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fix: Исправлен алгоритм смыкания

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ermolaev_p 2024-12-27 22:21:17 +03:00
parent e6300c3ca3
commit 1ebd7e6566
1 changed files with 15 additions and 8 deletions
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23
src/OptAlgorithm/OptTimeCalculator.py
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@ -21,8 +21,12 @@ class OptTimeCalculator(AutoConfigClass):
v0q = min(sqrt(2 * self.a_max_1 * h1), self.v_max_1) v0q = min(sqrt(2 * self.a_max_1 * h1), self.v_max_1)
v0 = min(v0q, sqrt(1 / (self.k_hardness_1 * self.mass_1)) * self.Ftogrow) v0 = min(v0q, sqrt(1 / (self.k_hardness_1 * self.mass_1)) * self.Ftogrow)
t1 = v0 / self.a_max_1 t1 = v0 / self.a_max_1
t2t = max(0, (h1 - (self.a_max_1 * t1 * t1 / 2)) / v0) hleft = (h1 - (self.a_max_1 * t1 * t1 / 2))
T1 = t1 + t2t t3 = min((v0q - v0)/ self.a_max_1, sqrt(self.a_max_1 * hleft))
v1 = (t1 + t3) * self.a_max_1
hleft2 = h1 - (self.a_max_1 * (t1+t3) * (t1+t3) / 2) - v1 * t3 + t3**2 * self.a_max_1 / 2
t2t = max(0, hleft2 / v1)
T1 = t1 + t2t + t3
t21 = sqrt(h2 / (self.a_max_2)) t21 = sqrt(h2 / (self.a_max_2))
t21 = min(self.v_max_2 / self.a_max_2, t21) t21 = min(self.v_max_2 / self.a_max_2, t21)
@ -178,7 +182,7 @@ class OptTimeCalculator(AutoConfigClass):
t5max = (Tfull - v0 / a) / 2 - t1 t5max = (Tfull - v0 / a) / 2 - t1
v1 = v0 + a * t1 v1 = v0 + a * t1
S1 = v0 * t1 + a * t1 * t1 / 2 + v1 * t31 - a * t31 * t31 / 2 + v0 * t31 S1 = v0 * t1 + a * t1 * t1 / 2 + v1 * t31 - a * t31 * t31 / 2 + v0 * t31
S2max = -Sfull + S1 S2max = abs(Sfull) + S1
t5 = min(t5max, (vmax) / a, sqrt(S2max / a)) t5 = min(t5max, (vmax) / a, sqrt(S2max / a))
t3 = abs(v0) / a + t1 + t5 t3 = abs(v0) / a + t1 + t5
t32 = t5 t32 = t5
@ -191,7 +195,10 @@ class OptTimeCalculator(AutoConfigClass):
t2max = (timeleft - Sleft / v3) / (1 + v1 / v3) t2max = (timeleft - Sleft / v3) / (1 + v1 / v3)
Smovement = -v0 * t1 - a / 2 * t1 ** 2 - v1 * t31 + a / 2 * t31 ** 2 Smovement = -v0 * t1 - a / 2 * t1 ** 2 - v1 * t31 + a / 2 * t31 ** 2
t2 = max(0, min(t2max, (abs(maxL) - abs(Smovement)) / v1)) if v1 == 0:
t2 = 0
else:
t2 = max(0, min(t2max, (abs(maxL) - abs(Smovement)) / v1))
t4 = max(0, Sleft / v3 + v1 / v3 * t2) t4 = max(0, Sleft / v3 + v1 / v3 * t2)
tstay = max(0, Tfull - t1 - t2 - t3 - t4 - t5) tstay = max(0, Tfull - t1 - t2 - t3 - t4 - t5)
@ -212,8 +219,6 @@ class OptTimeCalculator(AutoConfigClass):
v0q = min(sqrt(2 * self.a_max_1 * s), self.v_max_1) v0q = min(sqrt(2 * self.a_max_1 * s), self.v_max_1)
v0 = min(v0q, sqrt(1 / (self.k_hardness_1 * self.mass_1)) * self.Ftogrow) v0 = min(v0q, sqrt(1 / (self.k_hardness_1 * self.mass_1)) * self.Ftogrow)
t2 = T - sqrt(max(0, T ** 2 - 2 * s / self.a_max_1)) t2 = T - sqrt(max(0, T ** 2 - 2 * s / self.a_max_1))
if t2 > v0/ self.a_max_1 + self.check_eps:
raise Exception("""Мы вышли за границы разгона - смыкание FE, вообще не знаю как так получилось""")
if t2 * self.a_max_1 < v0: if t2 * self.a_max_1 < v0:
#we should wait to end with max speed #we should wait to end with max speed
t2 = v0 / self.a_max_1 t2 = v0 / self.a_max_1
@ -222,8 +227,10 @@ class OptTimeCalculator(AutoConfigClass):
t4 = 0 t4 = 0
else: else:
t1 = 0 t1 = 0
t3 = max(0, (s - self.a_max_1 * t1 ** 2 / 2) / (self.a_max_1 * t1)) t2 = min(v0q / self.a_max_1, (T + v0/self.a_max_1)/2 - sqrt(max(0, (T + v0/self.a_max_1)**2 - 4 * (v0**2 / (2 * self.a_max_1**2) + s / self.a_max_1))) / 2)
t4 = 0 #here it should be as trap v1 = t2 * self.a_max_1
t4 = max(0, v1-v0) / self.a_max_1
t3 = max(0, T - t2 - t4)
return t1, t2, t3, t4 return t1, t2, t3, t4
def calcFirstOpen(self, T: float, s: float) -> tuple[float, float]: def calcFirstOpen(self, T: float, s: float) -> tuple[float, float]: