新增一个py模块，在稳态后记录、输出到终端：

该次调节用的kp，ki，kd参数以及控制效果如何，包括调节时间（调节至稳态花的时间，稳态用两个条件判断：用滑动时间窗口的方差/标准差判断，或者用滑动窗口均值介于目标值上下2%误差带之间）、超调量（记录绝对数值和相对目标值的百分比）、该次控制所设置的控制范围。

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