更新

Cardiopulmonarybypasssystems/Models/PumpControlChannel.cs

@@ -118,6 +118,9 @@ public partial class PumpControlChannel : ObservableObject
     [ObservableProperty]
     private int flowStabilizationRawSetpoint;
 
+    [ObservableProperty]
+    private double flowStabilizationIntegralError;
+
     [ObservableProperty]
     private string flowStabilizationStatusText = "稳流未启用";
 
@@ -338,10 +341,26 @@ public partial class PumpControlChannel : ObservableObject
         if (!value)
         {
             FlowStabilizationStatusText = "稳流未启用";
+            FlowStabilizationRawSetpoint = 0;
+            FlowStabilizationIntegralError = 0;
             ConsecutiveFlowStabilizationFailureCount = 0;
             ConsecutiveFlowStabilizationLimitCount = 0;
             ConsecutiveFlowStabilizationUnavailableCount = 0;
         }
+        else
+        {
+            FlowStabilizationIntegralError = 0;
+            ConsecutiveFlowStabilizationFailureCount = 0;
+            ConsecutiveFlowStabilizationLimitCount = 0;
+            ConsecutiveFlowStabilizationUnavailableCount = 0;
+            FlowStabilizationStatusText = !IsRunning || PendingRs485RunningState == false
+                ? "等待泵运行"
+                : !FlowAvailable
+                    ? "等待流量反馈"
+                    : !ConfirmedSetpointAvailable || ConfirmedSetpointFlowValue <= 0
+                        ? "等待确认目标流量"
+                        : "等待稳流调节";
+        }
 
         OnPropertyChanged(nameof(FlowStabilizationStateText));
     }
@@ -392,6 +411,7 @@ public partial class PumpControlChannel : ObservableObject
         ConfirmedRawSetpointValue = 0;
         ConfirmedSetpointFlowValue = 0;
         FlowStabilizationRawSetpoint = 0;
+        FlowStabilizationIntegralError = 0;
     }
 
     partial void OnSetpointAvailableChanged(bool value)

Cardiopulmonarybypasssystems/ViewModels/MainViewModel.Rs485.cs

@@ -44,6 +44,9 @@ public partial class MainViewModel
     private const double FlowStabilizationDeadbandLpm = 0.05d;
     private const int FlowStabilizationMaxRawStep = 5;
     private const double FlowStabilizationMaxRelativeTrim = 0.20d;
+    private const double FlowStabilizationProportionalGainRatio = 0.25d;
+    private const double FlowStabilizationIntegralGainRatioPerSecond = 0.04d;
+    private const double FlowStabilizationMaxIntegralRawTrimRatio = 0.10d;
     private const int FlowStabilizationMaxConsecutiveFailures = 3;
     private const int FlowStabilizationMaxConsecutiveLimitHits = 3;
     private const int FlowStabilizationMaxUnavailableCycles = 3;
@@ -686,6 +689,7 @@ public partial class MainViewModel
         {
             pump.FlowStabilizationStatusText = "等待泵运行";
             ResetFlowStabilizationProtectionCounters(pump);
+            ResetFlowStabilizationControllerState(pump);
             return false;
         }
 
@@ -703,6 +707,7 @@ public partial class MainViewModel
         {
             pump.FlowStabilizationStatusText = "等待确认目标流量";
             ResetFlowStabilizationProtectionCounters(pump);
+            ResetFlowStabilizationControllerState(pump);
             return false;
         }
 
@@ -716,13 +721,15 @@ public partial class MainViewModel
 
     private async Task TryAdjustRs485FlowStabilizationAsync(PumpControlChannel pump)
     {
+        var now = DateTime.UtcNow;
         var targetFlow = pump.ConfirmedSetpointFlowValue;
         var flowError = targetFlow - pump.FlowValue;
         if (Math.Abs(flowError) <= FlowStabilizationDeadbandLpm)
         {
             ResetFlowStabilizationProtectionCounters(pump);
+            pump.FlowStabilizationIntegralError = 0;
             pump.FlowStabilizationStatusText = $"稳流保持：目标 {targetFlow:F2} / 当前 {pump.FlowValue:F2} L/min";
-            pump.LastFlowStabilizationAdjustmentUtc = DateTime.UtcNow;
+            pump.LastFlowStabilizationAdjustmentUtc = now;
             return;
         }
 
@@ -732,7 +739,7 @@ public partial class MainViewModel
         if (targetRaw <= 0)
         {
             DisableFlowStabilizationForProtection(pump, "稳流保护：目标流量换算值无效");
-            pump.LastFlowStabilizationAdjustmentUtc = DateTime.UtcNow;
+            pump.LastFlowStabilizationAdjustmentUtc = now;
             return;
         }
 
@@ -744,17 +751,42 @@ public partial class MainViewModel
         var maxTrim = Math.Max(FlowStabilizationMaxRawStep, (int)Math.Round(targetRaw * FlowStabilizationMaxRelativeTrim, MidpointRounding.AwayFromZero));
         var minRaw = Math.Max(1, targetRaw - maxTrim);
         var maxRaw = Math.Min(MaxRs485MotorCommand, targetRaw + maxTrim);
-        var rawStep = Math.Sign(flowError) * FlowStabilizationMaxRawStep;
+        var elapsedSeconds = CalculateFlowStabilizationElapsedSeconds(pump, now);
+        var proportionalRaw = flowError * pump.Rs485RawPerLitrePerMinute * FlowStabilizationProportionalGainRatio;
+        var integralGain = Math.Max(0.0001d, pump.Rs485RawPerLitrePerMinute * FlowStabilizationIntegralGainRatioPerSecond);
+        var maxIntegralRaw = Math.Max(FlowStabilizationMaxRawStep, targetRaw * FlowStabilizationMaxIntegralRawTrimRatio);
+        var integralLimit = maxIntegralRaw / integralGain;
+        var nextIntegralError = Math.Clamp(
+            pump.FlowStabilizationIntegralError + flowError * elapsedSeconds,
+            -integralLimit,
+            integralLimit);
+        var integralRaw = nextIntegralError * integralGain;
+        var controllerOutputRaw = proportionalRaw + integralRaw;
+        var rawStep = (int)Math.Round(controllerOutputRaw, MidpointRounding.AwayFromZero);
+        if (rawStep == 0)
+        {
+            rawStep = Math.Sign(flowError);
+        }
+
+        rawStep = Math.Clamp(rawStep, -FlowStabilizationMaxRawStep, FlowStabilizationMaxRawStep);
         var nextRaw = Math.Clamp(currentRaw + rawStep, minRaw, maxRaw);
+        var appliedRawStep = nextRaw - currentRaw;
         Logger.Information(
-            "RS485 稳流调节计算，PumpKey={PumpKey}，PumpName={PumpName}，TargetFlowLpm={TargetFlowLpm}，CurrentFlowLpm={CurrentFlowLpm}，FlowErrorLpm={FlowErrorLpm}，TargetRaw={TargetRaw}，CurrentRaw={CurrentRaw}，NextRaw={NextRaw}，MinRaw={MinRaw}，MaxRaw={MaxRaw}",
+            "RS485 PI稳流调节计算，PumpKey={PumpKey}，PumpName={PumpName}，TargetFlowLpm={TargetFlowLpm}，CurrentFlowLpm={CurrentFlowLpm}，FlowErrorLpm={FlowErrorLpm}，ElapsedSeconds={ElapsedSeconds}，P={ProportionalRaw}，I={IntegralRaw}，IntegralError={IntegralError}，ControllerOutputRaw={ControllerOutputRaw}，TargetRaw={TargetRaw}，CurrentRaw={CurrentRaw}，RawStep={RawStep}，AppliedRawStep={AppliedRawStep}，NextRaw={NextRaw}，MinRaw={MinRaw}，MaxRaw={MaxRaw}",
             pump.Key,
             pump.Name,
             targetFlow,
             pump.FlowValue,
             flowError,
+            elapsedSeconds,
+            proportionalRaw,
+            integralRaw,
+            nextIntegralError,
+            controllerOutputRaw,
             targetRaw,
             currentRaw,
+            rawStep,
+            appliedRawStep,
             nextRaw,
             minRaw,
             maxRaw);
@@ -778,12 +810,12 @@ public partial class MainViewModel
                     maxRaw,
                     pump.ConsecutiveFlowStabilizationLimitCount);
                 DisableFlowStabilizationForProtection(pump, $"稳流保护：{message}，已连续 {pump.ConsecutiveFlowStabilizationLimitCount} 次无法继续调节");
-                pump.LastFlowStabilizationAdjustmentUtc = DateTime.UtcNow;
+                pump.LastFlowStabilizationAdjustmentUtc = now;
                 return;
             }
 
             pump.FlowStabilizationStatusText = $"{message}（{pump.ConsecutiveFlowStabilizationLimitCount}/{FlowStabilizationMaxConsecutiveLimitHits}）";
-            pump.LastFlowStabilizationAdjustmentUtc = DateTime.UtcNow;
+            pump.LastFlowStabilizationAdjustmentUtc = now;
             return;
         }
 
@@ -818,14 +850,15 @@ public partial class MainViewModel
             pump.ConsecutiveFlowStabilizationFailureCount = 0;
             pump.ConsecutiveFlowStabilizationLimitCount = 0;
             pump.ConsecutiveFlowStabilizationUnavailableCount = 0;
+            pump.FlowStabilizationIntegralError = nextIntegralError;
             pump.FlowStabilizationRawSetpoint = nextRaw;
             CacheResolvedRs485Setpoint(pump, nextRaw);
             ApplyPostCommandPumpState(pump, result, expectedRunning: true);
-            pump.FlowStabilizationStatusText = $"稳流调节：目标 {targetFlow:F2} / 当前 {pump.FlowValue:F2} L/min / 控制值 {nextRaw}";
+            pump.FlowStabilizationStatusText = $"PI稳流调节：目标 {targetFlow:F2} / 当前 {pump.FlowValue:F2} L/min / 控制值 {nextRaw}";
         }
         finally
         {
-            pump.LastFlowStabilizationAdjustmentUtc = DateTime.UtcNow;
+            pump.LastFlowStabilizationAdjustmentUtc = now;
             EndRs485PumpOperation(pump);
         }
     }
@@ -855,6 +888,20 @@ public partial class MainViewModel
         return false;
     }
 
+    private static double CalculateFlowStabilizationElapsedSeconds(PumpControlChannel pump, DateTime now)
+    {
+        if (pump.LastFlowStabilizationAdjustmentUtc == DateTime.MinValue)
+        {
+            return FlowStabilizationAdjustmentInterval.TotalSeconds;
+        }
+
+        var elapsedSeconds = (now - pump.LastFlowStabilizationAdjustmentUtc).TotalSeconds;
+        return Math.Clamp(
+            elapsedSeconds,
+            FlowStabilizationAdjustmentInterval.TotalSeconds,
+            FlowStabilizationAdjustmentInterval.TotalSeconds * 3d);
+    }
+
     private bool RegisterFlowStabilizationCommandFailure(PumpControlChannel pump, string message)
     {
         pump.ConsecutiveFlowStabilizationFailureCount++;
@@ -901,6 +948,12 @@ public partial class MainViewModel
         pump.ConsecutiveFlowStabilizationUnavailableCount = 0;
     }
 
+    private static void ResetFlowStabilizationControllerState(PumpControlChannel pump)
+    {
+        pump.FlowStabilizationIntegralError = 0;
+        pump.FlowStabilizationRawSetpoint = 0;
+    }
+
     private void RaiseRs485CalibrationSummaryChanges()
     {
         OnPropertyChanged(nameof(Rs485EnabledPumpCount));
@@ -1508,7 +1561,7 @@ public partial class MainViewModel
 
         if (ShouldUseRs485DirectPumpControl(pump))
         {
-            if (!TryResolveRs485MotorCommand(pump, out var rawMotorSpeed, out var resolveMessage))
+            if (!TryResolveRs485MotorCommand(pump, out var rawMotorSpeed, out var resolvedTargetFlow, out var resolveMessage))
             {
                 pump.SetpointStatusText = resolveMessage;
                 Rs485StatusText = resolveMessage;
@@ -1531,6 +1584,7 @@ public partial class MainViewModel
                 return Rs485StartExecutionResult.Failed;
             }
 
+            CacheConfirmedRs485Setpoint(pump, rawMotorSpeed, resolvedTargetFlow);
             CacheResolvedRs485Setpoint(pump, rawMotorSpeed);
             ApplyPostCommandPumpState(pump, directResult, expectedRunning: true);
             await RefreshTelemetryAsync();
@@ -1736,9 +1790,14 @@ public partial class MainViewModel
     private bool IsRs485ManagedPump(PumpControlChannel pump) =>
         _pumpActuationService.IsManagedPump(pump);
 
-    private bool TryResolveRs485MotorCommand(PumpControlChannel pump, out short rawMotorSpeed, out string message)
+    private bool TryResolveRs485MotorCommand(
+        PumpControlChannel pump,
+        out short rawMotorSpeed,
+        out double targetFlowLpm,
+        out string message)
     {
         rawMotorSpeed = 0;
+        targetFlowLpm = 0;
         message = string.Empty;
 
         if (!pump.HasSetpointCalibration)
@@ -1753,7 +1812,13 @@ public partial class MainViewModel
             return false;
         }
 
-        var candidateRaw = pump.ConfirmedSetpointAvailable ? pump.ConfirmedRawSetpointValue : 0;
+        var candidateRaw = 0;
+        if (pump.ConfirmedSetpointAvailable && pump.ConfirmedRawSetpointValue > 0)
+        {
+            candidateRaw = pump.ConfirmedRawSetpointValue;
+            targetFlowLpm = pump.ConfirmedSetpointFlowValue;
+        }
+
         if (candidateRaw <= 0
             && double.TryParse(
                 pump.PendingSetpointText,
@@ -1764,6 +1829,7 @@ public partial class MainViewModel
             && pendingFlow <= pump.Rs485MaxFlowLpm)
         {
             candidateRaw = ConvertFlowToRawSpeed(pump, pendingFlow);
+            targetFlowLpm = pendingFlow;
         }
 
         if (candidateRaw <= 0)
@@ -1772,6 +1838,17 @@ public partial class MainViewModel
             return false;
         }
 
+        if (targetFlowLpm <= 0 && pump.HasSetpointCalibration)
+        {
+            targetFlowLpm = ConvertRawSpeedToFlow(pump, candidateRaw);
+        }
+
+        if (targetFlowLpm <= 0)
+        {
+            message = $"{pump.Name} 启动前请输入大于 0 的目标流量";
+            return false;
+        }
+
         if (candidateRaw > MaxRs485MotorCommand)
         {
             message = $"{pump.Name} 的直接启停控制值超过 {MaxRs485MotorCommand}";
@@ -1793,6 +1870,7 @@ public partial class MainViewModel
         pump.ConfirmedRawSetpointValue = rawMotorSpeed;
         pump.ConfirmedSetpointFlowValue = flowLpm;
         pump.FlowStabilizationRawSetpoint = rawMotorSpeed;
+        pump.FlowStabilizationIntegralError = 0;
     }
 
     private bool TryBeginRs485PumpOperation(PumpControlChannel pump, string operationName)
@@ -1847,6 +1925,11 @@ public partial class MainViewModel
             pump.IsRunning = result.RunStatus.Value == 1;
             pump.StateAvailable = result.RunStatus.Value is 0 or 1;
             pump.Rs485RunStatusCode = result.RunStatus.Value;
+            if (!expectedRunning || result.RunStatus.Value != 1)
+            {
+                ResetFlowStabilizationAfterPumpStopped(pump);
+            }
+
             return;
         }
 
@@ -1856,8 +1939,7 @@ public partial class MainViewModel
             pump.IsRunning = false;
             pump.StateAvailable = true;
             pump.Rs485RunStatusCode = 0;
-            pump.FlowStabilizationRawSetpoint = 0;
+            ResetFlowStabilizationAfterPumpStopped(pump);
-            ResetFlowStabilizationProtectionCounters(pump);
             return;
         }
 
@@ -1867,6 +1949,16 @@ public partial class MainViewModel
         pump.Rs485RunStatusCode = null;
     }
 
+    private static void ResetFlowStabilizationAfterPumpStopped(PumpControlChannel pump)
+    {
+        ResetFlowStabilizationControllerState(pump);
+        ResetFlowStabilizationProtectionCounters(pump);
+        if (pump.IsFlowStabilizationEnabled)
+        {
+            pump.FlowStabilizationStatusText = "等待泵运行";
+        }
+    }
+
     private async Task<Rs485ToggleExecutionResult> TryTogglePumpControlViaRs485(PumpControlChannel pump, bool nextState)
     {
         if (!ShouldUseRs485DirectPumpControl(pump))
@@ -1894,7 +1986,7 @@ public partial class MainViewModel
         {
             if (nextState)
             {
-                if (!TryResolveRs485MotorCommand(pump, out var rawMotorSpeed, out var resolveMessage))
+                if (!TryResolveRs485MotorCommand(pump, out var rawMotorSpeed, out var resolvedTargetFlow, out var resolveMessage))
                 {
                     pump.SetpointStatusText = resolveMessage;
                     Rs485StatusText = resolveMessage;
@@ -1911,6 +2003,7 @@ public partial class MainViewModel
                     return Rs485ToggleExecutionResult.Failed;
                 }
 
+                CacheConfirmedRs485Setpoint(pump, rawMotorSpeed, resolvedTargetFlow);
                 CacheResolvedRs485Setpoint(pump, rawMotorSpeed);
                 ApplyPostCommandPumpState(pump, startResult, expectedRunning: true);
                 await RefreshTelemetryAsync();