imported by:
-
aiohttp._websocket.writer
+
PIL.PdfParser
+ •
PIL.PngImagePlugin
+ •
aiohttp._websocket.writer
•
aiohttp.abc
•
aiohttp.compression_utils
•
aiohttp.http_writer
@@ -16451,6 +36819,8 @@ imported by:
•
gzip
•
shutil
•
tarfile
+ •
tornado.util
+ •
tornado.websocket
•
zipfile
•
zipimport
diff --git a/control_runtime.py b/control_runtime.py
index fd63655..abf67f9 100644
--- a/control_runtime.py
+++ b/control_runtime.py
@@ -19,13 +19,31 @@ import time
import config
from controllers import IncrementalPID
-from flow_control import FlowControlFault, FlowControlLoop
+from flow_control import FlowControlFault, FlowControlLoop, opening_to_motor_position
+from open_loop import (
+ MAX_CONSECUTIVE_READ_FAILURES,
+ MIN_ABS_STD_SLM,
+ OPENING_MAX_PCT,
+ OPENING_MIN_PCT,
+ OPENING_STEP_PCT,
+ OUTPUT_DIRECTORY as OPEN_LOOP_OUTPUT_DIRECTORY,
+ RANDOM_SEED,
+ SAMPLE_PERIOD_S,
+ OpenLoopRecorder,
+ SteadyStateDetector,
+ check_safety,
+ generate_fine_strokes,
+ generate_openings,
+ motor_position_to_opening,
+ read_sensors,
+)
from valve_model import ValveModel
APP_NAME = "FlowControl"
BUILTIN_MODEL_NAME = "valve_model_004.json"
MONITOR_PERIOD_S = 0.25
+MAX_GUI_OPEN_LOOP_POINTS = 2000
@dataclass(frozen=True)
@@ -49,6 +67,40 @@ class ModelInfo:
is_monotonic: bool
+@dataclass(frozen=True)
+class OpenLoopSettings:
+ """GUI 开环扫点参数。"""
+
+ min_opening_pct: float = OPENING_MIN_PCT
+ max_opening_pct: float = OPENING_MAX_PCT
+ opening_step_pct: float = OPENING_STEP_PCT
+ random_seed: int | None = RANDOM_SEED
+ sample_period_s: float = SAMPLE_PERIOD_S
+ steady_window_s: float = config.STEADY_STATE_WINDOW_S
+ steady_std_pct: float = config.STEADY_STATE_STD_PCT
+ max_wait_s: float = config.STEADY_STATE_MAX_WAIT_S
+ min_abs_std_slm: float = MIN_ABS_STD_SLM
+ include_fine_scan: bool = True
+ fine_stroke_start: float = config.OPEN_LOOP_FINE_STROKE_START
+ fine_stroke_step: float = config.OPEN_LOOP_FINE_STROKE_STEP
+
+
+@dataclass
+class _OpenLoopSession:
+ """仅由后台线程访问的开环运行状态。"""
+
+ settings: OpenLoopSettings
+ points: list
+ recorder: OpenLoopRecorder
+ detector: SteadyStateDetector
+ run_start: float
+ step_index: int
+ step_start: float
+ opening_pct: float
+ motor_position: float
+ read_failures: int = 0
+
+
def application_directory() -> Path:
"""返回日志等可写文件的程序目录。"""
if getattr(sys, "frozen", False):
@@ -129,6 +181,158 @@ def validate_target(target) -> float:
return value
+def validate_opening(opening) -> float:
+ """解析并校验 GUI 手动开度。"""
+ try:
+ value = float(str(opening).strip())
+ except (TypeError, ValueError) as exc:
+ raise ValueError("手动开度必须是数字") from exc
+ if not math.isfinite(value):
+ raise ValueError("手动开度必须是有限数值")
+ if not 0.0 <= value <= 100.0:
+ raise ValueError("手动开度必须位于 0～100%")
+ return value
+
+
+def _finite_float(value, label) -> float:
+ try:
+ number = float(str(value).strip())
+ except (TypeError, ValueError) as exc:
+ raise ValueError(f"{label}必须是数字") from exc
+ if not math.isfinite(number):
+ raise ValueError(f"{label}必须是有限数值")
+ return number
+
+
+def validate_open_loop_settings(
+ *,
+ min_opening_pct=OPENING_MIN_PCT,
+ max_opening_pct=OPENING_MAX_PCT,
+ opening_step_pct=OPENING_STEP_PCT,
+ random_seed=RANDOM_SEED,
+ sample_period_s=SAMPLE_PERIOD_S,
+ steady_window_s=config.STEADY_STATE_WINDOW_S,
+ steady_std_pct=config.STEADY_STATE_STD_PCT,
+ max_wait_s=config.STEADY_STATE_MAX_WAIT_S,
+ min_abs_std_slm=MIN_ABS_STD_SLM,
+ include_fine_scan=True,
+ fine_stroke_start=config.OPEN_LOOP_FINE_STROKE_START,
+ fine_stroke_step=config.OPEN_LOOP_FINE_STROKE_STEP,
+) -> OpenLoopSettings:
+ """解析弹窗参数并拒绝无法执行或规模异常的扫点配置。"""
+ min_opening = _finite_float(min_opening_pct, "起始开度")
+ max_opening = _finite_float(max_opening_pct, "结束开度")
+ opening_step = _finite_float(opening_step_pct, "开度间隔")
+ sample_period = _finite_float(sample_period_s, "采样周期")
+ steady_window = _finite_float(steady_window_s, "稳态窗口")
+ steady_std = _finite_float(steady_std_pct, "相对标准差阈值")
+ max_wait = _finite_float(max_wait_s, "单点最长等待时间")
+ min_abs_std = _finite_float(min_abs_std_slm, "绝对标准差下限")
+ fine_start = _finite_float(fine_stroke_start, "精扫起始行程")
+ fine_step = _finite_float(fine_stroke_step, "精扫行程间隔")
+
+ if not 0.0 <= min_opening < max_opening <= 100.0:
+ raise ValueError("开度范围必须满足 0 ≤ 起始开度 < 结束开度 ≤ 100")
+ if opening_step <= 0.0:
+ raise ValueError("开度间隔必须大于 0")
+ if sample_period <= 0.0:
+ raise ValueError("采样周期必须大于 0")
+ if steady_window <= sample_period:
+ raise ValueError("稳态窗口必须大于采样周期")
+ if steady_std < 0.0 or min_abs_std < 0.0:
+ raise ValueError("稳态标准差阈值不得为负数")
+ if max_wait < steady_window:
+ raise ValueError("单点最长等待时间不得小于稳态窗口")
+
+ seed_text = "" if random_seed is None else str(random_seed).strip()
+ if seed_text == "":
+ seed = None
+ else:
+ try:
+ seed = int(seed_text)
+ except (TypeError, ValueError) as exc:
+ raise ValueError("随机种子必须是整数或留空") from exc
+
+ include_fine = bool(include_fine_scan)
+ if include_fine:
+ if not config.MOTOR_OPEN_POSITION <= fine_start < config.MOTOR_CLOSED_POSITION:
+ raise ValueError(
+ "精扫起始行程必须位于 "
+ f"{config.MOTOR_OPEN_POSITION:g}～{config.MOTOR_CLOSED_POSITION:g}"
+ )
+ if fine_step <= 0.0:
+ raise ValueError("精扫行程间隔必须大于 0")
+
+ settings = OpenLoopSettings(
+ min_opening_pct=min_opening,
+ max_opening_pct=max_opening,
+ opening_step_pct=opening_step,
+ random_seed=seed,
+ sample_period_s=sample_period,
+ steady_window_s=steady_window,
+ steady_std_pct=steady_std,
+ max_wait_s=max_wait,
+ min_abs_std_slm=min_abs_std,
+ include_fine_scan=include_fine,
+ fine_stroke_start=fine_start,
+ fine_stroke_step=fine_step,
+ )
+ point_count = len(build_open_loop_points(settings))
+ if point_count > MAX_GUI_OPEN_LOOP_POINTS:
+ raise ValueError(
+ f"扫描点数 {point_count} 超过上限 {MAX_GUI_OPEN_LOOP_POINTS}，"
+ "请增大开度或精扫间隔"
+ )
+ return settings
+
+
+def build_open_loop_points(settings: OpenLoopSettings):
+ """按 GUI 参数生成随机开度点，并可选追加闭阀端精细行程点。"""
+ openings = generate_openings(
+ settings.min_opening_pct,
+ settings.max_opening_pct,
+ settings.opening_step_pct,
+ settings.random_seed,
+ )
+ points = [
+ (
+ opening,
+ opening_to_motor_position(
+ opening,
+ config.MOTOR_OPEN_POSITION,
+ config.MOTOR_CLOSED_POSITION,
+ ),
+ )
+ for opening in openings
+ ]
+ if settings.include_fine_scan:
+ fine_strokes = generate_fine_strokes(
+ settings.fine_stroke_start,
+ config.MOTOR_CLOSED_POSITION,
+ settings.fine_stroke_step,
+ )
+ points.extend(
+ (
+ motor_position_to_opening(
+ stroke,
+ config.MOTOR_OPEN_POSITION,
+ config.MOTOR_CLOSED_POSITION,
+ ),
+ stroke,
+ )
+ for stroke in fine_strokes
+ )
+ return points
+
+
+def create_open_loop_recorder():
+ """创建写到程序目录的开环 CSV/PNG 记录器。"""
+ return OpenLoopRecorder(
+ application_directory() / OPEN_LOOP_OUTPUT_DIRECTORY,
+ plot_dpi=config.PLOT_DPI,
+ )
+
+
def load_model(model_path: str | Path | None = None) -> ModelInfo:
"""加载内置或外部阀模型，并检查其是否匹配当前行程配置。"""
is_builtin = model_path is None
@@ -280,11 +484,13 @@ class ControlWorker:
hardware_factory=create_hardware,
model_loader=load_model,
controller_factory=build_control_loop,
+ open_loop_recorder_factory=create_open_loop_recorder,
):
self.logger = logger
self.hardware_factory = hardware_factory
self.model_loader = model_loader
self.controller_factory = controller_factory
+ self.open_loop_recorder_factory = open_loop_recorder_factory
self.commands = Queue()
self.events = Queue()
self.thread = threading.Thread(
@@ -296,6 +502,10 @@ class ControlWorker:
self._state = "DISCONNECTED"
self._hardware = None
self._controller = None
+ self._open_loop = None
+ self._monitor_opening_pct = 100.0
+ self._monitor_motor_position = config.MOTOR_OPEN_POSITION
+ self._monitor_mode = "未启用"
self._next_cycle = 0.0
self._monitor_failures = {
"FLOW": 0,
@@ -319,9 +529,21 @@ class ControlWorker:
def request_target(self, target):
self.commands.put(("SET_TARGET", {"target": target}))
+ def request_stop_control(self):
+ self.commands.put(("STOP_CONTROL", {}))
+
+ def request_manual_opening(self, opening):
+ self.commands.put(("SET_MANUAL_OPENING", {"opening": opening}))
+
def request_disconnect(self):
self.commands.put(("DISCONNECT", {}))
+ def request_open_loop_start(self, settings: OpenLoopSettings):
+ self.commands.put(("START_OPEN_LOOP", {"settings": settings}))
+
+ def request_open_loop_stop(self):
+ self.commands.put(("STOP_OPEN_LOOP", {}))
+
def request_shutdown(self):
self.commands.put(("SHUTDOWN", {}))
@@ -356,6 +578,11 @@ class ControlWorker:
elif self._state == "CONTROLLING" and now >= self._next_cycle:
self._control_once(now)
self._advance_deadline(now, config.CONTROL_PERIOD_S)
+ elif self._state == "OPEN_LOOP" and now >= self._next_cycle:
+ period = self._open_loop.settings.sample_period_s
+ self._open_loop_once(now)
+ if self._state == "OPEN_LOOP":
+ self._advance_deadline(now, period)
finally:
errors = self._safe_disconnect()
if errors:
@@ -363,7 +590,7 @@ class ControlWorker:
self._emit("shutdown_complete", errors=errors)
def _command_timeout(self):
- if self._state in {"MONITORING", "CONTROLLING"}:
+ if self._state in {"MONITORING", "CONTROLLING", "OPEN_LOOP"}:
return max(0.0, min(0.05, self._next_cycle - time.perf_counter()))
return 0.1
@@ -377,8 +604,16 @@ class ControlWorker:
self._connect(payload["settings"], payload.get("model_path"))
elif command == "SET_TARGET":
self._set_target(payload["target"])
+ elif command == "STOP_CONTROL":
+ self._stop_control()
+ elif command == "SET_MANUAL_OPENING":
+ self._set_manual_opening(payload["opening"])
elif command == "DISCONNECT":
self._disconnect()
+ elif command == "START_OPEN_LOOP":
+ self._start_open_loop(payload["settings"])
+ elif command == "STOP_OPEN_LOOP":
+ self._stop_open_loop()
elif command == "SHUTDOWN":
self._set_state("STOPPING", "正在安全退出…")
self._shutdown_requested = True
@@ -409,6 +644,9 @@ class ControlWorker:
model_info.model,
self.logger,
)
+ self._monitor_opening_pct = 100.0
+ self._monitor_motor_position = config.MOTOR_OPEN_POSITION
+ self._monitor_mode = "未启用"
for sensor in self._monitor_failures:
self._monitor_failures[sensor] = 0
self._next_cycle = time.perf_counter()
@@ -451,6 +689,88 @@ class ControlWorker:
except Exception as exc:
self._emit("warning", message=f"目标流量设置失败：{exc}")
+ def _stop_control(self):
+ if self._state != "CONTROLLING" or self._controller is None:
+ self._emit("warning", message="当前没有正在运行的闭环流量控制")
+ return
+ try:
+ self._controller.stop()
+ if not bool(
+ self._hardware.set_motor_position(
+ config.MOTOR_OPEN_POSITION,
+ channel=config.MOTOR_OUTPUT_ADDR,
+ )
+ ):
+ raise FlowControlFault(
+ "CONTROL_STOP_OPEN_FAILED",
+ "STOP_CONTROL",
+ "停止流量控制后设置阀门 100% 开度失败",
+ )
+ self._monitor_opening_pct = 100.0
+ self._monitor_motor_position = config.MOTOR_OPEN_POSITION
+ self._monitor_mode = "未启用"
+ self._next_cycle = time.perf_counter()
+ self.logger.info("闭环流量控制已停止，阀门已设置为 100%% 开度")
+ self._emit(
+ "control_stopped",
+ opening_pct=self._monitor_opening_pct,
+ motor_position=self._monitor_motor_position,
+ )
+ self._set_state("MONITORING", "流量控制已停止，阀门为 100% 开度")
+ except Exception as exc:
+ self._handle_runtime_fault(exc)
+
+ def _set_manual_opening(self, opening):
+ if self._state == "CONTROLLING":
+ self._emit("warning", message="请先停止流量控制，再设置手动开度")
+ return
+ if self._state == "OPEN_LOOP":
+ self._emit("warning", message="请先停止开环扫点，再设置手动开度")
+ return
+ if self._state != "MONITORING" or self._hardware is None:
+ self._emit("warning", message="请先连接设备，再设置手动开度")
+ return
+ try:
+ value = validate_opening(opening)
+ position = opening_to_motor_position(
+ value,
+ config.MOTOR_OPEN_POSITION,
+ config.MOTOR_CLOSED_POSITION,
+ )
+ if not bool(
+ self._hardware.set_motor_position(
+ position,
+ channel=config.MOTOR_OUTPUT_ADDR,
+ )
+ ):
+ raise FlowControlFault(
+ "MANUAL_OPENING_WRITE_FAILED",
+ "SET_MANUAL_OPENING",
+ f"手动开度 {value:.3f}% 写入失败",
+ )
+ self._monitor_opening_pct = value
+ self._monitor_motor_position = position
+ self._monitor_mode = "未启用"
+ self._next_cycle = time.perf_counter()
+ self.logger.info(
+ "手动开度已设置：%.3f%%，电机行程 %.3f",
+ value,
+ position,
+ )
+ self._emit(
+ "manual_opening_applied",
+ opening_pct=value,
+ motor_position=position,
+ )
+ self._set_state(
+ "MONITORING",
+ f"手动开度 {value:g}% 已生效，设备继续监测",
+ )
+ except ValueError as exc:
+ self._emit("warning", message=str(exc))
+ except Exception as exc:
+ self._handle_runtime_fault(exc)
+
def _disconnect(self):
if self._state == "DISCONNECTED":
return
@@ -465,6 +785,275 @@ class ControlWorker:
self.logger.info("设备已安全断开")
self._set_state("DISCONNECTED", "设备已断开")
+ def _start_open_loop(self, settings):
+ if self._state not in {"MONITORING", "CONTROLLING"}:
+ self._emit("warning", message="请先连接设备，再启动开环扫点")
+ return
+ if not isinstance(settings, OpenLoopSettings):
+ self._emit("warning", message="开环扫点参数类型无效")
+ return
+
+ try:
+ points = build_open_loop_points(settings)
+ if not points:
+ raise ValueError("没有生成任何扫描点")
+ if self._controller is not None and self._controller.running:
+ self._controller.stop()
+
+ if not bool(
+ self._hardware.set_motor_position(
+ config.MOTOR_OPEN_POSITION,
+ channel=config.MOTOR_OUTPUT_ADDR,
+ )
+ ):
+ raise FlowControlFault(
+ "OPEN_LOOP_INITIAL_OPEN_FAILED",
+ "OPEN_LOOP_START",
+ "开环扫点前设置阀门 100% 开度失败",
+ )
+
+ recorder = self.open_loop_recorder_factory()
+ detector = SteadyStateDetector(
+ settings.steady_window_s,
+ settings.steady_std_pct,
+ sample_period_s=settings.sample_period_s,
+ min_abs_std_slm=settings.min_abs_std_slm,
+ )
+ now = time.perf_counter()
+ opening, position = points[0]
+ self._open_loop = _OpenLoopSession(
+ settings=settings,
+ points=points,
+ recorder=recorder,
+ detector=detector,
+ run_start=now,
+ step_index=0,
+ step_start=now,
+ opening_pct=opening,
+ motor_position=position,
+ )
+ if not bool(
+ self._hardware.set_motor_position(
+ position,
+ channel=config.MOTOR_OUTPUT_ADDR,
+ )
+ ):
+ raise FlowControlFault(
+ "OPEN_LOOP_MOTOR_COMMAND_FAILED",
+ "OPEN_LOOP_START",
+ f"写入首个扫描点失败：开度 {opening:.3f}% / 行程 {position:.3f}",
+ )
+
+ self._next_cycle = now
+ self.logger.info(
+ "开环扫点启动：共 %d 点，开度 %.3f%%～%.3f%%，间隔 %.3f%%，"
+ "采样周期 %.3f s，单点最长 %.3f s，CSV=%s",
+ len(points),
+ settings.min_opening_pct,
+ settings.max_opening_pct,
+ settings.opening_step_pct,
+ settings.sample_period_s,
+ settings.max_wait_s,
+ recorder.csv_path,
+ )
+ self._set_state(
+ "OPEN_LOOP",
+ f"开环扫点 1/{len(points)}：开度 {opening:.2f}% / 行程 {position:.1f}",
+ )
+ self._emit(
+ "open_loop_started",
+ total_steps=len(points),
+ csv_path=str(recorder.csv_path),
+ )
+ except Exception as exc:
+ self._handle_runtime_fault(exc)
+
+ def _stop_open_loop(self):
+ if self._state != "OPEN_LOOP" or self._open_loop is None:
+ self._emit("warning", message="当前没有正在运行的开环扫点")
+ return
+ try:
+ self._finish_open_loop(completed=False, reason="用户停止")
+ except Exception as exc:
+ self._handle_runtime_fault(exc)
+
+ def _open_loop_once(self, now):
+ session = self._open_loop
+ if session is None:
+ self._handle_runtime_fault(RuntimeError("开环扫点状态丢失"))
+ return
+ try:
+ pressure_before, flow_before, pressure_after, flow_after = read_sensors(
+ self._hardware
+ )
+ elapsed_s = now - session.run_start
+ session.recorder.record(
+ time_s=elapsed_s,
+ step_index=session.step_index,
+ opening_pct=session.opening_pct,
+ motor_position=session.motor_position,
+ flow_before_slm=flow_before,
+ flow_after_slm=flow_after,
+ pressure_before_kpa=pressure_before,
+ pressure_after_kpa=pressure_after,
+ )
+
+ fault = check_safety(
+ pressure_before,
+ flow_before,
+ pressure_after,
+ flow_after,
+ )
+ if fault is not None:
+ raise FlowControlFault(
+ "OPEN_LOOP_SAFETY_LIMIT",
+ "OPEN_LOOP_SAMPLE",
+ f"开环扫点安全阈值触发：{fault}",
+ )
+
+ if flow_after is None:
+ session.read_failures += 1
+ else:
+ session.read_failures = 0
+ if session.read_failures >= MAX_CONSECUTIVE_READ_FAILURES:
+ raise FlowControlFault(
+ "OPEN_LOOP_FLOW_READ_FAILED",
+ "OPEN_LOOP_SAMPLE",
+ f"阀后流量连续读取失败 {session.read_failures} 次",
+ )
+
+ step_elapsed = now - session.step_start
+ stable = session.detector.observe(elapsed_s, flow_after)
+ timed_out = step_elapsed >= session.settings.max_wait_s
+ total_steps = len(session.points)
+ self._emit(
+ "telemetry",
+ measured_flow_slm=flow_after,
+ pressure_before_kpa=pressure_before,
+ pressure_kpa=pressure_after,
+ target_flow_slm=None,
+ opening_pct=session.opening_pct,
+ motor_position=session.motor_position,
+ feedforward_pct=None,
+ correction_pct=None,
+ pid_mode="开环",
+ status="OPEN_LOOP",
+ )
+ self._emit(
+ "open_loop_progress",
+ current_step=session.step_index + 1,
+ total_steps=total_steps,
+ opening_pct=session.opening_pct,
+ motor_position=session.motor_position,
+ step_elapsed_s=step_elapsed,
+ )
+
+ if stable or timed_out:
+ completion = "流量已稳定" if stable else "达到单点最长等待时间"
+ self.logger.info(
+ "开环步 %d/%d 完成：开度 %.3f%% / 行程 %.3f，%s，耗时 %.3f s",
+ session.step_index + 1,
+ total_steps,
+ session.opening_pct,
+ session.motor_position,
+ completion,
+ step_elapsed,
+ )
+ self._advance_open_loop_step(now)
+ except Exception as exc:
+ self._handle_runtime_fault(exc)
+
+ def _advance_open_loop_step(self, now):
+ session = self._open_loop
+ next_index = session.step_index + 1
+ if next_index >= len(session.points):
+ self._finish_open_loop(completed=True, reason="扫描完成")
+ return
+
+ opening, position = session.points[next_index]
+ if not bool(
+ self._hardware.set_motor_position(
+ position,
+ channel=config.MOTOR_OUTPUT_ADDR,
+ )
+ ):
+ raise FlowControlFault(
+ "OPEN_LOOP_MOTOR_COMMAND_FAILED",
+ "OPEN_LOOP_STEP_CHANGE",
+ f"写入扫描点失败：开度 {opening:.3f}% / 行程 {position:.3f}",
+ )
+ session.step_index = next_index
+ session.step_start = now
+ session.opening_pct = opening
+ session.motor_position = position
+ session.detector.reset()
+ self._set_state(
+ "OPEN_LOOP",
+ f"开环扫点 {next_index + 1}/{len(session.points)}："
+ f"开度 {opening:.2f}% / 行程 {position:.1f}",
+ )
+
+ def _finish_open_loop(self, *, completed, reason):
+ if self._open_loop is None:
+ return
+ self._set_state("FINALIZING", "正在恢复 100% 开度并生成开环数据图…")
+ if not bool(
+ self._hardware.set_motor_position(
+ config.MOTOR_OPEN_POSITION,
+ channel=config.MOTOR_OUTPUT_ADDR,
+ )
+ ):
+ raise FlowControlFault(
+ "OPEN_LOOP_FINAL_OPEN_FAILED",
+ "OPEN_LOOP_FINALIZE",
+ "开环扫点结束后设置阀门 100% 开度失败",
+ )
+ self._monitor_opening_pct = 100.0
+ self._monitor_motor_position = config.MOTOR_OPEN_POSITION
+ self._monitor_mode = "未启用"
+ errors, payload = self._finalize_open_loop_data(completed, reason)
+ if payload is not None:
+ self._emit("open_loop_finished", **payload)
+ if errors:
+ self._emit("warning", message="；".join(errors))
+ self._next_cycle = time.perf_counter()
+ self._set_state("MONITORING", f"开环扫点已结束（{reason}），设备保持连接")
+
+ def _finalize_open_loop_data(self, completed, reason):
+ session = self._open_loop
+ if session is None:
+ return [], None
+ self._open_loop = None
+ recorder = session.recorder
+ errors = []
+ image_path = None
+ try:
+ image = recorder.finalize()
+ if image is not None:
+ image_path = str(image)
+ except Exception as exc:
+ try:
+ recorder.close()
+ except Exception:
+ pass
+ errors.append(f"生成开环曲线图失败，CSV 已保留：{exc}")
+ self.logger.exception("生成开环曲线图失败")
+ payload = {
+ "completed": bool(completed),
+ "reason": str(reason),
+ "csv_path": str(recorder.csv_path),
+ "image_path": image_path,
+ "sample_count": int(getattr(recorder, "sample_count", 0)),
+ }
+ self.logger.info(
+ "开环扫点结束：%s，采样 %d 条，CSV=%s，PNG=%s",
+ reason,
+ payload["sample_count"],
+ payload["csv_path"],
+ image_path or "未生成",
+ )
+ return errors, payload
+
def _monitor_once(self):
try:
flow = self._read_monitor_value(
@@ -515,11 +1104,11 @@ class ControlWorker:
pressure_before_kpa=pressure_before,
pressure_kpa=pressure_after,
target_flow_slm=None,
- opening_pct=100.0,
- motor_position=config.MOTOR_OPEN_POSITION,
+ opening_pct=self._monitor_opening_pct,
+ motor_position=self._monitor_motor_position,
feedforward_pct=None,
correction_pct=None,
- pid_mode="--",
+ pid_mode=self._monitor_mode,
status=status,
)
except Exception as exc:
@@ -588,6 +1177,9 @@ class ControlWorker:
hardware = self._hardware
self._controller = None
self._hardware = None
+ self._monitor_opening_pct = 100.0
+ self._monitor_motor_position = config.MOTOR_OPEN_POSITION
+ self._monitor_mode = "未启用"
if controller is not None:
try:
@@ -610,4 +1202,12 @@ class ControlWorker:
hardware.disconnect()
except Exception as exc:
errors.append(f"断开 PLC 失败：{exc}")
+
+ finalize_errors, payload = self._finalize_open_loop_data(
+ completed=False,
+ reason="设备断开或程序退出",
+ )
+ errors.extend(finalize_errors)
+ if payload is not None:
+ self._emit("open_loop_finished", **payload)
return errors
diff --git a/flow_control_gui.spec b/flow_control_gui.spec
index 2513eb8..29948c1 100644
--- a/flow_control_gui.spec
+++ b/flow_control_gui.spec
@@ -12,9 +12,16 @@ a = Analysis(
datas=[("valve_model/valve_model_004.json", ".")],
hiddenimports=hiddenimports,
hookspath=[],
- hooksconfig={},
+ hooksconfig={"matplotlib": {"backends": "Agg"}},
runtime_hooks=[],
- excludes=["matplotlib", "numpy", "pytest"],
+ excludes=[
+ "pytest",
+ "pandas",
+ "scipy",
+ "IPython",
+ "PyQt5",
+ "PySide6",
+ ],
noarchive=False,
optimize=0,
)
diff --git a/gui_main.py b/gui_main.py
index 8fa78e9..2399452 100644
--- a/gui_main.py
+++ b/gui_main.py
@@ -5,8 +5,11 @@ from __future__ import annotations
import argparse
import ctypes
from datetime import datetime
-from queue import Empty
+from pathlib import Path
+from queue import Empty, Queue
import sys
+from tempfile import TemporaryDirectory
+import threading
import tkinter as tk
from tkinter import filedialog, messagebox, ttk
@@ -14,16 +17,202 @@ import config
from control_runtime import (
BUILTIN_MODEL_NAME,
ControlWorker,
+ OpenLoopSettings,
+ application_directory,
+ build_open_loop_points,
build_runtime_logger,
load_model,
validate_device_settings,
+ validate_opening,
+ validate_open_loop_settings,
validate_target,
)
+from identify_valve import DEFAULT_TAIL, create_diagnostic_plot, identify
WINDOW_TITLE = "气体流量控制"
+class OpenLoopDialog:
+ """开环扫点参数弹窗。"""
+
+ def __init__(self, parent, on_start):
+ self.parent = parent
+ self.on_start = on_start
+ defaults = OpenLoopSettings()
+
+ self.window = tk.Toplevel(parent)
+ self.window.title("开环扫点参数")
+ self.window.transient(parent)
+ self.window.resizable(False, False)
+ self.window.protocol("WM_DELETE_WINDOW", self._cancel)
+
+ self.values = {
+ "min_opening_pct": tk.StringVar(value=f"{defaults.min_opening_pct:g}"),
+ "max_opening_pct": tk.StringVar(value=f"{defaults.max_opening_pct:g}"),
+ "opening_step_pct": tk.StringVar(value=f"{defaults.opening_step_pct:g}"),
+ "random_seed": tk.StringVar(value=str(defaults.random_seed or "")),
+ "sample_period_s": tk.StringVar(value=f"{defaults.sample_period_s:g}"),
+ "steady_window_s": tk.StringVar(value=f"{defaults.steady_window_s:g}"),
+ "steady_std_pct": tk.StringVar(value=f"{defaults.steady_std_pct:g}"),
+ "max_wait_s": tk.StringVar(value=f"{defaults.max_wait_s:g}"),
+ "min_abs_std_slm": tk.StringVar(value=f"{defaults.min_abs_std_slm:g}"),
+ "fine_stroke_start": tk.StringVar(value=f"{defaults.fine_stroke_start:g}"),
+ "fine_stroke_step": tk.StringVar(value=f"{defaults.fine_stroke_step:g}"),
+ }
+ self.include_fine_scan = tk.BooleanVar(value=defaults.include_fine_scan)
+ self.summary_var = tk.StringVar()
+ self.fine_entries = []
+
+ self._build_ui()
+ for variable in self.values.values():
+ variable.trace_add("write", self._refresh_summary)
+ self.include_fine_scan.trace_add("write", self._fine_scan_changed)
+ self._fine_scan_changed()
+
+ self.window.update_idletasks()
+ x = parent.winfo_rootx() + (parent.winfo_width() - self.window.winfo_width()) // 2
+ y = parent.winfo_rooty() + (parent.winfo_height() - self.window.winfo_height()) // 2
+ self.window.geometry(f"+{max(0, x)}+{max(0, y)}")
+ self.window.grab_set()
+ self.window.focus_set()
+
+ def _build_ui(self):
+ outer = ttk.Frame(self.window, padding=14)
+ outer.pack(fill="both", expand=True)
+
+ ttk.Label(
+ outer,
+ text="开环扫点会停止闭环，并直接按扫描序列下发阀门开度。",
+ foreground="#8a4b00",
+ wraplength=560,
+ ).pack(anchor="w", pady=(0, 9))
+
+ basic = ttk.LabelFrame(outer, text="扫描范围", padding=9)
+ basic.pack(fill="x")
+ self._add_field(basic, 0, 0, "起始开度", "min_opening_pct", "%")
+ self._add_field(basic, 0, 3, "结束开度", "max_opening_pct", "%")
+ self._add_field(basic, 1, 0, "开度间隔", "opening_step_pct", "%")
+ self._add_field(basic, 1, 3, "随机种子", "random_seed", "（留空=随机）")
+
+ steady = ttk.LabelFrame(outer, text="采样与稳态判定", padding=9)
+ steady.pack(fill="x", pady=(9, 0))
+ self._add_field(steady, 0, 0, "采样周期", "sample_period_s", "s")
+ self._add_field(steady, 0, 3, "稳态窗口", "steady_window_s", "s")
+ self._add_field(steady, 1, 0, "相对标准差", "steady_std_pct", "%")
+ self._add_field(steady, 1, 3, "绝对标准差下限", "min_abs_std_slm", "SLM")
+ self._add_field(steady, 2, 0, "单点最长等待", "max_wait_s", "s")
+
+ fine = ttk.LabelFrame(outer, text="闭阀端精细扫描", padding=9)
+ fine.pack(fill="x", pady=(9, 0))
+ ttk.Checkbutton(
+ fine,
+ text="追加精细行程点",
+ variable=self.include_fine_scan,
+ ).grid(row=0, column=0, columnspan=3, sticky="w")
+ start_entry = self._add_field(
+ fine, 1, 0, "起始行程", "fine_stroke_start", "（终点 1000）"
+ )
+ step_entry = self._add_field(
+ fine, 1, 3, "行程间隔", "fine_stroke_step", ""
+ )
+ self.fine_entries.extend((start_entry, step_entry))
+
+ summary = tk.Label(
+ outer,
+ textvariable=self.summary_var,
+ bg="#edf5ff",
+ fg="#174f85",
+ anchor="w",
+ justify="left",
+ padx=9,
+ pady=7,
+ )
+ summary.pack(fill="x", pady=(9, 0))
+ output_dir = application_directory() / "open_loop_data"
+ ttk.Label(
+ outer,
+ text=f"输出目录：{output_dir}（每次生成 CSV，存在采样时同时生成 PNG）",
+ foreground="#5f6368",
+ wraplength=560,
+ ).pack(anchor="w", pady=(7, 0))
+
+ buttons = ttk.Frame(outer)
+ buttons.pack(fill="x", pady=(12, 0))
+ ttk.Button(buttons, text="取消", command=self._cancel, width=12).pack(
+ side="right"
+ )
+ ttk.Button(
+ buttons,
+ text="开始扫点",
+ command=self._start,
+ style="Primary.TButton",
+ width=14,
+ ).pack(side="right", padx=(0, 8))
+
+ def _add_field(self, parent, row, column, label, key, unit):
+ ttk.Label(parent, text=label).grid(
+ row=row, column=column, sticky="w", pady=(5 if row else 0, 0)
+ )
+ entry = ttk.Entry(parent, textvariable=self.values[key], width=10)
+ entry.grid(
+ row=row,
+ column=column + 1,
+ sticky="w",
+ padx=(6, 4),
+ pady=(5 if row else 0, 0),
+ )
+ ttk.Label(parent, text=unit).grid(
+ row=row,
+ column=column + 2,
+ sticky="w",
+ padx=(0, 16),
+ pady=(5 if row else 0, 0),
+ )
+ return entry
+
+ def _settings(self):
+ return validate_open_loop_settings(
+ **{key: variable.get() for key, variable in self.values.items()},
+ include_fine_scan=self.include_fine_scan.get(),
+ )
+
+ def _refresh_summary(self, *_args):
+ try:
+ settings = self._settings()
+ point_count = len(build_open_loop_points(settings))
+ maximum_minutes = point_count * settings.max_wait_s / 60.0
+ self.summary_var.set(
+ f"共 {point_count} 个扫描点；按单点最长等待估算，上限约 "
+ f"{maximum_minutes:.1f} 分钟（稳定后会提前切换）。"
+ )
+ except ValueError as exc:
+ self.summary_var.set(f"参数待修正：{exc}")
+
+ def _fine_scan_changed(self, *_args):
+ state = "normal" if self.include_fine_scan.get() else "disabled"
+ for entry in self.fine_entries:
+ entry.configure(state=state)
+ self._refresh_summary()
+
+ def _start(self):
+ try:
+ settings = self._settings()
+ except ValueError as exc:
+ messagebox.showerror("扫点参数无效", str(exc), parent=self.window)
+ return
+ if self.on_start(settings):
+ self.window.grab_release()
+ self.window.destroy()
+
+ def _cancel(self):
+ try:
+ self.window.grab_release()
+ except tk.TclError:
+ pass
+ self.window.destroy()
+
+
class FlowControlApp:
"""单窗口操作界面。"""
@@ -32,6 +221,8 @@ class FlowControlApp:
"CONNECTING": "正在连接",
"MONITORING": "已连接 / 监测中",
"CONTROLLING": "闭环运行中",
+ "OPEN_LOOP": "开环扫点中",
+ "FINALIZING": "正在生成结果",
"DISCONNECTING": "正在断开",
"STOPPING": "正在退出",
"FAULT": "故障 / 已断开",
@@ -42,6 +233,8 @@ class FlowControlApp:
"CONNECTING": ("#875a00", "#fff3cd"),
"MONITORING": ("#0b6b3a", "#dff4e8"),
"CONTROLLING": ("#075cad", "#deefff"),
+ "OPEN_LOOP": ("#7a3e00", "#ffe9cc"),
+ "FINALIZING": ("#875a00", "#fff3cd"),
"DISCONNECTING": ("#875a00", "#fff3cd"),
"STOPPING": ("#875a00", "#fff3cd"),
"FAULT": ("#a61b1b", "#fde5e5"),
@@ -50,8 +243,8 @@ class FlowControlApp:
def __init__(self, root):
self.root = root
self.root.title(WINDOW_TITLE)
- self.root.geometry("860x720")
- self.root.minsize(780, 640)
+ self.root.geometry("860x760")
+ self.root.minsize(780, 700)
self.root.protocol("WM_DELETE_WINDOW", self._on_close)
self.logger = build_runtime_logger()
@@ -60,12 +253,15 @@ class FlowControlApp:
self.closing = False
self.selected_model_path = None
self.model_info = load_model()
+ self.fit_events = Queue()
+ self.fit_in_progress = False
self.host_var = tk.StringVar(value=config.PLC_HOST)
self.port_var = tk.StringVar(value=str(config.PLC_PORT))
self.slave_var = tk.StringVar(value=str(config.PLC_SLAVE_ID))
self.model_var = tk.StringVar(value=self.model_info.display_name)
self.target_var = tk.StringVar(value="")
+ self.manual_opening_var = tk.StringVar(value="100")
self.active_target_var = tk.StringVar(value="--")
self.status_var = tk.StringVar(value="未连接")
self.detail_var = tk.StringVar(value="请选择模型并连接设备")
@@ -156,8 +352,12 @@ class FlowControlApp:
foreground="#174f85",
)
self.model_label.grid(
- row=1, column=1, columnspan=3, sticky="w", padx=(7, 10), pady=(10, 0)
+ row=1, column=1, columnspan=2, sticky="w", padx=(7, 10), pady=(10, 0)
)
+ self.open_loop_button = ttk.Button(
+ connection, text="开环扫点", command=self._open_open_loop_dialog
+ )
+ self.open_loop_button.grid(row=1, column=3, pady=(10, 0), padx=(0, 7))
self.model_browse_button = ttk.Button(
connection, text="选择 JSON…", command=self._choose_model
)
@@ -185,6 +385,13 @@ class FlowControlApp:
width=16,
)
self.disconnect_button.pack(side="left", padx=(10, 0))
+ self.fit_model_button = ttk.Button(
+ button_row,
+ text="拟合前馈表",
+ command=self._fit_feedforward_model,
+ width=16,
+ )
+ self.fit_model_button.pack(side="right")
target_frame = ttk.LabelFrame(
outer,
@@ -195,25 +402,34 @@ class FlowControlApp:
target_frame.pack(fill="x", pady=(10, 0))
target_frame.columnconfigure(1, weight=1)
ttk.Label(target_frame, text="目标值").grid(row=0, column=0, sticky="w")
+ target_input = ttk.Frame(target_frame)
+ target_input.grid(row=0, column=1, sticky="w", padx=(8, 5))
self.target_entry = ttk.Entry(
- target_frame,
+ target_input,
textvariable=self.target_var,
- width=18,
+ width=9,
font=("Microsoft YaHei UI", 12),
)
- self.target_entry.grid(row=0, column=1, sticky="w", padx=(8, 5))
+ self.target_entry.pack(side="left")
self.target_entry.bind("
", lambda _event: self._set_target())
- ttk.Label(target_frame, text="SLM").grid(row=0, column=2, sticky="w")
+ ttk.Label(target_input, text="SLM").pack(side="left", padx=(5, 0))
self.target_button = ttk.Button(
target_frame,
text="设置目标流量",
command=self._set_target,
style="Primary.TButton",
- width=17,
+ width=15,
)
- self.target_button.grid(row=0, column=3, padx=(18, 0))
+ self.target_button.grid(row=0, column=2, padx=(12, 0))
+ self.stop_control_button = ttk.Button(
+ target_frame,
+ text="停止流量控制",
+ command=self._stop_control,
+ width=15,
+ )
+ self.stop_control_button.grid(row=0, column=3, padx=(8, 0))
ttk.Label(target_frame, text="当前目标：").grid(
- row=0, column=4, padx=(24, 0)
+ row=0, column=4, padx=(18, 0)
)
ttk.Label(
target_frame,
@@ -221,6 +437,39 @@ class FlowControlApp:
font=("Microsoft YaHei UI", 11, "bold"),
foreground="#075cad",
).grid(row=0, column=5, sticky="w")
+ ttk.Label(
+ target_frame,
+ text="手动开度",
+ ).grid(row=1, column=0, sticky="w", pady=(9, 0))
+ manual_opening_input = ttk.Frame(target_frame)
+ manual_opening_input.grid(
+ row=1, column=1, sticky="w", padx=(8, 5), pady=(9, 0)
+ )
+ self.manual_opening_entry = ttk.Entry(
+ manual_opening_input,
+ textvariable=self.manual_opening_var,
+ width=9,
+ font=("Microsoft YaHei UI", 12),
+ )
+ self.manual_opening_entry.pack(side="left")
+ self.manual_opening_entry.bind(
+ "", lambda _event: self._set_manual_opening()
+ )
+ ttk.Label(manual_opening_input, text="%").pack(side="left", padx=(5, 0))
+ self.manual_opening_button = ttk.Button(
+ target_frame,
+ text="设置开度",
+ command=self._set_manual_opening,
+ width=15,
+ )
+ self.manual_opening_button.grid(
+ row=1, column=2, padx=(12, 0), pady=(9, 0)
+ )
+ ttk.Label(
+ target_frame,
+ text="仅在闭环和扫点均停止后生效",
+ foreground="#5f6368",
+ ).grid(row=1, column=4, columnspan=2, sticky="w", padx=(24, 0), pady=(9, 0))
ttk.Label(
target_frame,
text=(
@@ -228,7 +477,7 @@ class FlowControlApp:
f"{config.TARGET_FLOW_MAX_SLM:g} SLM；首次设置即启动闭环"
),
foreground="#5f6368",
- ).grid(row=1, column=0, columnspan=6, sticky="w", pady=(7, 0))
+ ).grid(row=2, column=0, columnspan=6, sticky="w", pady=(7, 0))
telemetry = ttk.LabelFrame(
outer,
@@ -354,6 +603,161 @@ class FlowControlApp:
self.detail_var.set(f"正在设置目标流量 {value:g} SLM…")
self.worker.request_target(value)
+ def _stop_control(self):
+ if self.current_state != "CONTROLLING":
+ return
+ self.detail_var.set("正在停止流量控制并下发 100% 开度…")
+ self._append_log("请求停止流量控制并下发 100% 开度")
+ self.stop_control_button.configure(state="disabled")
+ self.worker.request_stop_control()
+
+ def _set_manual_opening(self):
+ if self.current_state == "CONTROLLING":
+ messagebox.showwarning(
+ "请先停止流量控制",
+ "闭环流量控制正在运行。请先点击“停止流量控制”，再设置手动开度。",
+ parent=self.root,
+ )
+ return
+ if self.current_state == "OPEN_LOOP":
+ messagebox.showwarning(
+ "请先停止开环扫点",
+ "开环扫点正在运行。请先点击“停止扫点”，再设置手动开度。",
+ parent=self.root,
+ )
+ return
+ if self.current_state != "MONITORING":
+ messagebox.showwarning(
+ "无法设置开度",
+ "请先连接设备，再设置手动开度。",
+ parent=self.root,
+ )
+ return
+ try:
+ opening = validate_opening(self.manual_opening_var.get())
+ except ValueError as exc:
+ messagebox.showerror("手动开度无效", str(exc), parent=self.root)
+ return
+ self.detail_var.set(f"正在下发手动开度 {opening:g}%…")
+ self.worker.request_manual_opening(opening)
+
+ def _open_open_loop_dialog(self):
+ if self.current_state == "OPEN_LOOP":
+ self.detail_var.set("正在停止扫点并生成结果…")
+ self._append_log("请求提前停止开环扫点")
+ self.open_loop_button.configure(state="disabled")
+ self.worker.request_open_loop_stop()
+ return
+ if self.current_state not in {"MONITORING", "CONTROLLING"}:
+ messagebox.showwarning(
+ "无法开始扫点",
+ "请先连接设备并确认传感器数据正常。",
+ parent=self.root,
+ )
+ return
+ OpenLoopDialog(self.root, self._start_open_loop)
+
+ def _start_open_loop(self, settings):
+ if self.current_state not in {"MONITORING", "CONTROLLING"}:
+ messagebox.showwarning(
+ "无法开始扫点", "设备当前未处于可扫点状态。", parent=self.root
+ )
+ return False
+ if self.current_state == "CONTROLLING" and not messagebox.askyesno(
+ "切换到开环扫点",
+ "开始扫点将停止当前闭环控制，并按扫描序列直接下发阀门开度。是否继续？",
+ parent=self.root,
+ ):
+ return False
+ point_count = len(build_open_loop_points(settings))
+ self.active_target_var.set("--")
+ self.detail_var.set(f"正在启动开环扫点，共 {point_count} 点…")
+ self._append_log(f"请求启动开环扫点，共 {point_count} 个扫描点")
+ self.worker.request_open_loop_start(settings)
+ return True
+
+ def _fit_feedforward_model(self):
+ if self.fit_in_progress:
+ return
+ initial_directory = application_directory() / "open_loop_data"
+ if not initial_directory.is_dir():
+ initial_directory = application_directory()
+ csv_paths = filedialog.askopenfilenames(
+ parent=self.root,
+ title="选择一份或多份开环扫点 CSV",
+ initialdir=str(initial_directory),
+ filetypes=(("开环扫点 CSV", "*.csv"), ("所有文件", "*.*")),
+ )
+ if not csv_paths:
+ return
+ default_name = datetime.now().strftime("valve_model_%Y%m%d_%H%M%S.json")
+ output_path = filedialog.asksaveasfilename(
+ parent=self.root,
+ title="保存拟合后的前馈表",
+ initialdir=str(Path(csv_paths[0]).resolve().parent),
+ initialfile=default_name,
+ defaultextension=".json",
+ filetypes=(("阀模型 JSON", "*.json"),),
+ confirmoverwrite=True,
+ )
+ if not output_path:
+ return
+
+ self.fit_in_progress = True
+ self.fit_model_button.configure(text="正在拟合…", state="disabled")
+ self._append_log(
+ f"开始合并拟合 {len(csv_paths)} 份开环 CSV；输出：{output_path}"
+ )
+ threading.Thread(
+ target=self._run_feedforward_fit,
+ args=(tuple(csv_paths), output_path),
+ name="feedforward-model-fit",
+ daemon=True,
+ ).start()
+
+ def _run_feedforward_fit(self, csv_paths, output_path):
+ try:
+ model, steady, table, dropped, stats, area_points = identify(
+ csv_paths,
+ tail=DEFAULT_TAIL,
+ out_path=output_path,
+ )
+ image_path = str(Path(output_path).with_suffix(".png"))
+ plot_warning = None
+ try:
+ create_diagnostic_plot(
+ steady,
+ table,
+ dropped,
+ area_points,
+ image_path,
+ )
+ except Exception as exc:
+ image_path = None
+ plot_warning = str(exc)
+ self.logger.exception("前馈表诊断图生成失败")
+ self.fit_events.put(
+ {
+ "kind": "model_fit_finished",
+ "csv_count": len(csv_paths),
+ "output_path": str(Path(output_path).resolve()),
+ "image_path": image_path,
+ "point_count": len(model.area_table),
+ "steady_count": len(steady),
+ "dropped_count": len(dropped),
+ "stats": stats,
+ "plot_warning": plot_warning,
+ }
+ )
+ except Exception as exc:
+ self.logger.exception("拟合前馈表失败")
+ self.fit_events.put(
+ {
+ "kind": "model_fit_failed",
+ "message": str(exc),
+ }
+ )
+
def _choose_model(self):
path = filedialog.askopenfilename(
parent=self.root,
@@ -391,6 +795,11 @@ class FlowControlApp:
self._handle_worker_event(event)
except Empty:
pass
+ try:
+ while True:
+ self._handle_fit_event(self.fit_events.get_nowait())
+ except Empty:
+ pass
if not self.closing:
self.root.after(80, self._poll_worker_events)
elif self.worker.is_alive():
@@ -412,8 +821,52 @@ class FlowControlApp:
target = event["target"]
self.active_target_var.set(f"{target:g} SLM")
self._append_log(f"目标流量已生效：{target:g} SLM")
+ elif kind == "control_stopped":
+ self.active_target_var.set("--")
+ self.value_vars["opening"].set(
+ self._format_number(event.get("opening_pct"), digits=2)
+ )
+ self.value_vars["motor"].set(
+ self._format_number(event.get("motor_position"), digits=1)
+ )
+ self.value_vars["feedforward"].set("--")
+ self.value_vars["correction"].set("--")
+ self.value_vars["mode"].set("未启用")
+ self._append_log("流量控制已停止；总开度已下发为 100%")
+ elif kind == "manual_opening_applied":
+ opening = event["opening_pct"]
+ self.manual_opening_var.set(f"{opening:g}")
+ self.value_vars["opening"].set(f"{opening:.2f}")
+ self.value_vars["motor"].set(f"{event['motor_position']:.1f}")
+ self.value_vars["feedforward"].set("--")
+ self.value_vars["correction"].set("--")
+ self.value_vars["mode"].set("未启用")
+ self._append_log(f"手动开度已生效：{opening:g}%")
elif kind == "model_active":
self._append_log(f"当前控制模型：{event['display_name']}")
+ elif kind == "open_loop_started":
+ self.active_target_var.set("--")
+ self._append_log(
+ f"开环扫点已启动，共 {event['total_steps']} 点；CSV："
+ f"{event['csv_path']}"
+ )
+ elif kind == "open_loop_progress":
+ self.detail_var.set(
+ f"扫点 {event['current_step']}/{event['total_steps']}："
+ f"开度 {event['opening_pct']:.2f}% / "
+ f"行程 {event['motor_position']:.1f}，"
+ f"本点 {event['step_elapsed_s']:.1f} s"
+ )
+ elif kind == "open_loop_finished":
+ result = (
+ f"开环扫点{event['reason']}，记录 {event['sample_count']} 条采样。\n"
+ f"CSV：{event['csv_path']}"
+ )
+ if event.get("image_path"):
+ result += f"\nPNG：{event['image_path']}"
+ self._append_log(result.replace("\n", "；"))
+ if event.get("completed") and not self.closing:
+ messagebox.showinfo("开环扫点完成", result, parent=self.root)
elif kind == "warning":
message = event.get("message", "未知警告")
self.detail_var.set(message)
@@ -429,6 +882,36 @@ class FlowControlApp:
if errors:
self._append_log("退出警告：" + "；".join(errors))
+ def _handle_fit_event(self, event):
+ self.fit_in_progress = False
+ if hasattr(self, "fit_model_button"):
+ fit_enabled = self.current_state in {"DISCONNECTED", "FAULT", "MONITORING"}
+ self.fit_model_button.configure(
+ text="拟合前馈表",
+ state="normal" if fit_enabled and not self.closing else "disabled",
+ )
+ if event["kind"] == "model_fit_failed":
+ message = event.get("message", "未知错误")
+ self._append_log("拟合前馈表失败：" + message)
+ if not self.closing:
+ messagebox.showerror("拟合前馈表失败", message, parent=self.root)
+ return
+
+ message = (
+ f"已合并 {event['csv_count']} 份 CSV，读取 {event['steady_count']} 个稳态点，"
+ f"生成 {event['point_count']} 个 A_eff 标定点。\n"
+ f"JSON：{event['output_path']}"
+ )
+ if event.get("image_path"):
+ message += f"\n诊断图：{event['image_path']}"
+ if event.get("dropped_count"):
+ message += f"\n非单调检查丢弃 {event['dropped_count']} 个点。"
+ if event.get("plot_warning"):
+ message += f"\n诊断图生成失败，但 JSON 已保留：{event['plot_warning']}"
+ self._append_log(message.replace("\n", "；"))
+ if not self.closing:
+ messagebox.showinfo("拟合前馈表完成", message, parent=self.root)
+
def _update_telemetry(self, event):
self.value_vars["flow"].set(self._format_number(event.get("measured_flow_slm")))
self.value_vars["pressure_before"].set(
@@ -453,7 +936,7 @@ class FlowControlApp:
self.value_vars["mode"].set(str(event.get("pid_mode") or "--"))
status = event.get("status", "")
- if status and status not in {"OK", "MONITORING"}:
+ if status and status not in {"OK", "MONITORING", "OPEN_LOOP"}:
self.detail_var.set(f"采样状态：{status}")
@staticmethod
@@ -473,7 +956,17 @@ class FlowControlApp:
self.status_badge.configure(fg=foreground, bg=background)
editable = state in {"DISCONNECTED", "FAULT"}
- connected = state in {"MONITORING", "CONTROLLING"}
+ connected = state in {"MONITORING", "CONTROLLING", "OPEN_LOOP"}
+ target_button_enabled = state in {"MONITORING", "CONTROLLING"}
+ target_entry_enabled = state in {"MONITORING", "CONTROLLING"}
+ stop_control_enabled = state == "CONTROLLING"
+ manual_button_enabled = state in {"MONITORING", "CONTROLLING", "OPEN_LOOP"}
+ manual_entry_enabled = state == "MONITORING"
+ open_loop_enabled = state in {"MONITORING", "CONTROLLING", "OPEN_LOOP"}
+ fit_enabled = state in {"DISCONNECTED", "FAULT", "MONITORING"}
+ self.open_loop_button.configure(
+ text="停止扫点" if state == "OPEN_LOOP" else "开环扫点"
+ )
self._set_state(self.host_entry, "normal" if editable else "disabled")
self._set_state(self.port_entry, "normal" if editable else "disabled")
self._set_state(self.slave_entry, "normal" if editable else "disabled")
@@ -483,12 +976,39 @@ class FlowControlApp:
self._set_state(
self.model_builtin_button, "normal" if editable else "disabled"
)
+ self._set_state(
+ self.open_loop_button, "normal" if open_loop_enabled else "disabled"
+ )
self._set_state(self.connect_button, "normal" if editable else "disabled")
self._set_state(
self.disconnect_button, "normal" if connected else "disabled"
)
- self._set_state(self.target_entry, "normal" if connected else "disabled")
- self._set_state(self.target_button, "normal" if connected else "disabled")
+ self._set_state(
+ self.target_entry, "normal" if target_entry_enabled else "disabled"
+ )
+ self._set_state(
+ self.target_button, "normal" if target_button_enabled else "disabled"
+ )
+ self._set_state(
+ self.stop_control_button,
+ "normal" if stop_control_enabled else "disabled",
+ )
+ self._set_state(
+ self.manual_opening_entry,
+ "normal" if manual_entry_enabled else "disabled",
+ )
+ self._set_state(
+ self.manual_opening_button,
+ "normal" if manual_button_enabled else "disabled",
+ )
+ if hasattr(self, "fit_model_button"):
+ self.fit_model_button.configure(
+ state=(
+ "normal"
+ if fit_enabled and not self.fit_in_progress and not self.closing
+ else "disabled"
+ )
+ )
if state in {"DISCONNECTED", "FAULT"}:
self.active_target_var.set("--")
@@ -506,6 +1026,13 @@ class FlowControlApp:
def _on_close(self):
if self.closing:
return
+ if self.fit_in_progress:
+ messagebox.showinfo(
+ "正在拟合前馈表",
+ "请等待拟合完成后再关闭程序，以免输出文件不完整。",
+ parent=self.root,
+ )
+ return
self.closing = True
self._apply_state("STOPPING", "正在安全退出，请稍候…")
self._append_log("正在停止控制、恢复 100% 开度并关闭连接")
@@ -532,6 +1059,19 @@ def smoke_test():
if info.point_count < 2 or info.path.name != BUILTIN_MODEL_NAME:
raise RuntimeError("内置阀模型校验失败")
from PcControl import Easy521ModbusClient # noqa: F401
+ import matplotlib
+
+ matplotlib.use("Agg")
+ import matplotlib.pyplot as plt
+
+ with TemporaryDirectory(prefix="flow_control_smoke_") as temp_directory:
+ image_path = Path(temp_directory) / "matplotlib_smoke.png"
+ figure, axis = plt.subplots(figsize=(2, 1))
+ axis.plot([0, 1], [0, 1])
+ figure.savefig(image_path, dpi=50)
+ plt.close(figure)
+ if not image_path.is_file() or image_path.stat().st_size == 0:
+ raise RuntimeError("开环曲线图依赖校验失败")
return 0
diff --git a/logs/flow_control.log b/logs/flow_control.log
index 81a0f01..4e43cc5 100644
--- a/logs/flow_control.log
+++ b/logs/flow_control.log
@@ -11625,3 +11625,17 @@ PID 参数: Kp=0.100 Ki=0.100 Kd=0.000
2026-09-03 15:16:18.515 INFO 控制数据已保存：D:\flow_control\data\flow_run_20260903_150333.csv
2026-09-03 15:16:18.516 INFO 四联曲线图已保存：D:\flow_control\data\flow_run_20260903_150333.png
2026-09-03 15:16:18.516 INFO 程序结束，退出码=0
+2026-09-04 15:21:55.535 ERROR 连接设备失败：无法连接 PLC
+Traceback (most recent call last):
+ File "D:\flow_control\control_runtime.py", line 607, in _connect
+ raise RuntimeError("无法连接 PLC")
+RuntimeError: 无法连接 PLC
+2026-09-04 15:26:38.463 INFO PLC 已连接 192.168.1.88:502，站号=1；模型=内置 valve_model_004.json（80 点）
+2026-09-04 15:36:04.665 INFO 设备已安全断开
+2026-09-04 15:36:22.936 INFO PLC 已连接 192.168.1.88:502，站号=1；模型=内置 valve_model_004.json（80 点）
+2026-09-04 15:38:39.544 INFO 开环扫点启动：共 3 点，开度 0.000%～100.000%，间隔 50.000%，采样周期 0.100 s，单点最长 30.000 s，CSV=D:\flow_control\open_loop_data\open_loop_20260904_153839.csv
+2026-09-04 15:38:47.954 INFO 开环步 1/3 完成：开度 50.000% / 行程 900.000，流量已稳定，耗时 8.409 s
+2026-09-04 15:38:55.657 INFO 开环步 2/3 完成：开度 0.000% / 行程 1000.000，流量已稳定，耗时 7.703 s
+2026-09-04 15:39:03.859 INFO 开环步 3/3 完成：开度 100.000% / 行程 800.000，流量已稳定，耗时 8.203 s
+2026-09-04 15:39:04.471 INFO 开环扫点结束：扫描完成，采样 244 条，CSV=D:\flow_control\open_loop_data\open_loop_20260904_153839.csv，PNG=D:\flow_control\open_loop_data\open_loop_20260904_153839.png
+2026-09-04 15:39:56.828 INFO 设备已安全断开
diff --git a/open_loop_data/open_loop_20260904_153839.csv b/open_loop_data/open_loop_20260904_153839.csv
new file mode 100644
index 0000000..1a75bb7
--- /dev/null
+++ b/open_loop_data/open_loop_20260904_153839.csv
@@ -0,0 +1,245 @@
+time_s,step_index,opening_pct,motor_position,flow_before_slm,flow_after_slm,pressure_before_kpa,pressure_after_kpa,P_abs_ratio,is_ratio_smaller_than_0.528
+0.000465,0,50.000000,900.000000,,187.434375,163.284375,4.675000,0.400590,Y
+0.115005,0,50.000000,900.000000,,187.453125,163.200000,3.812500,0.397458,Y
+0.208341,0,50.000000,900.000000,,187.237500,163.706250,1.600000,0.388350,Y
+0.315752,0,50.000000,900.000000,,187.275000,163.575000,0.450000,0.384202,Y
+0.409407,0,50.000000,900.000000,,174.984375,174.009375,0.612500,0.370232,Y
+0.503825,0,50.000000,900.000000,,174.984375,187.556250,0.737500,0.353303,Y
+0.612713,0,50.000000,900.000000,,151.237500,187.734375,0.875000,0.353561,Y
+0.706207,0,50.000000,900.000000,,151.256250,250.359375,0.875000,0.290601,Y
+0.815751,0,50.000000,900.000000,,136.387500,258.984375,0.912500,0.283749,Y
+0.909120,0,50.000000,900.000000,,136.387500,259.125000,0.712500,0.283084,Y
+1.003840,0,50.000000,900.000000,,124.678125,306.000000,0.675000,0.250414,Y
+1.113433,0,50.000000,900.000000,,124.678125,306.000000,0.612500,0.250261,Y
+1.208068,0,50.000000,900.000000,,113.653125,306.000000,0.550000,0.250107,Y
+1.302374,0,50.000000,900.000000,,113.634375,306.000000,0.537500,0.250077,Y
+1.411903,0,50.000000,900.000000,,104.278125,306.000000,0.550000,0.250107,Y
+1.505329,0,50.000000,900.000000,,104.259375,300.337500,0.537500,0.253602,Y
+1.613030,0,50.000000,900.000000,,97.809375,299.381250,0.512500,0.254145,Y
+1.704960,0,50.000000,900.000000,,92.306250,298.706250,0.500000,0.254543,Y
+1.814130,0,50.000000,900.000000,,88.050000,287.250000,0.500000,0.262047,Y
+1.906917,0,50.000000,900.000000,,84.450000,287.109375,0.500000,0.262142,Y
+2.015949,0,50.000000,900.000000,,81.553125,282.403125,0.512500,0.265390,Y
+2.108880,0,50.000000,900.000000,,79.181250,281.812500,0.500000,0.265766,Y
+2.204449,0,50.000000,900.000000,,77.353125,281.803125,0.475000,0.265707,Y
+2.315526,0,50.000000,900.000000,,75.834375,279.300000,0.575000,0.267718,Y
+2.410493,0,50.000000,900.000000,,74.906250,279.225000,0.512500,0.267606,Y
+2.505011,0,50.000000,900.000000,,74.259375,278.231250,0.500000,0.268274,Y
+2.614640,0,50.000000,900.000000,,73.650000,277.106250,0.437500,0.268906,Y
+2.707723,0,50.000000,900.000000,,73.162500,276.956250,0.537500,0.269277,Y
+2.815972,0,50.000000,900.000000,,72.506250,275.681250,0.500000,0.270088,Y
+2.909923,0,50.000000,900.000000,,72.112500,275.587500,0.475000,0.270089,Y
+3.003411,0,50.000000,900.000000,,71.831250,275.653125,0.550000,0.270241,Y
+3.111938,0,50.000000,900.000000,,71.550000,275.156250,0.500000,0.270465,Y
+3.206307,0,50.000000,900.000000,,71.259375,275.175000,0.500000,0.270452,Y
+3.315727,0,50.000000,900.000000,,71.034375,274.462500,0.450000,0.270831,Y
+3.408268,0,50.000000,900.000000,,70.884375,274.275000,0.475000,0.271033,Y
+3.502133,0,50.000000,900.000000,,70.678125,274.378125,0.475000,0.270959,Y
+3.612188,0,50.000000,900.000000,,70.500000,273.506250,0.475000,0.271589,Y
+3.705111,0,50.000000,900.000000,,70.509375,273.506250,0.450000,0.271522,Y
+3.815028,0,50.000000,900.000000,,70.228125,273.234375,0.475000,0.271786,Y
+3.908329,0,50.000000,900.000000,,70.031250,272.906250,0.475000,0.272024,Y
+4.001333,0,50.000000,900.000000,,69.853125,272.878125,0.475000,0.272045,Y
+4.111656,0,50.000000,900.000000,,69.759375,272.250000,0.475000,0.272502,Y
+4.203667,0,50.000000,900.000000,,69.675000,272.203125,0.450000,0.272469,Y
+4.313407,0,50.000000,900.000000,,69.562500,272.175000,0.475000,0.272557,Y
+4.408214,0,50.000000,900.000000,,69.562500,271.603125,0.450000,0.272908,Y
+4.500841,0,50.000000,900.000000,,69.562500,271.612500,0.475000,0.272968,Y
+4.611167,0,50.000000,900.000000,,69.478125,271.331250,0.450000,0.273107,Y
+4.705481,0,50.000000,900.000000,,69.384375,271.003125,0.475000,0.273415,Y
+4.801380,0,50.000000,900.000000,,69.384375,270.975000,0.450000,0.273368,Y
+4.910974,0,50.000000,900.000000,,69.281250,270.450000,0.450000,0.273754,Y
+5.003746,0,50.000000,900.000000,,69.281250,270.431250,0.450000,0.273768,Y
+5.112206,0,50.000000,900.000000,,69.084375,270.403125,0.450000,0.273789,Y
+5.204731,0,50.000000,900.000000,,69.084375,269.887500,0.437500,0.274135,Y
+5.311266,0,50.000000,900.000000,,69.084375,269.878125,0.450000,0.274176,Y
+5.404248,0,50.000000,900.000000,,69.084375,269.353125,0.450000,0.274564,Y
+5.512417,0,50.000000,900.000000,,68.981250,269.250000,0.450000,0.274641,Y
+5.606275,0,50.000000,900.000000,,69.000000,269.250000,0.437500,0.274607,Y
+5.715410,0,50.000000,900.000000,,68.803125,268.659375,0.450000,0.275079,Y
+5.810028,0,50.000000,900.000000,,68.803125,268.687500,0.475000,0.275126,Y
+5.902565,0,50.000000,900.000000,,68.803125,268.509375,0.450000,0.275191,Y
+6.010803,0,50.000000,900.000000,,68.803125,268.153125,0.450000,0.275456,Y
+6.103719,0,50.000000,900.000000,,68.700000,268.228125,0.450000,0.275400,Y
+6.213087,0,50.000000,900.000000,,68.700000,267.825000,0.437500,0.275667,Y
+6.305449,0,50.000000,900.000000,,68.709375,267.806250,0.450000,0.275715,Y
+6.413893,0,50.000000,900.000000,,68.709375,267.778125,0.450000,0.275736,Y
+6.508643,0,50.000000,900.000000,,68.709375,267.506250,0.450000,0.275939,Y
+6.602832,0,50.000000,900.000000,,68.625000,267.459375,0.450000,0.275974,Y
+6.711216,0,50.000000,900.000000,,68.625000,267.300000,0.437500,0.276060,Y
+6.804358,0,50.000000,900.000000,,68.531250,267.187500,0.450000,0.276178,Y
+6.911832,0,50.000000,900.000000,,68.531250,267.131250,0.450000,0.276220,Y
+7.003922,0,50.000000,900.000000,,68.512500,266.906250,0.450000,0.276389,Y
+7.111563,0,50.000000,900.000000,,68.512500,266.934375,0.450000,0.276368,Y
+7.206722,0,50.000000,900.000000,,68.428125,266.812500,0.450000,0.276459,Y
+7.315515,0,50.000000,900.000000,,68.428125,266.634375,0.450000,0.276593,Y
+7.409301,0,50.000000,900.000000,,68.437500,266.559375,0.437500,0.276615,Y
+7.502297,0,50.000000,900.000000,,68.428125,266.456250,0.437500,0.276693,Y
+7.610953,0,50.000000,900.000000,,68.428125,266.437500,0.450000,0.276741,Y
+7.705697,0,50.000000,900.000000,,68.437500,266.400000,0.450000,0.276769,Y
+7.815214,0,50.000000,900.000000,,68.231250,266.156250,0.412500,0.276851,Y
+7.910243,0,50.000000,900.000000,,68.250000,266.137500,0.450000,0.276967,Y
+8.003274,0,50.000000,900.000000,,68.053125,266.025000,0.450000,0.277052,Y
+8.111469,0,50.000000,900.000000,,68.034375,265.931250,0.475000,0.277191,Y
+8.204880,0,50.000000,900.000000,,68.034375,265.856250,0.450000,0.277179,Y
+8.315357,0,50.000000,900.000000,,68.053125,265.659375,0.450000,0.277328,Y
+8.408876,0,50.000000,900.000000,,67.950000,265.584375,0.437500,0.277351,Y
+8.501716,1,0.000000,1000.000000,,67.931250,265.556250,0.275000,0.276929,Y
+8.610688,1,0.000000,1000.000000,,67.959375,265.509375,0.075000,0.276419,Y
+8.704642,1,0.000000,1000.000000,,67.200000,265.500000,-0.412500,0.275097,Y
+8.815052,1,0.000000,1000.000000,,63.356250,272.728125,-0.400000,0.269815,Y
+8.907913,1,0.000000,1000.000000,,63.356250,274.050000,-0.437500,0.268765,Y
+9.002216,1,0.000000,1000.000000,,46.575000,273.984375,-0.437500,0.268812,Y
+9.110095,1,0.000000,1000.000000,,46.575000,302.512500,-0.437500,0.249822,Y
+9.203972,1,0.000000,1000.000000,,34.575000,303.628125,-0.437500,0.249134,Y
+9.312962,1,0.000000,1000.000000,,34.575000,306.000000,-0.437500,0.247683,Y
+9.407728,1,0.000000,1000.000000,,26.062500,306.000000,-0.437500,0.247683,Y
+9.516282,1,0.000000,1000.000000,,26.053125,306.000000,-0.412500,0.247744,Y
+9.610539,1,0.000000,1000.000000,,19.903125,306.000000,-0.412500,0.247744,Y
+9.703702,1,0.000000,1000.000000,,19.903125,306.000000,-0.412500,0.247744,Y
+9.813100,1,0.000000,1000.000000,,14.981250,306.000000,-0.412500,0.247744,Y
+9.906359,1,0.000000,1000.000000,,15.000000,306.000000,-0.437500,0.247683,Y
+10.014850,1,0.000000,1000.000000,,12.262500,306.000000,-0.437500,0.247683,Y
+10.108935,1,0.000000,1000.000000,,12.262500,306.000000,-0.412500,0.247744,Y
+10.202016,1,0.000000,1000.000000,,10.031250,306.000000,-0.412500,0.247744,Y
+10.310346,1,0.000000,1000.000000,,10.012500,306.000000,-0.437500,0.247683,Y
+10.403813,1,0.000000,1000.000000,,8.259375,306.000000,-0.400000,0.247775,Y
+10.511780,1,0.000000,1000.000000,,6.862500,306.000000,-0.437500,0.247683,Y
+10.604479,1,0.000000,1000.000000,,5.775000,306.000000,-0.437500,0.247683,Y
+10.715498,1,0.000000,1000.000000,,4.875000,306.000000,-0.437500,0.247683,Y
+10.809545,1,0.000000,1000.000000,,4.237500,306.000000,-0.412500,0.247744,Y
+10.903266,1,0.000000,1000.000000,,3.609375,306.000000,-0.412500,0.247744,Y
+11.014938,1,0.000000,1000.000000,,3.159375,306.000000,-0.437500,0.247683,Y
+11.109451,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+11.204439,1,0.000000,1000.000000,,0.928125,306.000000,-0.437500,0.247683,Y
+11.314392,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+11.410480,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+11.504635,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+11.613545,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+11.706208,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+11.813378,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+11.907555,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+12.001490,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+12.110144,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+12.204164,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+12.312489,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+12.407025,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+12.515291,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+12.609668,1,0.000000,1000.000000,,0.928125,306.000000,-0.437500,0.247683,Y
+12.702590,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+12.811330,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+12.905740,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+13.015580,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+13.110274,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+13.203983,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+13.312423,1,0.000000,1000.000000,,0.928125,306.000000,-0.437500,0.247683,Y
+13.404399,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+13.514171,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+13.606372,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+13.714786,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+13.806688,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+13.900811,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+14.009408,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+14.101423,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+14.211493,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+14.303768,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+14.413902,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+14.508788,1,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+14.602868,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+14.711554,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+14.804333,1,0.000000,1000.000000,,0.928125,306.000000,-0.437500,0.247683,Y
+14.913899,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+15.008987,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+15.100892,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+15.210617,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+15.304107,1,0.000000,1000.000000,,0.900000,306.000000,-0.412500,0.247744,Y
+15.412886,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+15.505917,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+15.615302,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+15.708620,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+15.801537,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+15.910002,1,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+16.002593,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+16.111551,1,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+16.206975,2,100.000000,800.000000,,0.909375,306.000000,-0.137500,0.248420,Y
+16.300432,2,100.000000,800.000000,,0.900000,306.000000,0.075000,0.248941,Y
+16.408520,2,100.000000,800.000000,,3.131250,306.000000,1.575000,0.252624,Y
+16.501544,2,100.000000,800.000000,,3.131250,306.000000,5.500000,0.262260,Y
+16.608562,2,100.000000,800.000000,,12.262500,306.000000,5.237500,0.261615,Y
+16.700756,2,100.000000,800.000000,,12.253125,257.906250,5.700000,0.297928,Y
+16.810034,2,100.000000,800.000000,,30.806250,255.384375,6.112500,0.301191,Y
+16.903183,2,100.000000,800.000000,,30.806250,242.981250,6.437500,0.312984,Y
+17.011672,2,100.000000,800.000000,,51.731250,201.309375,6.812500,0.357321,Y
+17.104987,2,100.000000,800.000000,,51.731250,201.009375,7.050000,0.358461,Y
+17.213785,2,100.000000,800.000000,,73.509375,203.850000,7.100000,0.355288,Y
+17.306299,2,100.000000,800.000000,,73.500000,204.150000,6.950000,0.354448,Y
+17.415664,2,100.000000,800.000000,,96.956250,204.234375,6.512500,0.352918,Y
+17.509765,2,100.000000,800.000000,,96.956250,218.062500,6.212500,0.336699,Y
+17.603175,2,100.000000,800.000000,,118.537500,218.212500,5.875000,0.335485,Y
+17.713140,2,100.000000,800.000000,,137.062500,214.106250,5.637500,0.339099,Y
+17.805074,2,100.000000,800.000000,,137.081250,213.009375,5.537500,0.339964,Y
+17.913759,2,100.000000,800.000000,,149.475000,212.906250,5.350000,0.339479,Y
+18.006096,2,100.000000,800.000000,,149.475000,197.559375,5.250000,0.356576,Y
+18.101236,2,100.000000,800.000000,,158.887500,196.687500,5.312500,0.357829,Y
+18.209808,2,100.000000,800.000000,,158.906250,195.084375,5.137500,0.359174,Y
+18.302507,2,100.000000,800.000000,,165.853125,184.762500,5.050000,0.371827,Y
+18.409788,2,100.000000,800.000000,,165.853125,184.528125,5.012500,0.372000,Y
+18.502780,2,100.000000,800.000000,,171.009375,178.837500,4.975000,0.379423,Y
+18.611535,2,100.000000,800.000000,,171.009375,177.356250,4.937500,0.381305,Y
+18.706653,2,100.000000,800.000000,,175.509375,177.262500,4.912500,0.381343,Y
+18.813850,2,100.000000,800.000000,,175.509375,173.353125,4.900000,0.386725,Y
+18.907567,2,100.000000,800.000000,,178.828125,173.175000,4.875000,0.386885,Y
+19.015508,2,100.000000,800.000000,,178.828125,171.909375,4.850000,0.388586,Y
+19.109109,2,100.000000,800.000000,,181.425000,171.281250,4.850000,0.389481,Y
+19.203673,2,100.000000,800.000000,,181.406250,171.178125,4.850000,0.389629,Y
+19.313439,2,100.000000,800.000000,,182.934375,170.006250,4.812500,0.391173,Y
+19.406323,2,100.000000,800.000000,,182.934375,169.959375,4.837500,0.391333,Y
+19.514776,2,100.000000,800.000000,,184.481250,169.903125,4.812500,0.391322,Y
+19.606611,2,100.000000,800.000000,,184.481250,169.228125,4.800000,0.392252,Y
+19.714587,2,100.000000,800.000000,,185.559375,169.162500,4.775000,0.392255,Y
+19.808214,2,100.000000,800.000000,,185.559375,168.975000,4.812500,0.392666,Y
+19.902203,2,100.000000,800.000000,,186.656250,168.806250,4.800000,0.392865,Y
+20.010558,2,100.000000,800.000000,,186.656250,168.787500,4.837500,0.393031,Y
+20.104165,2,100.000000,800.000000,,187.509375,168.628125,4.812500,0.393170,Y
+20.212786,2,100.000000,800.000000,,187.509375,168.637500,4.850000,0.393295,Y
+20.306803,2,100.000000,800.000000,,188.062500,168.600000,4.837500,0.393304,Y
+20.401358,2,100.000000,800.000000,,188.062500,168.487500,4.812500,0.393375,Y
+20.509285,2,100.000000,800.000000,,188.428125,168.684375,4.812500,0.393088,Y
+20.603665,2,100.000000,800.000000,,188.428125,168.525000,4.800000,0.393274,Y
+20.713313,2,100.000000,800.000000,,188.634375,168.506250,4.837500,0.393440,Y
+20.807792,2,100.000000,800.000000,,188.625000,168.609375,4.812500,0.393197,Y
+20.902149,2,100.000000,800.000000,,188.709375,168.562500,4.812500,0.393266,Y
+21.012919,2,100.000000,800.000000,,188.709375,168.506250,4.775000,0.393209,Y
+21.107750,2,100.000000,800.000000,,188.812500,168.525000,4.812500,0.393320,Y
+21.200795,2,100.000000,800.000000,,188.812500,168.656250,4.812500,0.393129,Y
+21.310606,2,100.000000,800.000000,,188.981250,168.609375,4.812500,0.393197,Y
+21.405638,2,100.000000,800.000000,,189.000000,168.656250,4.800000,0.393083,Y
+21.514632,2,100.000000,800.000000,,189.178125,168.628125,4.837500,0.393263,Y
+21.607468,2,100.000000,800.000000,,189.187500,168.628125,4.812500,0.393170,Y
+21.714539,2,100.000000,800.000000,,189.262500,168.684375,4.812500,0.393088,Y
+21.806778,2,100.000000,800.000000,,189.262500,168.703125,4.837500,0.393153,Y
+21.914006,2,100.000000,800.000000,,189.084375,168.628125,4.750000,0.392939,Y
+22.007598,2,100.000000,800.000000,,189.084375,168.675000,4.950000,0.393611,Y
+22.100228,2,100.000000,800.000000,,189.928125,168.562500,4.800000,0.393219,Y
+22.208966,2,100.000000,800.000000,,189.909375,167.906250,4.850000,0.394364,Y
+22.302995,2,100.000000,800.000000,,189.750000,167.878125,4.812500,0.394265,Y
+22.412299,2,100.000000,800.000000,,189.750000,167.550000,4.812500,0.394747,Y
+22.507080,2,100.000000,800.000000,,189.853125,167.278125,4.812500,0.395146,Y
+22.615736,2,100.000000,800.000000,,189.853125,167.250000,4.837500,0.395281,Y
+22.708125,2,100.000000,800.000000,,190.050000,167.362500,4.850000,0.395162,Y
+22.803544,2,100.000000,800.000000,,190.031250,167.362500,4.837500,0.395115,Y
+22.912848,2,100.000000,800.000000,,190.031250,167.156250,4.812500,0.395326,Y
+23.005556,2,100.000000,800.000000,,190.031250,167.428125,4.800000,0.394879,Y
+23.114711,2,100.000000,800.000000,,190.125000,167.409375,4.812500,0.394953,Y
+23.208776,2,100.000000,800.000000,,190.106250,167.475000,4.837500,0.394950,Y
+23.301839,2,100.000000,800.000000,,190.106250,167.428125,4.812500,0.394926,Y
+23.411973,2,100.000000,800.000000,,190.125000,167.550000,4.837500,0.394840,Y
+23.505934,2,100.000000,800.000000,,190.125000,167.400000,4.850000,0.395107,Y
+23.613543,2,100.000000,800.000000,,190.125000,167.428125,4.812500,0.394926,Y
+23.705710,2,100.000000,800.000000,,190.012500,167.484375,4.812500,0.394843,Y
+23.814689,2,100.000000,800.000000,,190.012500,167.362500,4.812500,0.395022,Y
+23.908181,2,100.000000,800.000000,,190.125000,167.381250,4.800000,0.394948,Y
+24.002726,2,100.000000,800.000000,,190.134375,167.306250,4.812500,0.395105,Y
+24.112077,2,100.000000,800.000000,,190.106250,167.203125,4.812500,0.395257,Y
+24.205615,2,100.000000,800.000000,,190.134375,167.437500,4.837500,0.395005,Y
+24.314128,2,100.000000,800.000000,,190.050000,167.306250,4.800000,0.395058,Y
diff --git a/open_loop_data/open_loop_20260904_153839.png b/open_loop_data/open_loop_20260904_153839.png
new file mode 100644
index 0000000..b6ef6a7
Binary files /dev/null and b/open_loop_data/open_loop_20260904_153839.png differ
diff --git a/test_control_runtime.py b/test_control_runtime.py
index d1725c4..af9c9d3 100644
--- a/test_control_runtime.py
+++ b/test_control_runtime.py
@@ -1,12 +1,18 @@
import logging
+from pathlib import Path
from queue import Empty
import time
+import pytest
+
import config
from control_runtime import (
ControlWorker,
+ build_open_loop_points,
load_model,
validate_device_settings,
+ validate_opening,
+ validate_open_loop_settings,
validate_target,
)
@@ -46,6 +52,26 @@ class OverpressureHardware(FakeHardware):
return 100.0
+class MemoryOpenLoopRecorder:
+ def __init__(self):
+ self.csv_path = Path("memory_open_loop.csv")
+ self.image_path = Path("memory_open_loop.png")
+ self.sample_count = 0
+ self.rows = []
+ self.finalize_count = 0
+
+ def record(self, **row):
+ self.rows.append(row)
+ self.sample_count += 1
+
+ def finalize(self):
+ self.finalize_count += 1
+ return self.image_path if self.sample_count else None
+
+ def close(self):
+ pass
+
+
def wait_for_event(worker, predicate, timeout=2.0):
deadline = time.monotonic() + timeout
while time.monotonic() < deadline:
@@ -70,6 +96,9 @@ def test_validate_ui_values():
assert settings.port == 502
assert settings.slave_id == 1
assert validate_target("50.5") == 50.5
+ assert validate_opening("25.5") == 25.5
+ with pytest.raises(ValueError, match="0～100"):
+ validate_opening("100.1")
def test_builtin_model_is_valve_model_004():
@@ -81,6 +110,29 @@ def test_builtin_model_is_valve_model_004():
assert info.model.motor_closed == config.MOTOR_CLOSED_POSITION
+def test_validate_and_build_gui_open_loop_points():
+ settings = validate_open_loop_settings(
+ min_opening_pct="0",
+ max_opening_pct="10",
+ opening_step_pct="5",
+ random_seed="42",
+ include_fine_scan=False,
+ )
+ points = build_open_loop_points(settings)
+ assert sorted(opening for opening, _position in points) == [0.0, 5.0, 10.0]
+ assert all(
+ config.MOTOR_OPEN_POSITION <= position <= config.MOTOR_CLOSED_POSITION
+ for _opening, position in points
+ )
+
+ with pytest.raises(ValueError, match="开度范围"):
+ validate_open_loop_settings(
+ min_opening_pct=50,
+ max_opening_pct=50,
+ include_fine_scan=False,
+ )
+
+
def test_worker_connect_control_and_safe_disconnect():
hardware = FakeHardware()
worker = ControlWorker(make_logger(), hardware_factory=lambda _settings: hardware)
@@ -137,6 +189,142 @@ def test_worker_connect_control_and_safe_disconnect():
assert not worker.is_alive()
+def test_worker_runs_open_loop_scan_and_keeps_connection():
+ hardware = FakeHardware()
+ recorder = MemoryOpenLoopRecorder()
+ worker = ControlWorker(
+ make_logger(),
+ hardware_factory=lambda _settings: hardware,
+ open_loop_recorder_factory=lambda: recorder,
+ )
+ worker.start()
+ wait_for_event(worker, lambda event: event.get("state") == "DISCONNECTED")
+ worker.request_connect(validate_device_settings("192.168.1.88", 502, 1))
+ wait_for_event(worker, lambda event: event.get("state") == "MONITORING")
+
+ settings = validate_open_loop_settings(
+ min_opening_pct=0,
+ max_opening_pct=1,
+ opening_step_pct=1,
+ random_seed=1,
+ sample_period_s=0.005,
+ steady_window_s=0.01,
+ max_wait_s=0.03,
+ include_fine_scan=False,
+ )
+ worker.request_open_loop_start(settings)
+ started = wait_for_event(
+ worker, lambda event: event.get("kind") == "open_loop_started"
+ )
+ assert started["total_steps"] == 2
+ finished = wait_for_event(
+ worker, lambda event: event.get("kind") == "open_loop_finished"
+ )
+ assert finished["completed"] is True
+ assert finished["sample_count"] == recorder.sample_count
+ assert recorder.sample_count >= 4
+ assert recorder.finalize_count == 1
+ wait_for_event(worker, lambda event: event.get("state") == "MONITORING")
+ assert hardware.connected is True
+ assert hardware.motor_commands[-1] == (
+ config.MOTOR_OPEN_POSITION,
+ config.MOTOR_OUTPUT_ADDR,
+ )
+
+ worker.request_shutdown()
+ wait_for_event(worker, lambda event: event.get("kind") == "shutdown_complete")
+ worker.thread.join(timeout=1.0)
+ assert not worker.is_alive()
+
+
+def test_worker_stops_closed_loop_at_full_open_and_accepts_manual_opening():
+ hardware = FakeHardware()
+ worker = ControlWorker(make_logger(), hardware_factory=lambda _settings: hardware)
+ worker.start()
+ wait_for_event(worker, lambda event: event.get("state") == "DISCONNECTED")
+ worker.request_connect(validate_device_settings("192.168.1.88", 502, 1))
+ wait_for_event(worker, lambda event: event.get("state") == "MONITORING")
+
+ worker.request_target(50.0)
+ wait_for_event(worker, lambda event: event.get("kind") == "target_applied")
+ worker.request_manual_opening(25.0)
+ warning = wait_for_event(
+ worker,
+ lambda event: event.get("kind") == "warning"
+ and "先停止流量控制" in event.get("message", ""),
+ )
+ assert "先停止流量控制" in warning["message"]
+
+ worker.request_stop_control()
+ stopped = wait_for_event(
+ worker, lambda event: event.get("kind") == "control_stopped"
+ )
+ assert stopped["opening_pct"] == 100.0
+ assert stopped["motor_position"] == config.MOTOR_OPEN_POSITION
+ wait_for_event(worker, lambda event: event.get("state") == "MONITORING")
+ assert hardware.motor_commands[-1] == (
+ config.MOTOR_OPEN_POSITION,
+ config.MOTOR_OUTPUT_ADDR,
+ )
+
+ worker.request_manual_opening(25.0)
+ manual = wait_for_event(
+ worker, lambda event: event.get("kind") == "manual_opening_applied"
+ )
+ assert manual["opening_pct"] == 25.0
+ assert manual["motor_position"] == pytest.approx(950.0)
+ wait_for_event(
+ worker,
+ lambda event: event.get("kind") == "telemetry"
+ and event.get("pid_mode") == "未启用",
+ )
+ assert hardware.motor_commands[-1] == (950.0, config.MOTOR_OUTPUT_ADDR)
+
+ worker.request_shutdown()
+ wait_for_event(worker, lambda event: event.get("kind") == "shutdown_complete")
+ worker.thread.join(timeout=1.0)
+ assert not worker.is_alive()
+
+
+def test_disconnect_during_open_loop_finalizes_partial_data():
+ hardware = FakeHardware()
+ recorder = MemoryOpenLoopRecorder()
+ worker = ControlWorker(
+ make_logger(),
+ hardware_factory=lambda _settings: hardware,
+ open_loop_recorder_factory=lambda: recorder,
+ )
+ worker.start()
+ wait_for_event(worker, lambda event: event.get("state") == "DISCONNECTED")
+ worker.request_connect(validate_device_settings("192.168.1.88", 502, 1))
+ wait_for_event(worker, lambda event: event.get("state") == "MONITORING")
+ settings = validate_open_loop_settings(
+ min_opening_pct=0,
+ max_opening_pct=100,
+ opening_step_pct=1,
+ sample_period_s=0.02,
+ steady_window_s=1,
+ max_wait_s=1,
+ include_fine_scan=False,
+ )
+ worker.request_open_loop_start(settings)
+ wait_for_event(worker, lambda event: event.get("kind") == "open_loop_started")
+ worker.request_disconnect()
+ finished = wait_for_event(
+ worker, lambda event: event.get("kind") == "open_loop_finished"
+ )
+ assert finished["completed"] is False
+ assert finished["reason"] == "设备断开或程序退出"
+ assert recorder.finalize_count == 1
+ wait_for_event(worker, lambda event: event.get("state") == "DISCONNECTED")
+ assert hardware.connected is False
+
+ worker.request_shutdown()
+ wait_for_event(worker, lambda event: event.get("kind") == "shutdown_complete")
+ worker.thread.join(timeout=1.0)
+ assert not worker.is_alive()
+
+
def test_worker_connection_failure_reports_fault_without_hardware_access():
hardware = FakeHardware(connect_ok=False)
worker = ControlWorker(make_logger(), hardware_factory=lambda _settings: hardware)
diff --git a/test_gui_main.py b/test_gui_main.py
new file mode 100644
index 0000000..95fecf0
--- /dev/null
+++ b/test_gui_main.py
@@ -0,0 +1,142 @@
+from types import SimpleNamespace
+
+import gui_main
+
+
+class DummyVar:
+ def __init__(self, value=""):
+ self.value = value
+
+ def get(self):
+ return self.value
+
+ def set(self, value):
+ self.value = value
+
+
+class DummyWidget:
+ def __init__(self):
+ self.options = {}
+
+ def configure(self, **options):
+ self.options.update(options)
+
+
+class WorkerSpy:
+ def __init__(self):
+ self.stop_control_count = 0
+ self.stop_open_loop_count = 0
+ self.manual_openings = []
+ self.targets = []
+
+ def request_target(self, target):
+ self.targets.append(target)
+
+ def request_stop_control(self):
+ self.stop_control_count += 1
+
+ def request_open_loop_stop(self):
+ self.stop_open_loop_count += 1
+
+ def request_manual_opening(self, opening):
+ self.manual_openings.append(opening)
+
+
+def _fake_app(state):
+ return SimpleNamespace(
+ current_state=state,
+ root=object(),
+ worker=WorkerSpy(),
+ detail_var=DummyVar(),
+ target_var=DummyVar("50"),
+ manual_opening_var=DummyVar("25"),
+ target_button=DummyWidget(),
+ stop_control_button=DummyWidget(),
+ open_loop_button=DummyWidget(),
+ _append_log=lambda _message: None,
+ )
+
+
+def test_open_loop_button_stops_immediately_without_confirmation(monkeypatch):
+ app = _fake_app("OPEN_LOOP")
+ confirmations = []
+ monkeypatch.setattr(
+ gui_main.messagebox,
+ "askyesno",
+ lambda *args, **kwargs: confirmations.append((args, kwargs)),
+ )
+
+ gui_main.FlowControlApp._open_open_loop_dialog(app)
+
+ assert app.worker.stop_open_loop_count == 1
+ assert confirmations == []
+
+
+def test_separate_stop_control_button_stops_closed_loop():
+ app = _fake_app("CONTROLLING")
+
+ gui_main.FlowControlApp._stop_control(app)
+
+ assert app.worker.stop_control_count == 1
+ assert app.stop_control_button.options["state"] == "disabled"
+
+
+def test_target_can_be_changed_while_closed_loop_is_running():
+ app = _fake_app("CONTROLLING")
+ app.target_var.set("72.5")
+
+ gui_main.FlowControlApp._set_target(app)
+
+ assert app.worker.targets == [72.5]
+ assert app.detail_var.get() == "正在设置目标流量 72.5 SLM…"
+
+
+def test_controlling_state_keeps_target_controls_and_stop_button_enabled():
+ app = object.__new__(gui_main.FlowControlApp)
+ app.status_var = DummyVar()
+ app.detail_var = DummyVar()
+ app.active_target_var = DummyVar()
+ app.fit_in_progress = False
+ app.closing = False
+ for name in (
+ "status_badge",
+ "host_entry",
+ "port_entry",
+ "slave_entry",
+ "model_browse_button",
+ "model_builtin_button",
+ "open_loop_button",
+ "connect_button",
+ "disconnect_button",
+ "target_entry",
+ "target_button",
+ "stop_control_button",
+ "manual_opening_entry",
+ "manual_opening_button",
+ "fit_model_button",
+ ):
+ setattr(app, name, DummyWidget())
+
+ gui_main.FlowControlApp._apply_state(app, "CONTROLLING", "闭环运行中")
+
+ assert app.target_entry.options["state"] == "normal"
+ assert app.target_button.options["state"] == "normal"
+ assert "text" not in app.target_button.options
+ assert app.stop_control_button.options["state"] == "normal"
+
+
+def test_manual_opening_during_control_only_shows_warning(monkeypatch):
+ app = _fake_app("CONTROLLING")
+ warnings = []
+ monkeypatch.setattr(
+ gui_main.messagebox,
+ "showwarning",
+ lambda *args, **kwargs: warnings.append((args, kwargs)),
+ )
+
+ gui_main.FlowControlApp._set_manual_opening(app)
+
+ assert len(warnings) == 1
+ assert "停止流量控制" in warnings[0][0][0]
+ assert app.worker.stop_control_count == 0
+ assert app.worker.manual_openings == []
diff --git a/可执行程序/FlowControl.exe b/可执行程序/FlowControl.exe
index e9c1e92..2b814ed 100644
Binary files a/可执行程序/FlowControl.exe and b/可执行程序/FlowControl.exe differ
diff --git a/可执行程序/logs/flow_control.log b/可执行程序/logs/flow_control.log
index 5f0d4b2..3687248 100644
--- a/可执行程序/logs/flow_control.log
+++ b/可执行程序/logs/flow_control.log
@@ -2,3 +2,55 @@
2026-09-03 16:11:54.165 INFO 目标流量设置为 60.000 SLM
2026-09-03 16:12:01.872 INFO PID 模式 FAR -> NEAR：基础 Kp=0.100 Ki=0.100 Kd=0.000，有效 Kp=0.100 Ki=0.100（scale=1.000），最大开度速度=2.000%/s；原因=|误差|=0.056 SLM <= 阈值=2.000 SLM，连续 10 个周期
2026-09-03 16:12:35.171 INFO 设备已安全断开
+2026-09-04 15:40:07.607 INFO PLC 已连接 192.168.1.88:502，站号=1；模型=内置 valve_model_004.json（80 点）
+2026-09-04 15:40:14.826 INFO 开环扫点启动：共 6 点，开度 0.000%～100.000%，间隔 20.000%，采样周期 0.100 s，单点最长 30.000 s，CSV=D:\flow_control\可执行程序\open_loop_data\open_loop_20260904_154014.csv
+2026-09-04 15:40:23.337 INFO 开环步 1/6 完成：开度 60.000% / 行程 880.000，流量已稳定，耗时 8.510 s
+2026-09-04 15:40:31.642 INFO 开环步 2/6 完成：开度 20.000% / 行程 960.000，流量已稳定，耗时 8.305 s
+2026-09-04 15:40:37.941 INFO 开环步 3/6 完成：开度 40.000% / 行程 920.000，流量已稳定，耗时 6.300 s
+2026-09-04 15:40:46.439 INFO 开环步 4/6 完成：开度 80.000% / 行程 840.000，流量已稳定，耗时 8.498 s
+2026-09-04 15:40:53.638 INFO 开环步 5/6 完成：开度 0.000% / 行程 1000.000，流量已稳定，耗时 7.199 s
+2026-09-04 15:41:01.641 INFO 开环步 6/6 完成：开度 100.000% / 行程 800.000，流量已稳定，耗时 8.003 s
+2026-09-04 15:41:03.529 INFO 开环扫点结束：扫描完成，采样 469 条，CSV=D:\flow_control\可执行程序\open_loop_data\open_loop_20260904_154014.csv，PNG=D:\flow_control\可执行程序\open_loop_data\open_loop_20260904_154014.png
+2026-09-04 15:44:05.152 INFO 目标流量设置为 50.000 SLM
+2026-09-04 15:44:08.664 INFO PID 模式 FAR -> NEAR：基础 Kp=0.100 Ki=0.100 Kd=0.000，有效 Kp=0.100 Ki=0.100（scale=1.000），最大开度速度=2.000%/s；原因=|误差|=0.212 SLM <= 阈值=2.000 SLM，连续 10 个周期
+2026-09-04 15:44:20.184 INFO 目标流量设置为 50.000 SLM
+2026-09-04 15:44:56.963 INFO 设备已安全断开
+2026-09-04 15:45:49.991 INFO PLC 已连接 192.168.1.88:502，站号=1；模型=内置 valve_model_004.json（80 点）
+2026-09-04 16:00:34.942 INFO 设备已安全断开
+2026-09-04 16:17:49.120 INFO PLC 已连接 192.168.1.88:502，站号=1；模型=内置 valve_model_004.json（80 点）
+2026-09-04 16:18:00.575 INFO 开环扫点启动：共 32 点，开度 0.000%～100.000%，间隔 5.000%，采样周期 0.100 s，单点最长 30.000 s，CSV=D:\flow_control\可执行程序\open_loop_data\open_loop_20260904_161800.csv
+2026-09-04 16:18:06.001 INFO 开环扫点结束：用户停止，采样 36 条，CSV=D:\flow_control\可执行程序\open_loop_data\open_loop_20260904_161800.csv，PNG=D:\flow_control\可执行程序\open_loop_data\open_loop_20260904_161800.png
+2026-09-04 16:19:53.760 INFO 手动开度已设置：50.000%，电机行程 900.000
+2026-09-04 16:20:21.337 INFO 手动开度已设置：100.000%，电机行程 800.000
+2026-09-04 16:20:25.488 INFO 目标流量设置为 50.000 SLM
+2026-09-04 16:20:27.695 INFO PID 模式 FAR -> NEAR：基础 Kp=0.100 Ki=0.100 Kd=0.000，有效 Kp=0.100 Ki=0.100（scale=1.000），最大开度速度=2.000%/s；原因=|误差|=0.519 SLM <= 阈值=2.000 SLM，连续 10 个周期
+2026-09-04 16:20:33.625 INFO 闭环流量控制已停止，阀门已设置为 100%% 开度
+2026-09-04 16:23:14.055 INFO 手动开度已设置：50.000%，电机行程 900.000
+2026-09-04 16:23:33.127 INFO PID 模式 NEAR -> FAR：基础 Kp=0.500 Ki=0.500 Kd=0.000，有效 Kp=0.500 Ki=0.500（scale=1.000），最大开度速度=200.000%/s；原因=控制启动
+2026-09-04 16:23:33.127 INFO 目标流量设置为 50.000 SLM
+2026-09-04 16:23:35.441 INFO PID 模式 FAR -> NEAR：基础 Kp=0.100 Ki=0.100 Kd=0.000，有效 Kp=0.100 Ki=0.100（scale=1.000），最大开度速度=2.000%/s；原因=|误差|=0.594 SLM <= 阈值=2.000 SLM，连续 10 个周期
+2026-09-04 16:24:04.153 INFO 闭环流量控制已停止，阀门已设置为 100%% 开度
+2026-09-04 16:24:06.513 INFO PID 模式 NEAR -> FAR：基础 Kp=0.500 Ki=0.500 Kd=0.000，有效 Kp=0.500 Ki=0.500（scale=1.000），最大开度速度=200.000%/s；原因=控制启动
+2026-09-04 16:24:06.513 INFO 目标流量设置为 50.000 SLM
+2026-09-04 16:24:10.523 INFO PID 模式 FAR -> NEAR：基础 Kp=0.100 Ki=0.100 Kd=0.000，有效 Kp=0.100 Ki=0.100（scale=1.000），最大开度速度=2.000%/s；原因=|误差|=0.934 SLM <= 阈值=2.000 SLM，连续 10 个周期
+2026-09-04 16:24:18.266 INFO 闭环流量控制已停止，阀门已设置为 100%% 开度
+2026-09-04 16:24:38.930 INFO 设备已安全断开
+2026-09-04 16:30:54.312 INFO PLC 已连接 192.168.1.88:502，站号=1；模型=内置 valve_model_004.json（80 点）
+2026-09-04 16:31:00.288 INFO 目标流量设置为 60.000 SLM
+2026-09-04 16:31:03.204 INFO PID 模式 FAR -> NEAR：基础 Kp=0.100 Ki=0.100 Kd=0.000，有效 Kp=0.100 Ki=0.100（scale=1.000），最大开度速度=2.000%/s；原因=|误差|=1.566 SLM <= 阈值=2.000 SLM，连续 10 个周期
+2026-09-04 16:31:10.689 INFO 闭环流量控制已停止，阀门已设置为 100%% 开度
+2026-09-04 16:31:19.760 INFO 手动开度已设置：50.000%，电机行程 900.000
+2026-09-04 16:31:41.425 INFO 手动开度已设置：100.000%，电机行程 800.000
+2026-09-04 16:31:45.554 INFO 设备已安全断开
+2026-09-04 16:31:51.090 INFO PLC 已连接 192.168.1.88:502，站号=1；模型=内置 valve_model_004.json（80 点）
+2026-09-04 16:32:06.244 INFO 设备已安全断开
+2026-09-04 16:35:26.832 INFO PLC 已连接 192.168.1.88:502，站号=1；模型=内置 valve_model_004.json（80 点）
+2026-09-04 16:35:28.659 INFO 设备已安全断开
+2026-09-04 16:43:08.208 INFO PLC 已连接 192.168.1.88:502，站号=1；模型=内置 valve_model_004.json（80 点）
+2026-09-04 16:43:15.724 INFO 手动开度已设置：50.000%，电机行程 900.000
+2026-09-04 16:43:32.683 INFO 目标流量设置为 60.000 SLM
+2026-09-04 16:43:33.587 INFO PID 模式 FAR -> NEAR：基础 Kp=0.100 Ki=0.100 Kd=0.000，有效 Kp=0.100 Ki=0.100（scale=1.000），最大开度速度=2.000%/s；原因=|误差|=1.500 SLM <= 阈值=2.000 SLM，连续 10 个周期
+2026-09-04 16:43:41.331 INFO PID 模式 NEAR -> FAR：基础 Kp=0.500 Ki=0.500 Kd=0.000，有效 Kp=0.500 Ki=0.500（scale=1.000），最大开度速度=200.000%/s；原因=目标流量切换后 |误差|=60.488 SLM > NEAR 阈值=2.000 SLM
+2026-09-04 16:43:41.331 INFO 目标流量设置为 120.000 SLM
+2026-09-04 16:43:45.642 INFO PID 模式 FAR -> NEAR：基础 Kp=0.100 Ki=0.100 Kd=0.000，有效 Kp=0.100 Ki=0.100（scale=1.000），最大开度速度=2.000%/s；原因=|误差|=0.591 SLM <= 阈值=2.000 SLM，连续 10 个周期
+2026-09-04 16:43:52.344 INFO 设备已安全断开
diff --git a/可执行程序/open_loop_data/open_loop_20260904_154014.csv b/可执行程序/open_loop_data/open_loop_20260904_154014.csv
new file mode 100644
index 0000000..6dcf512
--- /dev/null
+++ b/可执行程序/open_loop_data/open_loop_20260904_154014.csv
@@ -0,0 +1,470 @@
+time_s,step_index,opening_pct,motor_position,flow_before_slm,flow_after_slm,pressure_before_kpa,pressure_after_kpa,P_abs_ratio,is_ratio_smaller_than_0.528
+0.016064,0,60.000000,880.000000,,188.681250,165.562500,4.637500,0.397031,Y
+0.106803,0,60.000000,880.000000,,188.381250,165.600000,3.875000,0.394118,Y
+0.201446,0,60.000000,880.000000,,188.400000,165.581250,1.700000,0.385997,Y
+0.309713,0,60.000000,880.000000,,183.628125,167.906250,1.000000,0.380064,Y
+0.404886,0,60.000000,880.000000,,168.112500,167.850000,1.137500,0.380654,Y
+0.512460,0,60.000000,880.000000,,151.725000,198.834375,1.312500,0.341943,Y
+0.606028,0,60.000000,880.000000,,139.781250,204.759375,1.450000,0.335773,Y
+0.715904,0,60.000000,880.000000,,131.850000,204.909375,1.512500,0.335813,Y
+0.809327,0,60.000000,880.000000,,126.262500,269.850000,1.500000,0.277026,Y
+0.903706,0,60.000000,880.000000,,122.184375,272.212500,1.412500,0.275039,Y
+1.013253,0,60.000000,880.000000,,118.781250,289.087500,1.375000,0.263055,Y
+1.107751,0,60.000000,880.000000,,115.912500,306.000000,1.312500,0.251979,Y
+1.202827,0,60.000000,880.000000,,112.987500,306.000000,1.275000,0.251887,Y
+1.312481,0,60.000000,880.000000,,112.987500,306.000000,1.212500,0.251734,Y
+1.405571,0,60.000000,880.000000,,109.903125,305.906250,1.175000,0.251700,Y
+1.513112,0,60.000000,880.000000,,107.081250,305.878125,1.150000,0.251656,Y
+1.605373,0,60.000000,880.000000,,107.081250,291.956250,1.150000,0.260564,Y
+1.715817,0,60.000000,880.000000,,104.634375,291.656250,1.112500,0.260668,Y
+1.807602,0,60.000000,880.000000,,102.675000,285.150000,1.150000,0.265153,Y
+1.916153,0,60.000000,880.000000,,102.703125,281.081250,1.112500,0.267876,Y
+2.008038,0,60.000000,880.000000,,101.034375,281.062500,1.100000,0.267857,Y
+2.103033,0,60.000000,880.000000,,101.034375,275.728125,1.075000,0.271580,Y
+2.211689,0,60.000000,880.000000,,99.759375,275.156250,1.100000,0.272059,Y
+2.304878,0,60.000000,880.000000,,99.759375,275.175000,1.112500,0.272078,Y
+2.415720,0,60.000000,880.000000,,98.559375,272.053125,1.250000,0.274722,Y
+2.509340,0,60.000000,880.000000,,98.559375,272.025000,1.175000,0.274541,Y
+2.603400,0,60.000000,880.000000,,97.837500,270.281250,1.100000,0.275628,Y
+2.712730,0,60.000000,880.000000,,97.828125,269.737500,1.075000,0.275964,Y
+2.806274,0,60.000000,880.000000,,97.181250,269.784375,1.100000,0.275997,Y
+2.915162,0,60.000000,880.000000,,97.200000,268.209375,1.100000,0.277173,Y
+3.008924,0,60.000000,880.000000,,96.356250,268.031250,1.100000,0.277307,Y
+3.103052,0,60.000000,880.000000,,95.784375,267.853125,1.112500,0.277474,Y
+3.211491,0,60.000000,880.000000,,95.775000,267.356250,1.100000,0.277815,Y
+3.304457,0,60.000000,880.000000,,95.306250,267.506250,1.075000,0.277634,Y
+3.412136,0,60.000000,880.000000,,95.325000,266.906250,1.100000,0.278154,Y
+3.505867,0,60.000000,880.000000,,94.912500,267.009375,1.100000,0.278076,Y
+3.600949,0,60.000000,880.000000,,94.931250,266.962500,1.075000,0.278044,Y
+3.710756,0,60.000000,880.000000,,94.650000,266.184375,1.050000,0.278564,Y
+3.803215,0,60.000000,880.000000,,94.650000,266.137500,1.100000,0.278736,Y
+3.913127,0,60.000000,880.000000,,94.181250,265.687500,1.100000,0.279078,Y
+4.007702,0,60.000000,880.000000,,94.181250,265.537500,1.050000,0.279056,Y
+4.101932,0,60.000000,880.000000,,93.984375,265.509375,1.075000,0.279145,Y
+4.213057,0,60.000000,880.000000,,93.984375,265.012500,1.050000,0.279455,Y
+4.306237,0,60.000000,880.000000,,93.431250,264.937500,1.075000,0.279581,Y
+4.414890,0,60.000000,880.000000,,93.450000,264.900000,1.050000,0.279541,Y
+4.508697,0,60.000000,880.000000,,93.253125,264.450000,1.075000,0.279954,Y
+4.602556,0,60.000000,880.000000,,93.234375,264.459375,1.050000,0.279878,Y
+4.712164,0,60.000000,880.000000,,93.056250,264.112500,1.150000,0.280417,Y
+4.806583,0,60.000000,880.000000,,92.962500,264.075000,1.075000,0.280241,Y
+4.916033,0,60.000000,880.000000,,92.962500,264.131250,1.050000,0.280129,Y
+5.008110,0,60.000000,880.000000,,92.784375,263.409375,1.075000,0.280752,Y
+5.101394,0,60.000000,880.000000,,92.578125,263.353125,1.100000,0.280864,Y
+5.208766,0,60.000000,880.000000,,92.578125,263.128125,1.075000,0.280969,Y
+5.302469,0,60.000000,880.000000,,92.503125,262.978125,1.050000,0.281016,Y
+5.411419,0,60.000000,880.000000,,92.475000,262.950000,1.050000,0.281038,Y
+5.505036,0,60.000000,880.000000,,92.306250,263.006250,1.050000,0.280994,Y
+5.613238,0,60.000000,880.000000,,92.306250,263.053125,1.037500,0.280924,Y
+5.706367,0,60.000000,880.000000,,92.306250,263.053125,1.037500,0.280924,Y
+5.814893,0,60.000000,880.000000,,92.287500,262.725000,1.037500,0.281177,Y
+5.908093,0,60.000000,880.000000,,92.203125,262.650000,1.037500,0.281235,Y
+6.002248,0,60.000000,880.000000,,92.212500,262.537500,1.050000,0.281356,Y
+6.111137,0,60.000000,880.000000,,92.109375,262.481250,1.050000,0.281400,Y
+6.203013,0,60.000000,880.000000,,92.109375,262.481250,1.037500,0.281365,Y
+6.312115,0,60.000000,880.000000,,92.109375,262.284375,1.050000,0.281552,Y
+6.405178,0,60.000000,880.000000,,92.109375,262.331250,1.050000,0.281516,Y
+6.514467,0,60.000000,880.000000,,92.128125,262.200000,1.050000,0.281617,Y
+6.607386,0,60.000000,880.000000,,92.109375,262.059375,1.050000,0.281726,Y
+6.701670,0,60.000000,880.000000,,91.912500,262.078125,1.050000,0.281712,Y
+6.811400,0,60.000000,880.000000,,91.912500,261.806250,1.050000,0.281923,Y
+6.903796,0,60.000000,880.000000,,91.912500,261.628125,1.050000,0.282061,Y
+7.012085,0,60.000000,880.000000,,91.903125,261.862500,1.050000,0.281879,Y
+7.106330,0,60.000000,880.000000,,91.912500,261.600000,1.050000,0.282083,Y
+7.214515,0,60.000000,880.000000,,91.912500,261.609375,1.050000,0.282076,Y
+7.307163,0,60.000000,880.000000,,91.828125,261.609375,1.050000,0.282076,Y
+7.415235,0,60.000000,880.000000,,91.828125,261.487500,1.012500,0.282067,Y
+7.507584,0,60.000000,880.000000,,91.828125,261.506250,1.037500,0.282122,Y
+7.601099,0,60.000000,880.000000,,91.828125,261.300000,1.050000,0.282316,Y
+7.711082,0,60.000000,880.000000,,91.725000,261.337500,1.037500,0.282253,Y
+7.804182,0,60.000000,880.000000,,91.734375,261.262500,1.050000,0.282346,Y
+7.913281,0,60.000000,880.000000,,91.631250,261.009375,1.037500,0.282508,Y
+8.008287,0,60.000000,880.000000,,91.537500,261.009375,1.037500,0.282508,Y
+8.102140,0,60.000000,880.000000,,91.453125,260.859375,1.037500,0.282625,Y
+8.213432,0,60.000000,880.000000,,91.453125,260.700000,1.037500,0.282750,Y
+8.307220,0,60.000000,880.000000,,91.453125,260.728125,1.037500,0.282728,Y
+8.401244,0,60.000000,880.000000,,91.453125,260.559375,1.012500,0.282791,Y
+8.509553,0,60.000000,880.000000,,91.434375,260.550000,1.037500,0.282867,Y
+8.603031,1,20.000000,960.000000,,91.434375,260.559375,0.675000,0.281858,Y
+8.711363,1,20.000000,960.000000,,91.087500,260.362500,0.137500,0.280525,Y
+8.804107,1,20.000000,960.000000,,88.237500,260.353125,0.100000,0.280429,Y
+8.911841,1,20.000000,960.000000,,88.228125,267.731250,0.050000,0.274687,Y
+9.004310,1,20.000000,960.000000,,79.753125,268.303125,0.075000,0.274330,Y
+9.113209,1,20.000000,960.000000,,79.734375,268.350000,0.075000,0.274295,Y
+9.207194,1,20.000000,960.000000,,73.256250,280.950000,0.075000,0.265254,Y
+9.315231,1,20.000000,960.000000,,73.237500,281.175000,0.050000,0.265033,Y
+9.407563,1,20.000000,960.000000,,68.334375,282.909375,0.075000,0.263901,Y
+9.500685,1,20.000000,960.000000,,68.334375,283.612500,0.075000,0.263419,Y
+9.611418,1,20.000000,960.000000,,64.284375,283.631250,0.075000,0.263407,Y
+9.703906,1,20.000000,960.000000,,64.284375,280.828125,0.050000,0.265273,Y
+9.813382,1,20.000000,960.000000,,61.106250,280.575000,0.050000,0.265449,Y
+9.906138,1,20.000000,960.000000,,61.106250,280.528125,0.050000,0.265482,Y
+10.015166,1,20.000000,960.000000,,58.950000,279.375000,0.050000,0.266286,Y
+10.109132,1,20.000000,960.000000,,58.950000,279.403125,0.050000,0.266266,Y
+10.201979,1,20.000000,960.000000,,57.375000,278.878125,0.075000,0.266700,Y
+10.310806,1,20.000000,960.000000,,57.375000,278.756250,0.050000,0.266719,Y
+10.404921,1,20.000000,960.000000,,56.137500,278.709375,0.050000,0.266752,Y
+10.515497,1,20.000000,960.000000,,56.137500,278.287500,0.075000,0.267114,Y
+10.608387,1,20.000000,960.000000,,55.031250,278.184375,0.075000,0.267187,Y
+10.702427,1,20.000000,960.000000,,55.031250,278.100000,0.075000,0.267246,Y
+10.811183,1,20.000000,960.000000,,54.225000,277.875000,0.050000,0.267339,Y
+10.904486,1,20.000000,960.000000,,54.225000,277.912500,0.100000,0.267445,Y
+11.013915,1,20.000000,960.000000,,53.475000,277.706250,0.075000,0.267524,Y
+11.105884,1,20.000000,960.000000,,53.484375,277.631250,0.050000,0.267511,Y
+11.213166,1,20.000000,960.000000,,53.128125,277.650000,0.037500,0.267465,Y
+11.306464,1,20.000000,960.000000,,53.109375,277.087500,0.075000,0.267962,Y
+11.414383,1,20.000000,960.000000,,52.762500,277.106250,0.050000,0.267882,Y
+11.507622,1,20.000000,960.000000,,52.781250,276.900000,0.050000,0.268028,Y
+11.602753,1,20.000000,960.000000,,52.303125,276.787500,0.037500,0.268075,Y
+11.711181,1,20.000000,960.000000,,52.303125,276.806250,0.037500,0.268062,Y
+11.804764,1,20.000000,960.000000,,52.125000,276.975000,0.075000,0.268041,Y
+11.914251,1,20.000000,960.000000,,51.853125,277.012500,0.075000,0.268015,Y
+12.007005,1,20.000000,960.000000,,51.834375,277.003125,0.075000,0.268021,Y
+12.100348,1,20.000000,960.000000,,51.656250,276.900000,0.050000,0.268028,Y
+12.207095,1,20.000000,960.000000,,51.675000,276.909375,0.050000,0.268022,Y
+12.301029,1,20.000000,960.000000,,51.403125,276.881250,0.050000,0.268042,Y
+12.407901,1,20.000000,960.000000,,51.300000,276.834375,0.037500,0.268042,Y
+12.503345,1,20.000000,960.000000,,51.309375,276.900000,0.037500,0.267995,Y
+12.614866,1,20.000000,960.000000,,51.206250,276.675000,0.050000,0.268188,Y
+12.708620,1,20.000000,960.000000,,51.206250,276.731250,0.075000,0.268214,Y
+12.802486,1,20.000000,960.000000,,51.037500,276.628125,0.075000,0.268287,Y
+12.911985,1,20.000000,960.000000,,51.028125,276.609375,0.050000,0.268234,Y
+13.005728,1,20.000000,960.000000,,50.934375,276.656250,0.100000,0.268333,Y
+13.113697,1,20.000000,960.000000,,50.934375,276.525000,0.075000,0.268360,Y
+13.207032,1,20.000000,960.000000,,50.850000,276.534375,0.075000,0.268354,Y
+13.300790,1,20.000000,960.000000,,50.850000,276.412500,0.050000,0.268374,Y
+13.411738,1,20.000000,960.000000,,50.756250,276.328125,0.075000,0.268500,Y
+13.505349,1,20.000000,960.000000,,50.756250,276.262500,0.075000,0.268547,Y
+13.614048,1,20.000000,960.000000,,50.756250,276.159375,0.075000,0.268620,Y
+13.706753,1,20.000000,960.000000,,50.756250,276.103125,0.100000,0.268727,Y
+13.815733,1,20.000000,960.000000,,50.653125,276.056250,0.100000,0.268760,Y
+13.907699,1,20.000000,960.000000,,50.662500,275.934375,0.075000,0.268781,Y
+14.001788,1,20.000000,960.000000,,50.653125,275.906250,0.050000,0.268734,Y
+14.111306,1,20.000000,960.000000,,50.653125,275.831250,0.075000,0.268854,Y
+14.206496,1,20.000000,960.000000,,50.578125,275.756250,0.075000,0.268908,Y
+14.314839,1,20.000000,960.000000,,50.559375,275.803125,0.050000,0.268808,Y
+14.409199,1,20.000000,960.000000,,50.578125,275.653125,0.075000,0.268981,Y
+14.503629,1,20.000000,960.000000,,50.578125,275.587500,0.075000,0.269028,Y
+14.612775,1,20.000000,960.000000,,50.559375,275.578125,0.100000,0.269101,Y
+14.706160,1,20.000000,960.000000,,50.578125,275.503125,0.100000,0.269155,Y
+14.815482,1,20.000000,960.000000,,50.559375,275.456250,0.075000,0.269122,Y
+14.907379,1,20.000000,960.000000,,50.578125,275.428125,0.050000,0.269075,Y
+15.000630,1,20.000000,960.000000,,50.559375,275.325000,0.075000,0.269215,Y
+15.110895,1,20.000000,960.000000,,50.578125,275.259375,0.075000,0.269262,Y
+15.203524,1,20.000000,960.000000,,50.381250,275.184375,0.050000,0.269250,Y
+15.312638,1,20.000000,960.000000,,50.381250,275.184375,0.075000,0.269316,Y
+15.406493,1,20.000000,960.000000,,50.400000,275.212500,0.075000,0.269296,Y
+15.516385,1,20.000000,960.000000,,50.381250,274.987500,0.075000,0.269457,Y
+15.610509,1,20.000000,960.000000,,50.381250,275.053125,0.075000,0.269410,Y
+15.703464,1,20.000000,960.000000,,50.381250,274.884375,0.075000,0.269531,Y
+15.811599,1,20.000000,960.000000,,50.381250,274.856250,0.075000,0.269551,Y
+15.905289,1,20.000000,960.000000,,50.362500,274.856250,0.050000,0.269484,Y
+16.014386,1,20.000000,960.000000,,50.287500,274.800000,0.037500,0.269492,Y
+16.109014,1,20.000000,960.000000,,50.287500,274.781250,0.050000,0.269538,Y
+16.202010,1,20.000000,960.000000,,50.278125,274.800000,0.050000,0.269525,Y
+16.311680,1,20.000000,960.000000,,50.287500,274.687500,0.075000,0.269672,Y
+16.405137,1,20.000000,960.000000,,50.278125,274.659375,0.050000,0.269626,Y
+16.514482,1,20.000000,960.000000,,50.287500,274.378125,0.050000,0.269827,Y
+16.608402,1,20.000000,960.000000,,50.203125,274.378125,0.050000,0.269827,Y
+16.703391,1,20.000000,960.000000,,50.203125,274.425000,0.050000,0.269794,Y
+16.814411,1,20.000000,960.000000,,50.203125,274.275000,0.075000,0.269968,Y
+16.908164,2,40.000000,920.000000,,50.203125,274.256250,0.037500,0.269882,Y
+17.001623,2,40.000000,920.000000,,50.203125,274.134375,0.150000,0.270269,Y
+17.110800,2,40.000000,920.000000,,50.212500,274.106250,0.150000,0.270289,Y
+17.203652,2,40.000000,920.000000,,51.187500,274.087500,0.150000,0.270303,Y
+17.312440,2,40.000000,920.000000,,51.187500,271.556250,0.175000,0.272205,Y
+17.405974,2,40.000000,920.000000,,52.106250,271.434375,0.150000,0.272227,Y
+17.515198,2,40.000000,920.000000,,52.106250,270.056250,0.150000,0.273237,Y
+17.606942,2,40.000000,920.000000,,52.912500,268.200000,0.175000,0.274677,Y
+17.700776,2,40.000000,920.000000,,52.931250,268.256250,0.175000,0.274635,Y
+17.809654,2,40.000000,920.000000,,53.550000,267.712500,0.150000,0.274972,Y
+17.901598,2,40.000000,920.000000,,53.559375,267.731250,0.175000,0.275026,Y
+18.010680,2,40.000000,920.000000,,54.187500,267.684375,0.175000,0.275061,Y
+18.104138,2,40.000000,920.000000,,54.187500,267.937500,0.150000,0.274805,Y
+18.213294,2,40.000000,920.000000,,54.562500,267.881250,0.150000,0.274846,Y
+18.305500,2,40.000000,920.000000,,54.562500,267.900000,0.175000,0.274900,Y
+18.414558,2,40.000000,920.000000,,54.928125,267.853125,0.175000,0.274935,Y
+18.506420,2,40.000000,920.000000,,54.937500,267.853125,0.175000,0.274935,Y
+18.612863,2,40.000000,920.000000,,55.106250,267.731250,0.150000,0.274958,Y
+18.706523,2,40.000000,920.000000,,55.125000,267.703125,0.150000,0.274979,Y
+18.815345,2,40.000000,920.000000,,55.284375,267.703125,0.150000,0.274979,Y
+18.908371,2,40.000000,920.000000,,55.303125,267.750000,0.150000,0.274944,Y
+19.001499,2,40.000000,920.000000,,55.462500,267.656250,0.150000,0.275014,Y
+19.110301,2,40.000000,920.000000,,55.481250,267.628125,0.175000,0.275103,Y
+19.203566,2,40.000000,920.000000,,55.659375,267.712500,0.150000,0.274972,Y
+19.313180,2,40.000000,920.000000,,55.659375,267.581250,0.150000,0.275070,Y
+19.406078,2,40.000000,920.000000,,55.762500,267.656250,0.175000,0.275082,Y
+19.515104,2,40.000000,920.000000,,55.753125,267.684375,0.150000,0.274993,Y
+19.608687,2,40.000000,920.000000,,55.950000,267.787500,0.175000,0.274984,Y
+19.702817,2,40.000000,920.000000,,55.950000,267.712500,0.150000,0.274972,Y
+19.810582,2,40.000000,920.000000,,55.950000,267.759375,0.150000,0.274937,Y
+19.903449,2,40.000000,920.000000,,55.931250,267.778125,0.150000,0.274923,Y
+20.011866,2,40.000000,920.000000,,56.034375,267.834375,0.175000,0.274949,Y
+20.105658,2,40.000000,920.000000,,56.034375,267.759375,0.175000,0.275005,Y
+20.214880,2,40.000000,920.000000,,56.034375,267.834375,0.175000,0.274949,Y
+20.308493,2,40.000000,920.000000,,56.034375,267.909375,0.175000,0.274893,Y
+20.402761,2,40.000000,920.000000,,56.128125,267.928125,0.175000,0.274879,Y
+20.511549,2,40.000000,920.000000,,56.137500,268.106250,0.175000,0.274747,Y
+20.605671,2,40.000000,920.000000,,56.128125,268.087500,0.175000,0.274761,Y
+20.715556,2,40.000000,920.000000,,56.128125,268.228125,0.175000,0.274656,Y
+20.809475,2,40.000000,920.000000,,56.203125,268.162500,0.175000,0.274705,Y
+20.903114,2,40.000000,920.000000,,56.212500,268.181250,0.150000,0.274623,Y
+21.013121,2,40.000000,920.000000,,56.231250,268.303125,0.175000,0.274600,Y
+21.108009,2,40.000000,920.000000,,56.212500,268.228125,0.150000,0.274588,Y
+21.215628,2,40.000000,920.000000,,56.231250,268.200000,0.150000,0.274609,Y
+21.308372,2,40.000000,920.000000,,56.231250,268.228125,0.175000,0.274656,Y
+21.401712,2,40.000000,920.000000,,56.231250,268.275000,0.150000,0.274554,Y
+21.510951,2,40.000000,920.000000,,56.212500,268.134375,0.175000,0.274726,Y
+21.603383,2,40.000000,920.000000,,56.212500,268.200000,0.150000,0.274609,Y
+21.712163,2,40.000000,920.000000,,56.212500,268.275000,0.175000,0.274621,Y
+21.805488,2,40.000000,920.000000,,56.203125,268.275000,0.150000,0.274554,Y
+21.915660,2,40.000000,920.000000,,56.231250,268.181250,0.175000,0.274691,Y
+22.007823,2,40.000000,920.000000,,56.231250,268.162500,0.150000,0.274637,Y
+22.101594,2,40.000000,920.000000,,56.231250,268.153125,0.175000,0.274712,Y
+22.210672,2,40.000000,920.000000,,56.203125,268.275000,0.175000,0.274621,Y
+22.304408,2,40.000000,920.000000,,56.231250,268.228125,0.175000,0.274656,Y
+22.413083,2,40.000000,920.000000,,56.212500,268.275000,0.175000,0.274621,Y
+22.506561,2,40.000000,920.000000,,56.212500,268.200000,0.175000,0.274677,Y
+22.614856,2,40.000000,920.000000,,56.325000,268.181250,0.175000,0.274691,Y
+22.709187,2,40.000000,920.000000,,56.306250,268.228125,0.200000,0.274724,Y
+22.803926,2,40.000000,920.000000,,56.212500,268.012500,0.150000,0.274749,Y
+22.912210,2,40.000000,920.000000,,56.212500,267.956250,0.175000,0.274858,Y
+23.005599,2,40.000000,920.000000,,56.212500,268.003125,0.200000,0.274891,Y
+23.114059,2,40.000000,920.000000,,56.212500,267.900000,0.175000,0.274900,Y
+23.208148,3,80.000000,840.000000,,56.212500,267.909375,0.275000,0.275164,Y
+23.302597,3,80.000000,840.000000,,56.212500,267.787500,1.137500,0.277592,Y
+23.411767,3,80.000000,840.000000,,57.431250,267.900000,3.037500,0.282653,Y
+23.504967,3,80.000000,840.000000,,57.431250,267.853125,2.937500,0.282418,Y
+23.612205,3,80.000000,840.000000,,70.378125,250.875000,3.050000,0.296352,Y
+23.705500,3,80.000000,840.000000,,70.378125,250.528125,3.112500,0.296821,Y
+23.814019,3,80.000000,840.000000,,83.475000,233.053125,3.200000,0.312595,Y
+23.907314,3,80.000000,840.000000,,83.475000,226.678125,3.275000,0.318899,Y
+24.000815,3,80.000000,840.000000,,95.550000,226.453125,3.312500,0.319233,Y
+24.112969,3,80.000000,840.000000,,95.531250,225.459375,3.337500,0.320280,Y
+24.205289,3,80.000000,840.000000,,105.253125,225.356250,3.400000,0.320572,Y
+24.314078,3,80.000000,840.000000,,105.253125,226.528125,3.412500,0.319465,Y
+24.406546,3,80.000000,840.000000,,115.687500,234.337500,3.437500,0.312107,Y
+24.514569,3,80.000000,840.000000,,115.687500,234.384375,3.450000,0.312100,Y
+24.608511,3,80.000000,840.000000,,124.350000,238.809375,3.450000,0.308040,Y
+24.702741,3,80.000000,840.000000,,124.359375,239.775000,3.500000,0.307315,Y
+24.812059,3,80.000000,840.000000,,131.503125,239.784375,3.500000,0.307306,Y
+24.906776,3,80.000000,840.000000,,131.512500,243.103125,3.512500,0.304381,Y
+25.001291,3,80.000000,840.000000,,137.353125,243.159375,3.500000,0.304295,Y
+25.108889,3,80.000000,840.000000,,137.353125,244.134375,3.537500,0.303545,Y
+25.204892,3,80.000000,840.000000,,142.331250,245.409375,3.550000,0.302465,Y
+25.313982,3,80.000000,840.000000,,142.312500,245.409375,3.537500,0.302429,Y
+25.406776,3,80.000000,840.000000,,146.184375,246.984375,3.575000,0.301169,Y
+25.514708,3,80.000000,840.000000,,146.175000,247.153125,3.600000,0.301095,Y
+25.606826,3,80.000000,840.000000,,149.456250,247.181250,3.600000,0.301071,Y
+25.715342,3,80.000000,840.000000,,149.456250,248.587500,3.600000,0.299861,Y
+25.808056,3,80.000000,840.000000,,152.137500,248.681250,3.612500,0.299816,Y
+25.901422,3,80.000000,840.000000,,152.128125,249.328125,3.600000,0.299227,Y
+26.010650,3,80.000000,840.000000,,154.462500,249.928125,3.600000,0.298716,Y
+26.102189,3,80.000000,840.000000,,154.462500,249.853125,3.637500,0.298887,Y
+26.211814,3,80.000000,840.000000,,156.253125,250.612500,3.550000,0.297993,Y
+26.304707,3,80.000000,840.000000,,156.253125,250.734375,3.775000,0.298529,Y
+26.415279,3,80.000000,840.000000,,158.137500,250.828125,3.612500,0.297988,Y
+26.507682,3,80.000000,840.000000,,158.137500,250.781250,3.612500,0.298028,Y
+26.602299,3,80.000000,840.000000,,159.478125,250.950000,3.600000,0.297850,Y
+26.711748,3,80.000000,840.000000,,159.478125,251.531250,3.612500,0.297394,Y
+26.804083,3,80.000000,840.000000,,160.228125,251.709375,3.612500,0.297244,Y
+26.912784,3,80.000000,840.000000,,160.228125,251.756250,3.637500,0.297276,Y
+27.007908,3,80.000000,840.000000,,161.081250,252.834375,3.612500,0.296300,Y
+27.101215,3,80.000000,840.000000,,161.081250,252.937500,3.612500,0.296214,Y
+27.211221,3,80.000000,840.000000,,161.559375,253.059375,3.637500,0.296183,Y
+27.303557,3,80.000000,840.000000,,161.559375,253.209375,3.612500,0.295987,Y
+27.411382,3,80.000000,840.000000,,162.112500,253.162500,3.637500,0.296096,Y
+27.505451,3,80.000000,840.000000,,162.131250,253.406250,3.612500,0.295823,Y
+27.613892,3,80.000000,840.000000,,162.600000,253.350000,3.612500,0.295869,Y
+27.706805,3,80.000000,840.000000,,162.600000,253.462500,3.637500,0.295846,Y
+27.815971,3,80.000000,840.000000,,163.078125,253.603125,3.637500,0.295729,Y
+27.908607,3,80.000000,840.000000,,163.078125,253.603125,3.612500,0.295658,Y
+28.001817,3,80.000000,840.000000,,163.434375,253.725000,3.637500,0.295627,Y
+28.110511,3,80.000000,840.000000,,163.434375,253.800000,3.612500,0.295495,Y
+28.203363,3,80.000000,840.000000,,163.650000,253.800000,3.650000,0.295600,Y
+28.310691,3,80.000000,840.000000,,163.612500,253.959375,3.650000,0.295468,Y
+28.404058,3,80.000000,840.000000,,163.903125,253.978125,3.637500,0.295417,Y
+28.511904,3,80.000000,840.000000,,163.884375,253.987500,3.650000,0.295444,Y
+28.605858,3,80.000000,840.000000,,164.100000,254.081250,3.637500,0.295331,Y
+28.713477,3,80.000000,840.000000,,164.081250,254.128125,3.637500,0.295292,Y
+28.806791,3,80.000000,840.000000,,164.184375,254.100000,3.675000,0.295421,Y
+28.915465,3,80.000000,840.000000,,164.184375,254.175000,3.650000,0.295288,Y
+29.009183,3,80.000000,840.000000,,164.362500,254.137500,3.637500,0.295284,Y
+29.101410,3,80.000000,840.000000,,164.362500,254.306250,3.637500,0.295144,Y
+29.211492,3,80.000000,840.000000,,164.559375,254.278125,3.675000,0.295273,Y
+29.304525,3,80.000000,840.000000,,164.559375,254.278125,3.950000,0.296046,Y
+29.415173,3,80.000000,840.000000,,164.737500,254.409375,3.675000,0.295164,Y
+29.509396,3,80.000000,840.000000,,164.737500,254.353125,3.700000,0.295281,Y
+29.601246,3,80.000000,840.000000,,164.934375,253.959375,3.700000,0.295608,Y
+29.709213,3,80.000000,840.000000,,164.925000,253.950000,3.700000,0.295616,Y
+29.801803,3,80.000000,840.000000,,164.925000,253.912500,3.650000,0.295507,Y
+29.910944,3,80.000000,840.000000,,164.934375,253.987500,3.675000,0.295515,Y
+30.005981,3,80.000000,840.000000,,165.028125,253.987500,3.675000,0.295515,Y
+30.114781,3,80.000000,840.000000,,165.009375,254.550000,3.675000,0.295047,Y
+30.208553,3,80.000000,840.000000,,165.112500,254.681250,3.675000,0.294939,Y
+30.301492,3,80.000000,840.000000,,165.112500,254.681250,3.675000,0.294939,Y
+30.410354,3,80.000000,840.000000,,165.206250,254.803125,3.675000,0.294838,Y
+30.504218,3,80.000000,840.000000,,165.225000,254.756250,3.675000,0.294877,Y
+30.613473,3,80.000000,840.000000,,165.487500,254.887500,3.675000,0.294768,Y
+30.706572,3,80.000000,840.000000,,165.478125,254.850000,3.675000,0.294799,Y
+30.800050,3,80.000000,840.000000,,165.581250,254.925000,3.675000,0.294737,Y
+30.908651,3,80.000000,840.000000,,165.562500,255.056250,3.675000,0.294628,Y
+31.002314,3,80.000000,840.000000,,165.581250,255.028125,3.675000,0.294652,Y
+31.111114,3,80.000000,840.000000,,165.581250,255.009375,3.675000,0.294667,Y
+31.206070,3,80.000000,840.000000,,165.581250,255.075000,3.712500,0.294718,Y
+31.315251,3,80.000000,840.000000,,165.562500,255.084375,3.700000,0.294675,Y
+31.408919,3,80.000000,840.000000,,165.581250,255.253125,3.700000,0.294536,Y
+31.502643,3,80.000000,840.000000,,165.562500,255.187500,3.675000,0.294520,Y
+31.611827,3,80.000000,840.000000,,165.778125,255.234375,3.712500,0.294586,Y
+31.705115,4,0.000000,1000.000000,,165.759375,255.403125,2.950000,0.292309,Y
+31.815795,4,0.000000,1000.000000,,165.309375,255.234375,0.637500,0.285962,Y
+31.908992,4,0.000000,1000.000000,,160.434375,257.400000,0.137500,0.282842,Y
+32.003128,4,0.000000,1000.000000,,144.731250,264.637500,-0.412500,0.275745,Y
+32.113105,4,0.000000,1000.000000,,113.156250,264.750000,-0.412500,0.275661,Y
+32.205667,4,0.000000,1000.000000,,77.878125,301.978125,-0.437500,0.250153,Y
+32.313669,4,0.000000,1000.000000,,55.387500,306.000000,-0.437500,0.247683,Y
+32.406316,4,0.000000,1000.000000,,41.128125,306.000000,-0.437500,0.247683,Y
+32.500895,4,0.000000,1000.000000,,30.356250,306.000000,-0.412500,0.247744,Y
+32.611033,4,0.000000,1000.000000,,23.334375,306.000000,-0.437500,0.247683,Y
+32.704017,4,0.000000,1000.000000,,17.606250,306.000000,-0.437500,0.247683,Y
+32.812848,4,0.000000,1000.000000,,13.753125,306.000000,-0.412500,0.247744,Y
+32.906039,4,0.000000,1000.000000,,11.334375,306.000000,-0.437500,0.247683,Y
+33.014065,4,0.000000,1000.000000,,9.262500,306.000000,-0.412500,0.247744,Y
+33.107276,4,0.000000,1000.000000,,7.678125,306.000000,-0.437500,0.247683,Y
+33.202567,4,0.000000,1000.000000,,6.412500,306.000000,-0.437500,0.247683,Y
+33.311125,4,0.000000,1000.000000,,5.409375,306.000000,-0.412500,0.247744,Y
+33.404451,4,0.000000,1000.000000,,4.584375,306.000000,-0.412500,0.247744,Y
+33.513153,4,0.000000,1000.000000,,3.956250,306.000000,-0.412500,0.247744,Y
+33.608247,4,0.000000,1000.000000,,3.403125,306.000000,-0.412500,0.247744,Y
+33.701926,4,0.000000,1000.000000,,2.953125,306.000000,-0.437500,0.247683,Y
+33.810209,4,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+33.904562,4,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+34.012472,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+34.106641,4,0.000000,1000.000000,,0.928125,306.000000,-0.437500,0.247683,Y
+34.214426,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+34.307228,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+34.401083,4,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+34.510004,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+34.604002,4,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+34.713273,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+34.808090,4,0.000000,1000.000000,,0.928125,306.000000,-0.437500,0.247683,Y
+34.915344,4,0.000000,1000.000000,,0.928125,306.000000,-0.437500,0.247683,Y
+35.008131,4,0.000000,1000.000000,,0.928125,306.000000,-0.400000,0.247775,Y
+35.101293,4,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+35.208944,4,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+35.302712,4,0.000000,1000.000000,,0.909375,306.000000,-0.400000,0.247775,Y
+35.412249,4,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+35.505971,4,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+35.601904,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+35.709759,4,0.000000,1000.000000,,0.900000,306.000000,-0.437500,0.247683,Y
+35.803196,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+35.911358,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+36.006079,4,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+36.114989,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+36.209193,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+36.302809,4,0.000000,1000.000000,,0.900000,306.000000,-0.450000,0.247652,Y
+36.411002,4,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+36.505740,4,0.000000,1000.000000,,0.909375,306.000000,-0.437500,0.247683,Y
+36.613579,4,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+36.707051,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+36.801656,4,0.000000,1000.000000,,0.928125,306.000000,-0.412500,0.247744,Y
+36.909407,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+37.003064,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+37.111916,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+37.206246,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+37.315576,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+37.409364,4,0.000000,1000.000000,,0.900000,306.000000,-0.412500,0.247744,Y
+37.502178,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+37.610752,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+37.703607,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+37.814525,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+37.909563,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+38.002126,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+38.111686,4,0.000000,1000.000000,,0.909375,306.000000,-0.400000,0.247775,Y
+38.205738,4,0.000000,1000.000000,,0.900000,306.000000,-0.437500,0.247683,Y
+38.314242,4,0.000000,1000.000000,,0.900000,306.000000,-0.412500,0.247744,Y
+38.407691,4,0.000000,1000.000000,,0.909375,306.000000,-0.400000,0.247775,Y
+38.500235,4,0.000000,1000.000000,,0.909375,306.000000,-0.400000,0.247775,Y
+38.610146,4,0.000000,1000.000000,,0.900000,306.000000,-0.437500,0.247683,Y
+38.702971,4,0.000000,1000.000000,,0.900000,306.000000,-0.412500,0.247744,Y
+38.811219,4,0.000000,1000.000000,,0.909375,306.000000,-0.412500,0.247744,Y
+38.905610,5,100.000000,800.000000,,0.909375,306.000000,-0.112500,0.248481,Y
+39.015748,5,100.000000,800.000000,,0.909375,306.000000,0.075000,0.248941,Y
+39.109532,5,100.000000,800.000000,,5.400000,306.000000,1.600000,0.252685,Y
+39.202577,5,100.000000,800.000000,,5.400000,306.000000,5.412500,0.262045,Y
+39.310497,5,100.000000,800.000000,,16.481250,279.075000,5.212500,0.280067,Y
+39.404330,5,100.000000,800.000000,,16.481250,278.034375,5.600000,0.281857,Y
+39.513598,5,100.000000,800.000000,,36.431250,243.825000,6.050000,0.311097,Y
+39.608196,5,100.000000,800.000000,,36.431250,213.206250,6.400000,0.342494,Y
+39.702918,5,100.000000,800.000000,,56.859375,212.737500,6.612500,0.343682,Y
+39.810545,5,100.000000,800.000000,,56.859375,194.812500,6.975000,0.365708,Y
+39.905377,5,100.000000,800.000000,,79.687500,192.928125,7.075000,0.368390,Y
+40.015097,5,100.000000,800.000000,,79.687500,192.928125,6.737500,0.367243,Y
+40.109192,5,100.000000,800.000000,,102.628125,211.434375,6.412500,0.344474,Y
+40.202710,5,100.000000,800.000000,,102.637500,211.725000,6.037500,0.342956,Y
+40.311427,5,100.000000,800.000000,,123.703125,211.987500,5.800000,0.341911,Y
+40.406848,5,100.000000,800.000000,,123.703125,212.062500,5.550000,0.341031,Y
+40.514985,5,100.000000,800.000000,,139.359375,212.081250,5.350000,0.340373,Y
+40.609114,5,100.000000,800.000000,,139.359375,197.737500,5.212500,0.356238,Y
+40.702818,5,100.000000,800.000000,,150.534375,196.912500,5.175000,0.357098,Y
+40.813392,5,100.000000,800.000000,,150.553125,192.937500,5.050000,0.361497,Y
+40.908049,5,100.000000,800.000000,,158.887500,183.206250,4.975000,0.373597,Y
+41.001688,5,100.000000,800.000000,,165.281250,183.037500,4.937500,0.373687,Y
+41.111187,5,100.000000,800.000000,,170.081250,176.175000,4.875000,0.382703,Y
+41.205374,5,100.000000,800.000000,,170.081250,175.106250,4.850000,0.384092,Y
+41.312902,5,100.000000,800.000000,,174.562500,175.125000,4.837500,0.384021,Y
+41.406341,5,100.000000,800.000000,,174.562500,170.859375,4.850000,0.390085,Y
+41.501019,5,100.000000,800.000000,,178.078125,170.737500,4.775000,0.389984,Y
+41.609511,5,100.000000,800.000000,,178.078125,169.425000,4.775000,0.391874,Y
+41.703264,5,100.000000,800.000000,,180.581250,168.262500,4.737500,0.393425,Y
+41.812361,5,100.000000,800.000000,,180.581250,168.300000,4.750000,0.393417,Y
+41.907992,5,100.000000,800.000000,,182.400000,166.837500,4.712500,0.395423,Y
+42.002081,5,100.000000,800.000000,,182.400000,166.781250,4.712500,0.395506,Y
+42.114026,5,100.000000,800.000000,,183.562500,166.800000,4.700000,0.395431,Y
+42.207692,5,100.000000,800.000000,,183.553125,165.909375,4.700000,0.396749,Y
+42.316148,5,100.000000,800.000000,,184.828125,165.862500,4.675000,0.396725,Y
+42.408950,5,100.000000,800.000000,,184.828125,165.384375,4.700000,0.397530,Y
+42.502405,5,100.000000,800.000000,,185.634375,165.328125,4.675000,0.397520,Y
+42.610536,5,100.000000,800.000000,,185.634375,165.328125,4.650000,0.397426,Y
+42.702625,5,100.000000,800.000000,,186.459375,164.859375,4.700000,0.398314,Y
+42.810789,5,100.000000,800.000000,,186.459375,164.859375,4.650000,0.398126,Y
+42.903012,5,100.000000,800.000000,,186.825000,164.850000,4.650000,0.398140,Y
+43.011615,5,100.000000,800.000000,,186.825000,164.662500,4.712500,0.398656,Y
+43.105389,5,100.000000,800.000000,,187.003125,164.578125,4.700000,0.398735,Y
+43.215291,5,100.000000,800.000000,,187.012500,164.512500,4.650000,0.398646,Y
+43.308404,5,100.000000,800.000000,,187.387500,164.362500,4.675000,0.398965,Y
+43.415343,5,100.000000,800.000000,,187.378125,164.484375,4.675000,0.398782,Y
+43.508002,5,100.000000,800.000000,,187.575000,164.409375,4.650000,0.398800,Y
+43.602971,5,100.000000,800.000000,,187.753125,164.400000,4.675000,0.398909,Y
+43.712418,5,100.000000,800.000000,,187.781250,164.550000,4.700000,0.398778,Y
+43.805036,5,100.000000,800.000000,,187.950000,164.512500,4.700000,0.398834,Y
+43.914587,5,100.000000,800.000000,,188.053125,164.559375,4.675000,0.398670,Y
+44.006794,5,100.000000,800.000000,,188.053125,164.625000,4.675000,0.398571,Y
+44.114919,5,100.000000,800.000000,,188.156250,164.606250,4.700000,0.398693,Y
+44.208490,5,100.000000,800.000000,,188.137500,164.578125,4.675000,0.398641,Y
+44.302467,5,100.000000,800.000000,,188.156250,164.606250,4.700000,0.398693,Y
+44.411331,5,100.000000,800.000000,,188.137500,164.653125,4.650000,0.398435,Y
+44.505121,5,100.000000,800.000000,,188.334375,164.550000,4.700000,0.398778,Y
+44.614528,5,100.000000,800.000000,,188.306250,164.578125,4.700000,0.398735,Y
+44.705887,5,100.000000,800.000000,,188.334375,164.559375,4.675000,0.398670,Y
+44.800613,5,100.000000,800.000000,,188.325000,164.550000,4.700000,0.398778,Y
+44.910433,5,100.000000,800.000000,,188.334375,164.578125,4.737500,0.398876,Y
+45.003392,5,100.000000,800.000000,,188.334375,164.587500,4.675000,0.398627,Y
+45.114573,5,100.000000,800.000000,,188.437500,164.634375,4.675000,0.398557,Y
+45.206638,5,100.000000,800.000000,,188.428125,164.625000,4.700000,0.398665,Y
+45.314430,5,100.000000,800.000000,,188.428125,164.456250,4.675000,0.398824,Y
+45.407853,5,100.000000,800.000000,,188.428125,164.475000,4.700000,0.398890,Y
+45.501768,5,100.000000,800.000000,,188.512500,164.456250,4.675000,0.398824,Y
+45.612725,5,100.000000,800.000000,,188.512500,164.428125,4.700000,0.398961,Y
+45.705491,5,100.000000,800.000000,,188.428125,164.381250,4.700000,0.399031,Y
+45.814080,5,100.000000,800.000000,,188.428125,164.456250,4.675000,0.398824,Y
+45.907639,5,100.000000,800.000000,,188.428125,164.503125,4.650000,0.398660,Y
+46.015027,5,100.000000,800.000000,,188.428125,164.456250,4.650000,0.398730,Y
+46.107939,5,100.000000,800.000000,,188.512500,164.437500,4.675000,0.398852,Y
+46.202424,5,100.000000,800.000000,,188.531250,164.475000,4.650000,0.398702,Y
+46.313403,5,100.000000,800.000000,,188.334375,164.484375,4.675000,0.398782,Y
+46.407104,5,100.000000,800.000000,,188.334375,164.353125,4.700000,0.399073,Y
+46.500578,5,100.000000,800.000000,,188.409375,164.325000,4.700000,0.399115,Y
+46.610702,5,100.000000,800.000000,,188.428125,164.437500,4.675000,0.398852,Y
+46.703466,5,100.000000,800.000000,,188.531250,164.334375,4.675000,0.399007,Y
+46.813803,5,100.000000,800.000000,,188.531250,164.353125,4.700000,0.399073,Y
diff --git a/可执行程序/open_loop_data/open_loop_20260904_154014.png b/可执行程序/open_loop_data/open_loop_20260904_154014.png
new file mode 100644
index 0000000..2adfdc7
Binary files /dev/null and b/可执行程序/open_loop_data/open_loop_20260904_154014.png differ
diff --git a/可执行程序/使用说明.txt b/可执行程序/使用说明.txt
index a5b999d..78456b0 100644
--- a/可执行程序/使用说明.txt
+++ b/可执行程序/使用说明.txt
@@ -33,14 +33,42 @@
2. 核对 PLC 地址、端口和站号。默认值为 192.168.1.88、502、1。
3. 默认模型显示为“内置 valve_model_004.json（80 点）”。
4. 点击“连接设备”。连接成功后程序先设置 100% 开度，并进入传感器监测。
-5. 输入 0～300 SLM 的目标值，点击“设置目标流量”或按回车。首次设置即启动
- 10 Hz 闭环；运行中可以继续修改目标。
+5. 输入 0～300 SLM 的目标值，点击“设置目标流量”或按回车。闭环运行中仍可输入
+ 新目标并再次点击，以直接切换目标。独立的“停止流量控制”按钮位于“设置目标
+ 流量”和“当前目标”之间；点击后程序停止闭环并立即下发 100% 总开度。
6. 观察当前流量、阀前压力、阀后压力、下发总开度、电机行程、前馈开度、
PI 修正量和 FAR/NEAR 模式。
7. 结束时点击“断开设备”，等待状态变为“设备已断开”后再关闭程序。
+手动给定开度：在闭环和开环扫点均停止、设备处于监测状态时，在“手动开度”
+输入 0～100%，再点击“设置开度”。闭环运行中点击该按钮只会提示先停止流量
+控制；关闭提示后不会停止闭环，也不会下发开度。手动下发和仅监测状态下 PID
+均未参与控制，因此“PID 模式”统一显示为“未启用”。
-四、选择其他 A_eff 模型
+
+四、开环扫点
+
+1. 先连接设备并确认传感器数据正常，再点击“开环扫点”。
+2. 在弹窗中设置起止开度、开度间隔、随机种子、采样周期、稳态窗口、标准差
+ 阈值、单点最长等待时间，并选择是否追加闭阀端精细行程点。
+3. 点击“开始扫点”。若闭环正在运行，程序会先要求确认并停止闭环，再直接按
+ 扫描序列下发阀门开度。
+4. 每个扫描点在阀后流量达到稳态或到达最长等待时间后自动切换。界面会持续
+ 显示当前点数、流量、压力、总开度和电机行程。
+5. 扫点启动后按钮变为“停止扫点”，点击可提前停止。完成或停止后，程序尝试恢复
+ 100% 开度，设备保持连接并回到监测状态。
+
+结果保存在 FlowControl.exe 同目录的 open_loop_data 文件夹。CSV 在采样时逐行
+写入，因此中途停止或故障时仍保留已采数据；结束时还会生成包含压力、流量和
+绝对压力比的 PNG。通信或安全故障会按安全策略断开设备。
+
+CSV 是原始实验数据，并不是前馈模型，所以扫点结束时不会自动出现 JSON。
+需要前馈表时点击设备区域的“拟合前馈表”，可按住 Ctrl 或 Shift 一次选择多份
+开环 CSV，再选择 JSON 保存位置。程序会合并数据，输出可通过“选择 JSON…”
+加载的阀模型，并在同目录生成同名诊断 PNG。闭环或开环扫点运行时不能启动拟合。
+
+
+五、选择其他 A_eff 模型
只能在未连接或故障已断开的状态下切换模型。点击“选择 JSON…”后选择由本工程
辨识工具生成的模型。程序会检查 JSON 结构、有效数值、标定点数量以及行程范围
@@ -50,10 +78,11 @@
A_eff 存在多个反解行程时，沿用工程算法选择更接近关闭端的较大行程。
-五、状态与故障
+六、状态与故障
- 已连接 / 监测中：设备已连接，阀门保持 100% 开度，尚未启动闭环。
- 闭环运行中：目标流量已经生效，程序以 10 Hz 读取传感器并下发总开度。
+- 开环扫点中：程序按扫描序列直接下发开度，闭环反馈此时不参与控制。
- 故障 / 已断开：出现流量越界、压力超限、连续读取失败、写入失败、控制周期
严重超时或通信异常；程序已停止闭环并执行安全断开。
@@ -61,7 +90,7 @@ A_eff 存在多个反解行程时，沿用工程算法选择更接近关闭端
保留该日志。日志最多约 2 MB，自动保留 3 份历史文件。
-六、当前默认硬件参数
+七、当前默认硬件参数
- 阀后流量：D700，量程 0～300 SLM
- 阀后压力：D710，量程 0～400 kPa