From fb1afb4d9757d5f35179e1345736949302666c1b Mon Sep 17 00:00:00 2001 From: louissun Date: Mon, 31 Aug 2026 15:03:13 +0800 Subject: [PATCH] =?UTF-8?q?=20=E6=96=B0=E5=A2=9E=E4=B8=A4=E4=B8=AA?= =?UTF-8?q?=E5=91=BD=E4=BB=A4=E8=A1=8C=E5=8F=82=E6=95=B0python=20test=5Fva?= =?UTF-8?q?lve.py=20--opening=2060=20--dt=200.01=20=20=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=E4=BC=A0=E6=84=9F=E5=99=A8=E9=80=9A=E9=81=93=E5=8F=B7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- config.py | 10 +++---- open_loop.py | 2 +- test_valve.py | 82 +++++++++++++++++++++++++++++++++++++++------------ 3 files changed, 69 insertions(+), 25 deletions(-) diff --git a/config.py b/config.py index 4c082e5..88a7be5 100644 --- a/config.py +++ b/config.py @@ -13,12 +13,12 @@ MT2AM8_PORT = 502 MT2AM8_SLAVE_ID = 1 # MT2AM8Client 用这些量程把模拟量转换成物理量。 -PRESSURE_RANGE_KPA = 1600.0 +PRESSURE_RANGE_KPA = 400.0 FLOW_METER_RANGE_SLM = 300.0 # AI/AO 通道均从 0 开始。AI0 和 AO0 属于不同的寄存器区，可以同时使用。 -FLOW_INPUT_CHANNEL = 1 -PRESSURE_INPUT_CHANNEL = 0 # 没有压力传感器时改为 None +FLOW_INPUT_CHANNEL = 2 +PRESSURE_INPUT_CHANNEL = 3 # 没有压力传感器时改为 None MOTOR_OUTPUT_CHANNEL = 1 # --------------------------------------------------------------------------- @@ -49,8 +49,8 @@ PID_NEAR_KD = 0.0 OPENING_MIN_PCT = 0.0 OPENING_MAX_PCT = 100.0 -MAX_OPENING_RATE_FAR_PCT_S = 20.0 -MAX_OPENING_RATE_NEAR_PCT_S = 2.0 +MAX_OPENING_RATE_FAR_PCT_S = 200.0 +MAX_OPENING_RATE_NEAR_PCT_S = 20.0 # FAR -> NEAR：绝对误差连续满足 near 阈值指定周期数后切换。 # NEAR -> FAR：绝对误差连续达到 far 阈值指定周期数后切换。 diff --git a/open_loop.py b/open_loop.py index ef70719..d01ad39 100644 --- a/open_loop.py +++ b/open_loop.py @@ -41,7 +41,7 @@ from flow_control import opening_to_motor_position # “前”= 控流阀入口侧（靠近减压阀一侧），为本次新增传感器，请按实际接线确认。 PRESSURE_AFTER_CHANNEL = config.PRESSURE_INPUT_CHANNEL # 后压力，默认 0 FLOW_AFTER_CHANNEL = config.FLOW_INPUT_CHANNEL # 后流量，默认 1 -PRESSURE_BEFORE_CHANNEL = 2 # 前压力（新增，需确认） +PRESSURE_BEFORE_CHANNEL = None # 前压力（新增，需确认） FLOW_BEFORE_CHANNEL = None # 前流量（新增，需确认） MOTOR_CHANNEL = config.MOTOR_OUTPUT_CHANNEL # AO 通道 diff --git a/test_valve.py b/test_valve.py index f31b949..b88ad47 100644 --- a/test_valve.py +++ b/test_valve.py @@ -1,5 +1,11 @@ -"""手动设置阀门开度，并每秒显示流量、压力和电机行程。""" +"""手动设置阀门开度，按 --dt 周期写 CSV，终端每秒显示一次。 +示例： + python test_valve.py + python test_valve.py --opening 60 --dt 0.01 +""" + +import argparse import contextlib import csv from datetime import datetime @@ -18,9 +24,10 @@ import config from flow_control import opening_to_motor_position -SAMPLE_PERIOD_S = 1.0 +SAMPLE_PERIOD_S = 1.0 # CSV 采样周期默认值（秒），可用 --dt 覆盖 +PRINT_PERIOD_S = 1.0 # 终端打印周期（秒），与采样周期解耦 KEY_POLL_PERIOD_S = 0.05 -INITIAL_OPENING_PCT = 100.0 +INITIAL_OPENING_PCT = 100.0 # 初始开度默认值（%），可用 --opening 覆盖 OUTPUT_DIRECTORY = Path(__file__).resolve().parent / "test_valve_data" @@ -193,7 +200,34 @@ def read_sensors(hardware, quiet=False): return flow, pressure -def main(): +def parse_args(argv=None): + """解析命令行参数：--dt 采样周期（秒）、--opening 初始开度（%）。""" + parser = argparse.ArgumentParser( + description="手动设置阀门开度：按 --dt 周期写 CSV，终端每秒显示一次。" + ) + parser.add_argument( + "--dt", + type=float, + default=SAMPLE_PERIOD_S, + help=f"CSV 采样周期（秒），默认 {SAMPLE_PERIOD_S:g}", + ) + parser.add_argument( + "--opening", + type=float, + default=INITIAL_OPENING_PCT, + help=f"初始阀门开度（%%），默认 {INITIAL_OPENING_PCT:g}", + ) + args = parser.parse_args(argv) + if args.dt <= 0: + parser.error("--dt 必须大于 0") + if not 0.0 <= args.opening <= 100.0: + parser.error("--opening 必须位于 0~100 之间") + return args + + +def main(argv=None): + args = parse_args(argv) + if msvcrt is None: print("本程序需要在 Windows 终端中运行。") return 1 @@ -213,7 +247,7 @@ def main(): ) connected = False - opening = INITIAL_OPENING_PCT + opening = args.opening position = motor_position_for(opening) input_mode = False input_buffer = "" @@ -238,6 +272,9 @@ def main(): print(f"CSV 将保存到：{recorder.csv_path}") next_sample_time = time.perf_counter() + next_print_time = time.perf_counter() + last_flow = None + last_pressure = None while True: while msvcrt.kbhit(): @@ -289,21 +326,28 @@ def main(): print(text, end="", flush=True) now = time.perf_counter() - if now >= next_sample_time: - flow, pressure = read_sensors(hardware, quiet=input_mode) - recorder.record(now, flow, opening, pressure, position) - if not input_mode: - timestamp = time.strftime("%H:%M:%S") - print( - f"[{timestamp}] " - f"流量={format_value(flow, 'SLM')} " - f"压力={format_value(pressure, 'kPa')} " - f"开度={opening:.2f}% 行程={position:.1f}" - ) - # 不追补错过的终端输出；输入期间的样本只写入 CSV。 - next_sample_time = time.perf_counter() + SAMPLE_PERIOD_S - time.sleep(KEY_POLL_PERIOD_S) + if now >= next_sample_time: + last_flow, last_pressure = read_sensors( + hardware, quiet=input_mode + ) + recorder.record( + now, last_flow, opening, last_pressure, position + ) + # 不追补错过的采样；输入期间的样本只写 CSV，不打印终端。 + next_sample_time = time.perf_counter() + args.dt + + if not input_mode and now >= next_print_time: + timestamp = time.strftime("%H:%M:%S") + print( + f"[{timestamp}] " + f"流量={format_value(last_flow, 'SLM')} " + f"压力={format_value(last_pressure, 'kPa')} " + f"开度={opening:.2f}% 行程={position:.1f}" + ) + next_print_time = time.perf_counter() + PRINT_PERIOD_S + + time.sleep(min(KEY_POLL_PERIOD_S, args.dt)) except KeyboardInterrupt: if input_mode: