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修改控流阀死区为800，优化切换目标流量时PID模式切换逻辑，优化open_loop.py的--help显示，修改模式切换观察周期为10，更新了README.md

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louis
2026-08-25 14:42:07 +08:00
parent 5476dbf9cd
commit bec4c0ead1
22 changed files with 11960 additions and 27 deletions
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test_valve_data/将死区设为700（八窗控流阀）/test_valve_20260825_095523.csv
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@@ -0,0 +1,141 @@
time_s,timestamp,flow_slm,opening_pct,pressure_kpa,motor_position
0.000000,2026-08-25T09:55:23.822,302.014652,100.000000,48.840049,700.000000
1.010005,2026-08-25T09:55:24.832,302.014652,100.000000,48.840049,700.000000
2.020120,2026-08-25T09:55:25.842,302.014652,100.000000,48.351648,700.000000
3.029160,2026-08-25T09:55:26.851,302.014652,100.000000,48.840049,700.000000
4.037515,2026-08-25T09:55:27.859,302.014652,100.000000,48.840049,700.000000
5.047550,2026-08-25T09:55:28.869,302.014652,100.000000,48.351648,700.000000
6.058485,2026-08-25T09:55:29.880,302.014652,100.000000,48.351648,700.000000
7.069546,2026-08-25T09:55:30.891,302.014652,100.000000,48.351648,700.000000
8.080418,2026-08-25T09:55:31.902,302.014652,100.000000,48.840049,700.000000
9.091635,2026-08-25T09:55:32.914,302.014652,100.000000,48.351648,700.000000
10.101851,2026-08-25T09:55:33.924,302.014652,100.000000,48.351648,700.000000
11.112103,2026-08-25T09:55:34.934,302.014652,100.000000,48.351648,700.000000
12.122330,2026-08-25T09:55:35.944,301.923077,100.000000,48.351648,700.000000
13.133423,2026-08-25T09:55:36.955,302.014652,100.000000,48.351648,700.000000
14.144019,2026-08-25T09:55:37.966,302.014652,100.000000,47.863248,700.000000
15.154919,2026-08-25T09:55:38.977,301.831502,100.000000,47.863248,700.000000
16.166146,2026-08-25T09:55:39.988,296.886447,50.000000,34.676435,850.000000
17.175085,2026-08-25T09:55:40.997,199.084249,50.000000,20.024420,850.000000
18.183999,2026-08-25T09:55:42.006,164.377289,50.000000,16.117216,850.000000
19.193770,2026-08-25T09:55:43.016,152.838828,50.000000,15.140415,850.000000
20.204151,2026-08-25T09:55:44.026,148.534799,50.000000,15.140415,850.000000
21.214870,2026-08-25T09:55:45.037,146.611722,50.000000,14.652015,850.000000
22.225849,2026-08-25T09:55:46.048,145.970696,50.000000,14.652015,850.000000
23.236170,2026-08-25T09:55:47.058,145.604396,50.000000,14.652015,850.000000
24.247787,2026-08-25T09:55:48.070,145.238095,50.000000,14.652015,850.000000
25.256822,2026-08-25T09:55:49.079,144.963370,50.000000,14.652015,850.000000
26.267062,2026-08-25T09:55:50.089,144.597070,50.000000,14.652015,850.000000
27.276522,2026-08-25T09:55:51.098,144.505495,50.000000,14.652015,850.000000
28.285879,2026-08-25T09:55:52.108,144.597070,50.000000,14.652015,850.000000
29.296323,2026-08-25T09:55:53.118,144.597070,50.000000,14.652015,850.000000
30.307328,2026-08-25T09:55:54.129,144.871795,50.000000,14.652015,850.000000
31.317078,2026-08-25T09:55:55.139,144.597070,50.000000,14.652015,850.000000
32.326223,2026-08-25T09:55:56.148,144.413919,50.000000,14.652015,850.000000
33.335536,2026-08-25T09:55:57.157,143.772894,50.000000,14.652015,850.000000
34.344676,2026-08-25T09:55:58.166,143.681319,50.000000,14.163614,850.000000
35.354224,2026-08-25T09:55:59.176,143.956044,50.000000,14.163614,850.000000
36.363766,2026-08-25T09:56:00.185,143.772894,50.000000,14.163614,850.000000
37.374222,2026-08-25T09:56:01.196,143.498168,50.000000,14.163614,850.000000
38.382841,2026-08-25T09:56:02.205,143.498168,50.000000,14.163614,850.000000
39.393477,2026-08-25T09:56:03.215,143.406593,50.000000,14.652015,850.000000
40.402422,2026-08-25T09:56:04.224,143.315018,90.000000,22.954823,730.000000
41.412567,2026-08-25T09:56:05.234,243.315018,90.000000,47.863248,730.000000
42.422308,2026-08-25T09:56:06.244,281.318681,90.000000,47.374847,730.000000
43.432077,2026-08-25T09:56:07.254,291.208791,90.000000,47.374847,730.000000
44.441874,2026-08-25T09:56:08.264,293.864469,90.000000,47.374847,730.000000
45.451221,2026-08-25T09:56:09.273,294.505495,90.000000,47.374847,730.000000
46.460992,2026-08-25T09:56:10.283,294.871795,90.000000,47.863248,730.000000
47.471190,2026-08-25T09:56:11.293,295.421245,90.000000,47.374847,730.000000
48.480828,2026-08-25T09:56:12.303,294.505495,90.000000,47.374847,730.000000
49.490603,2026-08-25T09:56:13.312,292.673993,90.000000,47.374847,730.000000
50.500618,2026-08-25T09:56:14.322,293.589744,90.000000,46.886447,730.000000
51.508827,2026-08-25T09:56:15.333,293.589744,90.000000,47.374847,730.000000
52.522439,2026-08-25T09:56:16.344,292.673993,90.000000,47.374847,730.000000
53.532741,2026-08-25T09:56:17.355,292.032967,90.000000,47.374847,730.000000
54.542060,2026-08-25T09:56:18.364,292.490842,90.000000,46.886447,730.000000
55.551672,2026-08-25T09:56:19.374,293.589744,80.000000,45.421245,760.000000
56.561177,2026-08-25T09:56:20.384,287.362637,80.000000,45.421245,760.000000
57.573149,2026-08-25T09:56:21.395,287.728938,80.000000,45.909646,760.000000
58.582527,2026-08-25T09:56:22.404,287.271062,80.000000,45.909646,760.000000
59.591421,2026-08-25T09:56:23.413,287.454212,80.000000,46.398046,760.000000
60.601184,2026-08-25T09:56:24.423,288.644689,80.000000,46.398046,760.000000
61.611458,2026-08-25T09:56:25.433,288.369963,80.000000,46.398046,760.000000
62.621053,2026-08-25T09:56:26.443,288.095238,80.000000,46.398046,760.000000
63.629644,2026-08-25T09:56:27.451,289.468864,80.000000,46.398046,760.000000
64.638585,2026-08-25T09:56:28.460,289.835165,80.000000,46.886447,760.000000
65.649389,2026-08-25T09:56:29.471,289.743590,80.000000,46.398046,760.000000
66.659069,2026-08-25T09:56:30.481,290.018315,80.000000,46.886447,760.000000
67.667739,2026-08-25T09:56:31.490,289.926740,80.000000,46.398046,760.000000
68.677156,2026-08-25T09:56:32.499,289.468864,80.000000,46.886447,760.000000
69.688622,2026-08-25T09:56:33.510,289.468864,80.000000,46.886447,760.000000
70.697284,2026-08-25T09:56:34.519,289.926740,80.000000,46.886447,760.000000
71.707918,2026-08-25T09:56:35.530,289.926740,70.000000,44.932845,790.000000
72.718697,2026-08-25T09:56:36.540,284.157509,70.000000,44.932845,790.000000
73.728787,2026-08-25T09:56:37.551,287.087912,70.000000,45.421245,790.000000
74.739310,2026-08-25T09:56:38.561,288.186813,70.000000,45.421245,790.000000
75.748291,2026-08-25T09:56:39.570,287.912088,70.000000,44.932845,790.000000
76.758559,2026-08-25T09:56:40.580,288.095238,70.000000,44.932845,790.000000
77.770362,2026-08-25T09:56:41.592,287.820513,70.000000,44.932845,790.000000
78.780165,2026-08-25T09:56:42.602,287.271062,70.000000,44.932845,790.000000
79.790866,2026-08-25T09:56:43.613,286.904762,70.000000,44.932845,790.000000
80.800784,2026-08-25T09:56:44.623,286.446886,70.000000,44.932845,790.000000
81.810754,2026-08-25T09:56:45.633,286.813187,70.000000,44.444444,790.000000
82.819995,2026-08-25T09:56:46.642,285.622711,70.000000,44.444444,790.000000
83.829712,2026-08-25T09:56:47.652,285.531136,70.000000,44.444444,790.000000
84.840116,2026-08-25T09:56:48.662,287.179487,70.000000,44.932845,790.000000
85.849657,2026-08-25T09:56:49.671,287.912088,70.000000,44.932845,790.000000
86.859265,2026-08-25T09:56:50.681,287.820513,70.000000,44.932845,790.000000
87.869799,2026-08-25T09:56:51.692,288.003663,70.000000,44.932845,790.000000
88.881649,2026-08-25T09:56:52.704,288.461538,70.000000,44.932845,790.000000
89.892293,2026-08-25T09:56:53.714,288.186813,70.000000,44.932845,790.000000
90.902095,2026-08-25T09:56:54.724,289.285714,70.000000,45.421245,790.000000
91.911505,2026-08-25T09:56:55.733,288.186813,70.000000,44.932845,790.000000
92.922253,2026-08-25T09:56:56.747,272.619048,60.000000,38.583639,820.000000
93.935776,2026-08-25T09:56:57.758,248.626374,60.000000,34.676435,820.000000
94.945698,2026-08-25T09:56:58.767,238.095238,60.000000,32.234432,820.000000
95.956094,2026-08-25T09:56:59.778,233.150183,60.000000,31.746032,820.000000
96.966479,2026-08-25T09:57:00.788,231.318681,60.000000,31.746032,820.000000
97.975791,2026-08-25T09:57:01.798,230.128205,60.000000,31.257631,820.000000
98.985508,2026-08-25T09:57:02.807,229.761905,60.000000,31.257631,820.000000
99.995502,2026-08-25T09:57:03.817,228.571429,60.000000,30.769231,820.000000
101.004831,2026-08-25T09:57:04.827,228.571429,60.000000,31.257631,820.000000
102.014540,2026-08-25T09:57:05.836,225.549451,60.000000,29.792430,820.000000
103.023675,2026-08-25T09:57:06.846,222.435897,60.000000,29.304029,820.000000
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105.043769,2026-08-25T09:57:08.865,220.970696,60.000000,29.304029,820.000000
106.053498,2026-08-25T09:57:09.875,221.703297,60.000000,29.792430,820.000000
107.063316,2026-08-25T09:57:10.885,221.978022,60.000000,29.304029,820.000000
108.073482,2026-08-25T09:57:11.895,220.970696,60.000000,29.304029,820.000000
109.084042,2026-08-25T09:57:12.906,238.827839,65.000000,36.630037,805.000000
110.094065,2026-08-25T09:57:13.916,256.135531,65.000000,39.072039,805.000000
111.103780,2026-08-25T09:57:14.926,264.652015,65.000000,40.048840,805.000000
112.113902,2026-08-25T09:57:15.936,268.772894,65.000000,40.537241,805.000000
113.125131,2026-08-25T09:57:16.947,269.047619,65.000000,40.537241,805.000000
114.135523,2026-08-25T09:57:17.957,270.146520,65.000000,41.025641,805.000000
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118.172960,2026-08-25T09:57:21.995,269.963370,65.000000,41.025641,805.000000
119.182760,2026-08-25T09:57:23.005,271.062271,65.000000,41.025641,805.000000
120.193736,2026-08-25T09:57:24.015,267.765568,65.000000,39.560440,805.000000
121.202308,2026-08-25T09:57:25.024,265.384615,65.000000,39.560440,805.000000
122.212131,2026-08-25T09:57:26.034,268.589744,65.000000,40.537241,805.000000
123.223188,2026-08-25T09:57:27.045,270.604396,65.000000,41.025641,805.000000
124.233501,2026-08-25T09:57:28.055,272.527473,65.000000,41.514042,805.000000
125.244136,2026-08-25T09:57:29.066,273.351648,65.000000,41.514042,805.000000
126.253494,2026-08-25T09:57:30.075,273.901099,65.000000,41.025641,805.000000
127.262414,2026-08-25T09:57:31.084,274.908425,65.000000,41.514042,805.000000
128.272320,2026-08-25T09:57:32.094,274.358974,65.000000,41.514042,805.000000
129.283934,2026-08-25T09:57:33.106,235.989011,40.000000,20.024420,880.000000
130.295595,2026-08-25T09:57:34.117,136.630037,40.000000,8.791209,880.000000
131.306275,2026-08-25T09:57:35.128,106.043956,40.000000,7.326007,880.000000
132.318260,2026-08-25T09:57:36.140,98.901099,40.000000,6.837607,880.000000
133.326268,2026-08-25T09:57:37.148,96.336996,40.000000,6.837607,880.000000
134.335228,2026-08-25T09:57:38.157,96.520147,40.000000,7.326007,880.000000
135.345861,2026-08-25T09:57:39.168,96.336996,40.000000,7.326007,880.000000
136.354674,2026-08-25T09:57:40.177,96.153846,40.000000,7.326007,880.000000
137.365450,2026-08-25T09:57:41.187,96.336996,40.000000,7.326007,880.000000
138.374910,2026-08-25T09:57:42.197,96.428571,40.000000,6.837607,880.000000
139.385887,2026-08-25T09:57:43.208,96.520147,40.000000,7.326007,880.000000
140.396776,2026-08-25T09:57:44.218,96.520147,40.000000,6.837607,880.000000
1 time_s timestamp flow_slm opening_pct pressure_kpa motor_position
2 0.000000 2026-08-25T09:55:23.822 302.014652 100.000000 48.840049 700.000000
3 1.010005 2026-08-25T09:55:24.832 302.014652 100.000000 48.840049 700.000000
4 2.020120 2026-08-25T09:55:25.842 302.014652 100.000000 48.351648 700.000000
5 3.029160 2026-08-25T09:55:26.851 302.014652 100.000000 48.840049 700.000000
6 4.037515 2026-08-25T09:55:27.859 302.014652 100.000000 48.840049 700.000000
7 5.047550 2026-08-25T09:55:28.869 302.014652 100.000000 48.351648 700.000000
8 6.058485 2026-08-25T09:55:29.880 302.014652 100.000000 48.351648 700.000000
9 7.069546 2026-08-25T09:55:30.891 302.014652 100.000000 48.351648 700.000000
10 8.080418 2026-08-25T09:55:31.902 302.014652 100.000000 48.840049 700.000000
11 9.091635 2026-08-25T09:55:32.914 302.014652 100.000000 48.351648 700.000000
12 10.101851 2026-08-25T09:55:33.924 302.014652 100.000000 48.351648 700.000000
13 11.112103 2026-08-25T09:55:34.934 302.014652 100.000000 48.351648 700.000000
14 12.122330 2026-08-25T09:55:35.944 301.923077 100.000000 48.351648 700.000000
15 13.133423 2026-08-25T09:55:36.955 302.014652 100.000000 48.351648 700.000000
16 14.144019 2026-08-25T09:55:37.966 302.014652 100.000000 47.863248 700.000000
17 15.154919 2026-08-25T09:55:38.977 301.831502 100.000000 47.863248 700.000000
18 16.166146 2026-08-25T09:55:39.988 296.886447 50.000000 34.676435 850.000000
19 17.175085 2026-08-25T09:55:40.997 199.084249 50.000000 20.024420 850.000000
20 18.183999 2026-08-25T09:55:42.006 164.377289 50.000000 16.117216 850.000000
21 19.193770 2026-08-25T09:55:43.016 152.838828 50.000000 15.140415 850.000000
22 20.204151 2026-08-25T09:55:44.026 148.534799 50.000000 15.140415 850.000000
23 21.214870 2026-08-25T09:55:45.037 146.611722 50.000000 14.652015 850.000000
24 22.225849 2026-08-25T09:55:46.048 145.970696 50.000000 14.652015 850.000000
25 23.236170 2026-08-25T09:55:47.058 145.604396 50.000000 14.652015 850.000000
26 24.247787 2026-08-25T09:55:48.070 145.238095 50.000000 14.652015 850.000000
27 25.256822 2026-08-25T09:55:49.079 144.963370 50.000000 14.652015 850.000000
28 26.267062 2026-08-25T09:55:50.089 144.597070 50.000000 14.652015 850.000000
29 27.276522 2026-08-25T09:55:51.098 144.505495 50.000000 14.652015 850.000000
30 28.285879 2026-08-25T09:55:52.108 144.597070 50.000000 14.652015 850.000000
31 29.296323 2026-08-25T09:55:53.118 144.597070 50.000000 14.652015 850.000000
32 30.307328 2026-08-25T09:55:54.129 144.871795 50.000000 14.652015 850.000000
33 31.317078 2026-08-25T09:55:55.139 144.597070 50.000000 14.652015 850.000000
34 32.326223 2026-08-25T09:55:56.148 144.413919 50.000000 14.652015 850.000000
35 33.335536 2026-08-25T09:55:57.157 143.772894 50.000000 14.652015 850.000000
36 34.344676 2026-08-25T09:55:58.166 143.681319 50.000000 14.163614 850.000000
37 35.354224 2026-08-25T09:55:59.176 143.956044 50.000000 14.163614 850.000000
38 36.363766 2026-08-25T09:56:00.185 143.772894 50.000000 14.163614 850.000000
39 37.374222 2026-08-25T09:56:01.196 143.498168 50.000000 14.163614 850.000000
40 38.382841 2026-08-25T09:56:02.205 143.498168 50.000000 14.163614 850.000000
41 39.393477 2026-08-25T09:56:03.215 143.406593 50.000000 14.652015 850.000000
42 40.402422 2026-08-25T09:56:04.224 143.315018 90.000000 22.954823 730.000000
43 41.412567 2026-08-25T09:56:05.234 243.315018 90.000000 47.863248 730.000000
44 42.422308 2026-08-25T09:56:06.244 281.318681 90.000000 47.374847 730.000000
45 43.432077 2026-08-25T09:56:07.254 291.208791 90.000000 47.374847 730.000000
46 44.441874 2026-08-25T09:56:08.264 293.864469 90.000000 47.374847 730.000000
47 45.451221 2026-08-25T09:56:09.273 294.505495 90.000000 47.374847 730.000000
48 46.460992 2026-08-25T09:56:10.283 294.871795 90.000000 47.863248 730.000000
49 47.471190 2026-08-25T09:56:11.293 295.421245 90.000000 47.374847 730.000000
50 48.480828 2026-08-25T09:56:12.303 294.505495 90.000000 47.374847 730.000000
51 49.490603 2026-08-25T09:56:13.312 292.673993 90.000000 47.374847 730.000000
52 50.500618 2026-08-25T09:56:14.322 293.589744 90.000000 46.886447 730.000000
53 51.508827 2026-08-25T09:56:15.333 293.589744 90.000000 47.374847 730.000000
54 52.522439 2026-08-25T09:56:16.344 292.673993 90.000000 47.374847 730.000000
55 53.532741 2026-08-25T09:56:17.355 292.032967 90.000000 47.374847 730.000000
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