fix: Исправлено смыкание на идеальной траектории
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@ -3,14 +3,16 @@ from numpy import sqrt, arcsin, arccos, cos, sin
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from OptAlgorithm.AutoConfigClass import AutoConfigClass
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from OptAlgorithm.ConstantCalculator import ConstantCalculator
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class OptTimeCalculator(AutoConfigClass):
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class OptTimeCalculator(AutoConfigClass):
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params_list = []
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def __init__(self, operator_config: dict, system_config: dict):
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cCalculator = ConstantCalculator(operator_config, system_config)
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super().__init__(OptTimeCalculator.params_list, operator_config, system_config, cCalculator.calc())
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self.allTimes = {}
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self.check_eps = 1e-7
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def tGrowNominal(self, F: float) -> float:
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return arcsin(F / (self.Ftogrow)) * sqrt(self.mass_1 / self.k_hardness_1)
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@ -22,7 +24,7 @@ class OptTimeCalculator(AutoConfigClass):
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t2t = max(0, (h1 - (self.a_max_1 * t1 * t1 / 2)) / v0)
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T1 = t1 + t2t
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t21 = sqrt(h2/self.a_max_2)
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t21 = sqrt(h2 / (self.a_max_2))
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t21 = min(self.v_max_2 / self.a_max_2, t21)
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t22 = max(0, (h2 - (self.a_max_2 * t21 * t21)) / self.v_max_2)
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T2 = t22 + 2 * t21
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@ -53,7 +55,6 @@ class OptTimeCalculator(AutoConfigClass):
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topen_1_acc, topen_1_speed = self.calcFirstOpen(T1, l1 + Fs1)
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offset = self.calcSecondOpenOffset(topen_1_acc, topen_1_speed, Fs1)
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topen_2_acc, topen_2_speed = self.calcSecondOpen(T2 - offset, l2)
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self.allTimes["topen_1_acc"] = topen_1_acc
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@ -104,8 +105,10 @@ class OptTimeCalculator(AutoConfigClass):
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vFmax = min(self.v_max_1 * self.k_hardness_1, sqrt(self.k_hardness_1 / (self.mass_1)) * self.Ftogrow)
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L = sqrt(self.k_hardness_1 / self.mass_1 * self.eff_control ** 2 + vF0 * vF0)
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tspeed = sqrt(self.mass_1/self.k_hardness_1) * (arcsin(vFmax / L) - arccos(sqrt(self.k_hardness_1 / self.mass_1) * self.eff_control / L))
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Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1/self.freq * vF0 * sin(self.freq * tspeed)
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tspeed = sqrt(self.mass_1 / self.k_hardness_1) * (
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arcsin(vFmax / L) - arccos(sqrt(self.k_hardness_1 / self.mass_1) * self.eff_control / L))
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Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1 / self.freq * vF0 * sin(
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self.freq * tspeed)
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eps = 1e1
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if self.freq ** 2 * self.Ftogrow ** 2 - vFmax ** 2 < -eps:
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raise Exception("""Номинальная траектория набора усилия не может быть достигнута, максимальная скорость превысила скорость траектории
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@ -133,7 +136,7 @@ class OptTimeCalculator(AutoConfigClass):
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self.Topen(s1, s2, l1, l2, self.force_target / self.k_hardness_1, 0)
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return self.allTimes
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def Tmovement(self, closeAlgo, tmark) -> None:
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def Tmovement(self, closeAlgo, tmark) -> tuple[list, list]:
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contact = [self.contact_distance_1, self.contact_distance_2]
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v0s = []
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pos0s = []
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@ -149,7 +152,6 @@ class OptTimeCalculator(AutoConfigClass):
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pos0s.append(closeAlgo("X" + str(i), "Open", tmark))
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Tfull = self.time_robot_movement
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L = self.__dict__["distance_l_" + str(i)]
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maxL = contact[i - 1] - L - x0
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self.Tmovementi(i, x, Tfull, v0, maxL)
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@ -161,7 +163,8 @@ class OptTimeCalculator(AutoConfigClass):
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a = self.__dict__["a_max_" + str(i)]
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t3 = (Tfull + v0 / a) / 2
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sqrtval = a**2 * (a**2 * (Tfull+2*t3)**2 - 8 * a * Sfull + 2 * a* v0 * (Tfull+2*t3) - 3 *v0**2)
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sqrtval = a ** 2 * (
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a ** 2 * (Tfull + 2 * t3) ** 2 - 8 * a * Sfull + 2 * a * v0 * (Tfull + 2 * t3) - 3 * v0 ** 2)
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if sqrtval < 0:
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raise Exception("""Невозможно с S_{i} добраться но H*_{i} за указанное время,
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проверьте distance_s_{i}, distance_h_end{i}, time_command, time_robot_movement""")
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@ -207,26 +210,30 @@ class OptTimeCalculator(AutoConfigClass):
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v0q = min(sqrt(2 * self.a_max_1 * s), self.v_max_1)
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v0 = min(v0q, sqrt(1 / (self.k_hardness_1 * self.mass_1)) * self.Ftogrow)
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t1 = T - sqrt(max(0, T ** 2 - 2 * s / self.a_max_1))
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t1 = min(t1, v0 / self.a_max_1)
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if t1 > v0/ self.a_max_1 + self.check_eps:
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raise Exception("""Мы вышли за границы разгона - смыкание FE, вообще не знаю как так получилось""")
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t2 = max(0, (s - self.a_max_1 * t1 ** 2 / 2) / (self.a_max_1 * t1))
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return t1, t2
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def calcFirstOpen(self, T: float, s: float) -> tuple[float, float]:
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t1 = T / 2 - sqrt(max(0, T ** 2 - 4 * s / self.a_max_1)) / 2
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t1 = min(t1, self.v_max_1 / self.a_max_1)
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if t1 > self.v_max_1 / self.a_max_1 + self.check_eps:
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raise Exception("""Мы вышли за границы разгона - раскрытие FE, вообще не знаю как так получилось""")
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t2 = max(0, (s - self.a_max_1 * t1 ** 2 / 2) / (self.a_max_1 * t1))
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return t1, t2
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def calcSecondOpen(self, T: float, s: float) -> tuple[float, float]:
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t1 = T / 2 - sqrt(max(0, T ** 2 - 4 * s / self.a_max_2)) / 2
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t1 = min(t1, self.v_max_2 / self.a_max_2)
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t2 = max(0, (s - self.a_max_2*t1**2/2) / (self.a_max_2*t1))
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if t1 > self.v_max_2 / self.a_max_2 + self.check_eps:
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raise Exception("""Мы вышли за границы разгона - раскрытие ME, вообще не знаю как так получилось""")
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t2 = max(0, (s - self.a_max_2 * t1 ** 2) / (self.a_max_2 * t1))
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return t1, t2
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def calcSecondClose(self, T: float, s: float) -> tuple[float, float]:
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t1 = T / 2 - sqrt(max(0, T ** 2 - 4 * s / self.a_max_2)) / 2
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t1 = min(t1, self.v_max_2 / self.a_max_2)
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t2 = max(0, (s - self.a_max_2*t1**2/2) / (self.a_max_2*t1))
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if t1 > self.v_max_2 / self.a_max_2 + self.check_eps:
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raise Exception("""Мы вышли за границы разгона - смыкание ME, вообще не знаю как так получилось""")
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t2 = max(0, (s - self.a_max_2 * t1 ** 2) / (self.a_max_2 * t1))
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return t1, t2
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def calcSecondOpenOffset(self, t1: float, t2: float, sq: float) -> float:
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43
src/testAlgo.py
Normal file
43
src/testAlgo.py
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@ -0,0 +1,43 @@
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from src.OptAlgorithm.OptAlgorithm import OptAlgorithm
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from src.utils import read_json
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from matplotlib import pyplot as plt, use
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from numpy import cos, sin, sqrt, cbrt, arcsin, linspace, array
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if __name__ == "__main__":
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tq = 1
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ts = linspace(0, tq, 200000)
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operator_params = read_json("params/operator_params.json")
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system_params = read_json("params/system_params.json")
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non_array_operator_params = {}
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i = 1
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for key, value in operator_params.items():
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if hasattr(value, "__len__"):
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if len(value) > i:
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non_array_operator_params[key] = value[i]
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else:
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non_array_operator_params[key] = value[0]
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else:
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non_array_operator_params[key] = value
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non_array_system_params = {}
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for key, value in system_params.items():
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if hasattr(value, "__len__"):
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if len(value) > i:
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non_array_system_params[key] = value[i]
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else:
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non_array_system_params[key] = value[0]
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else:
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non_array_system_params[key] = value
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opt = OptAlgorithm(non_array_operator_params, non_array_system_params)
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Xs = array([opt.getVar("X1", t) for t in ts])
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plt.plot(ts, Xs)
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plt.show()
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