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fix(SF-483): Добавлены ошибки по нерпавильным наборам параметров

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ermolaev_p 2024-11-15 15:57:31 +03:00
parent e1c38eeb2d
commit 601f7912cf
2 changed files with 29 additions and 19 deletions
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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

41
src/OptAlgorithm/OptTimeCalculator.py
View File

@ -65,11 +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:
@ -100,15 +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
assert Fmeet < 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)
@ -132,14 +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
@ -155,7 +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)))
@ -180,7 +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