Welding/WeldingSpotPerformance
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fix(SF-483): Исправлена ошибка с расчетом траектории закрытия

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ermolaev_p 2024-11-15 16:38:34 +03:00
parent 601f7912cf
commit bd65193bf0
2 changed files with 3 additions and 2 deletions
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3
src/OptAlgorithm/OptAlgorithm.py
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@ -116,7 +116,8 @@ class OptAlgorithm(AutoConfigClass):
dF0 = self.a_max_1 * self.Ts["tclose_1_acc"] * self.k_hardness_1 dF0 = self.a_max_1 * self.Ts["tclose_1_acc"] * self.k_hardness_1
dFmax = min(self.v_max_1 * self.k_hardness_1, sqrt(self.k_hardness_1/(self.mass_1))* self.Ftogrow) dFmax = min(self.v_max_1 * self.k_hardness_1, sqrt(self.k_hardness_1/(self.mass_1))* self.Ftogrow)
self.Fmeet = 1/ self.freq * sqrt(self.freq**2 * self.Ftogrow**2 - dFmax**2) eps = 1e1
self.Fmeet = 1/ self.freq * sqrt(self.freq**2 * self.Ftogrow**2 - dFmax**2 + eps)
tspeed = self.Ts["tspeed"] tspeed = self.Ts["tspeed"]
Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1/self.freq * dF0 * sin(self.freq * tspeed) Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1/self.freq * dF0 * sin(self.freq * tspeed)
if t < self.Ts["tspeed"]: if t < self.Ts["tspeed"]:

2
src/OptAlgorithm/OptTimeCalculator.py
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@ -173,7 +173,7 @@ 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 S1 = v0*t1 + a*t1*t1/2 + v1*t31 - a*t31*t31/2
S2max = abs(Sfull) + abs(S1) S2max = 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