diff --git a/__pycache__/config.cpython-311.pyc b/__pycache__/config.cpython-311.pyc new file mode 100644 index 0000000..6e3201d Binary files /dev/null and b/__pycache__/config.cpython-311.pyc differ diff --git a/__pycache__/controllers.cpython-311.pyc b/__pycache__/controllers.cpython-311.pyc new file mode 100644 index 0000000..2d45e0a Binary files /dev/null and b/__pycache__/controllers.cpython-311.pyc differ diff --git a/__pycache__/data_logger.cpython-311.pyc b/__pycache__/data_logger.cpython-311.pyc new file mode 100644 index 0000000..1d28bb1 Binary files /dev/null and b/__pycache__/data_logger.cpython-311.pyc differ diff --git a/__pycache__/flow_control.cpython-311.pyc b/__pycache__/flow_control.cpython-311.pyc new file mode 100644 index 0000000..9e0f9a2 Binary files /dev/null and b/__pycache__/flow_control.cpython-311.pyc differ diff --git a/__pycache__/main.cpython-311.pyc b/__pycache__/main.cpython-311.pyc new file mode 100644 index 0000000..5c231f4 Binary files /dev/null and b/__pycache__/main.cpython-311.pyc differ diff --git a/__pycache__/performance_reporter.cpython-311.pyc b/__pycache__/performance_reporter.cpython-311.pyc new file mode 100644 index 0000000..ca94e29 Binary files /dev/null and b/__pycache__/performance_reporter.cpython-311.pyc differ diff --git a/config.py b/config.py index 806ea78..fcc119e 100644 --- a/config.py +++ b/config.py @@ -46,6 +46,14 @@ OPENING_MIN_PCT = 0.0 OPENING_MAX_PCT = 100.0 MAX_OPENING_RATE_PCT_S = 20.0 # 每秒最多改变 20% 开度 +# --------------------------------------------------------------------------- +# 稳态判定（用于控制性能报告） +# --------------------------------------------------------------------------- + +STEADY_STATE_WINDOW_S = 2.0 # 滑动时间窗口长度 +STEADY_STATE_BAND_PCT = 2.0 # 滑窗均值相对目标的允许误差带（±2%） +STEADY_STATE_STD_PCT = 2.0 # 滑窗标准差阈值（相对目标百分比） + # --------------------------------------------------------------------------- # 阀门执行机构 # --------------------------------------------------------------------------- diff --git a/main.py b/main.py index 2d02fdb..f531eea 100644 --- a/main.py +++ b/main.py @@ -17,6 +17,7 @@ import config from controllers import IncrementalPID from data_logger import FlowRunRecorder from flow_control import FlowControlFault, FlowControlLoop +from performance_reporter import PerformanceReporter def build_logger(): @@ -133,6 +134,7 @@ def run(target_flow_slm): connected = False recorder = None + reporter = None exit_code = 0 try: logger.info( @@ -162,6 +164,23 @@ def run(target_flow_slm): {"motor_closed_position": config.MOTOR_CLOSED_POSITION}, ) + # 控制前读取一次当前流量，作为超调量方向的基准。 + try: + initial_flow_slm = hardware.get_flow(config.FLOW_INPUT_CHANNEL) + except Exception: + initial_flow_slm = None + + reporter = PerformanceReporter( + controller.pid, + window_s=config.STEADY_STATE_WINDOW_S, + band_pct=config.STEADY_STATE_BAND_PCT, + std_pct=config.STEADY_STATE_STD_PCT, + flow_range_min_slm=config.TARGET_FLOW_MIN_SLM, + flow_range_max_slm=config.TARGET_FLOW_MAX_SLM, + initial_flow_slm=initial_flow_slm, + logger=logger, + ) + controller.start(initial_opening=0.0) recorder = FlowRunRecorder( Path(__file__).resolve().parent / config.DATA_DIRECTORY, @@ -176,6 +195,7 @@ def run(target_flow_slm): now = time.perf_counter() result = controller.step(now=now) recorder.record(result) + reporter.observe(result) if now >= next_status_time or result.status != "OK": logger.info(format_status(result)) @@ -221,6 +241,13 @@ def run(target_flow_slm): recorder.close() exit_code = max(exit_code, 7) logger.exception("保存控制数据曲线图失败；CSV 数据仍保留") + + if reporter is not None: + try: + reporter.finalize() + except Exception: + logger.exception("生成控制性能报告时发生异常") + logger.info("程序结束，退出码=%d", exit_code) return exit_code diff --git a/performance_reporter.py b/performance_reporter.py new file mode 100644 index 0000000..4e0f765 --- /dev/null +++ b/performance_reporter.py @@ -0,0 +1,150 @@ +"""控制性能报告：在达到稳态后输出 PID 参数、调节时间、超调量和控制范围。 + +本模块只负责观测每个控制周期产出的 ControlStepResult，用滑动时间窗口判断 +稳态，并在首次进入稳态时打印一份一次性报告；不参与任何控制计算。 +""" + +from collections import deque +import math +import statistics + + +class PerformanceReporter: + """逐周期观测流量，判定稳态并输出控制性能报告。 + + 稳态判定采用两个条件同时满足（AND）： + 1. 滑窗均值落在目标流量 ±band_pct% 误差带内； + 2. 滑窗标准差低于 std_pct% 目标流量阈值。 + 报告只在首次判定稳态时输出一次。 + """ + + def __init__( + self, + pid, + *, + window_s, + band_pct, + std_pct, + flow_range_min_slm, + flow_range_max_slm, + initial_flow_slm=None, + logger=None, + ): + self.pid = pid + self.window_s = float(window_s) + self.band_pct = float(band_pct) + self.std_pct = float(std_pct) + self.flow_range_min_slm = float(flow_range_min_slm) + self.flow_range_max_slm = float(flow_range_max_slm) + self.initial_flow_slm = ( + None if initial_flow_slm is None else float(initial_flow_slm) + ) + self.logger = logger + + self.target_flow_slm = None + self.settling_time_s = None + self._first_timestamp = None + self._peak_flow_slm = None + self._min_flow_slm = None + self._window = deque() # 元素为 (elapsed_s, flow_slm) + self._reached = False + + def observe(self, result): + """喂入一个 ControlStepResult；达到稳态时自动输出一次报告。""" + if self._reached: + return + if result.status != "OK" or result.measured_flow_slm is None: + return + + flow = float(result.measured_flow_slm) + if not math.isfinite(flow): + return + target = float(result.target_flow_slm) + if target <= 0.0: + return + self.target_flow_slm = target + + if self._first_timestamp is None: + self._first_timestamp = float(result.timestamp) + elapsed_s = max(0.0, float(result.timestamp) - self._first_timestamp) + + if self.initial_flow_slm is None: + self.initial_flow_slm = flow + if self._peak_flow_slm is None or flow > self._peak_flow_slm: + self._peak_flow_slm = flow + if self._min_flow_slm is None or flow < self._min_flow_slm: + self._min_flow_slm = flow + + self._window.append((elapsed_s, flow)) + cutoff = elapsed_s - self.window_s + while self._window and self._window[0][0] < cutoff: + self._window.popleft() + + if len(self._window) < 2: + return + if self._window[-1][0] - self._window[0][0] < self.window_s: + return + + flows = [item[1] for item in self._window] + mean = statistics.mean(flows) + std = statistics.pstdev(flows) + + band = self.band_pct / 100.0 * target + std_threshold = self.std_pct / 100.0 * target + if abs(mean - target) <= band and std <= std_threshold: + self._reached = True + self.settling_time_s = elapsed_s + self._report() + + def finalize(self): + """运行结束调用；若始终未达到稳态则补一条提示日志。""" + if not self._reached and self.target_flow_slm is not None: + self._log("info", "本次运行未达到稳态，未生成控制性能报告") + + def _report(self): + target = self.target_flow_slm + initial = self.initial_flow_slm + peak = self._peak_flow_slm + minimum = self._min_flow_slm + + if initial < target: + overshoot_abs = max(0.0, peak - target) + extremum_text = f"峰值 {peak:.3f} SLM" + direction = "超出目标" + elif initial > target: + overshoot_abs = max(0.0, target - minimum) + extremum_text = f"谷值 {minimum:.3f} SLM" + direction = "低于目标" + else: + overshoot_abs = 0.0 + extremum_text = f"峰值 {peak:.3f} SLM" + direction = "无" + + overshoot_pct = overshoot_abs / target * 100.0 + + lines = [ + "===== 控制性能报告 =====", + ( + f"PID 参数: Kp={self.pid.kp:.3f} Ki={self.pid.ki:.3f} " + f"Kd={self.pid.kd:.3f}" + ), + f"目标流量: {target:.3f} SLM", + ( + f"控制范围: {self.flow_range_min_slm:.3f} ~ " + f"{self.flow_range_max_slm:.3f} SLM" + ), + f"调节时间(至稳态): {self.settling_time_s:.3f} s", + f"初始流量: {initial:.3f} SLM", + ( + f"超调量: {extremum_text}，{direction} " + f"{overshoot_abs:+.3f} SLM ({overshoot_pct:+.2f}%)" + ), + "========================", + ] + self._log("info", "\n".join(lines)) + + def _log(self, level, message, *args): + if self.logger is not None: + getattr(self.logger, level)(message, *args) + else: + print(message)