完善流量控制前馈、稳态判定与阀门标定流程

- 前馈冻结改用可配置的 3 秒流量绝对误差滑窗，修复采样抖动造成的重复解冻，并保留下游扰动后的自动更新
- 支持非单调阀特性反解、最小可测面积以下直接全关，以及闭阀端精细扫点与辨识开关
- 调整双压力判稳、最长等待时间、在线入口全开收尾和闭环四联图
- 更新配置、README、阀模型及离线测试，归档本轮实验数据与诊断产物

test_flow_control.py

@@ -0,0 +1,96 @@
+"""flow_control 前馈误差滑窗的离线自测（不连接硬件）。"""
+
+from collections import deque
+
+import pytest
+
+from flow_control import FlowControlLoop
+
+
+def _pid_threshold_loop():
+    """只构造测试 FAR/NEAR 阈值计算所需的状态。"""
+    loop = FlowControlLoop.__new__(FlowControlLoop)
+    loop.pid_near_error_min_slm = 1.0
+    loop.pid_near_error_max_slm = 3.0
+    loop.pid_near_error_target_ratio = 0.05
+    loop.pid_far_error_min_slm = 4.0
+    loop.pid_far_error_max_slm = 12.0
+    loop.pid_far_error_target_ratio = 0.20
+    return loop
+
+
+@pytest.mark.parametrize(
+    ("target", "expected_near", "expected_far"),
+    [
+        (10.0, 1.0, 4.0),       # 比例值低于下限
+        (30.0, 1.5, 6.0),       # 比例值位于上下限之间
+        (60.0, 3.0, 12.0),      # 比例值恰好达到上限
+        (300.0, 3.0, 12.0),     # 比例值超过上限
+    ],
+)
+def test_pid_error_thresholds_are_clamped(target, expected_near, expected_far):
+    loop = _pid_threshold_loop()
+
+    near, far = loop._pid_error_thresholds(target)
+
+    assert near == pytest.approx(expected_near)
+    assert far == pytest.approx(expected_far)
+
+
+def _feedforward_window_loop():
+    """只构造测试滑窗所需的最小 FlowControlLoop 状态。"""
+    loop = FlowControlLoop.__new__(FlowControlLoop)
+    loop.target_flow_slm = 100.0
+    loop.feedforward_update_window_s = 3.0
+    loop._feedforward_error_window = deque()
+    loop._feedforward_window_ready = False
+    return loop
+
+
+def test_feedforward_window_stays_ready_despite_sampling_jitter():
+    loop = _feedforward_window_loop()
+
+    # 首个完整 3 s 窗口内误差恒为 2 SLM。
+    sample_times = [0.0, 0.099]
+    sample_times.extend(0.201 + 0.1 * index for index in range(28))
+    sample_times.append(3.0)
+    means = [
+        loop._feedforward_window_mean_abs_error(timestamp, 98.0)
+        for timestamp in sample_times
+    ]
+
+    assert all(value is None for value in means[:-1])
+    assert means[-1] == pytest.approx(2.0)
+    assert loop._feedforward_window_ready
+
+    # 下一周期淘汰旧样本后，队列首尾跨度仅 2.899 s。窗口仍应保持
+    # ready，并返回最近 3 s 的误差均值，不能因约 0.1 s 抖动返回 None。
+    mean = loop._feedforward_window_mean_abs_error(3.1, 98.0)
+
+    span = (
+        loop._feedforward_error_window[-1][0]
+        - loop._feedforward_error_window[0][0]
+    )
+    assert span == pytest.approx(2.899)
+    assert mean == pytest.approx(2.0)
+    assert loop._feedforward_window_ready
+
+
+def test_ready_window_keeps_tracking_recent_error_and_can_reset():
+    loop = _feedforward_window_loop()
+    loop._feedforward_window_mean_abs_error(0.0, 98.0)
+    assert loop._feedforward_window_mean_abs_error(3.0, 98.0) == pytest.approx(2.0)
+
+    # 就绪状态不会冻结均值本身；最近 3 s 都变成 10 SLM 误差后，
+    # 返回的新均值会超过默认 5 SLM 阈值，从而触发上层前馈更新。
+    for index in range(1, 32):
+        mean = loop._feedforward_window_mean_abs_error(
+            3.0 + index * 0.1,
+            90.0,
+        )
+    assert mean == pytest.approx(10.0)
+
+    loop._reset_feedforward_error_window()
+    assert not loop._feedforward_window_ready
+    assert not loop._feedforward_error_window
+    assert loop._feedforward_window_mean_abs_error(10.0, 90.0) is None