gitea/aio_second_edition
Archived
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

转向从机型配置文件获取参数

Browse Source
This commit is contained in:
gitea
2025-01-14 14:14:33 +08:00
parent 137122947c
commit 0e67a2831c
25 changed files with 524877 additions and 203 deletions
Download Patch File Download Diff File Expand all files Collapse all files

111
code/data_process/current.py
View File

@ -1,3 +1,4 @@
import json
import threading
import openpyxl
import pandas
@ -8,26 +9,26 @@ from common import clibs
def initialization(path, w2t, insert_logdb):
_, data_files = clibs.traversal_files(path, w2t)
count = 0
count, config_file = 0, None
for data_file in data_files:
filename = data_file.split("/")[-1]
if filename == "configs.xlsx":
if re.match(".*\\.cfg", filename):
config_file = filename
count += 1
elif filename == "T_电机电流.xlsx":
...
count += 1
else:
if not re.match("j[1-7].*\\.data", filename):
msg = f"不合规 {data_file}\n"
msg += "所有数据文件必须以 j[1-7]_ 开头，以 .data 结尾，比如j1_abcdef.data\n配置文件需要命名为\"configs.xlsx\"，结果文件需要命名为\"T_电机电流.xlsx\"\n"
msg += "需要有配置文件\"configs.xlsx\"表格，以及数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行\n"
msg += "所有数据文件必须以 j[1-7]_ 开头，以 .data 结尾，比如j1_abcdef.data，请检查整改后重新运行\n"
w2t(msg, "red", "FilenameIllegal")
if count != 1:
msg = "需要有配置文件\"configs.xlsx\"表格，以及数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行\n"
if count != 2:
msg = "需要有一个机型配置文件\"*.cfg\"，以及一个数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行\n"
w2t(msg, "red", "FilenameIllegal")
insert_logdb("INFO", "current", f"current: 获取必要文件：{data_files}")
return data_files
return data_files, config_file
def current_max(data_files, rcs, trq, w2t, insert_logdb):
@ -71,7 +72,7 @@ def current_max(data_files, rcs, trq, w2t, insert_logdb):
return current
def current_avg(data_files, rcs, trq, w2t, insert_logdb):
def current_avg(data_files, rcs, trqh, w2t, insert_logdb):
insert_logdb("INFO", "current", "AVG: 正在处理平均电流值逻辑...")
current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
for data_file in data_files:
@ -86,7 +87,7 @@ def current_avg(data_files, rcs, trq, w2t, insert_logdb):
rca = rcs[axis-1]
insert_logdb("INFO", "current", f"AVG: 最大列数为 {cols}，{axis} 轴的额定电流为 {rca}")
col = df.columns.values[trq-1]
col = df.columns.values[trqh-1]
c_std = df[col].std()
c_avg = df[col].mean()
@ -113,7 +114,7 @@ def current_avg(data_files, rcs, trq, w2t, insert_logdb):
return current
def current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb):
def current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb):
result, hold, single, scenario, dur_time = None, [], [], [], 0
for data_file in data_files:
filename = data_file.split("/")[-1]
@ -137,6 +138,12 @@ def current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb)
t_progress.start()
wb = t_excel.get_result()
ws = wb["统计"]
for idx in range(len(params)):
row = idx + 2
for col in range(2, 8):
ws.cell(row=row, column=col).value = params[idx][col-2]
if hold:
avg = current_avg(hold, rcs, trqh, w2t, insert_logdb)
for axis, cur_value in avg.items():
@ -144,9 +151,9 @@ def current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb)
wb[sht_name]["O4"].value = float(cur_value[0])
if dur_time == 0:
p_single(wb, single, vel, rrs, w2t, insert_logdb)
p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb)
else:
p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb)
p_scenario(wb, scenario, vel, trq, sensor, rrs, dur_time, w2t)
clibs.stop = True
w2t(f"正在保存文件 {result}，需要 10s 左右......\n")
@ -227,12 +234,12 @@ def get_row_number(threshold, flag, df, row_s, row_e, axis, insert_logdb):
else:
count_1 = 0
places = {"start": "起点", "middle": "中间点", "end": "终点"}
places = {"start": "起点", "middle": "中间点", "end": "终点"} # 因为是终点数据，所以可能有异常
insert_logdb("WARNING", "current", f"{axis} 轴获取{places[flag]}数据 {row_e} 可能有异常，需关注！")
return row_e
def p_single(wb, single, vel, rrs, w2t, insert_logdb):
def p_single(wb, single, vel, trq, sensor, rrs, w2t, insert_logdb):
# 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑
# 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑
# 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置
@ -313,11 +320,11 @@ def p_single(wb, single, vel, rrs, w2t, insert_logdb):
if abs(row_end+row_start-2*row_middle) > 1000:
insert_logdb("WARNING", "current", f"{axis} 轴数据占空比异常！")
data = []
data, first_c, second_c, third_c = [], vel-1, trq-1, sensor-1
for row in range(row_start, row_end+1):
data.append(df_origin.iloc[row, 0])
data.append(df_origin.iloc[row, 1])
data.append(df_origin.iloc[row, 2])
data.append(df_origin.iloc[row, first_c])
data.append(df_origin.iloc[row, second_c])
data.append(df_origin.iloc[row, third_c])
i = 0
for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=4):
@ -328,14 +335,14 @@ def p_single(wb, single, vel, rrs, w2t, insert_logdb):
_ = f"{data[i]:.2f}"
cell.value = float(_)
i += 1
except Exception as Err:
except Exception:
if i % 3 == 0:
ws.cell((i//3)+2, 1).value = None
cell.value = None
i += 1
def p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb):
def p_scenario(wb, scenario, vel, trq, sensor, rrs, dur_time, w2t):
for data_file in scenario:
cycle = 0.001
axis = int(data_file.split("/")[-1].split("_")[0].removeprefix("j"))
@ -354,11 +361,11 @@ def p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb):
if row_end > df.index[-1]:
w2t(f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "red", "DataOverLimit")
data = []
data, first_c, second_c, third_c = [], vel-1, trq-1, sensor-1
for row in range(row_start, row_end+1):
data.append(df_origin.iloc[row, 0])
data.append(df_origin.iloc[row, 1])
data.append(df_origin.iloc[row, 2])
data.append(df_origin.iloc[row, first_c])
data.append(df_origin.iloc[row, second_c])
data.append(df_origin.iloc[row, third_c])
i = 0
for row in ws.iter_rows(min_row=2, min_col=2, max_row=250000, max_col=4):
@ -369,34 +376,44 @@ def p_scenario(wb, scenario, vel, rrs, dur_time, w2t, insert_logdb):
_ = f"{data[i]:.2f}"
cell.value = float(_)
i += 1
except Exception as Err:
except Exception:
cell.value = None
if i % 3 == 0:
ws.cell((i//3)+2, 1).value = None
i += 1
def get_configs(configfile, w2t, insert_logdb):
def get_configs(config_file, w2t, insert_logdb):
try:
wb = openpyxl.load_workbook(configfile, read_only=True)
ws = wb["Target"]
with open(config_file, mode="r", encoding="utf-8") as f_config:
configs = json.load(f_config)
except Exception as Err:
insert_logdb("ERROR", "current", f"无法打开 {configfile}，获取配置文件参数错误 {Err}")
w2t(f"无法打开 {configfile}", color="red", desc="OpenFileError")
insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，获取配置文件参数错误 {Err}")
w2t(f"无法打开 {config_file}", color="red", desc="OpenFileError")
# 最大角速度，额定电流，减速比，额定转速
rrs, avs, rcs, rpms = [], [], [], []
for i in range(2, 8):
rrs.append(abs(float(ws.cell(row=2, column=i).value)))
avs.append(abs(float(ws.cell(row=3, column=i).value)))
rpms.append(abs(float(ws.cell(row=4, column=i).value)))
rcs.append(abs(float(ws.cell(row=6, column=i).value)))
version = configs["VERSION"]
rcs = [abs(_) for _ in configs["MOTOR"]["RATED_TORQUE"]] # 电机额定电流，rc for rated current
m_max_rcs = [] # 电机最大电流
m_hold_rcs = [] # 电机堵转电流
m_rts = [] # 电机额定转矩rt for rated torque
m_max_rts = [] # 电机峰值转矩
m_r_rpms = [] # 电机额定转速
m_max_rpms = [] # 电机最大转速
m_tcs = [] # 电机转矩常数，tc for torque constant
rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio
r_max_sst = [] # 减速器最大启停转矩，sst for start and stop torque
r_max_t = [] # 减速器瞬时最大转矩
sc = [] # 采样周期，sc for sample cycle
r_rts = [] # 减速器额定转矩
r_r_rpms = [] # 减速器额定转速
r_life_cycle = [] # 减速器L10寿命
r_avg_t = [] # 减速器平均负载转矩允许最大值
insert_logdb("INFO", "current", f"current: 获取减速比：{rrs}")
insert_logdb("INFO", "current", f"current: 获取角速度：{avs}")
insert_logdb("INFO", "current", f"current: 获取额定电流：{rcs}")
insert_logdb("INFO", "current", f"current: 获取额定转速：{rpms}")
return rrs, avs, rcs, rpms
insert_logdb("INFO", "current", f"get_configs: 机型文件版本 {config_file}_{version}")
insert_logdb("INFO", "current", f"get_configs: 减速比 {rrs}")
insert_logdb("INFO", "current", f"get_configs: 额定电流 {rcs}")
return rcs, m_max_rcs, m_hold_rcs, m_rts, m_max_rts, m_r_rpms, m_max_rpms, m_tcs, rrs, r_max_sst, r_max_t, sc, r_rts, r_r_rpms, r_life_cycle, r_avg_t
def main():
@ -405,18 +422,20 @@ def main():
vel = int(clibs.data_dp["_vel"])
trq = int(clibs.data_dp["_trq"])
trqh = int(clibs.data_dp["_trqh"])
sensor = int(clibs.data_dp["_sensor"])
w2t = clibs.w2t
insert_logdb = clibs.insert_logdb
insert_logdb("INFO", "current", "current: 参数初始化成功")
data_files = initialization(path, w2t, insert_logdb)
rrs, avs, rcs, rpms = get_configs(path + "\\configs.xlsx", w2t, insert_logdb)
data_files, config_file = initialization(path, w2t, insert_logdb)
params = get_configs(f"{path}/{config_file}", w2t, insert_logdb)
rcs, rrs = params[0], params[8]
if sub == "max":
current_max(data_files, rcs, trq, w2t, insert_logdb)
elif sub == "avg":
current_avg(data_files, rcs, trq, w2t, insert_logdb)
current_avg(data_files, rcs, trqh, w2t, insert_logdb)
elif sub == "cycle":
current_cycle(data_files, vel, trq, trqh, rrs, rcs, rpms, w2t, insert_logdb)
current_cycle(data_files, vel, trq, trqh, sensor, rrs, rcs, params, w2t, insert_logdb)
if __name__ == '__main__':