Welding/WeldingSpotPerformance
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Merge branch 'master' of https://sofdev2.diakont.ru/Welding/WeldingSpotPerformance

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Andrew 2024-12-02 11:31:00 +03:00
commit d0a146246e
5 changed files with 44 additions and 31 deletions
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13
params/system_params.json
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@ -2,12 +2,12 @@
"trace_storage_path": "D:/downloads/a22",
"monitor_update_period": 100,
"a_max_1": 5.41,
"v_max_1": 0.108,
"v_max_1": 0.278,
"a_max_2": 35.81,
"v_max_2": 0.678,
"mass_1": 257,
"v_max_2": 0.7,
"mass_1": 270,
"mass_2": 1,
"k_hardness_1": 1759291,
"k_hardness_1": 2148570,
"k_hardness_2": 0,
"torque_max_1": 20,
"torque_max_2": 0,
@ -17,5 +17,6 @@
"position_start_2": 0.08,
"k_prop": 0.05,
"time_capture": 100000,
"UML_time_scaler": 1000
}
"UML_time_scaler": 1000,
}

7
src/OptAlgorithm/ConstantCalculator.py
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@ -8,13 +8,14 @@ class ConstantCalculator(AutoConfigClass):
super().__init__(ConstantCalculator.params_list, operator_config, system_config)
for param, value in self.__dict__.items():
if value is int and value < 0:
raise Exception("""Недопустимое значение параметра {param} < 0""")
def calc(self):
constants = {}
#self.smin1t = self.smin1 - self.dblock / 2
#self.smin2t = self.smin2 - self.dblock / 2
#self.awork = self.umax / (self.l * self.m)
#self.fl = self.Fd * (1-self.kturn)
#self.flon = self.Fd * self.kturn
constants["Fprop"] = self.k_prop * self.force_target
constants["freq"] = sqrt(self.k_hardness_1 / self.mass_1)
constants["eff_control"] = self.torque_max_1 / self.transmission_ratio_1

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
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"]
Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1/self.freq * dF0 * sin(self.freq * tspeed)
if t < self.Ts["tspeed"]:

48
src/OptAlgorithm/OptTimeCalculator.py
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@ -51,12 +51,10 @@ class OptTimeCalculator(AutoConfigClass):
t22 = max(0, (l2 - (self.a_max_2 * t21 * t21)) / self.v_max_2)
T2 = t22 + 2 * t21 + offset
Topen = max(T1, T2)
topen_1_acc, topen_1_speed = self.calcFirstOpen(Topen, l1+Fs1)
topen_1_acc, topen_1_speed = self.calcFirstOpen(T1, l1+Fs1)
offset = self.calcSecondOpenOffset(topen_1_acc, topen_1_speed, Fs1)
topen_2_acc, topen_2_speed = self.calcSecondOpen(Topen - offset, l2)
topen_2_acc, topen_2_speed = self.calcSecondOpen(T2 - offset, l2)
self.allTimes["topen_1_acc"] = topen_1_acc
self.allTimes["topen_2_offset"] = offset
@ -67,11 +65,13 @@ class OptTimeCalculator(AutoConfigClass):
self.allTimes["topen_2_acc"] = topen_2_acc
self.allTimes["topen_2_speed"] = topen_2_speed
if s1 > l1:
raise ValueError("S1 > L1 - недопустимый сценарий")
if s2 > l2:
raise ValueError("S2 > L2 - недопустимый сценарий")
if s1 >= l1:
raise Exception("""S1 >= L1 - недопустимый сценарий,
проверьте dist_open_after_1, dist_close_end_1""")
if s2 >= l2:
raise Exception("""S2 >= L2 - недопустимый сценарий,
проверьте dist_open_after_2, dist_close_end_2""")
s1 += Fs1
topen_1_mark = sqrt(2 * s1 / self.a_max_1)
if topen_1_mark > topen_1_acc:
@ -95,7 +95,6 @@ class OptTimeCalculator(AutoConfigClass):
self.allTimes["topen_1_mark"] = topen_1_mark
self.allTimes["topen_2_mark"] = topen_2_mark
self.allTimes["topen"] = Topen
def Tgrow(self) -> None:
@ -103,13 +102,19 @@ class OptTimeCalculator(AutoConfigClass):
vF0 = v0 * self.k_hardness_1
vFmax = min(self.v_max_1 * self.k_hardness_1, sqrt(self.k_hardness_1/(self.mass_1))* self.Ftogrow)
l = sqrt(self.eff_control ** 2 + self.mass_1/self.k_hardness_1 * vF0**2)
L = sqrt(self.k_hardness_1 / self.mass_1 * self.eff_control ** 2 + vF0*vF0)
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))
Fspeed = - self.eff_control * cos(self.freq * tspeed) + self.eff_control + 1/self.freq * vF0 * sin(self.freq * tspeed)
Fmeet = 1/self.freq * sqrt(self.freq**2 * self.Ftogrow**2 - vFmax**2)
eps = 1e1
if self.freq**2 * self.Ftogrow**2 - vFmax**2 < -eps:
raise Exception("""Номинальная траектория набора усилия не может быть достигнута, максимальная скорость превысила скорость траектории
, проверьте параметры k_hardness_1, mass_1, k_prop""")
Fmeet = 1/self.freq * sqrt(self.freq**2 * self.Ftogrow**2 - vFmax**2 + eps)
Fstart_prop = self.Fstart_prop
if Fmeet > Fstart_prop:
raise Exception("""Номинальная траектория набора усилия была достигнута на фазе подпора
, проверьте параметры v_max_1, k_prop""")
tmeet = (Fmeet - Fspeed)/vFmax
tend = self.tGrowNominal(Fstart_prop) - self.tGrowNominal(Fmeet)
vp = 1/sqrt(self.k_hardness_1 * self.mass_1) * sqrt(self.Ftogrow**2 - self.Fstart_prop**2)
@ -133,14 +138,15 @@ class OptTimeCalculator(AutoConfigClass):
v0s = []
pos0s = []
for i in range(1,3):
tq = tmark
assert tq > 0
v0 = closeAlgo("V"+str(i), "Open", tq)
if tmark < 0:
raise Exception("""Отрицательное время этапа раскрытия,
проверьте dist_open_after_{1,2}, time_command""")
v0 = closeAlgo("V"+str(i), "Open", tmark)
v0s.append(v0)
x0 = closeAlgo("X"+str(i), "Open", tq)
x0 = closeAlgo("X"+str(i), "Open", tmark)
x1 = contact[i-1] - self.__dict__["dist_close_end_"+str(i)]
x = x1 - x0
pos0s.append(closeAlgo("X"+str(i), "Open", tq))
pos0s.append(closeAlgo("X"+str(i), "Open", tmark))
Tfull = self.time_robot_movement
@ -156,7 +162,9 @@ class OptTimeCalculator(AutoConfigClass):
t3 = (Tfull + v0 / a) / 2
sqrtval = a**2 * (a**2 * (Tfull+2*t3)**2 - 8 * a * Sfull + 2 * a* v0 * (Tfull+2*t3) - 3 *v0**2)
assert sqrtval >= 0
if sqrtval < 0:
raise Exception("""Невозможно с S_{i} добраться но H*_{i} за указанное время,
проверьте dist_open_after_{i}, dist_close_end_{i}, time_command, time_robot_movement""")
t1max = ((Tfull+2*t3) + v0/a)/(2) - sqrt(sqrtval) * sqrt(2)/(4*a**2)
t1 = min(t1max, (vmax- abs(v0))/a)
t1 = max(0, min(t1, -v0/a + sqrt(v0**2 / (a**2) + (abs(maxL)-v0*v0/a)/a)))
@ -165,7 +173,7 @@ class OptTimeCalculator(AutoConfigClass):
t5max = (Tfull - v0/a)/2 - t1
v1 = v0 + a * t1
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))
t3 = abs(v0)/a + t1 + t5
t32 = t5
@ -181,7 +189,7 @@ class OptTimeCalculator(AutoConfigClass):
t2 = max(0, min(t2max, (abs(maxL) - abs(Smovement))/v1))
t4 = max(0, Sleft/v3 + v1/v3 * t2)
tstay = Tfull - t1 - t2 - t3 - t4 - t5
tstay = max(0, Tfull - t1 - t2 - t3 - t4 - t5)
self.allTimes["tmovement_"+str(i)+"_acc"] = t1
self.allTimes["tmovement_"+str(i)+"_speed"] = t2

4
src/utils/diagram_parser.py
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@ -7,7 +7,8 @@ class DiagramParser:
self.signals = [system_config["Closure_signal"],
system_config["Squeeze_signal"],
system_config["Welding_signal"],
system_config["Release_signal"]]
system_config["Release_signal"],
system_config["Oncomming_signal"]]
self.boolDict = {}
self.floatDict = {}
@ -33,6 +34,7 @@ class DiagramParser:
elif key == self.signals[1]: name = "compression"
elif key == self.signals[2]: name = "welding"
elif key == self.signals[3]: name = "opening"
elif key == self.signals[4]: name = "oncomming"
self.timingsDict[name] = []
len_items = len(items)