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cbb beeae8a382 chore(hygiene): P3 报告归档 docs/reports + scripts 收敛 + lab 清理 + CSS/README 约定
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2026-09-21 02:26:42 +08:00

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<!DOCTYPE html>
<html lang="zh-CN">
<head>
<meta charset="utf-8"/>
<title>对接电机 2/3 积分差归因报告</title>
<style>
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<body>
<h1>对接电机 2 / 3:积分差是谁造成的?</h1>
<div class="sub">
数据:ECAT 无源采集 <code>lab/ecat_passive_latest.csv</code> · 周期 0.25ms ·
理论:刚性镜像对接时 <code>v2+v3≡0</code>,<code>∫(v2+v3)dt≡0</code>,<code>a2+a3=常数</code><br/>
方法:对齐 cycles 后做梯形积分;先加后积与先积后加一致。
</div>
<div class="card">
<h2>关键数字</h2>
<div class="metrics">
<div class="metric"><div class="k">巡航 |v| N2 / N3</div>
<div class="v ok">199.38 / 199.38</div></div>
<div class="metric"><div class="k">巡航段 ∫(v2+v3) 平均</div>
<div class="v ok">0.11°</div></div>
<div class="metric"><div class="k">停车段 ∫(v2+v3) |均值|</div>
<div class="v warn">6.43°</div></div>
<div class="metric"><div class="k">干净起动 Δt 中位/均值</div>
<div class="v ok">0.00 / 0.38 ms</div></div>
</div>
</div>
<section class="card">
<h2>通俗结论:到底是谁慢?</h2>
<p class="lead">先说人话:<strong>两台电机并不是“有一台全程都慢”</strong>。
你看到的积分差,主要不是巡航时谁转得慢,而是<strong>快停下 / 刚要走的那几十一到几百毫秒里,两台对不齐</strong>,
把理论应为 0 的 <code>∫(v2+v3)dt</code> 顶出 5~20° 左右的偏差。</p>
<ul class="verdict">
<li><span class="tag ok">启动</span>
干净起动时(|Δt|≤50ms 的行程),N3−N2 约为
<strong>0.375 ms</strong> 量级 →
<strong>几乎是同时启动</strong>,ECAT 同帧下发没有问题。
有 2 个行程测出上百毫秒的“假早启动”,那是<strong>上一段还没停稳、N3 仍在动</strong>,
不是这一段命令发晚了。</li>
<li><span class="tag ok">巡航</span>
两边平均 |v|:N2 <strong>199.38</strong>°/s,N3 <strong>199.38</strong>°/s,
差值约 <strong>0.000</strong>°/s → <strong>稳态速度几乎一样,谈不上谁慢</strong>。
巡航段 ∫(v2+v3) 平均只有约 <strong>0.11°</strong>,贴合理论 0。</li>
<li><span class="tag warn">停车 / 换向</span>
行程末端 ∫(v2+v3) 平均约 <strong>-1.09°</strong>,绝对值平均约 <strong>6.43°</strong>,
明显大于巡航。停止窗口里:
出现「只有 N2 还在走」的行程约 <strong>4</strong> 次(积分贡献合计 7.23°),
「只有 N3 还在走」约 <strong>2</strong> 次(合计 2.13°)。
<strong>两边都有刹车尾巴,不是单边永久变慢</strong>;有的行程 N2 拖尾更明显,有的行程 N3 更明显。</li>
</ul>
<div class="callout">
<strong>一句话:</strong>积分差的大头在 <strong>停车阶段</strong>。
对接约束要求 <code>v2 = −v3</code>;只要刹停瞬间一台还带着速度、另一台已经接近 0,
<code>v2+v3</code> 就会冒尖峰,积分就会被拉离理论 0。这属于<strong>动态不同步</strong>,
不等于某台电机“标定转速低、一直慢”。
</div>
<div class="arrow-legend">
<div><span class="arrow ok-arrow"></span> 正常:同时启动 / 巡航一致 / 中段积分≈0</div>
<div><span class="arrow warn-arrow"></span> 注意:停车沿残速、行程衔接重叠、积分被顶开</div>
<div><span class="arrow bad-arrow"></span> 偏大:该行程 ∫(v2+v3) 或编码器 Δ(a2+a3) 明显偏离 0</div>
</div>
</section>
<section class="card">
<h2>曲线(带标注)</h2>
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<text x="56" y="44" fill="#8a9bb0" font-size="11" font-family="Segoe UI,Microsoft YaHei,sans-serif">速度 deg/s — 蓝 N2 / 橙 N3</text>
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<text x="56" y="184" fill="#8a9bb0" font-size="11" font-family="Segoe UI,Microsoft YaHei,sans-serif">合速度 v2+v3(理论 0)— 停车尖峰在这里</text>
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<text x="56" y="294" fill="#8a9bb0" font-size="11" font-family="Segoe UI,Microsoft YaHei,sans-serif">积分 ∫(v2+v3)dt(理论 0)— 每段末的偏离就是耦合误差</text>
<line x1="56" x2="940" y1="373.0" y2="373.0" stroke="#3a4656" stroke-dasharray="4 3"/>
<text x="56" y="408" fill="#6b7a8d" font-size="11" font-family="Segoe UI,sans-serif">t_rel 0.1..60.1s · ECAT 0.25ms · 竖线为行程起点</text>
<!-- 标注箭头 -->
<g font-family="Segoe UI,Microsoft YaHei,sans-serif" font-size="11">
<text x="750" y="70" fill="#3d8f5b">↑ 巡航:两线贴合,都不慢</text>
<text x="730" y="210" fill="#d4a017">↓ 停车沿:v_sum 尖峰 → 积分爬升</text>
</g>
</svg>
</section>
<section class="card">
<h2>图上怎么看(对照上方曲线)</h2>
<div class="annot-grid">
<div class="annot ok">
<div class="ann-title">↑ 巡航段(两条速度曲线几乎贴合)</div>
<p>N2 蓝线、N3 橙线在 |v|≈200°/s 附近重合 → <strong>都不慢</strong>。
下方红线 <code>v2+v3</code> 贴 0,积分曲线几乎水平 → 对接约束在稳态是成立的。</p>
</div>
<div class="annot warn">
<div class="ann-title">↓ 停车沿 / 换向点(红线尖峰)</div>
<p>接近终点时,一台速度先掉下来、另一台还在走 → <code>v2+v3</code> 出现 ±100~200°/s 尖峰。
积分曲线在这里<strong>爬上或爬下</strong>,行程结束就停在理论 0 以外几度到二十度。
<strong>这里是积分差的主要来源。</strong></p>
</div>
<div class="annot warn">
<div class="ann-title">↓ 行程刚衔接时(起动窗)</div>
<p>若上一段没完全停稳就反向,会看到“N3 早就动了”的假象(表格里 onΔ 为 −800ms 量级)。
这<strong>不是启动指令不同步</strong>,而是<strong>速度还在反向爬坡 / 残速</strong>,
也会把起动窗积分抬高一点。</p>
</div>
<div class="annot bad">
<div class="ann-title">↓ 紫色角度和 a2+a3</div>
<p>理论应为常数(理想为 0)。行程终点若偏到 ±10~25°,与该行程 ∫(v2+v3) 同量级 →
说明偏差是<strong>真实位移耦合误差</strong>,不只是速度噪声。</p>
</div>
</div>
<div class="callout small">
<strong>标定建议(若要压积分差):</strong>
① 先统一两台的减速段(同样斜率刹停),而不是去改巡航速度;
② 检查 N2/N3 负载与制动是否对称;
③ 控制器上对对接轴做 <code>v2+v3 → 0</code> 的纠偏,比单轴调 PID 更对症;
④ 序列 hold 不要短于“两台都确认停稳”的时间,避免重叠行程把积分搅浑。
</div>
</section>
<section class="card">
<h2>各行程明细(积分从行程起点重算)</h2>
<table>
<thead>
<tr>
<th>#</th><th>方向</th><th>起动Δ(N3-N2)</th><th>巡航|v| N2/N3</th>
<th>∫起动</th><th>∫巡航</th><th>∫停车</th>
<th>停时仅N2在动</th><th>停时仅N3在动</th><th>停车归因</th><th>Δ(a2+a3)</th>
</tr>
</thead>
<tbody>
<tr>
<td>#0</td><td>down</td>
<td class="ok">+0.00 ms</td>
<td class="ok">199.30 / 199.23</td>
<td>+0.00</td>
<td class="ok">-0.28</td>
<td class="warn">+7.34</td>
<td>+0.00</td>
<td>+1.29</td>
<td class="warn">N3 残速</td>
<td>-21.32°</td>
</tr>
<tr>
<td>#1</td><td>up</td>
<td class="bad">-827.50 ms</td>
<td class="ok">199.42 / 199.42</td>
<td>+28.52</td>
<td class="ok">+0.11</td>
<td class="warn">-7.58</td>
<td>+0.00</td>
<td>-0.84</td>
<td class="warn">N3 残速</td>
<td>+25.81°</td>
</tr>
<tr>
<td>#2</td><td>down</td>
<td class="bad">-840.50 ms</td>
<td class="ok">199.28 / 199.30</td>
<td>-2.08</td>
<td class="ok">+0.09</td>
<td class="warn">-3.39</td>
<td>+0.00</td>
<td>+0.00</td>
<td class="warn">两台接近同步刹停</td>
<td>-1.12°</td>
</tr>
<tr>
<td>#3</td><td>up</td>
<td class="ok">+2.25 ms</td>
<td class="ok">199.47 / 199.43</td>
<td>+0.12</td>
<td class="ok">+0.26</td>
<td class="warn">+5.99</td>
<td>+0.58</td>
<td>+0.00</td>
<td class="warn">N2 残速</td>
<td>-0.14°</td>
</tr>
<tr>
<td>#4</td><td>down</td>
<td class="ok">-1.50 ms</td>
<td class="ok">199.34 / 199.40</td>
<td>+0.74</td>
<td class="ok">+0.22</td>
<td class="warn">-7.46</td>
<td>-1.24</td>
<td>+0.00</td>
<td class="warn">N2 残速</td>
<td>+0.19°</td>
</tr>
<tr>
<td>#5</td><td>up</td>
<td class="ok">+1.50 ms</td>
<td class="ok">199.47 / 199.43</td>
<td>+0.26</td>
<td class="ok">+0.20</td>
<td class="warn">+6.13</td>
<td>+0.92</td>
<td>+0.00</td>
<td class="warn">N2 残速</td>
<td>-0.19°</td>
</tr>
<tr>
<td>#6</td><td>down</td>
<td class="ok">+0.00 ms</td>
<td class="ok">199.25 / 199.35</td>
<td>+0.64</td>
<td class="ok">+0.35</td>
<td class="warn">-11.65</td>
<td>-4.49</td>
<td>+0.00</td>
<td class="warn">N2 残速</td>
<td>+0.21°</td>
</tr>
<tr>
<td>#7</td><td>up</td>
<td class="ok">+0.00 ms</td>
<td class="ok">199.51 / 199.49</td>
<td>+0.15</td>
<td class="ok">-0.04</td>
<td class="ok">+1.92</td>
<td>+0.00</td>
<td>+0.00</td>
<td class="ok">两台接近同步刹停</td>
<td>-13.38°</td>
</tr>
</tbody>
</table>
<p class="sub" style="margin-top:10px">
单位:角度 deg(积分)· 速度 deg/s · 时间 ms。
「停时仅N2/N3在动」为该窗口内单边残速对 ∫(v2+v3) 的贡献。
</p>
</section>
<section class="card">
<h2>原始结论脚本输出(备查)</h2>
<pre style="white-space:pre-wrap;font-size:12px;color:#a8b6c8;margin:0">{
"main_source_of_integral_error": "起动段",
"phase_Isum_mean": {
"on": 3.5436874809462364,
"cruise": 0.11441910352287721,
"stop": 1.0892628954283632
},
"who_lags_at_stop": "N2",
"stop_lag_ms_n3_minus_n2_mean": 0,
"cruise_speed": "巡航速度接近",
"cruise_bias_deg_s": 0.0004292367234076469,
"plain": [
"启动:两台几乎同时动(差约 0.x ms),启动不是积分变大的主因。",
"巡航:两台平均速度几乎一样,积分在中段也很小(贴合理论 0)。",
"停车:积分差主要在这里积出来;N3 相对 N2 平均晚停约 0 ms。",
"停止窗里「只剩一台在动」时:主要是 N2 还在走,把 ∫(v2+v3) 推离 0。",
"所以:不是谁「全程都慢」,而是 N3 停车更拖、在停机瞬间继续走,积分被顶起来。",
"N2 也有停车滞后,但幅度和样本都更小;巡航略快一点点时对积分贡献有限。"
]
}</pre>
</section>
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