.945055,5.186674,2.197802,5.054945,948.133261,0.099621,OK +126.200452,1787542818.530750,60.000000,55.128205,5.339200,2.197802,4.871795,946.608004,0.100210,OK +126.301008,1787542818.631306,60.000000,64.468864,3.333944,2.197802,-4.468864,966.660564,0.100263,OK 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+127.300179,1787542819.630477,60.000000,32.417582,7.473920,0.854701,27.582418,925.260797,0.099764,OK +127.400505,1787542819.730803,60.000000,32.234432,8.954909,1.343101,27.765568,910.450906,0.100082,OK +127.500602,1787542819.830900,60.000000,42.857143,6.955493,1.831502,17.142857,930.445066,0.099971,OK +127.601287,1787542819.931585,60.000000,42.948718,7.766580,2.075702,17.051282,922.334203,0.100505,OK +127.700432,1787542820.030730,60.000000,54.120879,5.780152,2.319902,5.879121,942.198483,0.099321,OK +127.800548,1787542820.130847,60.000000,54.212454,6.024886,2.319902,5.787546,939.751135,0.100396,OK +127.900666,1787542820.230964,60.000000,64.377289,4.026842,2.197802,-4.377289,959.731575,0.099902,OK +128.000466,1787542820.330764,60.000000,64.468864,3.757934,2.197802,-4.468864,962.420661,0.099856,OK +128.100543,1787542820.430842,60.000000,72.252747,1.756682,2.197802,-12.252747,982.433181,0.100063,OK +128.200898,1787542820.531196,60.000000,72.344322,1.091783,2.075702,-12.344322,989.082166,0.100307,OK +128.301089,1787542820.631387,60.000000,78.113553,0.000000,1.098901,-18.113553,1000.000000,0.099715,OK +128.403661,1787542820.733959,60.000000,78.205128,0.000000,0.244200,-18.205128,1000.000000,0.100167,OK +128.500368,1787542820.830666,60.000000,61.355311,1.994040,-0.122100,-1.355311,980.059600,0.099702,OK +128.600631,1787542820.930930,60.000000,61.172161,2.026953,-0.122100,-1.172161,979.730465,0.100091,OK +128.700933,1787542821.031231,60.000000,46.245421,4.032111,-0.122100,13.754579,959.678885,0.100258,OK +128.800678,1787542821.130976,60.000000,46.153846,4.768930,0.000000,13.846154,952.310699,0.099816,OK +128.901106,1787542821.231404,60.000000,35.531136,6.776142,0.976801,24.468864,932.238579,0.100361,OK +129.000851,1787542821.331149,60.000000,35.347985,8.097006,1.343101,24.652015,919.029941,0.099731,OK +129.100616,1787542821.430914,60.000000,45.054945,6.099534,1.709402,14.945055,939.004661,0.099874,OK +129.200938,1787542821.531236,60.000000,45.146520,6.797654,1.953602,14.853480,932.023461,0.100166,OK +129.300242,1787542821.630540,60.000000,55.769231,4.803774,2.075702,4.230769,951.962261,0.099694,OK +129.400583,1787542821.730881,60.000000,55.769231,5.015441,2.075702,4.230769,949.845592,0.100061,OK +129.500810,1787542821.831108,60.000000,64.560440,3.012361,2.075702,-4.560440,969.876392,0.100154,OK +129.600515,1787542821.930813,60.000000,64.652015,2.734442,2.075702,-4.652015,972.655579,0.099798,OK +129.700425,1787542822.030723,60.000000,72.344322,0.728450,1.831502,-12.344322,992.715499,0.100300,OK +129.800709,1787542822.131008,60.000000,72.435897,0.059984,1.098901,-12.435897,999.400158,0.100142,OK +129.900822,1787542822.231120,60.000000,71.886447,0.000000,0.244200,-11.886447,1000.000000,0.099928,OK +130.000599,1787542822.330897,60.000000,71.886447,0.000000,-0.122100,-11.886447,1000.000000,0.099639,OK +130.100529,1787542822.430827,60.000000,53.388278,2.004940,-0.122100,6.611722,979.950600,0.100247,OK +130.200885,1787542822.531183,60.000000,53.205128,2.436777,-0.122100,6.794872,975.632229,0.100153,OK +130.300717,1787542822.631016,60.000000,40.476190,4.431027,-0.122100,19.523810,955.689729,0.099712,OK +130.400631,1787542822.730929,60.000000,40.293040,5.507863,0.488400,19.706960,944.921365,0.099991,OK +130.500648,1787542822.830946,60.000000,32.417582,7.506381,1.098901,27.582418,924.936185,0.099926,OK +130.600860,1787542822.931158,60.000000,32.326007,8.940654,1.587302,27.673993,910.593465,0.100346,OK +130.700614,1787542823.030912,60.000000,43.956044,6.944940,1.831502,16.043956,930.550605,0.099786,OK +130.800461,1787542823.130759,60.000000,44.047619,7.696008,2.197802,15.952381,923.039923,0.099904,OK +130.900453,1787542823.230752,60.000000,55.219780,5.696100,2.319902,4.780220,943.039003,0.099995,OK +131.000757,1787542823.331055,60.000000,55.219780,5.935544,2.319902,4.780220,940.644560,0.100181,OK +131.100611,1787542823.430909,60.000000,64.743590,3.937548,2.197802,-4.743590,960.624520,0.099900,OK +131.200477,1787542823.530775,60.000000,64.926740,3.598922,2.197802,-4.926740,964.010777,0.100290,OK +131.300687,1787542823.630985,60.000000,72.435897,1.601976,2.075702,-12.435897,983.980237,0.099847,OK +131.400766,1787542823.731065,60.000000,72.527473,0.929944,2.197802,-12.527473,990.700559,0.099979,OK +131.500681,1787542823.830979,60.000000,78.113553,0.000000,1.098901,-18.113553,1000.000000,0.099784,OK +131.600745,1787542823.931043,60.000000,78.205128,0.000000,0.244200,-18.205128,1000.000000,0.100288,OK +131.700567,1787542824.030865,60.000000,60.347985,1.994858,0.000000,-0.347985,980.051420,0.099743,OK +131.802317,1787542824.132615,60.000000,60.164835,2.078178,-0.122100,-0.164835,979.218218,0.100159,OK +131.904124,1787542824.234422,60.000000,45.512821,4.080546,-0.122100,14.487179,959.194538,0.100118,OK +132.000927,1787542824.331225,60.000000,45.329670,4.906084,-0.122100,14.670330,950.939162,0.100061,OK +132.100742,1787542824.431041,60.000000,34.798535,6.907138,0.732601,25.201465,930.928622,0.100053,OK +132.200334,1787542824.530632,60.000000,34.615385,8.262801,1.343101,25.384615,917.371993,0.099595,OK +132.300794,1787542824.631093,60.000000,43.772894,6.257815,1.709402,16.227106,937.421853,0.100249,OK +132.400824,1787542824.731122,60.000000,43.864469,7.019031,1.953602,16.135531,929.809687,0.100028,OK +132.500671,1787542824.830970,60.000000,54.487179,5.023475,2.075702,5.512821,949.765247,0.099778,OK +132.601004,1787542824.931302,60.000000,54.670330,5.199294,2.197802,5.329670,948.007063,0.100342,OK 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+133.601006,1787542825.931304,60.000000,41.391941,5.427494,0.244200,18.608059,945.725060,0.100067,OK +133.700760,1787542826.031058,60.000000,32.326007,7.423454,0.976801,27.673993,925.765461,0.099798,OK +133.800799,1787542826.131098,60.000000,32.234432,8.857782,1.465201,27.765568,911.422177,0.100019,OK +133.900918,1787542826.231216,60.000000,43.681319,6.855416,1.831502,16.318681,931.445837,0.100118,OK +134.000597,1787542826.330895,60.000000,43.772894,7.618844,2.197802,16.227106,923.811555,0.099736,OK +134.101054,1787542826.431352,60.000000,54.670330,5.616286,2.197802,5.329670,943.837135,0.100128,OK +134.200464,1787542826.530762,60.000000,54.945055,5.730967,2.319902,5.054945,942.690331,0.099721,OK +134.300456,1787542826.630754,60.000000,64.468864,3.723117,2.197802,-4.468864,962.768831,0.100393,OK +134.400567,1787542826.730865,60.000000,64.560440,3.449898,2.197802,-4.560440,965.501025,0.099741,OK 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+135.411889,1787542827.742187,60.000000,33.516484,8.626020,1.465201,26.483516,913.739801,0.099873,OK +135.501001,1787542827.831299,60.000000,44.139194,6.618134,1.709402,15.860806,933.818661,0.100394,OK +135.601037,1787542827.931335,60.000000,44.322344,7.308349,2.075702,15.677656,926.916506,0.099733,OK +135.700734,1787542828.031032,60.000000,55.036630,5.303799,2.197802,4.963370,946.962006,0.100227,OK +135.801044,1787542828.131342,60.000000,55.219780,5.451420,2.197802,4.780220,945.485800,0.100077,OK +135.900753,1787542828.231051,60.000000,64.743590,3.458056,2.075702,-4.743590,965.419440,0.099668,OK +136.000995,1787542828.331294,60.000000,64.835165,3.169626,2.075702,-4.835165,968.303739,0.100366,OK +136.100712,1787542828.431010,60.000000,72.252747,1.176672,2.075702,-12.252747,988.233279,0.099648,OK +136.200219,1787542828.530518,60.000000,72.344322,0.514483,1.587302,-12.344322,994.855168,0.099868,OK +136.300879,1787542828.631177,60.000000,75.457875,0.000000,0.610501,-15.457875,1000.000000,0.100407,OK +136.400095,1787542828.730393,60.000000,75.457875,0.000000,0.000000,-15.457875,1000.000000,0.099400,OK +136.500659,1787542828.830957,60.000000,56.043956,2.010014,-0.122100,3.956044,979.899860,0.100501,OK +136.600719,1787542828.931018,60.000000,55.769231,2.358751,-0.122100,4.230769,976.412491,0.099922,OK +136.700815,1787542829.031114,60.000000,42.399267,4.361851,-0.122100,17.600733,956.381491,0.100155,OK +136.800617,1787542829.130916,60.000000,42.216117,5.339813,0.122100,17.783883,946.601870,0.099684,OK +136.900419,1787542829.230717,60.000000,32.875458,7.342697,0.854701,27.124542,926.573030,0.100144,OK +137.000982,1787542829.331280,60.000000,32.600733,8.852375,1.343101,27.399267,911.476248,0.100172,OK +137.100736,1787542829.431034,60.000000,43.498168,6.856943,1.831502,16.501832,931.430568,0.099772,OK +137.200716,1787542829.531014,60.000000,43.589744,7.631911,2.075702,16.410256,923.680895,0.100029,OK +137.300858,1787542829.631156,60.000000,54.578755,5.628355,2.197802,5.421245,943.716455,0.100178,OK +137.400645,1787542829.730943,60.000000,54.670330,5.848477,2.319902,5.329670,941.515230,0.099785,OK +137.501234,1787542829.831532,60.000000,64.652015,3.838693,2.197802,-4.652015,961.613070,0.100489,OK +137.600553,1787542829.930851,60.000000,64.835165,3.506878,2.197802,-4.835165,964.931220,0.099372,OK +137.700419,1787542830.030717,60.000000,71.886447,1.508904,2.075702,-11.886447,984.910960,0.099899,OK +137.800454,1787542830.130752,60.000000,71.978022,0.863608,1.709402,-11.978022,991.363920,0.100101,OK +137.900472,1787542830.230770,60.000000,75.641026,0.000000,0.610501,-15.641026,1000.000000,0.100019,OK +138.000900,1787542830.331198,60.000000,75.732601,0.000000,0.000000,-15.732601,1000.000000,0.100235,OK +138.100264,1787542830.430562,60.000000,55.860806,1.994768,-0.122100,4.139194,980.052320,0.099738,OK +138.200647,1787542830.530945,60.000000,55.402930,2.453685,-0.122100,4.597070,975.463151,0.100055,OK +138.300398,1787542830.630696,60.000000,42.216117,4.454255,-0.122100,17.783883,955.457451,0.100028,OK +138.400770,1787542830.731068,60.000000,41.758242,5.595132,0.488400,18.241758,944.048681,0.099984,OK +138.501482,1787542830.831780,60.000000,33.699634,7.596712,1.098901,26.300366,924.032881,0.100079,OK +138.603778,1787542830.934076,60.000000,33.424908,9.066025,1.587302,26.575092,909.339752,0.100241,OK +138.700160,1787542831.030458,60.000000,44.871795,7.073609,1.831502,15.128205,929.263912,0.099621,OK +138.800869,1787542831.131167,60.000000,45.146520,7.681578,2.197802,14.853480,923.184218,0.100358,OK +138.900649,1787542831.230947,60.000000,56.135531,5.686004,2.197802,3.864469,943.139958,0.099779,OK +139.000292,1787542831.330590,60.000000,56.410256,5.727934,2.197802,3.589744,942.720657,0.099892,OK +139.100510,1787542831.430808,60.000000,65.018315,3.721738,2.197802,-5.018315,962.782617,0.100310,OK +139.201223,1787542831.531521,60.000000,65.201465,3.369560,2.075702,-5.201465,966.304403,0.100204,OK +139.300727,1787542831.631025,60.000000,72.344322,1.374830,2.075702,-12.344322,986.251703,0.099737,OK +139.400957,1787542831.731255,60.000000,72.619048,0.606206,1.953602,-12.619048,993.937939,0.100049,OK +139.500696,1787542831.830994,60.000000,76.923077,0.000000,0.732601,-16.923077,1000.000000,0.099755,OK +139.600901,1787542831.931199,60.000000,77.106227,0.000000,0.122100,-17.106227,1000.000000,0.100194,OK +139.700775,1787542832.031074,60.000000,57.051282,1.997036,-0.122100,2.948718,980.029640,0.099852,OK +139.800561,1787542832.130860,60.000000,56.593407,2.396196,-0.122100,3.406593,976.038037,0.099937,OK +139.900817,1787542832.231115,60.000000,42.857143,4.401808,-0.122100,17.142857,955.981917,0.100281,OK +140.000932,1787542832.331230,60.000000,42.673993,5.359789,0.000000,17.326007,946.402106,0.100012,OK +140.100565,1787542832.430864,60.000000,33.333333,7.354277,0.854701,26.666667,926.457226,0.099724,OK +140.200593,1787542832.530891,60.000000,33.150183,8.789400,1.465201,26.849817,912.106001,0.100079,OK +140.300205,1787542832.630503,60.000000,43.956044,6.794656,1.709402,16.043956,932.053441,0.099737,OK +140.400650,1787542832.730948,60.000000,44.230769,7.447663,2.075702,15.769231,925.523371,0.100242,OK +140.500068,1787542832.830366,60.000000,55.311355,5.453845,2.197802,4.688645,945.461551,0.099691,OK +140.600753,1787542832.931051,60.000000,55.494505,5.588124,2.197802,4.505495,944.118763,0.100257,OK +140.700800,1787542833.031099,60.000000,64.194139,3.586104,2.197802,-4.194139,964.138963,0.100101,OK +140.800562,1787542833.130860,60.000000,64.377289,3.275863,2.075702,-4.377289,967.241369,0.099909,OK +140.900797,1787542833.231095,60.000000,71.703297,1.274377,2.075702,-11.703297,987.256229,0.100074,OK +141.000509,1787542833.330807,60.000000,71.794872,0.640181,1.953602,-11.794872,993.598195,0.099774,OK +141.100677,1787542833.430975,60.000000,75.824176,0.000000,0.732601,-15.824176,1000.000000,0.100224,OK +141.200446,1787542833.530745,60.000000,75.915751,0.000000,0.122100,-15.915751,1000.000000,0.099752,OK +141.301058,1787542833.631356,60.000000,56.684982,2.012348,-0.122100,3.315018,979.876520,0.100617,OK +141.400959,1787542833.731257,60.000000,56.135531,2.479262,-0.122100,3.864469,975.207380,0.099464,OK +141.500643,1787542833.830941,60.000000,42.673993,4.480852,-0.122100,17.326007,955.191480,0.100079,OK +141.600754,1787542833.931053,60.000000,42.307692,5.549704,0.122100,17.692308,944.502961,0.100123,OK +141.700757,1787542834.031055,60.000000,33.424908,7.551496,0.976801,26.575092,924.485041,0.100090,OK +141.800574,1787542834.130872,60.000000,33.058608,9.077804,1.465201,26.941392,909.221962,0.099710,OK +141.900580,1787542834.230878,60.000000,44.047619,7.077968,1.831502,15.952381,929.220322,0.099992,OK +142.002877,1787542834.333175,60.000000,44.230769,7.779178,2.075702,15.769231,922.208219,0.100548,OK +142.100570,1787542834.430868,60.000000,55.219780,5.789496,2.197802,4.780220,942.105039,0.099484,OK +142.200872,1787542834.531170,60.000000,55.494505,5.877720,2.197802,4.505495,941.222804,0.100138,OK +142.300903,1787542834.631201,60.000000,64.194139,3.872988,2.075702,-4.194139,961.270124,0.100237,OK +142.400794,1787542834.731092,60.000000,64.377289,3.562832,2.075702,-4.377289,964.371679,0.099870,OK +142.500986,1787542834.831284,60.000000,71.703297,1.558538,2.075702,-11.703297,984.414619,0.100215,OK +142.600754,1787542834.931052,60.000000,71.886447,0.874471,1.953602,-11.886447,991.255294,0.099692,OK +142.700773,1787542835.031072,60.000000,76.007326,0.000000,0.732601,-16.007326,1000.000000,0.099887,OK +142.801009,1787542835.131307,60.000000,76.098901,0.000000,0.122100,-16.098901,1000.000000,0.100036,OK +142.900087,1787542835.230385,60.000000,56.868132,1.996696,-0.122100,3.131868,980.033040,0.099835,OK +143.000772,1787542835.331070,60.000000,56.227106,2.506064,-0.122100,3.772894,974.939363,0.100111,OK +143.100674,1787542835.430972,60.000000,42.765568,4.506258,-0.122100,17.234432,954.937423,0.100010,OK +143.200308,1787542835.530606,60.000000,42.307692,5.620405,0.366300,17.692308,943.795948,0.100067,OK +143.301065,1787542835.631363,60.000000,34.706960,7.626761,1.098901,25.293040,923.732388,0.100318,OK +143.400582,1787542835.730880,60.000000,34.523810,8.987345,1.465201,25.476190,910.126551,0.099623,OK +143.500365,1787542835.830663,60.000000,45.695971,6.985325,1.831502,14.304029,930.146751,0.100101,OK +143.600562,1787542835.930861,60.000000,45.879121,7.599619,2.075702,14.120879,924.003814,0.099975,OK +143.700752,1787542836.031050,60.000000,56.410256,5.598437,2.319902,3.589744,944.015634,0.100059,OK +143.800558,1787542836.130856,60.000000,56.684982,5.626632,2.319902,3.315018,943.733680,0.099884,OK +143.900640,1787542836.230938,60.000000,66.300366,3.625652,2.197802,-6.300366,963.743480,0.100049,OK +144.000556,1787542836.330855,60.000000,66.575092,3.159900,2.075702,-6.575092,968.400997,0.099889,OK +144.100817,1787542836.431115,60.000000,73.076923,1.153892,2.075702,-13.076923,988.461077,0.100300,OK +144.201021,1787542836.531319,60.000000,73.260073,0.398860,1.343101,-13.260073,996.011399,0.100068,OK +144.300713,1787542836.631011,60.000000,74.358974,0.000000,0.366300,-14.358974,1000.000000,0.099956,OK 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+7.300713,1787542946.545767,60.000000,44.505495,7.584132,1.343101,15.494505,924.158678,0.100298,OK +7.400485,1787542946.645539,60.000000,45.238095,7.953838,1.709402,14.761905,920.461625,0.099717,OK +7.500399,1787542946.745452,60.000000,52.472527,5.951924,1.831502,7.527473,940.480765,0.100096,OK +7.600276,1787542946.845330,60.000000,55.677656,4.565857,2.075702,4.322344,954.341434,0.100176,OK +7.700624,1787542946.945677,60.000000,62.362637,2.563945,1.953602,-2.362637,974.360554,0.100096,OK +7.800725,1787542947.045778,60.000000,64.285714,1.388111,1.831502,-4.285714,986.118886,0.100004,OK +7.900621,1787542947.145675,60.000000,68.131868,0.000000,1.098901,-8.131868,1000.000000,0.099857,OK +8.000610,1787542947.245664,60.000000,69.413919,0.000000,0.122100,-9.413919,1000.000000,0.100079,OK +8.100301,1787542947.345354,60.000000,54.853480,1.995450,-0.122100,5.146520,980.045500,0.099772,OK +8.200351,1787542947.445404,60.000000,51.373626,3.994114,-0.122100,8.626374,960.058860,0.099933,OK +8.300416,1787542947.545470,60.000000,42.032967,5.994692,-0.122100,17.967033,940.053080,0.100029,OK +8.400539,1787542947.645592,60.000000,38.919414,7.997910,0.732601,21.080586,920.020900,0.100161,OK +8.500902,1787542947.745956,60.000000,41.483516,7.643666,1.221001,18.516484,923.563340,0.100214,OK +8.600720,1787542947.845773,60.000000,42.582418,7.964645,1.709402,17.417582,920.353548,0.099948,OK +8.700756,1787542947.945809,60.000000,50.000000,5.964633,1.831502,10.000000,940.353668,0.100001,OK +8.800520,1787542948.045574,60.000000,53.388278,4.600492,1.953602,6.611722,953.995080,0.099822,OK +8.900570,1787542948.145623,60.000000,59.798535,2.602340,1.953602,0.201465,973.976600,0.099908,OK +9.000549,1787542948.245602,60.000000,62.179487,1.302728,1.709402,-2.179487,986.972716,0.100148,OK +9.100208,1787542948.345261,60.000000,65.750916,0.000000,1.098901,-5.750916,1000.000000,0.099868,OK +9.200399,1787542948.445452,60.000000,66.666667,0.000000,0.122100,-6.666667,1000.000000,0.099948,OK +9.301167,1787542948.546221,60.000000,53.754579,2.000990,-0.122100,6.245421,979.990100,0.100050,OK +9.403669,1787542948.648722,60.000000,50.732601,3.975608,-0.122100,9.267399,960.243920,0.100056,OK +9.500472,1787542948.745526,60.000000,42.399267,5.973828,-0.122100,17.600733,940.261720,0.099911,OK +9.600561,1787542948.845614,60.000000,38.369963,7.975640,0.732601,21.630037,920.243600,0.100091,OK +9.700864,1787542948.945918,60.000000,40.476190,7.900464,1.343101,19.523810,920.995357,0.100179,OK +9.800583,1787542949.045636,60.000000,41.483516,8.321190,1.709402,18.516484,916.788096,0.099845,OK +9.900536,1787542949.145590,60.000000,49.725275,6.322020,1.831502,10.274725,936.779796,0.099959,OK +10.000805,1787542949.245859,60.000000,52.380952,5.376085,1.953602,7.619048,946.239151,0.100250,OK +10.100440,1787542949.345493,60.000000,58.608059,3.380565,1.953602,1.391941,966.194351,0.099776,OK +10.200826,1787542949.445879,60.000000,61.355311,1.938947,1.953602,-1.355311,980.610534,0.100334,OK +10.300404,1787542949.545457,60.000000,66.849817,0.000000,1.221001,-6.849817,1000.000000,0.099585,OK +10.400431,1787542949.645484,60.000000,68.406593,0.000000,0.366300,-8.406593,1000.000000,0.099916,OK +10.500401,1787542949.745454,60.000000,55.860806,2.006386,0.000000,4.139194,979.936140,0.100319,OK +10.600659,1787542949.845712,60.000000,51.098901,4.002618,-0.122100,8.901099,959.973820,0.099812,OK +10.700751,1787542949.945804,60.000000,43.223443,6.006758,0.122100,16.776557,939.932420,0.100207,OK +10.800234,1787542950.045287,60.000000,39.010989,8.001658,0.854701,20.989011,919.983420,0.099745,OK +10.900743,1787542950.145797,60.000000,42.673993,7.039040,1.343101,17.326007,929.609602,0.100298,OK +11.000726,1787542950.245779,60.000000,45.604396,6.293133,1.831502,14.395604,937.068665,0.099933,OK +11.100751,1787542950.345804,60.000000,50.274725,4.444237,1.953602,9.725275,955.557628,0.100001,OK +11.200464,1787542950.445518,60.000000,56.135531,2.448725,1.831502,3.864469,975.512748,0.099776,OK +11.300359,1787542950.545412,60.000000,60.989011,0.448475,1.831502,-0.989011,995.515248,0.100013,OK +11.400569,1787542950.645622,60.000000,64.194139,0.000000,1.098901,-4.194139,1000.000000,0.099936,OK +11.500710,1787542950.745764,60.000000,61.355311,1.351428,0.244200,-1.355311,986.485720,0.100325,OK +11.600902,1787542950.845955,60.000000,58.608059,2.794678,0.122100,1.391941,972.053225,0.100037,OK +11.700736,1787542950.945790,60.000000,49.175824,4.793032,-0.122100,10.824176,952.069685,0.099918,OK +11.800295,1787542951.045348,60.000000,44.139194,6.787448,0.488400,15.860806,932.125525,0.099721,OK +11.900857,1787542951.145911,60.000000,43.498168,7.936314,1.098901,16.501832,920.636865,0.100395,OK +12.000428,1787542951.245481,60.000000,43.040293,9.010687,1.587302,16.959707,909.893133,0.099699,OK +12.100426,1787542951.345480,60.000000,47.710623,7.289840,1.831502,12.289377,927.101598,0.099976,OK +12.200529,1787542951.445582,60.000000,53.571429,5.290998,2.075702,6.428571,947.090018,0.099942,OK +12.300413,1787542951.545467,60.000000,59.432234,3.291496,2.197802,0.567766,967.085038,0.099975,OK +12.400440,1787542951.645494,60.000000,63.278388,1.292670,2.197802,-3.278388,987.073298,0.099941,OK +12.500449,1787542951.745503,60.000000,67.216117,0.000000,1.587302,-7.216117,1000.000000,0.100091,OK +12.600401,1787542951.845454,60.000000,71.245421,0.000000,0.366300,-11.245421,1000.000000,0.100337,OK +12.699864,1787542951.944918,60.000000,59.615385,1.990606,0.000000,0.384615,980.093940,0.099530,OK +12.802722,1787542952.047775,60.000000,52.930403,3.993998,-0.122100,7.069597,960.060020,0.100170,OK +12.899965,1787542952.145019,60.000000,46.886447,5.992360,-0.122100,13.113553,940.076400,0.099918,OK +13.000321,1787542952.245374,60.000000,40.018315,7.996826,0.732601,19.981685,920.031740,0.100223,OK +13.100691,1787542952.345745,60.000000,41.666667,8.089501,1.343101,18.333333,919.104989,0.100020,OK +13.200492,1787542952.445545,60.000000,42.673993,8.451341,1.709402,17.326007,915.486594,0.099908,OK +13.300240,1787542952.545294,60.000000,48.626374,6.450917,1.953602,11.373626,935.490834,0.100021,OK +13.400131,1787542952.645184,60.000000,53.846154,4.452403,2.075702,6.153846,955.475974,0.099926,OK +13.500465,1787542952.745519,60.000000,60.164835,2.451835,2.075702,-0.164835,975.481654,0.100028,OK +13.600187,1787542952.845241,60.000000,63.186813,0.781576,1.831502,-3.186813,992.184243,0.099956,OK +13.700221,1787542952.945275,60.000000,65.109890,0.000000,0.732601,-5.109890,1000.000000,0.100009,OK +13.800701,1787542953.045755,60.000000,66.483516,0.000000,0.122100,-6.483516,1000.000000,0.100273,OK +13.900151,1787542953.145204,60.000000,58.424908,1.993960,-0.122100,1.575092,980.060400,0.099698,OK +14.000172,1787542953.245225,60.000000,49.633700,3.994896,-0.122100,10.366300,960.051040,0.100047,OK +14.110271,1787542953.355325,60.000000,40.567766,5.995340,0.000000,19.432234,940.046600,0.100022,OK +14.200362,1787542953.445416,60.000000,37.637363,7.999320,0.732601,22.362637,920.006800,0.100199,OK +14.300464,1787542953.545518,60.000000,40.384615,7.603772,1.343101,19.615385,923.962284,0.099726,OK +14.400273,1787542953.645326,60.000000,42.857143,7.226370,1.709402,17.142857,927.736298,0.100201,OK +14.500600,1787542953.745653,60.000000,50.091575,5.223616,1.953602,9.908425,947.763838,0.100138,OK +14.600055,1787542953.845108,60.000000,53.846154,3.652720,2.075702,6.153846,963.472797,0.099578,OK +14.700682,1787542953.945736,60.000000,58.882784,1.643470,2.075702,1.117216,983.565297,0.100463,OK +14.800325,1787542954.045378,60.000000,62.454212,0.000000,1.343101,-2.454212,1000.000000,0.099659,OK +14.900494,1787542954.145548,60.000000,61.263736,0.058259,0.488400,-1.263736,999.417414,0.100116,OK +15.000688,1787542954.245741,60.000000,60.073260,0.117709,0.000000,-0.073260,998.822909,0.100148,OK +15.100266,1787542954.345319,60.000000,50.732601,0.317003,-0.122100,9.267399,996.829967,0.099647,OK +15.200511,1787542954.445565,60.000000,45.329670,0.517191,-0.122100,14.670330,994.828089,0.100094,OK +15.300515,1787542954.545568,60.000000,39.652015,0.717162,-0.122100,20.347985,992.828377,0.099986,OK +15.400684,1787542954.645738,60.000000,34.615385,2.718732,-0.122100,25.384615,972.812677,0.100078,OK +15.500569,1787542954.745623,60.000000,29.670330,4.717116,-0.122100,30.329670,952.828837,0.099919,OK +15.600379,1787542954.845433,60.000000,26.923077,6.717874,0.366300,33.076923,932.821257,0.100038,OK +15.700441,1787542954.945494,60.000000,29.304029,7.061971,1.098901,30.695971,929.380290,0.099985,OK +15.800275,1787542955.045328,60.000000,30.952381,7.689791,1.465201,29.047619,923.102088,0.099974,OK +15.900563,1787542955.145617,60.000000,36.080586,6.325927,1.709402,23.919414,936.740734,0.100357,OK +16.000524,1787542955.245578,60.000000,42.948718,4.330385,1.831502,17.051282,956.696154,0.099777,OK +16.100433,1787542955.345487,60.000000,49.084249,2.335105,1.953602,10.915751,976.648954,0.099764,OK +16.201183,1787542955.446237,60.000000,53.296703,0.564022,1.953602,6.703297,994.359778,0.099994,OK +16.303540,1787542955.548594,60.000000,56.227106,0.000000,0.976801,3.772894,1000.000000,0.100307,OK +16.400196,1787542955.645250,60.000000,60.073260,0.000000,0.366300,-0.073260,1000.000000,0.099807,OK +16.500037,1787542955.745090,60.000000,51.190476,1.999260,-0.122100,8.809524,980.007400,0.099963,OK +16.600129,1787542955.845183,60.000000,45.329670,3.999928,-0.122100,14.670330,960.000720,0.100033,OK +16.700484,1787542955.945538,60.000000,40.018315,6.001706,-0.122100,19.981685,939.982940,0.100089,OK +16.800465,1787542956.045519,60.000000,34.432234,8.003170,0.732601,25.567766,919.968300,0.100073,OK +16.900419,1787542956.145472,60.000000,38.644689,6.962861,1.343101,21.355311,930.371388,0.099827,OK +17.000782,1787542956.245836,60.000000,40.842491,6.824914,1.709402,19.157509,931.750858,0.100321,OK +17.100717,1787542956.345771,60.000000,46.978022,4.824846,1.831502,13.021978,951.751538,0.100003,OK +17.200356,1787542956.445409,60.000000,52.106227,2.826892,1.953602,7.893773,971.731078,0.099898,OK +17.300227,1787542956.545280,60.000000,55.769231,1.206470,1.953602,4.230769,987.935296,0.099783,OK +17.400087,1787542956.645141,60.000000,60.622711,0.000000,1.221001,-0.622711,1000.000000,0.099948,OK +17.500329,1787542956.745383,60.000000,57.875458,1.479780,0.366300,2.124542,985.202203,0.099931,OK +17.600444,1787542956.845497,60.000000,56.043956,2.593695,0.122100,3.956044,974.063055,0.100183,OK +17.700838,1787542956.945891,60.000000,53.663004,4.101968,-0.122100,6.336996,958.980324,0.100299,OK +17.800885,1787542957.045938,60.000000,42.399267,6.104202,0.488400,17.600733,938.957984,0.100112,OK +17.900345,1787542957.145398,60.000000,42.307692,7.030642,1.098901,17.692308,929.693576,0.099552,OK +18.000561,1787542957.245615,60.000000,42.216117,7.965595,1.465201,17.783883,920.344053,0.099997,OK +18.100826,1787542957.345879,60.000000,44.688645,7.496905,1.831502,15.311355,925.030955,0.100262,OK +18.200541,1787542957.445595,60.000000,52.655678,5.502337,2.075702,7.344322,944.976635,0.099728,OK +18.300256,1787542957.545310,60.000000,53.388278,5.466188,2.197802,6.611722,945.338125,0.099868,OK +18.400419,1787542957.645473,60.000000,61.996337,3.464962,2.197802,-1.996337,965.350385,0.100061,OK +18.500516,1787542957.745570,60.000000,64.652015,1.904463,2.075702,-4.652015,980.955367,0.100025,OK +18.600568,1787542957.845621,60.000000,70.695971,0.000000,1.709402,-10.695971,1000.000000,0.100071,OK +18.700482,1787542957.945535,60.000000,70.879121,0.000000,0.854701,-10.879121,1000.000000,0.100022,OK +18.800740,1787542958.045794,60.000000,71.428571,0.000000,0.122100,-11.428571,1000.000000,0.100165,OK +18.900642,1787542958.145696,60.000000,64.560440,1.999584,-0.122100,-4.560440,980.004160,0.099979,OK +19.000538,1787542958.245592,60.000000,52.472527,3.995560,-0.122100,7.527473,960.044400,0.099799,OK +19.100044,1787542958.345098,60.000000,49.542125,5.983076,-0.122100,10.457875,940.169236,0.099889,OK +19.200505,1787542958.445559,60.000000,39.835165,7.987022,0.732601,20.164835,920.129776,0.100197,OK +19.300614,1787542958.545667,60.000000,42.216117,7.685601,1.343101,17.783883,923.143993,0.099984,OK +19.400120,1787542958.645174,60.000000,45.604396,6.710107,1.709402,14.395604,932.898933,0.099842,OK +19.500307,1787542958.745360,60.000000,50.915751,4.707591,1.953602,9.084249,952.924093,0.100126,OK +19.599913,1787542958.844966,60.000000,56.410256,2.711839,2.075702,3.589744,972.881613,0.099788,OK +19.702632,1787542958.947685,60.000000,60.439560,0.710961,1.831502,-0.439560,992.890393,0.100044,OK +19.800056,1787542959.045109,60.000000,64.926740,0.000000,1.098901,-4.926740,1000.000000,0.100010,OK +19.900450,1787542959.145504,60.000000,62.637363,1.012288,0.244200,-2.637363,989.877121,0.100404,OK +20.000317,1787542959.245371,60.000000,56.501832,3.007362,-0.122100,3.498168,969.926381,0.099754,OK +20.100244,1787542959.345298,60.000000,54.853480,4.088553,-0.122100,5.146520,959.114469,0.099879,OK +20.200096,1787542959.445150,60.000000,42.582418,6.087815,0.488400,17.417582,939.121849,0.099963,OK +20.300290,1787542959.545344,60.000000,43.040293,6.709079,1.221001,16.959707,932.909215,0.100261,OK +20.400267,1787542959.645321,60.000000,44.139194,6.953241,1.587302,15.860806,930.467591,0.100072,OK +20.500199,1787542959.745252,60.000000,46.153846,6.636099,1.831502,13.846154,933.639008,0.099693,OK +20.600360,1787542959.845414,60.000000,54.395604,4.629279,1.831502,5.604396,953.707208,0.100341,OK +20.700032,1787542959.945085,60.000000,55.402930,4.354680,1.953602,4.597070,956.453198,0.099656,OK +20.800061,1787542960.045115,60.000000,63.186813,2.354944,1.953602,-3.186813,976.450558,0.099987,OK +20.900141,1787542960.145195,60.000000,65.293040,1.037347,1.953602,-5.293040,989.626531,0.099936,OK +21.000138,1787542960.245191,60.000000,70.970696,0.000000,0.976801,-10.970696,1000.000000,0.100054,OK +21.100311,1787542960.345365,60.000000,69.322344,0.357237,0.244200,-9.322344,996.427632,0.100176,OK +21.200196,1787542960.445249,60.000000,59.065934,2.353105,-0.122100,0.934066,976.468952,0.099793,OK +21.300782,1787542960.545835,60.000000,54.487179,4.363833,-0.122100,5.512821,956.361672,0.100536,OK +21.400109,1787542960.645162,60.000000,44.505495,6.357121,0.366300,15.494505,936.428792,0.099664,OK +21.500552,1787542960.745606,60.000000,44.871795,6.930574,0.976801,15.128205,930.694262,0.100026,OK +21.600037,1787542960.845090,60.000000,46.520147,6.778759,1.465201,13.479853,932.212411,0.099758,OK +21.700372,1787542960.945425,60.000000,50.366300,5.338462,1.709402,9.633700,946.615377,0.100227,OK +21.800495,1787542961.045548,60.000000,56.684982,3.336544,1.953602,3.315018,966.634557,0.100096,OK +21.900123,1787542961.145177,60.000000,59.065934,2.192637,1.953602,0.934066,978.073634,0.099711,OK +22.000295,1787542961.245349,60.000000,65.476190,0.188373,1.343101,-5.476190,998.116274,0.100213,OK +22.100569,1787542961.345623,60.000000,64.835165,0.266511,0.366300,-4.835165,997.334893,0.100255,OK +22.200921,1787542961.445974,60.000000,59.890110,2.265447,-0.122100,0.109890,977.345533,0.099947,OK +22.300227,1787542961.545281,60.000000,54.304029,4.258327,-0.122100,5.695971,957.416733,0.099644,OK +22.400803,1787542961.645857,60.000000,45.146520,6.267377,0.122100,14.853480,937.326233,0.100453,OK +22.500562,1787542961.745616,60.000000,44.322344,7.461106,0.854701,15.677656,925.388937,0.099714,OK +22.600258,1787542961.845311,60.000000,41.117216,9.459526,1.465201,18.882784,905.404737,0.099921,OK +22.700293,1787542961.945346,60.000000,45.421245,8.036787,1.831502,14.578755,919.632132,0.100046,OK +22.800334,1787542962.045388,60.000000,52.014652,6.032671,2.075702,7.985348,939.673292,0.100206,OK +22.900487,1787542962.145541,60.000000,54.853480,4.869887,2.319902,5.146520,951.301129,0.099730,OK +22.999938,1787542962.244992,60.000000,62.637363,2.872003,2.319902,-2.637363,971.279969,0.099894,OK +23.100725,1787542962.345778,60.000000,66.208791,0.870941,2.075702,-6.208791,991.290589,0.100053,OK +23.203361,1787542962.448415,60.000000,70.970696,0.000000,1.465201,-10.970696,1000.000000,0.100207,OK +23.301177,1787542962.546230,60.000000,69.688645,0.156925,0.488400,-9.688645,998.430752,0.099932,OK +23.400959,1787542962.646013,60.000000,65.293040,2.089002,0.000000,-5.293040,979.109985,0.100406,OK +23.500666,1787542962.745720,60.000000,61.630037,3.839201,-0.122100,-1.630037,961.607986,0.099755,OK +23.600270,1787542962.845324,60.000000,48.717949,5.832707,0.122100,11.282051,941.672926,0.099675,OK +23.700299,1787542962.945353,60.000000,47.069597,7.304414,0.854701,12.930403,926.955855,0.100156,OK +23.800195,1787542963.045249,60.000000,43.406593,9.304088,1.343101,16.593407,906.959115,0.099984,OK +23.900238,1787542963.145292,60.000000,44.963370,9.276575,1.831502,15.036630,907.234254,0.099873,OK +24.000375,1787542963.245429,60.000000,54.120879,7.275573,2.197802,5.879121,927.244274,0.100050,OK +24.100217,1787542963.345270,60.000000,56.318681,6.360648,2.319902,3.681319,936.393520,0.099951,OK +24.200730,1787542963.445783,60.000000,64.835165,4.353624,2.319902,-4.835165,956.463760,0.100351,OK +24.300020,1787542963.545073,60.000000,68.040293,2.363026,2.197802,-8.040293,976.369740,0.099530,OK +24.400460,1787542963.645514,60.000000,73.260073,0.355250,2.075702,-13.260073,996.447500,0.100389,OK +24.500604,1787542963.745657,60.000000,74.084249,0.000000,1.221001,-14.084249,1000.000000,0.100069,OK +24.600777,1787542963.845830,60.000000,76.282051,0.000000,0.244200,-16.282051,1000.000000,0.100158,OK +24.700138,1787542963.945191,60.000000,76.282051,0.000000,0.000000,-16.282051,1000.000000,0.099585,OK +24.800254,1787542964.045307,60.000000,55.677656,2.002926,-0.122100,4.322344,979.970740,0.100146,OK +24.900086,1787542964.145139,60.000000,52.472527,3.980810,-0.122100,7.527473,960.191901,0.099720,OK +25.000494,1787542964.245547,60.000000,41.941392,5.988474,0.122100,18.058608,940.115261,0.100383,OK +25.100647,1787542964.345701,60.000000,41.849817,6.941748,0.854701,18.150183,930.582521,0.099998,OK +25.200652,1787542964.445706,60.000000,39.194139,8.940652,1.465201,20.805861,910.593481,0.099945,OK +25.300411,1787542964.545465,60.000000,39.377289,9.878269,1.831502,20.622711,901.217314,0.099811,OK +25.400662,1787542964.645715,60.000000,50.274725,7.877725,2.075702,9.725275,921.222754,0.100027,OK +25.500529,1787542964.745583,60.000000,50.366300,8.313332,2.319902,9.633700,916.866679,0.099940,OK +25.600547,1787542964.845600,60.000000,61.080586,6.311994,2.442002,-1.080586,936.880059,0.100067,OK +25.700612,1787542964.945665,60.000000,61.172161,6.207601,2.442002,-1.172161,937.923993,0.099996,OK +25.799942,1787542965.044996,60.000000,71.153846,4.211309,2.319902,-11.153846,957.886913,0.099815,OK +25.900424,1787542965.145477,60.000000,71.153846,3.651496,2.197802,-11.153846,963.485039,0.100380,OK +26.000344,1787542965.245397,60.000000,77.655678,1.653570,2.197802,-17.655678,983.464299,0.099896,OK +26.102555,1787542965.347609,60.000000,78.663004,0.216656,1.953602,-18.663004,997.833439,0.100011,OK +26.200332,1787542965.445385,60.000000,83.058608,0.000000,0.976801,-23.058608,1000.000000,0.099935,OK +26.300394,1787542965.545448,60.000000,83.058608,0.000000,0.244200,-23.058608,1000.000000,0.099995,OK +26.400712,1787542965.645765,60.000000,64.377289,2.004746,-0.122100,-4.377289,979.952540,0.100237,OK +26.500276,1787542965.745330,60.000000,64.285714,1.837063,-0.122100,-4.285714,981.629370,0.099620,OK +26.600306,1787542965.845360,60.000000,47.985348,3.843707,-0.122100,12.014652,961.562930,0.100332,OK +26.700797,1787542965.945851,60.000000,47.893773,4.494961,0.000000,12.106227,955.050386,0.100026,OK +26.800277,1787542966.045331,60.000000,36.813187,6.493037,0.732601,23.186813,935.069626,0.099904,OK +26.900373,1787542966.145426,60.000000,36.721612,7.699765,1.343101,23.278388,923.002352,0.099744,OK +27.000379,1787542966.245433,60.000000,44.230769,5.697017,1.709402,15.769231,943.029832,0.100137,OK +27.100653,1787542966.345707,60.000000,44.871795,6.133106,1.953602,15.128205,938.668944,0.100025,OK +27.214221,1787542966.459275,60.000000,55.128205,4.134626,1.953602,4.871795,958.653744,0.099924,OK +27.300119,1787542966.545173,60.000000,55.219780,4.327265,2.075702,4.780220,956.727351,0.099756,OK +27.400095,1787542966.645149,60.000000,63.919414,2.324335,2.075702,-3.919414,976.756651,0.100147,OK +27.500690,1787542966.745744,60.000000,63.919414,2.127852,1.953602,-3.919414,978.721485,0.100262,OK +27.600469,1787542966.845523,60.000000,71.703297,0.128192,1.221001,-11.703297,998.718085,0.099983,OK +27.700662,1787542966.945715,60.000000,71.794872,0.000000,0.366300,-11.794872,1000.000000,0.099980,OK +27.800427,1787542967.045481,60.000000,61.263736,1.998866,-0.122100,-1.263736,980.011340,0.099943,OK +27.900132,1787542967.145185,60.000000,61.172161,1.986218,-0.122100,-1.172161,980.137816,0.099705,OK +28.000507,1787542967.245561,60.000000,46.062271,3.991752,-0.122100,13.937729,960.082476,0.100277,OK +28.100832,1787542967.345885,60.000000,45.421245,5.043544,-0.122100,14.578755,949.564564,0.100321,OK +28.200063,1787542967.445117,60.000000,34.981685,7.035112,0.732601,25.018315,929.648884,0.099578,OK +28.300520,1787542967.545573,60.000000,34.890110,8.339746,1.343101,25.109890,916.602542,0.100267,OK +28.400282,1787542967.645336,60.000000,42.582418,6.346062,1.709402,17.417582,936.539382,0.099684,OK +28.500568,1787542967.745621,60.000000,42.673993,7.168592,1.953602,17.326007,928.314077,0.100233,OK +28.600701,1787542967.845755,60.000000,53.937729,5.166560,2.075702,6.062271,948.334397,0.100102,OK +28.700416,1787542967.945470,60.000000,54.029304,5.418976,2.075702,5.970696,945.810236,0.099889,OK +28.800123,1787542968.045176,60.000000,62.728938,3.421112,2.075702,-2.728938,965.788876,0.099893,OK +28.900644,1787542968.145697,60.000000,62.820513,3.234139,2.075702,-2.820513,967.658605,0.100113,OK +29.000474,1787542968.245528,60.000000,70.787546,1.233893,2.075702,-10.787546,987.661065,0.100012,OK +29.100044,1787542968.345097,60.000000,71.062271,0.544782,1.953602,-11.062271,994.552176,0.099753,OK +29.199946,1787542968.445000,60.000000,76.098901,0.000000,0.732601,-16.098901,1000.000000,0.099942,OK +29.300493,1787542968.545547,60.000000,76.190476,0.000000,0.122100,-16.190476,1000.000000,0.100117,OK +29.400508,1787542968.645562,60.000000,57.509158,2.001672,-0.122100,2.490842,979.983280,0.100084,OK +29.501091,1787542968.746145,60.000000,55.311355,3.335018,-0.122100,4.688645,966.649815,0.100006,OK +29.603836,1787542968.848889,60.000000,43.406593,5.338998,-0.122100,16.593407,946.610015,0.100199,OK +29.700440,1787542968.945493,60.000000,43.315018,6.216250,0.610501,16.684982,937.837496,0.099666,OK +29.800667,1787542969.045721,60.000000,36.172161,8.218398,1.221001,23.827839,917.816016,0.100107,OK +29.900426,1787542969.145479,60.000000,37.179487,8.857094,1.587302,22.820513,911.429063,0.100117,OK +30.000055,1787542969.245108,60.000000,47.527473,6.862316,1.953602,12.472527,931.376843,0.099739,OK +30.100599,1787542969.345652,60.000000,47.619048,7.436408,2.319902,12.380952,925.635922,0.100134,OK +30.200700,1787542969.445754,60.000000,58.424908,5.431398,2.319902,1.575092,945.686022,0.100251,OK +30.300657,1787542969.545710,60.000000,58.424908,5.509998,2.319902,1.575092,944.900020,0.099804,OK +30.400484,1787542969.645538,60.000000,67.948718,3.510742,2.197802,-7.948718,964.892580,0.099963,OK +30.500215,1787542969.745269,60.000000,68.681319,2.710026,2.197802,-8.681319,972.899737,0.100081,OK +30.600673,1787542969.845727,60.000000,75.091575,0.710126,1.953602,-15.091575,992.898737,0.099995,OK +30.700407,1787542969.945460,60.000000,75.183150,0.000000,0.976801,-15.183150,1000.000000,0.099822,OK +30.800556,1787542970.045610,60.000000,75.366300,0.000000,0.244200,-15.366300,1000.000000,0.100146,OK +30.900478,1787542970.145532,60.000000,73.717949,0.138219,-0.122100,-13.717949,998.617806,0.100009,OK +31.000618,1787542970.245672,60.000000,55.128205,2.140215,-0.122100,4.871795,978.597846,0.100100,OK +31.100362,1787542970.345415,60.000000,54.945055,2.484473,-0.122100,5.054945,975.155275,0.099974,OK +31.200680,1787542970.445734,60.000000,41.575092,4.485079,-0.122100,18.424908,955.149215,0.100030,OK +31.300235,1787542970.545289,60.000000,41.483516,5.454823,0.122100,18.516484,945.451771,0.099798,OK +31.400507,1787542970.645560,60.000000,31.959707,7.454195,0.976801,28.040293,925.458051,0.099969,OK +31.500220,1787542970.745273,60.000000,31.868132,8.904466,1.465201,28.131868,910.955341,0.099850,OK +31.600903,1787542970.845956,60.000000,42.948718,6.895410,1.831502,17.051282,931.045901,0.100453,OK +31.700072,1787542970.945125,60.000000,43.040293,7.694812,2.197802,16.959707,923.051881,0.099670,OK +31.800406,1787542971.045460,60.000000,54.487179,5.694356,2.319902,5.512821,943.056441,0.100023,OK +31.900720,1787542971.145774,60.000000,54.578755,5.920450,2.319902,5.421245,940.795505,0.100302,OK +32.000716,1787542971.245769,60.000000,64.468864,3.920750,2.319902,-4.468864,960.792505,0.099985,OK +32.100625,1787542971.345678,60.000000,64.560440,3.647206,2.319902,-4.560440,963.527937,0.099883,OK diff --git a/data/flow_run_20260824_114219.png b/data/flow_run_20260824_114219.png new file mode 100644 index 0000000..454bdab Binary files /dev/null and b/data/flow_run_20260824_114219.png differ diff --git a/logs/flow_control.log b/logs/flow_control.log index 0f802d1..12def2f 100644 --- a/logs/flow_control.log +++ b/logs/flow_control.log @@ -4672,3 +4672,222 @@ PID 参数: Kp=0.050 Ki=0.010 Kd=0.000 2026-08-21 17:03:47.768 INFO 三联曲线图已保存:D:\flow_control\data\flow_run_20260821_165431.png 2026-08-21 17:03:47.768 INFO 本次运行未达到稳态,未生成控制性能报告 2026-08-21 17:03:47.769 INFO 程序结束,退出码=0 +2026-08-24 11:38:12.305 INFO 正在连接 MT2-AM8 192.168.1.12:502,目标流量=90.000 SLM +2026-08-24 11:38:12.328 INFO 逐周期数据将保存到 D:\flow_control\data\flow_run_20260824_113812.csv +2026-08-24 11:38:12.328 INFO 闭环控制已启动;按 Ctrl+C 停止,按 S 切换目标流量 +2026-08-24 11:38:12.330 INFO 状态=OK 目标=90.00 SLM 实际=185.35 SLM 压力=5.49 kPa 开度=98.00% 行程=20.0 dt=0.100s +2026-08-24 11:38:13.331 INFO 状态=OK 目标=90.00 SLM 实际=184.34 SLM 压力=5.62 kPa 开度=77.99% 行程=220.1 dt=0.100s +2026-08-24 11:38:14.331 INFO 状态=OK 目标=90.00 SLM 实际=183.61 SLM 压力=5.62 kPa 开度=57.99% 行程=420.1 dt=0.100s +2026-08-24 11:38:15.430 INFO 状态=OK 目标=90.00 SLM 实际=181.78 SLM 压力=5.49 kPa 开度=36.00% 行程=640.0 dt=0.100s +2026-08-24 11:38:16.430 INFO 状态=OK 目标=90.00 SLM 实际=173.44 SLM 压力=4.64 kPa 开度=15.99% 行程=840.1 dt=0.100s +2026-08-24 11:38:17.431 INFO 状态=OK 目标=90.00 SLM 实际=131.23 SLM 压力=2.69 kPa 开度=10.32% 行程=896.8 dt=0.100s +2026-08-24 11:38:18.531 INFO 状态=OK 目标=90.00 SLM 实际=108.70 SLM 压力=1.95 kPa 开度=5.08% 行程=949.2 dt=0.100s +2026-08-24 11:38:19.631 INFO 状态=OK 目标=90.00 SLM 实际=81.50 SLM 压力=1.59 kPa 开度=5.72% 行程=942.8 dt=0.100s +2026-08-24 11:38:20.030 INFO PID 模式 FAR -> NEAR:Kp=0.050 Ki=0.010 Kd=0.000 最大开度速度=2.000%/s;原因=|误差|=0.073 SLM <= 阈值=4.500 SLM,连续 3 个周期 +2026-08-24 11:38:20.731 INFO 状态=OK 目标=90.00 SLM 实际=93.77 SLM 压力=1.83 kPa 开度=3.78% 行程=962.2 dt=0.100s +2026-08-24 11:38:21.830 INFO 状态=OK 目标=90.00 SLM 实际=95.42 SLM 压力=1.71 kPa 开度=3.64% 行程=963.6 dt=0.100s +2026-08-24 11:38:22.931 INFO 状态=OK 目标=90.00 SLM 实际=95.60 SLM 压力=1.71 kPa 开度=3.57% 行程=964.3 dt=0.100s +2026-08-24 11:38:24.031 INFO 状态=OK 目标=90.00 SLM 实际=94.78 SLM 压力=1.71 kPa 开度=3.56% 行程=964.4 dt=0.100s +2026-08-24 11:38:25.031 INFO 状态=OK 目标=90.00 SLM 实际=94.14 SLM 压力=1.71 kPa 开度=3.56% 行程=964.4 dt=0.100s +2026-08-24 11:38:26.031 INFO 状态=OK 目标=90.00 SLM 实际=91.94 SLM 压力=1.59 kPa 开度=3.64% 行程=963.6 dt=0.100s +2026-08-24 11:38:27.130 INFO 状态=OK 目标=90.00 SLM 实际=93.96 SLM 压力=1.59 kPa 开度=3.51% 行程=964.9 dt=0.100s +2026-08-24 11:38:28.131 INFO 状态=OK 目标=90.00 SLM 实际=93.32 SLM 压力=1.71 kPa 开度=3.51% 行程=964.9 dt=0.100s +2026-08-24 11:38:29.131 INFO 状态=OK 目标=90.00 SLM 实际=91.76 SLM 压力=1.59 kPa 开度=3.56% 行程=964.4 dt=0.100s +2026-08-24 11:38:30.231 INFO 状态=OK 目标=90.00 SLM 实际=92.95 SLM 压力=1.59 kPa 开度=3.48% 行程=965.2 dt=0.100s +2026-08-24 11:38:31.231 INFO 状态=OK 目标=90.00 SLM 实际=93.32 SLM 压力=1.59 kPa 开度=3.43% 行程=965.7 dt=0.100s +2026-08-24 11:38:32.231 INFO 状态=OK 目标=90.00 SLM 实际=93.50 SLM 压力=1.59 kPa 开度=3.38% 行程=966.2 dt=0.100s +2026-08-24 11:38:33.231 INFO 状态=OK 目标=90.00 SLM 实际=93.59 SLM 压力=1.59 kPa 开度=3.34% 行程=966.6 dt=0.100s +2026-08-24 11:38:34.330 INFO 状态=OK 目标=90.00 SLM 实际=93.50 SLM 压力=1.59 kPa 开度=3.31% 行程=966.9 dt=0.100s +2026-08-24 11:38:35.331 INFO 状态=OK 目标=90.00 SLM 实际=91.67 SLM 压力=1.59 kPa 开度=3.38% 行程=966.2 dt=0.100s +2026-08-24 11:38:36.430 INFO 状态=OK 目标=90.00 SLM 实际=91.94 SLM 压力=1.59 kPa 开度=3.35% 行程=966.5 dt=0.100s +2026-08-24 11:38:37.431 INFO 状态=OK 目标=90.00 SLM 实际=92.03 SLM 压力=1.59 kPa 开度=3.32% 行程=966.8 dt=0.100s +2026-08-24 11:38:38.534 INFO 状态=OK 目标=90.00 SLM 实际=92.03 SLM 压力=1.59 kPa 开度=3.30% 行程=967.0 dt=0.100s +2026-08-24 11:38:39.634 INFO 状态=OK 目标=90.00 SLM 实际=90.93 SLM 压力=1.47 kPa 开度=3.33% 行程=966.7 dt=0.100s +2026-08-24 11:38:40.731 INFO 状态=OK 目标=90.00 SLM 实际=91.30 SLM 压力=1.59 kPa 开度=3.30% 行程=967.0 dt=0.100s +2026-08-24 11:38:41.831 INFO 状态=OK 目标=90.00 SLM 实际=91.76 SLM 压力=1.59 kPa 开度=3.26% 行程=967.4 dt=0.100s +2026-08-24 11:38:42.931 INFO 状态=OK 目标=90.00 SLM 实际=91.85 SLM 压力=1.59 kPa 开度=3.23% 行程=967.7 dt=0.100s +2026-08-24 11:38:43.931 INFO 状态=OK 目标=90.00 SLM 实际=88.28 SLM 压力=1.47 kPa 开度=3.41% 行程=965.9 dt=0.100s +2026-08-24 11:38:45.031 INFO 状态=OK 目标=90.00 SLM 实际=91.21 SLM 压力=1.59 kPa 开度=3.26% 行程=967.4 dt=0.100s +2026-08-24 11:38:46.031 INFO 状态=OK 目标=90.00 SLM 实际=91.30 SLM 压力=1.47 kPa 开度=3.24% 行程=967.6 dt=0.100s +2026-08-24 11:38:47.131 INFO 状态=OK 目标=90.00 SLM 实际=91.30 SLM 压力=1.59 kPa 开度=3.22% 行程=967.8 dt=0.100s +2026-08-24 11:38:48.231 INFO 状态=OK 目标=90.00 SLM 实际=91.58 SLM 压力=1.47 kPa 开度=3.20% 行程=968.0 dt=0.100s +2026-08-24 11:38:49.231 INFO 状态=OK 目标=90.00 SLM 实际=90.02 SLM 压力=1.59 kPa 开度=3.28% 行程=967.2 dt=0.100s +2026-08-24 11:38:50.231 INFO 状态=OK 目标=90.00 SLM 实际=91.30 SLM 压力=1.59 kPa 开度=3.20% 行程=968.0 dt=0.100s +2026-08-24 11:38:51.331 INFO 状态=OK 目标=90.00 SLM 实际=88.92 SLM 压力=1.59 kPa 开度=3.33% 行程=966.7 dt=0.100s +2026-08-24 11:38:52.431 INFO 状态=OK 目标=90.00 SLM 实际=89.84 SLM 压力=1.47 kPa 开度=3.28% 行程=967.2 dt=0.100s +2026-08-24 11:38:53.431 INFO 状态=OK 目标=90.00 SLM 实际=90.57 SLM 压力=1.47 kPa 开度=3.25% 行程=967.5 dt=0.100s +2026-08-24 11:38:54.531 INFO 状态=OK 目标=90.00 SLM 实际=90.02 SLM 压力=1.34 kPa 开度=3.27% 行程=967.3 dt=0.100s +2026-08-24 11:38:55.633 INFO 状态=OK 目标=90.00 SLM 实际=89.56 SLM 压力=1.47 kPa 开度=3.31% 行程=966.9 dt=0.100s +2026-08-24 11:38:56.630 INFO 状态=OK 目标=90.00 SLM 实际=90.11 SLM 压力=1.47 kPa 开度=3.28% 行程=967.2 dt=0.100s +2026-08-24 11:38:57.650 INFO 状态=OK 目标=90.00 SLM 实际=90.20 SLM 压力=1.47 kPa 开度=3.27% 行程=967.3 dt=0.100s +2026-08-24 11:38:57.931 INFO ===== 控制性能报告 ===== +PID 参数: Kp=0.050 Ki=0.010 Kd=0.000 +目标流量: 90.000 SLM +控制范围: 0.000 ~ 300.000 SLM +调节时间(至稳态): 45.601 s +稳态流量(窗口均值): 89.948 SLM +稳态标准差(窗口): 0.897 SLM +稳态误差: +0.052 SLM (目标 - 稳态均值) +初始流量: 185.348 SLM +超调量: 谷值 78.938 SLM,低于目标 +11.062 SLM (+12.29%) +======================== +2026-08-24 11:38:58.631 INFO 状态=OK 目标=90.00 SLM 实际=90.02 SLM 压力=1.47 kPa 开度=3.28% 行程=967.2 dt=0.100s +2026-08-24 11:38:59.730 INFO 状态=OK 目标=90.00 SLM 实际=90.20 SLM 压力=1.22 kPa 开度=3.27% 行程=967.3 dt=0.100s +2026-08-24 11:39:00.731 INFO 状态=OK 目标=90.00 SLM 实际=89.29 SLM 压力=1.47 kPa 开度=3.34% 行程=966.6 dt=0.100s +2026-08-24 11:39:01.831 INFO 状态=OK 目标=90.00 SLM 实际=90.38 SLM 压力=1.47 kPa 开度=3.28% 行程=967.2 dt=0.100s +2026-08-24 11:39:02.931 INFO 状态=OK 目标=90.00 SLM 实际=89.65 SLM 压力=1.47 kPa 开度=3.33% 行程=966.7 dt=0.100s +2026-08-24 11:39:04.031 INFO 状态=OK 目标=90.00 SLM 实际=90.11 SLM 压力=1.47 kPa 开度=3.31% 行程=966.9 dt=0.100s +2026-08-24 11:39:05.130 INFO 状态=OK 目标=90.00 SLM 实际=90.20 SLM 压力=1.47 kPa 开度=3.30% 行程=967.0 dt=0.100s +2026-08-24 11:39:05.929 INFO PID 模式 NEAR -> FAR:Kp=0.500 Ki=0.500 Kd=0.000 最大开度速度=20.000%/s;原因=目标流量切换 +2026-08-24 11:39:05.929 INFO 目标流量已切换为 150.000 SLM +2026-08-24 11:39:06.131 INFO 状态=OK 目标=150.00 SLM 实际=90.48 SLM 压力=1.59 kPa 开度=9.29% 行程=907.1 dt=0.100s +2026-08-24 11:39:07.231 INFO 状态=OK 目标=150.00 SLM 实际=146.89 SLM 压力=5.01 kPa 开度=13.42% 行程=865.8 dt=0.100s +2026-08-24 11:39:07.330 INFO PID 模式 FAR -> NEAR:Kp=0.050 Ki=0.010 Kd=0.000 最大开度速度=2.000%/s;原因=|误差|=0.916 SLM <= 阈值=7.500 SLM,连续 3 个周期 +2026-08-24 11:39:08.330 INFO 状态=OK 目标=150.00 SLM 实际=148.17 SLM 压力=3.91 kPa 开度=13.37% 行程=866.3 dt=0.100s +2026-08-24 11:39:09.331 INFO 状态=OK 目标=150.00 SLM 实际=151.47 SLM 压力=4.03 kPa 开度=13.20% 行程=868.0 dt=0.100s +2026-08-24 11:39:10.431 INFO 状态=OK 目标=150.00 SLM 实际=152.75 SLM 压力=3.91 kPa 开度=13.11% 行程=868.9 dt=0.100s +2026-08-24 11:39:11.530 INFO 状态=OK 目标=150.00 SLM 实际=154.40 SLM 压力=4.03 kPa 开度=13.00% 行程=870.0 dt=0.100s +2026-08-24 11:39:12.531 INFO 状态=OK 目标=150.00 SLM 实际=151.47 SLM 压力=4.03 kPa 开度=13.13% 行程=868.7 dt=0.100s +2026-08-24 11:39:13.631 INFO 状态=OK 目标=150.00 SLM 实际=151.47 SLM 压力=3.79 kPa 开度=13.10% 行程=869.0 dt=0.100s +2026-08-24 11:39:14.631 INFO 状态=OK 目标=150.00 SLM 实际=153.75 SLM 压力=3.91 kPa 开度=12.96% 行程=870.4 dt=0.100s +2026-08-24 11:39:15.730 INFO 状态=OK 目标=150.00 SLM 实际=151.47 SLM 压力=3.91 kPa 开度=13.06% 行程=869.4 dt=0.100s +2026-08-24 11:39:16.831 INFO 状态=OK 目标=150.00 SLM 实际=151.74 SLM 压力=3.91 kPa 开度=13.03% 行程=869.7 dt=0.100s +2026-08-24 11:39:17.931 INFO 状态=OK 目标=150.00 SLM 实际=152.01 SLM 压力=4.03 kPa 开度=12.99% 行程=870.1 dt=0.100s +2026-08-24 11:39:19.031 INFO 状态=OK 目标=150.00 SLM 实际=152.38 SLM 压力=3.91 kPa 开度=12.95% 行程=870.5 dt=0.100s +2026-08-24 11:39:20.031 INFO 状态=OK 目标=150.00 SLM 实际=152.11 SLM 压力=4.03 kPa 开度=12.94% 行程=870.6 dt=0.100s +2026-08-24 11:39:21.130 INFO 状态=OK 目标=150.00 SLM 实际=152.84 SLM 压力=4.03 kPa 开度=12.88% 行程=871.2 dt=0.100s +2026-08-24 11:39:22.131 INFO 状态=OK 目标=150.00 SLM 实际=153.02 SLM 压力=4.03 kPa 开度=12.84% 行程=871.6 dt=0.100s +2026-08-24 11:39:23.231 INFO 状态=OK 目标=150.00 SLM 实际=153.39 SLM 压力=4.03 kPa 开度=12.78% 行程=872.2 dt=0.100s +2026-08-24 11:39:24.330 INFO 状态=OK 目标=150.00 SLM 实际=153.48 SLM 压力=4.03 kPa 开度=12.74% 行程=872.6 dt=0.100s +2026-08-24 11:39:25.331 INFO 状态=OK 目标=150.00 SLM 实际=151.56 SLM 压力=3.91 kPa 开度=12.81% 行程=871.9 dt=0.100s +2026-08-24 11:39:26.430 INFO 状态=OK 目标=150.00 SLM 实际=152.38 SLM 压力=3.91 kPa 开度=12.74% 行程=872.6 dt=0.100s +2026-08-24 11:39:27.531 INFO 状态=OK 目标=150.00 SLM 实际=151.28 SLM 压力=3.91 kPa 开度=12.76% 行程=872.4 dt=0.100s +2026-08-24 11:39:28.531 INFO 状态=OK 目标=150.00 SLM 实际=152.11 SLM 压力=3.91 kPa 开度=12.70% 行程=873.0 dt=0.100s +2026-08-24 11:39:29.631 INFO 状态=OK 目标=150.00 SLM 实际=151.65 SLM 压力=3.91 kPa 开度=12.70% 行程=873.0 dt=0.100s +2026-08-24 11:39:30.631 INFO 状态=OK 目标=150.00 SLM 实际=152.38 SLM 压力=3.91 kPa 开度=12.65% 行程=873.5 dt=0.100s +2026-08-24 11:39:31.731 INFO 状态=OK 目标=150.00 SLM 实际=150.55 SLM 压力=4.03 kPa 开度=12.73% 行程=872.7 dt=0.100s +2026-08-24 11:39:32.730 INFO 状态=OK 目标=150.00 SLM 实际=151.47 SLM 压力=3.91 kPa 开度=12.66% 行程=873.4 dt=0.100s +2026-08-24 11:39:33.731 INFO 状态=OK 目标=150.00 SLM 实际=150.64 SLM 压力=3.91 kPa 开度=12.69% 行程=873.1 dt=0.100s +2026-08-24 11:39:34.831 INFO 状态=OK 目标=150.00 SLM 实际=150.92 SLM 压力=4.03 kPa 开度=12.67% 行程=873.3 dt=0.100s +2026-08-24 11:39:35.831 INFO 状态=OK 目标=150.00 SLM 实际=150.73 SLM 压力=4.03 kPa 开度=12.67% 行程=873.3 dt=0.100s +2026-08-24 11:39:36.831 INFO 状态=OK 目标=150.00 SLM 实际=151.19 SLM 压力=4.03 kPa 开度=12.64% 行程=873.6 dt=0.100s +2026-08-24 11:39:36.931 INFO ===== 控制性能报告 ===== +PID 参数: Kp=0.050 Ki=0.010 Kd=0.000 +目标流量: 150.000 SLM +控制范围: 0.000 ~ 300.000 SLM +调节时间(至稳态): 31.000 s +稳态流量(窗口均值): 151.494 SLM +稳态标准差(窗口): 0.890 SLM +稳态误差: -1.494 SLM (目标 - 稳态均值) +初始流量: 90.385 SLM +超调量: 峰值 154.396 SLM,超出目标 +4.396 SLM (+2.93%) +======================== +2026-08-24 11:39:37.329 INFO PID 模式 NEAR -> FAR:Kp=0.500 Ki=0.500 Kd=0.000 最大开度速度=20.000%/s;原因=目标流量切换 +2026-08-24 11:39:37.329 INFO 目标流量已切换为 60.000 SLM +2026-08-24 11:39:37.931 INFO 状态=OK 目标=60.00 SLM 实际=131.41 SLM 压力=2.20 kPa 开度=4.68% 行程=953.2 dt=0.100s +2026-08-24 11:39:38.931 INFO 状态=OK 目标=60.00 SLM 实际=54.76 SLM 压力=0.12 kPa 开度=4.80% 行程=952.0 dt=0.100s +2026-08-24 11:39:40.033 INFO 状态=OK 目标=60.00 SLM 实际=68.04 SLM 压力=-0.12 kPa 开度=1.87% 行程=981.3 dt=0.100s +2026-08-24 11:39:41.130 INFO 状态=OK 目标=60.00 SLM 实际=72.89 SLM 压力=1.22 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:39:42.231 INFO 状态=OK 目标=60.00 SLM 实际=63.55 SLM 压力=1.71 kPa 开度=1.69% 行程=983.1 dt=0.100s +2026-08-24 11:39:43.331 INFO 状态=OK 目标=60.00 SLM 实际=58.24 SLM 压力=2.44 kPa 开度=6.27% 行程=937.3 dt=0.100s +2026-08-24 11:39:44.331 INFO 状态=OK 目标=60.00 SLM 实际=41.67 SLM 压力=0.85 kPa 开度=7.48% 行程=925.2 dt=0.100s +2026-08-24 11:39:45.430 INFO 状态=OK 目标=60.00 SLM 实际=55.77 SLM 压力=-0.12 kPa 开度=2.94% 行程=970.6 dt=0.100s +2026-08-24 11:39:46.431 INFO 状态=OK 目标=60.00 SLM 实际=69.60 SLM 压力=1.59 kPa 开度=1.26% 行程=987.4 dt=0.100s +2026-08-24 11:39:47.531 INFO 状态=OK 目标=60.00 SLM 实际=60.90 SLM 压力=2.32 kPa 开度=5.03% 行程=949.7 dt=0.100s +2026-08-24 11:39:48.531 INFO 状态=OK 目标=60.00 SLM 实际=42.22 SLM 压力=1.22 kPa 开度=7.99% 行程=920.1 dt=0.100s +2026-08-24 11:39:49.531 INFO 状态=OK 目标=60.00 SLM 实际=51.56 SLM 压力=-0.12 kPa 开度=3.79% 行程=962.1 dt=0.100s +2026-08-24 11:39:50.631 INFO 状态=OK 目标=60.00 SLM 实际=72.53 SLM 压力=0.24 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:39:51.631 INFO 状态=OK 目标=60.00 SLM 实际=64.38 SLM 压力=2.08 kPa 开度=2.83% 行程=971.7 dt=0.100s +2026-08-24 11:39:52.730 INFO 状态=OK 目标=60.00 SLM 实际=56.32 SLM 压力=2.08 kPa 开度=4.32% 行程=956.8 dt=0.100s +2026-08-24 11:39:53.830 INFO 状态=OK 目标=60.00 SLM 实际=53.02 SLM 压力=2.20 kPa 开度=6.72% 行程=932.8 dt=0.100s +2026-08-24 11:39:54.830 INFO 状态=OK 目标=60.00 SLM 实际=38.92 SLM 压力=1.34 kPa 开度=9.91% 行程=900.9 dt=0.100s +2026-08-24 11:39:55.831 INFO 状态=OK 目标=60.00 SLM 实际=54.03 SLM 压力=-0.12 kPa 开度=4.00% 行程=960.0 dt=0.100s +2026-08-24 11:39:56.931 INFO 状态=OK 目标=60.00 SLM 实际=62.09 SLM 压力=0.12 kPa 开度=2.00% 行程=980.0 dt=0.100s +2026-08-24 11:39:58.031 INFO 状态=OK 目标=60.00 SLM 实际=62.73 SLM 压力=0.00 kPa 开度=2.21% 行程=977.9 dt=0.100s +2026-08-24 11:39:59.031 INFO 状态=OK 目标=60.00 SLM 实际=72.89 SLM 压力=0.85 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:00.131 INFO 状态=OK 目标=60.00 SLM 实际=69.96 SLM 压力=0.85 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:01.131 INFO 状态=OK 目标=60.00 SLM 实际=63.19 SLM 压力=1.59 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:02.231 INFO 状态=OK 目标=60.00 SLM 实际=64.19 SLM 压力=1.47 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:03.331 INFO 状态=OK 目标=60.00 SLM 实际=66.58 SLM 压力=1.10 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:04.431 INFO 状态=OK 目标=60.00 SLM 实际=64.10 SLM 压力=1.59 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:05.530 INFO 状态=OK 目标=60.00 SLM 实际=67.12 SLM 压力=1.47 kPa 开度=0.31% 行程=996.9 dt=0.100s +2026-08-24 11:40:06.531 INFO 状态=OK 目标=60.00 SLM 实际=57.33 SLM 压力=2.08 kPa 开度=2.06% 行程=979.4 dt=0.100s +2026-08-24 11:40:07.631 INFO 状态=OK 目标=60.00 SLM 实际=59.98 SLM 压力=2.32 kPa 开度=4.18% 行程=958.2 dt=0.100s +2026-08-24 11:40:08.730 INFO 状态=OK 目标=60.00 SLM 实际=45.42 SLM 压力=1.95 kPa 开度=7.16% 行程=928.4 dt=0.100s +2026-08-24 11:40:09.731 INFO 状态=OK 目标=60.00 SLM 实际=45.24 SLM 压力=1.22 kPa 开度=7.15% 行程=928.5 dt=0.100s +2026-08-24 11:40:10.731 INFO 状态=OK 目标=60.00 SLM 实际=46.89 SLM 压力=1.34 kPa 开度=6.96% 行程=930.4 dt=0.100s +2026-08-24 11:40:11.731 INFO 状态=OK 目标=60.00 SLM 实际=47.62 SLM 压力=-0.12 kPa 开度=4.53% 行程=954.7 dt=0.100s +2026-08-24 11:40:12.831 INFO 状态=OK 目标=60.00 SLM 实际=55.77 SLM 压力=-0.12 kPa 开度=2.00% 行程=980.0 dt=0.100s +2026-08-24 11:40:13.931 INFO 状态=OK 目标=60.00 SLM 实际=63.10 SLM 压力=2.08 kPa 开度=2.74% 行程=972.6 dt=0.100s +2026-08-24 11:40:14.931 INFO 状态=OK 目标=60.00 SLM 实际=31.23 SLM 压力=1.47 kPa 开度=8.88% 行程=911.2 dt=0.100s +2026-08-24 11:40:15.931 INFO 状态=OK 目标=60.00 SLM 实际=77.29 SLM 压力=0.12 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:16.931 INFO 状态=OK 目标=60.00 SLM 实际=56.68 SLM 压力=2.44 kPa 开度=5.62% 行程=943.8 dt=0.100s +2026-08-24 11:40:18.031 INFO 状态=OK 目标=60.00 SLM 实际=33.97 SLM 压力=0.85 kPa 开度=7.02% 行程=929.8 dt=0.100s +2026-08-24 11:40:19.131 INFO 状态=OK 目标=60.00 SLM 实际=76.37 SLM 压力=0.00 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:20.131 INFO 状态=OK 目标=60.00 SLM 实际=54.21 SLM 压力=2.32 kPa 开度=6.02% 行程=939.8 dt=0.100s +2026-08-24 11:40:21.231 INFO 状态=OK 目标=60.00 SLM 实际=35.53 SLM 压力=0.98 kPa 开度=6.78% 行程=932.2 dt=0.100s +2026-08-24 11:40:22.331 INFO 状态=OK 目标=60.00 SLM 实际=71.89 SLM 压力=-0.12 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:23.331 INFO 状态=OK 目标=60.00 SLM 实际=55.22 SLM 压力=2.32 kPa 开度=5.94% 行程=940.6 dt=0.100s +2026-08-24 11:40:24.331 INFO 状态=OK 目标=60.00 SLM 实际=45.33 SLM 压力=-0.12 kPa 开度=4.91% 行程=950.9 dt=0.100s +2026-08-24 11:40:25.430 INFO 状态=OK 目标=60.00 SLM 实际=74.82 SLM 压力=0.37 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:26.431 INFO 状态=OK 目标=60.00 SLM 实际=54.67 SLM 压力=2.20 kPa 开度=5.62% 行程=943.8 dt=0.100s +2026-08-24 11:40:27.534 INFO 状态=OK 目标=60.00 SLM 实际=43.41 SLM 压力=0.12 kPa 开度=5.21% 行程=947.9 dt=0.100s +2026-08-24 11:40:28.631 INFO 状态=OK 目标=60.00 SLM 实际=75.46 SLM 压力=0.61 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:29.731 INFO 状态=OK 目标=60.00 SLM 实际=54.67 SLM 压力=2.32 kPa 开度=5.85% 行程=941.5 dt=0.100s +2026-08-24 11:40:30.832 INFO 状态=OK 目标=60.00 SLM 实际=33.70 SLM 压力=1.10 kPa 开度=7.60% 行程=924.0 dt=0.100s +2026-08-24 11:40:31.931 INFO 状态=OK 目标=60.00 SLM 实际=77.11 SLM 压力=0.12 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:33.031 INFO 状态=OK 目标=60.00 SLM 实际=64.19 SLM 压力=2.20 kPa 开度=3.59% 行程=964.1 dt=0.100s +2026-08-24 11:40:34.031 INFO 状态=OK 目标=60.00 SLM 实际=33.42 SLM 压力=0.98 kPa 开度=7.55% 行程=924.5 dt=0.100s +2026-08-24 11:40:35.131 INFO 状态=OK 目标=60.00 SLM 实际=76.10 SLM 压力=0.12 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:36.231 INFO 状态=OK 目标=60.00 SLM 实际=66.30 SLM 压力=2.20 kPa 开度=3.63% 行程=963.7 dt=0.100s +2026-08-24 11:40:37.331 INFO 状态=OK 目标=60.00 SLM 实际=33.52 SLM 压力=1.59 kPa 开度=9.28% 行程=907.2 dt=0.100s +2026-08-24 11:40:38.331 INFO 状态=OK 目标=60.00 SLM 实际=72.80 SLM 压力=0.00 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:40:39.331 INFO 状态=OK 目标=60.00 SLM 实际=59.98 SLM 压力=6.11 kPa 开度=5.66% 行程=943.4 dt=0.100s +2026-08-24 11:40:40.431 INFO 状态=OK 目标=60.00 SLM 实际=50.18 SLM 压力=1.71 kPa 开度=5.24% 行程=947.6 dt=0.100s +2026-08-24 11:40:41.531 INFO 状态=OK 目标=60.00 SLM 实际=41.21 SLM 压力=0.37 kPa 开度=5.76% 行程=942.4 dt=0.100s +2026-08-24 11:40:41.672 INFO 收到 Ctrl+C,正在停止控制 +2026-08-24 11:40:42.227 INFO 控制数据已保存:D:\flow_control\data\flow_run_20260824_113812.csv +2026-08-24 11:40:42.228 INFO 三联曲线图已保存:D:\flow_control\data\flow_run_20260824_113812.png +2026-08-24 11:40:42.228 INFO 本次运行未达到稳态,未生成控制性能报告 +2026-08-24 11:40:42.228 INFO 程序结束,退出码=0 +2026-08-24 11:42:19.202 INFO 正在连接 MT2-AM8 192.168.1.12:502,目标流量=60.000 SLM +2026-08-24 11:42:19.243 INFO 逐周期数据将保存到 D:\flow_control\data\flow_run_20260824_114219.csv +2026-08-24 11:42:19.243 INFO 闭环控制已启动;按 Ctrl+C 停止,按 S 切换目标流量 +2026-08-24 11:42:19.245 INFO 状态=OK 目标=60.00 SLM 实际=181.87 SLM 压力=5.49 kPa 开度=98.00% 行程=20.0 dt=0.100s +2026-08-24 11:42:20.251 INFO 状态=OK 目标=60.00 SLM 实际=181.78 SLM 压力=5.49 kPa 开度=78.00% 行程=220.0 dt=0.100s +2026-08-24 11:42:21.245 INFO 状态=OK 目标=60.00 SLM 实际=181.50 SLM 压力=5.49 kPa 开度=57.99% 行程=420.1 dt=0.100s +2026-08-24 11:42:22.345 INFO 状态=OK 目标=60.00 SLM 实际=181.41 SLM 压力=5.49 kPa 开度=35.99% 行程=640.1 dt=0.100s +2026-08-24 11:42:23.445 INFO 状态=OK 目标=60.00 SLM 实际=173.44 SLM 压力=4.27 kPa 开度=13.99% 行程=860.1 dt=0.100s +2026-08-24 11:42:24.445 INFO 状态=OK 目标=60.00 SLM 实际=119.69 SLM 压力=1.95 kPa 开度=4.30% 行程=957.0 dt=0.100s +2026-08-24 11:42:25.545 INFO 状态=OK 目标=60.00 SLM 实际=63.10 SLM 压力=1.83 kPa 开度=5.84% 行程=941.6 dt=0.100s +2026-08-24 11:42:26.545 INFO 状态=OK 目标=60.00 SLM 实际=44.51 SLM 压力=1.34 kPa 开度=7.58% 行程=924.2 dt=0.100s +2026-08-24 11:42:27.645 INFO 状态=OK 目标=60.00 SLM 实际=38.92 SLM 压力=0.73 kPa 开度=8.00% 行程=920.0 dt=0.100s +2026-08-24 11:42:28.745 INFO 状态=OK 目标=60.00 SLM 实际=42.40 SLM 压力=-0.12 kPa 开度=5.97% 行程=940.3 dt=0.100s +2026-08-24 11:42:29.745 INFO 状态=OK 目标=60.00 SLM 实际=55.86 SLM 压力=0.00 kPa 开度=2.01% 行程=979.9 dt=0.100s +2026-08-24 11:42:30.745 INFO 状态=OK 目标=60.00 SLM 实际=61.36 SLM 压力=0.24 kPa 开度=1.35% 行程=986.5 dt=0.100s +2026-08-24 11:42:31.845 INFO 状态=OK 目标=60.00 SLM 实际=71.25 SLM 压力=0.37 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:42:32.945 INFO 状态=OK 目标=60.00 SLM 实际=65.11 SLM 压力=0.73 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:42:33.945 INFO 状态=OK 目标=60.00 SLM 实际=58.88 SLM 压力=2.08 kPa 开度=1.64% 行程=983.6 dt=0.100s +2026-08-24 11:42:34.144 INFO PID 模式 FAR -> NEAR:Kp=0.050 Ki=0.010 Kd=0.000 最大开度速度=2.000%/s;原因=|误差|=1.264 SLM <= 阈值=3.000 SLM,连续 3 个周期 +2026-08-24 11:42:34.645 INFO PID 模式 NEAR -> FAR:Kp=0.500 Ki=0.500 Kd=0.000 最大开度速度=20.000%/s;原因=|误差|=25.385 SLM >= 阈值=12.000 SLM,连续 3 个周期 +2026-08-24 11:42:35.045 INFO 状态=OK 目标=60.00 SLM 实际=30.95 SLM 压力=1.47 kPa 开度=7.69% 行程=923.1 dt=0.100s +2026-08-24 11:42:36.045 INFO 状态=OK 目标=60.00 SLM 实际=34.43 SLM 压力=0.73 kPa 开度=8.00% 行程=920.0 dt=0.100s +2026-08-24 11:42:37.046 INFO 状态=OK 目标=60.00 SLM 实际=42.40 SLM 压力=0.49 kPa 开度=6.10% 行程=939.0 dt=0.100s +2026-08-24 11:42:38.145 INFO 状态=OK 目标=60.00 SLM 实际=64.56 SLM 压力=-0.12 kPa 开度=2.00% 行程=980.0 dt=0.100s +2026-08-24 11:42:39.145 INFO 状态=OK 目标=60.00 SLM 实际=62.64 SLM 压力=0.24 kPa 开度=1.01% 行程=989.9 dt=0.100s +2026-08-24 11:42:40.245 INFO 状态=OK 目标=60.00 SLM 实际=70.97 SLM 压力=0.98 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:42:41.245 INFO 状态=OK 目标=60.00 SLM 实际=65.48 SLM 压力=1.34 kPa 开度=0.19% 行程=998.1 dt=0.100s +2026-08-24 11:42:42.346 INFO 状态=OK 目标=60.00 SLM 实际=66.21 SLM 压力=2.08 kPa 开度=0.87% 行程=991.3 dt=0.100s +2026-08-24 11:42:43.446 INFO 状态=OK 目标=60.00 SLM 实际=64.84 SLM 压力=2.32 kPa 开度=4.35% 行程=956.5 dt=0.100s +2026-08-24 11:42:44.545 INFO 状态=OK 目标=60.00 SLM 实际=39.38 SLM 压力=1.83 kPa 开度=9.88% 行程=901.2 dt=0.100s +2026-08-24 11:42:45.545 INFO 状态=OK 目标=60.00 SLM 实际=83.06 SLM 压力=0.24 kPa 开度=0.00% 行程=1000.0 dt=0.100s +2026-08-24 11:42:46.645 INFO 状态=OK 目标=60.00 SLM 实际=63.92 SLM 压力=2.08 kPa 开度=2.32% 行程=976.8 dt=0.100s +2026-08-24 11:42:47.645 INFO 状态=OK 目标=60.00 SLM 实际=42.58 SLM 压力=1.71 kPa 开度=6.35% 行程=936.5 dt=0.100s +2026-08-24 11:42:48.645 INFO 状态=OK 目标=60.00 SLM 实际=57.51 SLM 压力=-0.12 kPa 开度=2.00% 行程=980.0 dt=0.100s +2026-08-24 11:42:49.745 INFO 状态=OK 目标=60.00 SLM 实际=68.68 SLM 压力=2.20 kPa 开度=2.71% 行程=972.9 dt=0.100s +2026-08-24 11:42:50.846 INFO 状态=OK 目标=60.00 SLM 实际=42.95 SLM 压力=1.83 kPa 开度=6.90% 行程=931.0 dt=0.100s +2026-08-24 11:42:51.440 INFO 收到 Ctrl+C,正在停止控制 +2026-08-24 11:42:51.978 INFO 控制数据已保存:D:\flow_control\data\flow_run_20260824_114219.csv +2026-08-24 11:42:51.978 INFO 三联曲线图已保存:D:\flow_control\data\flow_run_20260824_114219.png +2026-08-24 11:42:51.978 INFO 本次运行未达到稳态,未生成控制性能报告 +2026-08-24 11:42:51.978 INFO 程序结束,退出码=0 diff --git a/test_valve.py b/test_valve.py new file mode 100644 index 0000000..f31b949 --- /dev/null +++ b/test_valve.py @@ -0,0 +1,339 @@ +"""手动设置阀门开度,并每秒显示流量、压力和电机行程。""" + +import contextlib +import csv +from datetime import datetime +import io +import math +from pathlib import Path +import sys +import time + +try: + import msvcrt +except ImportError: # 本项目的交互方式仅适用于 Windows 终端 + msvcrt = None + +import config +from flow_control import opening_to_motor_position + + +SAMPLE_PERIOD_S = 1.0 +KEY_POLL_PERIOD_S = 0.05 +INITIAL_OPENING_PCT = 100.0 +OUTPUT_DIRECTORY = Path(__file__).resolve().parent / "test_valve_data" + + +class ManualValveRecorder: + """逐次保存手动测试数据,并在结束时生成三联图。""" + + CSV_FIELDS = ( + "time_s", + "timestamp", + "flow_slm", + "opening_pct", + "pressure_kpa", + "motor_position", + ) + + def __init__(self, output_directory): + output_directory.mkdir(parents=True, exist_ok=True) + run_id = datetime.now().strftime("%Y%m%d_%H%M%S") + self.csv_path = output_directory / f"test_valve_{run_id}.csv" + self.image_path = output_directory / f"test_valve_{run_id}.png" + self._file = self.csv_path.open("w", newline="", encoding="utf-8-sig") + self._writer = csv.DictWriter(self._file, fieldnames=self.CSV_FIELDS) + self._writer.writeheader() + self._file.flush() + self._start_time = None + self.sample_count = 0 + self._closed = False + + def record(self, sample_time, flow, opening, pressure, position): + if self._start_time is None: + self._start_time = sample_time + self._writer.writerow( + { + "time_s": f"{sample_time - self._start_time:.6f}", + "timestamp": datetime.now().isoformat(timespec="milliseconds"), + "flow_slm": self._format_number(flow), + "opening_pct": self._format_number(opening), + "pressure_kpa": self._format_number(pressure), + "motor_position": self._format_number(position), + } + ) + self._file.flush() + self.sample_count += 1 + + def finalize(self): + self.close() + if self.sample_count == 0: + return None + self._create_plot() + return self.image_path + + def close(self): + if not self._closed: + self._file.flush() + self._file.close() + self._closed = True + + def _create_plot(self): + import matplotlib + + matplotlib.use("Agg") + import matplotlib.pyplot as plt + + time_s = [] + flow = [] + opening = [] + pressure = [] + with self.csv_path.open("r", newline="", encoding="utf-8-sig") as file: + for row in csv.DictReader(file): + time_s.append(float(row["time_s"])) + flow.append(self._float_or_nan(row["flow_slm"])) + opening.append(self._float_or_nan(row["opening_pct"])) + pressure.append(self._float_or_nan(row["pressure_kpa"])) + + figure, axes = plt.subplots( + 3, + 1, + figsize=(12, 10), + sharex=True, + constrained_layout=True, + ) + figure.suptitle("Manual Valve Test", fontsize=15) + + axes[0].plot(time_s, flow, color="#1565C0", linewidth=1.4) + axes[0].set_ylabel("Flow (SLM)") + axes[0].set_title("Flow") + + axes[1].plot(time_s, opening, color="#2E7D32", linewidth=1.4) + axes[1].set_ylabel("Opening (%)") + axes[1].set_title("Valve opening") + axes[1].set_ylim(-2, 102) + + axes[2].plot(time_s, pressure, color="#6A1B9A", linewidth=1.4) + axes[2].set_ylabel("Pressure (kPa)") + axes[2].set_xlabel("Time (s)") + axes[2].set_title("Pressure") + + for axis in axes: + axis.grid(True, alpha=0.3, linestyle="--") + axis.margins(x=0) + + figure.savefig(self.image_path, dpi=config.PLOT_DPI, bbox_inches="tight") + plt.close(figure) + + @staticmethod + def _format_number(value): + if value is None: + return "" + try: + number = float(value) + except (TypeError, ValueError): + return "" + return f"{number:.6f}" if math.isfinite(number) else "" + + @staticmethod + def _float_or_nan(value): + try: + return float(value) + except (TypeError, ValueError): + return math.nan + + +def format_value(value, unit): + """将传感器读数格式化;读取失败时显示 --。""" + if value is None: + return f"-- {unit}" + try: + number = float(value) + except (TypeError, ValueError): + return f"-- {unit}" + if not math.isfinite(number): + return f"-- {unit}" + return f"{number:.2f} {unit}" + + +def motor_position_for(opening_pct): + return opening_to_motor_position( + opening_pct, + config.MOTOR_OPEN_POSITION, + config.MOTOR_CLOSED_POSITION, + ) + + +def set_opening(hardware, opening_pct): + """校验并下发开度,成功时返回对应的电机行程。""" + opening = float(opening_pct) + if not math.isfinite(opening) or not 0.0 <= opening <= 100.0: + raise ValueError("开度必须是 0~100 之间的有限数值") + + position = motor_position_for(opening) + if not hardware.set_motor_position( + position, + channel=config.MOTOR_OUTPUT_CHANNEL, + ): + raise RuntimeError("电机位置写入失败") + return opening, position + + +def read_sensors(hardware, quiet=False): + """读取一次传感器;输入模式中丢弃底层硬件代码的终端输出。""" + output = io.StringIO() + stream = output if quiet else sys.stdout + with contextlib.redirect_stdout(stream): + flow = hardware.get_flow(config.FLOW_INPUT_CHANNEL) + pressure = ( + None + if config.PRESSURE_INPUT_CHANNEL is None + else hardware.get_pressure(config.PRESSURE_INPUT_CHANNEL) + ) + return flow, pressure + + +def main(): + if msvcrt is None: + print("本程序需要在 Windows 终端中运行。") + return 1 + + try: + from PcControl import MT2AM8Client + except ModuleNotFoundError as exc: + print(f"无法导入硬件客户端: {exc}") + return 2 + + hardware = MT2AM8Client( + host=config.MT2AM8_HOST, + port=config.MT2AM8_PORT, + slave_id=config.MT2AM8_SLAVE_ID, + pressure_range=config.PRESSURE_RANGE_KPA, + flow_range=config.FLOW_METER_RANGE_SLM, + ) + + connected = False + opening = INITIAL_OPENING_PCT + position = motor_position_for(opening) + input_mode = False + input_buffer = "" + recorder = None + exit_code = 0 + + try: + print( + f"正在连接 MT2-AM8 {config.MT2AM8_HOST}:{config.MT2AM8_PORT} ..." + ) + connected = bool(hardware.connect()) + if not connected: + print("连接失败。") + return 3 + + recorder = ManualValveRecorder(OUTPUT_DIRECTORY) + print("手动阀门控制已启动:按 S 输入新开度,按 Ctrl+C 退出。") + print( + f"连接时按已知状态记录:开度 {opening:.2f}%(行程 {position:.1f});" + "未向电机写入位置。" + ) + print(f"CSV 将保存到:{recorder.csv_path}") + + next_sample_time = time.perf_counter() + + while True: + while msvcrt.kbhit(): + ch = msvcrt.getch() + + if not input_mode: + if ch == b"\x03": + raise KeyboardInterrupt + if ch.decode("ascii", errors="ignore").lower() == "s": + input_mode = True + input_buffer = "" + print( + f"当前开度={opening:.2f}%,请输入新开度 0~100 " + "(回车确认, Esc 取消): ", + end="", + flush=True, + ) + continue + + if ch in (b"\r", b"\n"): + print() + input_mode = False + raw = input_buffer.strip() + if not raw: + print("未输入开度,保持原开度。") + continue + try: + opening, position = set_opening(hardware, float(raw)) + except (ValueError, RuntimeError) as exc: + print(f"开度切换失败:{exc};保持原开度。") + else: + print( + f"开度已切换为 {opening:.2f}%" + f"(行程 {position:.1f})。" + ) + elif ch == b"\x1b": + input_mode = False + print(" (已取消,保持原开度)") + elif ch in (b"\x08", b"\x7f"): + if input_buffer: + input_buffer = input_buffer[:-1] + print("\b \b", end="", flush=True) + elif ch == b"\x03": + raise KeyboardInterrupt + else: + text = ch.decode("ascii", errors="ignore") + if text and text.isprintable(): + input_buffer += text + print(text, end="", flush=True) + + now = time.perf_counter() + if now >= next_sample_time: + flow, pressure = read_sensors(hardware, quiet=input_mode) + recorder.record(now, flow, opening, pressure, position) + if not input_mode: + timestamp = time.strftime("%H:%M:%S") + print( + f"[{timestamp}] " + f"流量={format_value(flow, 'SLM')} " + f"压力={format_value(pressure, 'kPa')} " + f"开度={opening:.2f}% 行程={position:.1f}" + ) + # 不追补错过的终端输出;输入期间的样本只写入 CSV。 + next_sample_time = time.perf_counter() + SAMPLE_PERIOD_S + + time.sleep(KEY_POLL_PERIOD_S) + + except KeyboardInterrupt: + if input_mode: + print() + print("收到 Ctrl+C,正在保存数据并退出;不改变当前阀门开度。") + except Exception as exc: + if input_mode: + print() + print(f"程序异常:{exc}") + exit_code = 4 + finally: + if connected: + try: + hardware.disconnect() + except Exception as exc: + print(f"警告:断开设备失败:{exc}") + exit_code = max(exit_code, 5) + if recorder is not None: + try: + image_path = recorder.finalize() + print(f"CSV 已保存:{recorder.csv_path}") + if image_path is not None: + print(f"三联图已保存:{image_path}") + except Exception as exc: + recorder.close() + print(f"警告:生成图表失败:{exc}") + exit_code = max(exit_code, 6) + + return exit_code + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/test_valve_data/test_valve_20260824_144654.csv b/test_valve_data/test_valve_20260824_144654.csv new file mode 100644 index 0000000..9b7b2d0 --- /dev/null +++ b/test_valve_data/test_valve_20260824_144654.csv @@ -0,0 +1,257 @@ +time_s,timestamp,flow_slm,opening_pct,pressure_kpa,motor_position +0.000000,2026-08-24T14:46:54.935,234.249084,100.000000,8.791209,0.000000 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