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feat: Введен альтернативный алгоритм для смыкания, в случае, когда верхний электрод проезжает расстояние дольше

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ermolaev_p 2024-12-27 20:58:14 +03:00
parent 982a28ed8a
commit e6300c3ca3
2 changed files with 51 additions and 18 deletions
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46
src/OptAlgorithm/OptAlgorithm.py
View File

@ -37,18 +37,40 @@ class OptAlgorithm(AutoConfigClass):
return max(self.Ts["topen_2_mark"], self.Ts["topen_1_mark"]) - self.time_command
def V1Close(self, t: float):
if t < self.Ts["tclose_1_acc"]:
return self.a_max_1 * t
else:
return self.a_max_1 * self.Ts["tclose_1_acc"]
def X1Close(self, t: float):
t1 = min(t, self.Ts["tclose_1_acc"])
x0 = self.a_max_1 * t1 * t1 / 2
t2 = max(t - self.Ts["tclose_1_acc"], 0)
x1 = self.a_max_1 * self.Ts["tclose_1_acc"] * t2
return x0 + x1 + self.x1_start
if "v1close" in self.__dict__.keys():
return self.v1close(t)
self.v1close = PhaseCalc(cummulative=False)
xwait = lambda t: 0
xacc = lambda t: self.a_max_1 * t
v1 = (self.Ts["tclose_1_acc"]) * self.a_max_1
xspeed = lambda t: v1
xdec = lambda t: v1 - self.a_max_1 * t
xend = lambda t: 0
self.v1close.add_phase(self.Ts["tclose_1_wait"], xwait)
self.v1close.add_phase(self.Ts["tclose_1_acc"], xacc)
self.v1close.add_phase(self.Ts["tclose_1_speed"], xspeed)
self.v1close.add_phase(self.Ts["tclose_1_dec"], xdec)
self.v1close.add_phase(self.INF, xend)
return self.v1close(t)
def X1Close(self, T: float):
if "x1close" in self.__dict__.keys():
return self.x1close(T)
self.x1close = PhaseCalc(cummulative=True)
xwait = lambda t: 0
xacc = lambda t: self.a_max_1 * t * t /2
v1 = (self.Ts["tclose_1_acc"]) * self.a_max_1
xspeed = lambda t: v1 * t
xdec = lambda t: v1 * t - self.a_max_1 * t * t /2
xstart = lambda t: self.x1_start
xend = lambda t: 0
self.x1close.add_phase(0, xstart)
self.x1close.add_phase(self.Ts["tclose_1_wait"], xwait)
self.x1close.add_phase(self.Ts["tclose_1_acc"], xacc)
self.x1close.add_phase(self.Ts["tclose_1_speed"], xspeed)
self.x1close.add_phase(self.Ts["tclose_1_dec"], xdec)
self.x1close.add_phase(self.INF, xend)
return self.x1close(T)
def V2Close(self, t: float):
if t < self.Ts["tclose_2_acc"]:

23
src/OptAlgorithm/OptTimeCalculator.py
View File

@ -31,11 +31,13 @@ class OptTimeCalculator(AutoConfigClass):
Tclose = max(T1, T2)
tclose_1_acc, tclose_1_speed = self.calcFirstClose(Tclose, h1)
tclose_1_wait, tclose_1_acc, tclose_1_speed, tclose_1_dec = self.calcFirstClose(Tclose, h1)
tclose_2_acc, tclose_2_speed = self.calcSecondClose(Tclose, h2)
self.allTimes["tclose_1_acc"] = tclose_1_acc
self.allTimes["tclose_1_speed"] = tclose_1_speed
self.allTimes["tclose_1_wait"] = tclose_1_wait
self.allTimes["tclose_1_dec"] = tclose_1_dec
self.allTimes["tclose_2_acc"] = tclose_2_acc
self.allTimes["tclose_2_speed"] = tclose_2_speed
@ -206,14 +208,23 @@ class OptTimeCalculator(AutoConfigClass):
T = Tfull
self.allTimes["tmovement"] = T
def calcFirstClose(self, T: float, s: float) -> tuple[float, float]:
def calcFirstClose(self, T: float, s: float) -> tuple[float, float, float, float]:
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)
t1 = T - sqrt(max(0, T ** 2 - 2 * s / self.a_max_1))
if t1 > v0/ self.a_max_1 + self.check_eps:
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""")
t2 = max(0, (s - self.a_max_1 * t1 ** 2 / 2) / (self.a_max_1 * t1))
return t1, t2
if t2 * self.a_max_1 < v0:
#we should wait to end with max speed
t2 = v0 / self.a_max_1
t3 = max(0, (s - self.a_max_1 * t2 ** 2 / 2) / (self.a_max_1 * t2))
t1 = T - t2 - t3
t4 = 0
else:
t1 = 0
t3 = max(0, (s - self.a_max_1 * t1 ** 2 / 2) / (self.a_max_1 * t1))
t4 = 0 #here it should be as trap
return t1, t2, t3, t4
def calcFirstOpen(self, T: float, s: float) -> tuple[float, float]:
t1 = T / 2 - sqrt(max(0, T ** 2 - 4 * s / self.a_max_1)) / 2