人为给定开度，流量变化有异，可能是电机有问题或者气路哪儿不对

data/flow_run_20260824_114219.csv

@@ -0,0 +1,323 @@
+time_s,timestamp,target_flow_slm,measured_flow_slm,opening_pct,pressure_kpa,error_slm,motor_position,actual_dt_s,status
+0.000000,1787542939.245054,60.000000,181.868132,98.000000,5.494505,-121.868132,20.000000,0.100000,OK
+0.100527,1787542939.345580,60.000000,181.868132,95.996824,5.494505,-121.868132,40.031760,0.100159,OK
+0.200669,1787542939.445723,60.000000,181.868132,93.989382,5.494505,-121.868132,60.106180,0.100372,OK
+0.300385,1787542939.545438,60.000000,181.776557,91.992710,5.494505,-121.776557,80.072900,0.099834,OK
+0.400495,1787542939.645549,60.000000,181.776557,89.994362,5.494505,-121.776557,100.056380,0.099917,OK
+0.500167,1787542939.745221,60.000000,181.868132,87.997878,5.494505,-121.868132,120.021220,0.099824,OK
+0.600448,1787542939.845502,60.000000,181.868132,85.991094,5.494505,-121.868132,140.089060,0.100339,OK
+0.700198,1787542939.945251,60.000000,181.868132,83.997368,5.494505,-121.868132,160.026320,0.099686,OK
+0.800241,1787542940.045295,60.000000,181.868132,81.997340,5.494505,-121.868132,180.026600,0.100001,OK
+0.900296,1787542940.145350,60.000000,181.868132,79.991942,5.494505,-121.868132,200.080580,0.100270,OK
+1.006682,1787542940.251736,60.000000,181.776557,77.995358,5.494505,-121.776557,220.046420,0.099829,OK
+1.100287,1787542940.345341,60.000000,181.868132,75.996894,5.494505,-121.868132,240.031060,0.099923,OK
+1.200591,1787542940.445645,60.000000,181.868132,73.989420,5.494505,-121.868132,260.105800,0.100374,OK
+1.300159,1787542940.545213,60.000000,181.959707,71.993470,5.494505,-121.959707,280.065300,0.099798,OK
+1.400631,1787542940.645685,60.000000,181.959707,69.989828,5.494505,-121.959707,300.101720,0.100182,OK
+1.500080,1787542940.745134,60.000000,181.868132,67.997090,5.494505,-121.868132,320.029100,0.099637,OK
+1.600761,1787542940.845815,60.000000,181.868132,65.990110,5.494505,-121.868132,340.098900,0.100349,OK
+1.700150,1787542940.945204,60.000000,181.868132,63.995220,5.372405,-121.868132,360.047800,0.099745,OK
+1.800189,1787542941.045243,60.000000,181.868132,61.994946,5.494505,-121.868132,380.050540,0.100014,OK
+1.900519,1787542941.145573,60.000000,181.501832,59.989984,5.494505,-121.501832,400.100160,0.100248,OK
+2.000764,1787542941.245818,60.000000,181.501832,57.990742,5.494505,-121.501832,420.092580,0.099962,OK
+2.100662,1787542941.345715,60.000000,181.959707,55.993784,5.494505,-121.959707,440.062160,0.099848,OK
+2.200685,1787542941.445738,60.000000,181.959707,53.990984,5.494505,-121.959707,460.090160,0.100140,OK
+2.300030,1787542941.545084,60.000000,181.959707,51.998250,5.494505,-121.959707,480.017500,0.099637,OK
+2.400375,1787542941.645429,60.000000,181.959707,49.992592,5.616606,-121.959707,500.074080,0.100283,OK
+2.500745,1787542941.745799,60.000000,181.959707,47.989670,5.494505,-121.959707,520.103300,0.100146,OK
+2.599974,1787542941.845027,60.000000,181.959707,45.997672,5.494505,-121.959707,540.023280,0.099600,OK
+2.700775,1787542941.945829,60.000000,181.868132,43.989444,5.494505,-121.868132,560.105560,0.100411,OK
+2.800407,1787542942.045461,60.000000,181.868132,41.995624,5.494505,-121.868132,580.043760,0.099691,OK
+2.901303,1787542942.146356,60.000000,181.776557,39.994712,5.494505,-121.776557,600.052880,0.100046,OK
+3.003574,1787542942.248627,60.000000,181.776557,37.994428,5.372405,-121.776557,620.055720,0.100014,OK
+3.100692,1787542942.345745,60.000000,181.410256,35.987938,5.494505,-121.410256,640.120620,0.100325,OK
+3.200100,1787542942.445153,60.000000,181.501832,33.996870,5.494505,-121.501832,660.031300,0.099553,OK
+3.300470,1787542942.545524,60.000000,181.135531,31.994848,5.372405,-121.135531,680.051520,0.100101,OK
+3.400799,1787542942.645852,60.000000,181.227106,29.987668,5.372405,-121.227106,700.123320,0.100359,OK
+3.500487,1787542942.745541,60.000000,180.494505,27.994914,5.372405,-120.494505,720.050860,0.099638,OK
+3.600254,1787542942.845307,60.000000,180.402930,25.996428,5.250305,-120.402930,740.035720,0.099924,OK
+3.700836,1787542942.945889,60.000000,179.304029,23.988628,5.250305,-119.304029,760.113720,0.100390,OK
+3.800742,1787542943.045796,60.000000,179.029304,21.992886,5.250305,-119.029304,780.071140,0.099787,OK
+3.900274,1787542943.145327,60.000000,177.472527,19.993958,5.006105,-117.472527,800.060420,0.099946,OK
+4.000620,1787542943.245674,60.000000,177.106227,17.989566,4.884005,-117.106227,820.104340,0.100220,OK
+4.100761,1787542943.345814,60.000000,174.175824,15.990250,4.761905,-114.175824,840.097500,0.099966,OK
+4.200825,1787542943.445879,60.000000,173.443223,13.989898,4.273504,-113.443223,860.101020,0.100018,OK
+4.300768,1787542943.545822,60.000000,167.948718,11.990126,4.273504,-107.948718,880.098740,0.099989,OK
+4.400902,1787542943.645956,60.000000,166.117216,9.987292,3.663004,-106.117216,900.127080,0.100142,OK
+4.500730,1787542943.745783,60.000000,158.058608,9.111901,2.930403,-98.058608,908.880994,0.100036,OK
+4.600402,1787542943.845456,60.000000,155.952381,7.121917,2.442002,-95.952381,928.780834,0.099499,OK
+4.700897,1787542943.945951,60.000000,144.597070,8.551433,2.075702,-84.597070,914.485669,0.100432,OK
+4.800359,1787542944.045413,60.000000,140.018315,6.849717,1.831502,-80.018315,931.502831,0.099754,OK
+4.900475,1787542944.145529,60.000000,129.029304,8.849649,1.831502,-69.029304,911.503511,0.099997,OK
+5.000886,1787542944.245940,60.000000,126.465201,6.847471,1.831502,-66.465201,931.525291,0.100109,OK
+5.100233,1787542944.345287,60.000000,121.428571,6.304521,1.953602,-61.428571,936.954793,0.099669,OK
+5.200662,1787542944.445716,60.000000,119.688645,4.296049,1.953602,-59.688645,957.039513,0.100424,OK
+5.300889,1787542944.545943,60.000000,116.208791,3.226168,1.953602,-56.208791,967.738318,0.099977,OK
+5.400941,1787542944.645994,60.000000,115.476190,1.227598,1.831502,-55.476190,987.724018,0.099929,OK
+5.500601,1787542944.745654,60.000000,111.813187,0.470884,1.465201,-51.813187,995.291163,0.099906,OK
+5.600656,1787542944.845710,60.000000,110.714286,0.000000,0.366300,-50.714286,1000.000000,0.100079,OK
+5.700210,1787542944.945264,60.000000,88.827839,1.993912,0.000000,-28.827839,980.060880,0.099696,OK
+5.800161,1787542945.045215,60.000000,78.113553,3.996322,-0.122100,-18.113553,960.036780,0.100120,OK
+5.919584,1787542945.164638,60.000000,58.608059,5.995980,0.000000,1.391941,940.040200,0.099983,OK
+5.999938,1787542945.244992,60.000000,56.410256,7.274081,0.732601,3.589744,927.259187,0.099840,OK
+6.100492,1787542945.345546,60.000000,56.135531,7.605038,1.221001,3.864469,923.949618,0.100192,OK
+6.200375,1787542945.445428,60.000000,56.043956,7.848267,1.709402,3.956044,921.517333,0.099817,OK
+6.300535,1787542945.545589,60.000000,63.095238,5.844205,1.831502,-3.095238,941.557953,0.100203,OK
+6.402509,1787542945.647563,60.000000,64.926740,4.681542,2.075702,-4.926740,953.184584,0.100234,OK
+6.500945,1787542945.745999,60.000000,70.421245,2.677944,1.953602,-10.421245,973.220564,0.100180,OK
+6.600487,1787542945.845540,60.000000,72.893773,0.799551,1.831502,-12.893773,992.004494,0.099603,OK
+6.700504,1787542945.945557,60.000000,75.641026,0.000000,0.976801,-15.641026,1000.000000,0.100134,OK
+6.800404,1787542946.045457,60.000000,76.465201,0.000000,0.244200,-16.465201,1000.000000,0.099798,OK
+6.900381,1787542946.145435,60.000000,60.989011,2.001372,-0.122100,-0.989011,979.986280,0.100069,OK
+7.000536,1787542946.245589,60.000000,55.769231,4.007266,-0.122100,4.230769,959.927340,0.100295,OK
+7.100319,1787542946.345373,60.000000,45.146520,6.000432,-0.122100,14.853480,939.995680,0.099658,OK
+7.200341,1787542946.445394,60.000000,42.124542,7.997576,0.732601,17.875458,920.024240,0.099857,OK
+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

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

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())

test_valve_data/test_valve_20260824_144654.csv

@@ -0,0 +1,257 @@
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