f9b77b3756
- physics/sensors.py: optical/Hall (velocity-independent) and inductive (velocity-scaled, sech^2 spatial sensitivity) trigger events for solve_ivp - sim/stage.py: flight-to-trigger -> fire delay -> discharge -> energy accounting, returning StageResult(feasible=False, reason=...) instead of raising when a sensor never fires or discharge never commutates - Found and fixed a real bug caught by the energy-conservation test: the saturation clamp was applied to the mechanical force but not the electrical back-EMF term, silently breaking energy balance by ~15%. Removed the dynamic clamp (documented as a deferred nonlinear-L(x,I) limitation) and kept saturation as a diagnostic-only warning (StageResult.saturation_warning) so numbers stay honest rather than quietly wrong. Balance error is now ~0.02%. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
51 lines
1.9 KiB
Python
51 lines
1.9 KiB
Python
import numpy as np
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from scipy.integrate import solve_ivp
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from gausse.physics.sensors import make_inductive_sensor_event, make_optical_sensor_event
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def _ballistic(t, state):
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return [state[1], 0.0]
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def test_optical_sensor_trigger_is_velocity_independent():
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x_sensor = 0.02
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trigger_xs = []
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for v in (1.0, 5.0, 20.0):
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event = make_optical_sensor_event(x_sensor)
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sol = solve_ivp(_ballistic, (0, 1.0), [-0.05, v], events=event)
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assert len(sol.t_events[0]) == 1
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trigger_xs.append(sol.y_events[0][0][0])
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assert np.allclose(trigger_xs, x_sensor, atol=1e-9)
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def test_inductive_sensor_fires_earlier_at_higher_velocity():
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x_sensor = 0.02
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sensitivity = 0.05
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threshold = 0.3
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width = 0.005
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trigger_xs = []
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for v in (10.0, 20.0, 40.0):
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event = make_inductive_sensor_event(x_sensor, sensitivity, threshold, width)
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sol = solve_ivp(_ballistic, (0, 1.0), [-0.05, v], events=event)
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assert len(sol.t_events[0]) == 1
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trigger_xs.append(sol.y_events[0][0][0])
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# чем выше скорость, тем раньше (дальше от датчика, т.е. при меньшем x)
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# срабатывает индукционный датчик, т.к. sensitivity*v*bump(x) достигает
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# порога при меньшем bump(x), а значит при большем |x - x_sensor|
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assert trigger_xs[0] > trigger_xs[1] > trigger_xs[2]
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assert all(x < x_sensor for x in trigger_xs)
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def test_inductive_sensor_never_fires_below_threshold_speed():
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x_sensor = 0.02
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sensitivity = 0.05
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threshold = 0.3
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width = 0.005
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# пиковый сигнал = sensitivity * v = 0.05 * 1.0 = 0.05 << порог 0.3
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event = make_inductive_sensor_event(x_sensor, sensitivity, threshold, width)
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sol = solve_ivp(_ballistic, (0, 1.0), [-0.05, 1.0], events=event)
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assert len(sol.t_events[0]) == 0
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