9 changed files with 495 additions and 41 deletions
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using System; |
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using System.Collections.Generic; |
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using System.Linq; |
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using System.Text; |
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using System.Threading.Tasks; |
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namespace DyeingComputer.UserClass |
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{ |
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/// <summary>
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/// 加注曲线类型
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/// </summary>
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public enum DosingCurveType |
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{ |
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Linear, // 线性曲线
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Parabolic, // 抛物线曲线（开始快，后来慢）
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Exponential // 指数曲线（开始慢，后来快）
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} |
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/// <summary>
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/// 液体加注PID控制器
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/// </summary>
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public class LiquidDosingController |
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{ |
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private DateTime _startTime; |
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private DateTime _lastUpdateTime; |
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private double _lastLevel; |
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private bool _isDosingActive; |
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// PID控制器参数
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private double _proportionalGain; |
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private double _integralGain; |
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private double _derivativeGain; |
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private double _integralTerm; |
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private double _lastError; |
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/// <summary>
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/// 当前比例阀开度 (0-100%)
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/// </summary>
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public double CurrentValveOpening { get; private set; } |
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/// <summary>
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/// 目标完成时间 (秒)
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/// </summary>
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public double TargetTime { get; set; } |
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/// <summary>
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/// 加注曲线类型
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/// </summary>
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public DosingCurveType CurveType { get; set; } |
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/// <summary>
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/// 容器最大容量
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/// </summary>
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public double MaxCapacity { get; set; } |
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/// <summary>
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/// 当前液位
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/// </summary>
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public double CurrentLevel { get; private set; } |
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/// <summary>
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/// 已加注体积
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/// </summary>
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public double DosedVolume { get; private set; } |
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/// <summary>
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/// 液体加注事件
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/// </summary>
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public event Action<double> OnDosingUpdate; |
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/// <summary>
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/// 初始化液体加注控制器
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/// </summary>
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/// <param name="targetTime">目标加注时间(秒)</param>
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/// <param name="maxCapacity">容器最大容量</param>
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/// <param name="curveType">加注曲线类型</param>
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/// <param name="kP">比例增益</param>
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/// <param name="kI">积分增益</param>
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/// <param name="kD">微分增益</param>
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public LiquidDosingController(double targetTime, double maxCapacity, |
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DosingCurveType curveType = DosingCurveType.Linear, |
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double kP = 1.0, double kI = 0.1, double kD = 0.01) |
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{ |
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TargetTime = targetTime; |
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MaxCapacity = maxCapacity; |
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CurveType = curveType; |
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_proportionalGain = kP; |
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_integralGain = kI; |
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_derivativeGain = kD; |
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_isDosingActive = false; |
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CurrentValveOpening = 0; |
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} |
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/// <summary>
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/// 开始加注过程
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/// </summary>
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/// <param name="initialLevel">初始液位</param>
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public void StartDosing(double initialLevel) |
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{ |
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if (_isDosingActive) return; |
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_lastLevel = initialLevel; |
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CurrentLevel = initialLevel; |
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DosedVolume = 0; |
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_integralTerm = 0; |
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_lastError = 0; |
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CurrentValveOpening = 0; |
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_startTime = DateTime.Now; |
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_lastUpdateTime = _startTime; |
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_isDosingActive = true; |
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OnDosingUpdate?.Invoke(CurrentValveOpening); |
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} |
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/// <summary>
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/// 停止加注过程
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/// </summary>
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public void StopDosing() |
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{ |
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_isDosingActive = false; |
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CurrentValveOpening = 0; |
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OnDosingUpdate?.Invoke(0); |
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} |
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/// <summary>
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/// 更新当前液位并计算新的阀门开度
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/// </summary>
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/// <param name="currentLevel">当前液位</param>
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/// <returns>新的阀门开度</returns>
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public double UpdateLevel(double currentLevel) |
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{ |
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if (!_isDosingActive) return 0; |
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// 获取当前时间
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DateTime currentTime = DateTime.Now; |
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// 计算时间间隔
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double timeInterval = (currentTime - _lastUpdateTime).TotalSeconds; |
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// 如果时间间隔太小，避免计算过于频繁
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if (timeInterval < 0.1) return CurrentValveOpening; |
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// 更新液位
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CurrentLevel = currentLevel; |
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// 计算这段时间内的液体减少量
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double volumeDosedInInterval = _lastLevel - currentLevel; |
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DosedVolume += volumeDosedInInterval; |
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_lastLevel = currentLevel; |
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// 计算已用时间和剩余时间
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double elapsedTime = (currentTime - _startTime).TotalSeconds; |
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double remainingTime = TargetTime - elapsedTime; |
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// 如果已超过目标时间，完全关闭阀门
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if (remainingTime <= 0) |
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{ |
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StopDosing(); |
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return 0; |
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} |
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// 计算期望的加注速率（基于所选曲线类型）
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double desiredDosingRate = CalculateDesiredDosingRate(elapsedTime, remainingTime); |
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// 计算实际加注速率（升/秒）
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double actualDosingRate = volumeDosedInInterval / timeInterval; |
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// 计算误差（期望速率与实际速率之差）
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double error = desiredDosingRate - actualDosingRate; |
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// PID计算
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double proportionalTerm = _proportionalGain * error; |
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_integralTerm += _integralGain * error * timeInterval; |
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// 积分项抗饱和
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_integralTerm = Math.Max(Math.Min(_integralTerm, 100), 0); |
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double derivativeTerm = _derivativeGain * (error - _lastError) / timeInterval; |
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_lastError = error; |
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// 计算新的阀门开度
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double newValveOpening = CurrentValveOpening + proportionalTerm + _integralTerm + derivativeTerm; |
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// 限制阀门开度在0-100%范围内
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newValveOpening = Math.Max(Math.Min(newValveOpening, 100), 0); |
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CurrentValveOpening = newValveOpening; |
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// 更新最后更新时间
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_lastUpdateTime = currentTime; |
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// 触发更新事件
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OnDosingUpdate?.Invoke(CurrentValveOpening); |
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// 检查是否已完成加注
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if (CurrentLevel <= 0) |
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{ |
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StopDosing(); |
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} |
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return CurrentValveOpening; |
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} |
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/// <summary>
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/// 根据曲线类型计算期望的加注速率
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/// </summary>
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private double CalculateDesiredDosingRate(double elapsedTime, double remainingTime) |
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{ |
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double remainingVolume = CurrentLevel; |
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// 确保不会除零
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if (remainingTime <= 0) return 0; |
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double progress = elapsedTime / TargetTime; |
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switch (CurveType) |
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{ |
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case DosingCurveType.Linear: |
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// 线性：恒定速率
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return remainingVolume / remainingTime; |
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case DosingCurveType.Parabolic: |
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// 抛物线：开始快，后来慢
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// 使用二次函数减少速率
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double parabolicFactor = 1.0 - Math.Pow(progress, 2); |
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return (remainingVolume / remainingTime) * parabolicFactor; |
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case DosingCurveType.Exponential: |
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// 指数：开始慢，后来快
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// 使用指数函数增加速率
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double exponentialFactor = Math.Exp(progress) / Math.Exp(1); |
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return (remainingVolume / remainingTime) * exponentialFactor; |
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default: |
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return remainingVolume / remainingTime; |
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} |
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} |
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/// <summary>
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/// 设置PID参数
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/// </summary>
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public void SetPIDParameters(double kP, double kI, double kD) |
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{ |
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_proportionalGain = kP; |
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_integralGain = kI; |
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_derivativeGain = kD; |
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// 重置积分项和误差
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_integralTerm = 0; |
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_lastError = 0; |
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} |
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/// <summary>
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/// 检查加注是否正在进行中
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/// </summary>
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public bool IsDosingActive => _isDosingActive; |
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} |
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} |
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