From 2f4080f01e49b1467812f8e6088afce409349209 Mon Sep 17 00:00:00 2001 From: louis Date: Mon, 17 Aug 2026 17:33:15 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=BA=86a0~a3=E7=B3=BB?= =?UTF-8?q?=E6=95=B0=E8=AE=A1=E7=AE=97=E5=85=AC=E5=BC=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- __pycache__/config.cpython-313.pyc | Bin 3272 -> 3381 bytes __pycache__/controllers.cpython-313.pyc | Bin 9317 -> 9212 bytes .../performance_reporter.cpython-313.pyc | Bin 0 -> 6946 bytes config.py | 2 +- controllers.py | 8 +- data/2026.8.14/flow_run_20260814_165722.csv | 727 ++++++++++++++++++ data/2026.8.14/flow_run_20260814_165722.png | Bin 0 -> 169178 bytes data/2026.8.14/flow_run_20260814_171203.csv | 113 +++ data/2026.8.14/flow_run_20260814_171203.png | Bin 0 -> 154292 bytes data/2026.8.14/flow_run_20260814_171228.csv | 212 +++++ data/2026.8.14/flow_run_20260814_171228.png | Bin 0 -> 210212 bytes logs/flow_control.log | 131 ++++ 12 files 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self.kp + (self.ki * self.dt / 2.0) + (2.0 * self.kd / self.dt) - self.a1 = -self.kp + (self.ki * self.dt / 2.0) - (4.0 * self.kd / self.dt) - self.a2 = (2.0 * self.kd) / self.dt + """矩形积分与后向差分微分形式的增量式 PID 系数。""" + self.a0 = self.kp + self.ki * self.dt + self.kd / self.dt + self.a1 = -self.kp - 2.0 * self.kd / self.dt + self.a2 = self.kd / self.dt def set_values(self, measurement, setpoint): """Set the current measurement and desired setpoint.""" diff --git a/data/2026.8.14/flow_run_20260814_165722.csv b/data/2026.8.14/flow_run_20260814_165722.csv new file mode 100644 index 0000000..1f0731e --- /dev/null +++ b/data/2026.8.14/flow_run_20260814_165722.csv @@ -0,0 +1,727 @@ +time_s,timestamp,target_flow_slm,measured_flow_slm,opening_pct,pressure_kpa,error_slm,motor_position,actual_dt_s,status +0.000000,1786697842.505655,150.000000,169.230769,0.000000,9.157509,-19.230769,1000.000000,0.100000,OK 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+47.800870,1786697890.306526,150.000000,182.875458,0.000000,10.622711,-32.875458,1000.000000,0.100557,OK +47.900566,1786697890.406222,150.000000,183.058608,0.000000,10.622711,-33.058608,1000.000000,0.099608,OK +48.001469,1786697890.507124,150.000000,183.058608,0.000000,10.622711,-33.058608,1000.000000,0.100341,OK +48.106580,1786697890.612236,150.000000,182.967033,0.000000,10.622711,-32.967033,1000.000000,0.099614,OK +48.200509,1786697890.706165,150.000000,182.967033,0.000000,10.622711,-32.967033,1000.000000,0.099949,OK +48.300628,1786697890.806283,150.000000,182.967033,0.000000,10.622711,-32.967033,1000.000000,0.100077,OK +48.400453,1786697890.906108,150.000000,182.967033,0.000000,10.622711,-32.967033,1000.000000,0.099832,OK +48.500489,1786697891.006144,150.000000,182.967033,0.000000,10.622711,-32.967033,1000.000000,0.100155,OK +48.600606,1786697891.106261,150.000000,182.967033,0.000000,10.622711,-32.967033,1000.000000,0.100029,OK +48.700519,1786697891.206175,150.000000,183.333333,0.000000,10.622711,-33.333333,1000.000000,0.099971,OK +48.800389,1786697891.306045,150.000000,183.333333,0.000000,10.622711,-33.333333,1000.000000,0.099829,OK +48.900709,1786697891.406364,150.000000,183.241758,0.000000,10.622711,-33.241758,1000.000000,0.100413,OK +49.000795,1786697891.506450,150.000000,183.241758,0.000000,10.622711,-33.241758,1000.000000,0.099985,OK +49.100373,1786697891.606028,150.000000,183.241758,0.000000,10.622711,-33.241758,1000.000000,0.099632,OK +49.200756,1786697891.706411,150.000000,183.241758,0.000000,10.622711,-33.241758,1000.000000,0.100331,OK +49.300868,1786697891.806523,150.000000,183.424908,0.000000,10.622711,-33.424908,1000.000000,0.100159,OK +49.400656,1786697891.906311,150.000000,183.424908,0.000000,10.622711,-33.424908,1000.000000,0.100007,OK +49.500431,1786697892.006086,150.000000,183.424908,0.000000,10.622711,-33.424908,1000.000000,0.099722,OK 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+53.200598,1786697895.706253,150.000000,183.882784,0.000000,10.744811,-33.882784,1000.000000,0.099964,OK +53.300937,1786697895.806592,150.000000,184.065934,0.000000,10.744811,-34.065934,1000.000000,0.100401,OK +53.400746,1786697895.906401,150.000000,184.065934,0.000000,10.744811,-34.065934,1000.000000,0.099772,OK +53.500843,1786697896.006498,150.000000,183.974359,0.000000,10.744811,-33.974359,1000.000000,0.100094,OK +53.600947,1786697896.106602,150.000000,183.974359,0.000000,10.744811,-33.974359,1000.000000,0.100003,OK +53.700459,1786697896.206114,150.000000,183.974359,0.000000,10.744811,-33.974359,1000.000000,0.099804,OK +53.800359,1786697896.306015,150.000000,183.974359,0.000000,10.744811,-33.974359,1000.000000,0.099868,OK +53.900384,1786697896.406039,150.000000,183.882784,0.000000,10.744811,-33.882784,1000.000000,0.099856,OK +54.000721,1786697896.506376,150.000000,183.882784,0.000000,10.744811,-33.882784,1000.000000,0.100363,OK 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+55.900828,1786697898.406483,150.000000,184.706960,0.000000,10.744811,-34.706960,1000.000000,0.100174,OK +56.000903,1786697898.506559,150.000000,184.706960,0.000000,10.744811,-34.706960,1000.000000,0.100048,OK +56.100527,1786697898.606182,150.000000,184.706960,0.000000,10.744811,-34.706960,1000.000000,0.099681,OK +56.201238,1786697898.706894,150.000000,184.706960,0.000000,10.744811,-34.706960,1000.000000,0.100476,OK +56.300535,1786697898.806190,150.000000,184.615385,0.000000,10.744811,-34.615385,1000.000000,0.099745,OK +56.400767,1786697898.906423,150.000000,184.706960,0.000000,10.744811,-34.706960,1000.000000,0.099920,OK +56.500577,1786697899.006233,150.000000,184.890110,0.000000,10.866911,-34.890110,1000.000000,0.100093,OK +56.600478,1786697899.106134,150.000000,184.890110,0.000000,10.744811,-34.890110,1000.000000,0.099816,OK +56.700814,1786697899.206469,150.000000,184.890110,0.000000,10.744811,-34.890110,1000.000000,0.100267,OK 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+57.700682,1786697900.206337,150.000000,184.890110,0.000000,10.744811,-34.890110,1000.000000,0.099980,OK +57.800670,1786697900.306326,150.000000,184.706960,0.000000,10.866911,-34.706960,1000.000000,0.099793,OK +57.900143,1786697900.405798,150.000000,184.706960,0.000000,10.744811,-34.706960,1000.000000,0.100001,OK +58.000632,1786697900.506288,150.000000,184.615385,0.000000,10.744811,-34.615385,1000.000000,0.100149,OK +58.100770,1786697900.606426,150.000000,184.615385,0.000000,10.744811,-34.615385,1000.000000,0.099973,OK +58.200238,1786697900.705893,150.000000,184.615385,0.000000,10.744811,-34.615385,1000.000000,0.099886,OK +58.301939,1786697900.807594,150.000000,184.523810,0.000000,10.744811,-34.523810,1000.000000,0.100280,OK +58.403650,1786697900.909305,150.000000,184.432234,0.000000,10.744811,-34.432234,1000.000000,0.099777,OK +58.500234,1786697901.005889,150.000000,184.432234,0.000000,10.744811,-34.432234,1000.000000,0.099861,OK +58.600119,1786697901.105774,150.000000,184.615385,0.000000,10.744811,-34.615385,1000.000000,0.099941,OK +58.700655,1786697901.206310,150.000000,184.615385,0.000000,10.744811,-34.615385,1000.000000,0.100328,OK +58.800835,1786697901.306490,150.000000,184.432234,0.000000,10.744811,-34.432234,1000.000000,0.100160,OK +58.900611,1786697901.406266,150.000000,184.157509,0.000000,10.744811,-34.157509,1000.000000,0.099711,OK +59.000450,1786697901.506106,150.000000,184.432234,0.000000,10.744811,-34.432234,1000.000000,0.099968,OK +59.100525,1786697901.606180,150.000000,184.432234,0.000000,10.744811,-34.432234,1000.000000,0.100011,OK +59.200464,1786697901.706119,150.000000,184.157509,0.000000,10.744811,-34.157509,1000.000000,0.100052,OK +59.300481,1786697901.806136,150.000000,184.065934,0.000000,10.744811,-34.065934,1000.000000,0.100280,OK +59.400674,1786697901.906329,150.000000,184.157509,0.000000,10.744811,-34.157509,1000.000000,0.099761,OK 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