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

valve_model.py

@@ -42,7 +42,14 @@ class ValveModel:
     ``area_table`` 是按 x 升序的 ``(x, A_eff)`` 列表。
     """
 
-    def __init__(self, area_table, motor_open, motor_closed):
+    def __init__(
+        self,
+        area_table,
+        motor_open,
+        motor_closed,
+        *,
+        enforce_monotonic=True,
+    ):
         motor_open = float(motor_open)
         motor_closed = float(motor_closed)
         if motor_open >= motor_closed:
@@ -69,8 +76,11 @@ class ValveModel:
             if a < 0.0:
                 raise ValueError(f"A_eff 不得为负: x={x}, A_eff={a}")
 
+        if not isinstance(enforce_monotonic, bool):
+            raise ValueError("enforce_monotonic 必须是布尔值")
         ys = [a for (_, a) in table]
-        if not _is_monotonic(ys):
+        is_monotonic = _is_monotonic(ys)
+        if enforce_monotonic and not is_monotonic:
             raise ValueError(
                 "A_eff(x) 非单调：反解无法唯一。请检查扫点数据，"
                 "缩小范围到单调段后重扫。"
@@ -79,6 +89,8 @@ class ValveModel:
         self.area_table = table
         self.motor_open = motor_open
         self.motor_closed = motor_closed
+        self.enforce_monotonic = enforce_monotonic
+        self.is_monotonic = is_monotonic
         self._xs = [x for (x, _) in table]
         self._ys = ys
 
@@ -89,10 +101,14 @@ class ValveModel:
         return _interp(float(x), self._xs, self._ys)
 
     def stroke_from_area(self, a):
-        """反查 x(A_eff)；表单调，越界钳位到端点行程。"""
+        """反查 x(A_eff)；低于实测最小面积时直接返回机械全关行程。"""
         a = float(a)
         xs = self._xs
         ys = self._ys
+
+        if not self.is_monotonic:
+            return self._stroke_from_nonmonotonic_area(a)
+
         increasing = ys[0] <= ys[-1]
 
         if increasing:
@@ -102,7 +118,10 @@ class ValveModel:
             y_min, y_min_x = ys[-1], xs[-1]
             y_max, y_max_x = ys[0], xs[0]
 
-        if a <= y_min:
+        if a < y_min:
+            # 小于最小实测有效面积属于不可连续调节区，直接机械全关。
+            return self.motor_closed
+        if a == y_min:
             return y_min_x
         if a >= y_max:
             return y_max_x
@@ -117,6 +136,36 @@ class ValveModel:
         # 理论走不到这里（a 严格落在 y_min/y_max 之间且表单调）。
         return xs[0]
 
+    def _stroke_from_nonmonotonic_area(self, a):
+        """非单调表反解：存在多个交点时选择更接近关闭端的较大行程。"""
+        xs = self._xs
+        ys = self._ys
+        y_min = min(ys)
+        y_max = max(ys)
+        y_min_x = max(x for x, y in zip(xs, ys) if y == y_min)
+        y_max_x = min(x for x, y in zip(xs, ys) if y == y_max)
+
+        if a < y_min:
+            return self.motor_closed
+        if a == y_min:
+            return y_min_x
+        if a >= y_max:
+            return y_max_x
+
+        candidates = []
+        for i in range(len(ys) - 1):
+            x0, x1 = xs[i], xs[i + 1]
+            y0, y1 = ys[i], ys[i + 1]
+            if y0 == y1:
+                if a == y0:
+                    candidates.append(max(x0, x1))
+                continue
+            if (y0 <= a <= y1) or (y1 <= a <= y0):
+                t = (a - y0) / (y1 - y0)
+                candidates.append(x0 + t * (x1 - x0))
+
+        return max(candidates) if candidates else self.motor_closed
+
     # ------------------------------------------------------------ 静态特性
 
     def flow_ss(self, x, p1_kpa, p2_kpa):
@@ -151,17 +200,32 @@ class ValveModel:
         data = {
             "motor_open": self.motor_open,
             "motor_closed": self.motor_closed,
+            "enforce_monotonic": self.enforce_monotonic,
             "area_table": [[x, a] for (x, a) in self.area_table],
         }
         with open(path, "w", encoding="utf-8") as file:
             json.dump(data, file, indent=2, ensure_ascii=False)
 
     @classmethod
-    def load(cls, path, motor_open, motor_closed):
+    def load(
+        cls,
+        path,
+        motor_open,
+        motor_closed,
+        *,
+        enforce_monotonic=None,
+    ):
         with open(path, "r", encoding="utf-8") as file:
             data = json.load(file)
         area_table = [tuple(item) for item in data["area_table"]]
-        return cls(area_table, motor_open, motor_closed)
+        if enforce_monotonic is None:
+            enforce_monotonic = data.get("enforce_monotonic", True)
+        return cls(
+            area_table,
+            motor_open,
+            motor_closed,
+            enforce_monotonic=enforce_monotonic,
+        )
 
 
 def _is_monotonic(ys):