Dynamic deviation rectifying method and system for sliding and lifting of concrete slip form of oversized special-shaped vertical shaft

Abstract

The invention discloses a dynamic deviation rectifying method and system for sliding and lifting of a concrete sliding formwork of an ultra-large special-shaped vertical shaft. The method comprises the following steps that an ultra-large special-shaped vertical shaft model is established; configuring a deflection monitoring instrument; measuring the deflection amount of the sliding mode and generating measurement data; analyzing and processing the measurement data and generating a deviation correction control signal; deviation rectifying equipment performs slip form deviation rectifying; verifying a deviation correction result; and performing real-time dynamic analysis on the measured slip form deflection data, and generating a real-time dynamic deviation correction control signal to control deviation correction equipment to complete dynamic deviation correction of the slip form. The position, the posture and the motion state of the sliding mode can be monitored in real time, then measurement data are processed, and finally a deviation rectification control signal is generated to control deviation rectification equipment, so that the dynamic real-time deviation rectification work of the deflection of the sliding mode is realized. Therefore, high-precision, high-efficiency and high-adaptability dynamic deviation correction is realized, dependence on manual operation is reduced, high construction cost is reduced, adaptability and flexibility are enhanced, and safety and reliability of construction are improved at the same time.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and in particular to a dynamic deviation correction method and system for sliding up of concrete slipforms for an extra-large special-shaped vertical shaft. Background Art

[0002] In large-scale water conservancy projects such as hydropower stations, surge tanks are one of the key components. Their function is to adjust the head pressure of the turbine generator set to meet the needs of load changes in the power system. In terms of the hydraulic slipforms of the lining concrete of super-large special-shaped surge tanks, there have been reports on the hydraulic slipforms of circular surge tanks, vertical shaft hydraulic slipforms, and integrated hydraulic formwork for lining and middle partitions. However, the diameter of circular surge tanks is basically limited to about 30m, and the lining shape is relatively regular. In addition, there is currently no technology for using an integrated slipform for the gate well, gate slot and main well lining in special-shaped surge tanks. However, due to its complex structure and huge size, the super-large special-shaped surge tank faces many challenges in construction, especially the application of slipform construction technology. For super-large surge tanks, the diameter of the surge tank exceeds 30 meters. In the case of huge surge tanks, the template truss beam needs to have a huge bearing capacity. The traditional slipform structure and construction method are prone to deviation when dealing with super-large special-shaped surge tanks, that is, deviation from the design center line. The deviation will not only affect the structural safety and use function of the super-large special-shaped shaft, but also increase the subsequent correction workload and cost. At present, common correction methods mainly include mechanical correction and hydraulic correction, but these methods often have problems such as delayed response, low precision, and complex operation, making it difficult to achieve real-time, efficient, and accurate dynamic correction. Specifically, the existing correction methods have deficiencies in the following aspects: delayed response: traditional correction methods rely more on manual observation and manual adjustment, and cannot monitor the slipform deviation in real time, resulting in delayed correction response and increasing the difficulty of correction. Insufficient accuracy: existing correction methods are often limited by equipment accuracy and operator technical level, making it difficult to achieve high-precision correction. Complex operation: Mechanical and hydraulic correction methods require complex operation procedures, which increases the difficulty and time cost of construction. Poor adaptability: Existing correction methods have poor adaptability to different construction environments and conditions, and are difficult to cope with complex and changing construction scenarios.

[0003] Therefore, there is an urgent need for a dynamic deviation correction method and correction system for the sliding rise of concrete slipforms in super-large special-shaped vertical shafts to overcome the above-mentioned problems and achieve high-precision, high-efficiency and highly adaptable dynamic deviation correction. Summary of the invention

[0004] The purpose of the present invention is to provide a method and system for dynamic correction of concrete slipform sliding in extra-large and special-shaped vertical shafts, which can realize real-time monitoring of the slipform deflection amount, and at the same time can dynamically and real-time correct the slipform displacement through correction equipment, thereby realizing high-precision, high-efficiency and highly adaptable dynamic correction, significantly improving the correction accuracy and response speed, reducing dependence on manual operation, reducing high construction costs, enhancing the adaptability and flexibility of the system, and at the same time improving the safety and reliability of the construction of extra-large and special-shaped vertical shafts.

[0005] The present invention is achieved through the following technical solutions:

[0006] A method for dynamic correction of sliding formwork of concrete in an extra-large special-shaped shaft, comprising the following steps: step S1: establishing an extra-large special-shaped shaft model; step S2: configuring a deflection monitoring instrument; step S3: measuring the deflection of the sliding formwork and generating measurement data; step S4: analyzing and processing the measurement data and generating a correction control signal; step S5: controlling the correction device to correct the sliding formwork based on the correction control signal; step S6: verifying the correction result; performing real-time dynamic analysis on the measured sliding formwork deflection data, and generating a real-time dynamic correction control signal to control the correction device to complete the dynamic correction of the sliding formwork. In order to solve the above technical problems and achieve the corresponding technical effects, the present invention can monitor the position, posture and motion state of the sliding formwork in real time, and then process the measurement data and finally generate a correction control signal to control the correction device, thereby realizing dynamic real-time correction of the sliding formwork deflection. This achieves high-precision, high-efficiency and highly adaptable dynamic correction, significantly improves the correction accuracy and response speed, reduces dependence on manual operation, reduces high construction costs, enhances the adaptability and flexibility of the system, and at the same time improves the safety and reliability of the construction of extra-large and special-shaped shafts.

[0007] Further technical solutions:

[0008] In the step S2, the deflection monitoring instrument includes a laser measuring instrument, a receiving instrument and a top support mark, the laser measuring instrument is at the top or bottom of the super-large special-shaped shaft, and the laser measuring instrument is used to emit laser rays and irradiate the receiving instrument;

[0009] The receiving instrument is arranged on the sliding mold frame, and the receiving instrument is used to receive the laser beam and convert the laser beam into a horizontal light beam to spread on the top support marking line;

[0010] The jacking marking line is used to indicate the offset of the laser beam.

[0011] Furthermore: in step S3, the deflection monitoring instrument in step S2 is used to measure the dynamic position, posture and motion state information of the sliding mode in real time, and the real-time measurement data is generated and transmitted to the central control system for real-time dynamic processing and analysis of the data.

[0012] Further: in the step S4, the central control system receives the measurement data of step S3, imports the data into the database, performs duplicate analysis to count the offset data, transmits the offset data after counting to the interior of the central control module, and compares the offset data after counting with the set offset data, and then calculates the offset through the microprocessor and generates a correction control signal, and transmits the correction control signal to the correction device to complete the correction of the sliding mode.

[0013] Further: in the step S5, the correction control signal generated in the step S4 is controlled to be transmitted to the correction device, and the correction device is controlled to adjust the sliding form so that the center line of the sliding form returns to the position of the designed center line, thereby completing the correction work of the sliding form;

[0014] Among them, the correction equipment includes a servo motor and a hydraulic system.

[0015] Furthermore: in step S5, a plurality of different correction strategies are designed according to different sliding mode offsets, and the plurality of different correction strategies achieve adaptive correction work for sliding mode offsets of different degrees by setting correction control parameters of different levels.

[0016] Further: the correction strategy includes fine-tuning correction strategy, large-scale correction strategy and emergency correction strategy;

[0017] When the sliding mode offset is less than 2cm, a fine-tuning correction strategy is used to correct the sliding mode;

[0018] When the sliding form deviation is between 2 and 4 cm, a large-scale correction strategy is used to correct the sliding form deviation;

[0019] When the sliding form deviation is greater than 4cm, an emergency correction strategy is adopted to correct the sliding form deviation.

[0020] Further: in step S6, a top vertical line is set, and the verticality of the top vertical line is consistent with the verticality of the sliding form. The verticality of the top vertical line is detected by a verticality detection device, and the verticality of the sliding form is reflected to determine whether the verticality of the sliding form after correction meets the design requirements of the super-large special-shaped vertical shaft.

[0021] Further: in the step S1, a spatial coordinate system is established with the axis of the super-large special-shaped vertical shaft as the vertical center axis, and a super-large special-shaped vertical shaft model is established in the coordinate system.

[0022] A dynamic deviation correction system for sliding formwork of concrete in an extra-large special-shaped shaft, used for executing the dynamic deviation correction method for sliding formwork of concrete in an extra-large special-shaped shaft, the deviation correction system comprises a sensor array deployment module, a data acquisition and real-time transmission module, a data processing and deviation analysis module, a deviation correction strategy generation module, an automatic deviation correction execution module, and a deviation correction effect verification module;

[0023] The sensor array deployment module is used to deploy a high-precision sensor array on the outer surface and inner position of the sliding form to monitor the position, posture and motion state of the sliding form in real time;

[0024] The data acquisition and real-time transmission module is used to collect the real-time position, posture and motion state data of the sliding mode, and transmit the collected data to the central control system;

[0025] The data processing and deviation analysis module is used to process the data received by the central control system and perform real-time deviation analysis on the data;

[0026] The deviation correction strategy generation module is used to automatically generate an adaptive deviation correction strategy based on the deviation analysis results using an artificial intelligence algorithm in the central control system;

[0027] The automatic deviation correction execution module is used for the real-time execution of the deviation correction strategy through the servo motor and hydraulic system.

[0028] The correction effect verification module is used to monitor the sliding position in real time, verify the correction effect, and form a closed-loop control;

[0029] It also includes an abnormal situation processing module for initiating an emergency correction procedure.

[0030] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0031] 1. The present invention provides a method and system for dynamic correction of sliding formwork for concrete in super-large special-shaped shafts, which can monitor the position, posture and motion state of the sliding formwork in real time, and then process the measurement data and finally generate a correction control signal to control the correction device, thereby realizing dynamic real-time correction of sliding formwork deflection. In addition, high-precision, high-efficiency and highly adaptable dynamic correction is realized, which significantly improves the correction accuracy and reaction speed, reduces the dependence on manual operation, reduces the high construction cost, enhances the adaptability and flexibility of the system, and improves the safety and reliability of super-large special-shaped shaft construction.

[0032] 2. The present invention provides a dynamic correction method and system for the sliding rise of concrete slipforms in extra-large and special-shaped vertical shafts. According to different construction environments and degrees of deviation, the present invention designs a multi-level correction strategy, including fine-tuning correction, large-scale correction and emergency correction, so as to adapt to complex and changeable construction scenarios and improve the adaptability and flexibility of the system.

[0033] 3. The present invention provides a method and system for dynamic correction of sliding formwork of concrete in an extra-large special-shaped vertical shaft. After completing the sliding formwork correction work, the present invention sets a top vertical line, verifies the correction result through a verticality detection device, ensures that the correction effect meets the design requirements, and improves the safety and reliability of the extra-large special-shaped vertical shaft structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0035] Figure 1 It is a schematic diagram of the process of the dynamic deviation correction method of the concrete slip formwork of an extra-large special-shaped shaft according to the present invention;

[0036] Figure 2 It is a schematic diagram of the process of dynamic correction system for concrete slipform lifting in extra-large special-shaped shafts. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0038] In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is apparent to one of ordinary skill in the art that these specific details are not necessarily employed to practice the present invention. In other embodiments, in order to avoid obscuring the present invention, well-known structures, circuits, materials, or methods are not specifically described.

[0039] Throughout the specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "one embodiment," "an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily all refer to the same embodiment or example. In addition, particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. In addition, it will be appreciated by those of ordinary skill in the art that the figures provided herein are for illustrative purposes and that the figures are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0040] In the description of the present invention, the directions or positional relationships indicated by terms such as “front”, “rear”, “left”, “right”, “up”, “down”, “vertical”, “horizontal”, “high”, “low”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0041] Embodiment 1:

[0042] like Figure 1 As shown, the present invention provides a dynamic correction method for sliding of concrete slipform in an extra-large special-shaped shaft, comprising the following steps: step S1: establishing an extra-large special-shaped shaft model; step S2: configuring a deflection monitoring instrument; step S3: measuring the deflection of the slipform and generating measurement data; step S4: analyzing and processing the measurement data and generating a correction control signal; step S5: controlling the correction device to perform sliding correction based on the correction control signal; step S6: verifying the correction result; performing real-time dynamic analysis on the measured sliding deflection data, and generating a real-time dynamic correction control signal to control the correction device to complete the dynamic correction of the sliding form. In this embodiment, by integrating laser measurement technology and sensor network, the displacement of the sliding form during the sliding process is monitored in real time. A laser measuring instrument is set at the top or bottom of the super-large special-shaped vertical shaft, and a receiving instrument is set on the sliding form frame to receive laser rays and convert them into horizontal laser rays, so as to obtain the displacement data of the sliding form in real time, ensuring the real-time and accuracy of monitoring; a real-time data analysis algorithm is used to make intelligent judgments on the collected deviation data, determine the deviation trend and degree, automatically calculate the required correction amount, realize dynamic scale analysis and precise correction, and according to the analysis results of the intelligent algorithm module, the system automatically adjusts the thrust of the correction equipment and the position of the sliding form frame to realize dynamic correction; according to different construction environments and deviation degrees, a multi-level correction strategy is designed, including fine-tuning correction, large-scale correction and emergency correction, etc., to adapt to complex and changeable construction scenes, improve the adaptability and flexibility of the system, and set the top vertical line after correction, and verify the correction result through the verticality detection equipment to ensure that the correction effect meets the design requirements, thereby improving the safety and reliability of the super-large special-shaped vertical shaft structure.

[0043] In this embodiment, in the preferred step S2, the deflection monitoring instrument includes a laser measuring instrument, a receiving instrument and a top supporting marking line. The laser measuring instrument is located at the top or bottom of the large special-shaped vertical shaft, and the laser measuring instrument is used to emit laser rays and irradiate the receiving instrument; the receiving instrument is arranged on the sliding formwork frame, and the receiving instrument is used to receive the laser rays and convert the laser rays into horizontal light rays and spread them on the top supporting marking line; the top supporting marking line is used to show the offset of the laser rays.

[0044] In the step S3, the deflection monitoring instrument in step S2 is used to measure the dynamic position, posture and motion state information of the sliding form in real time, and the real-time measurement data is generated and transmitted to the central control system for real-time dynamic processing and analysis of the data. In this embodiment, the position, posture and motion state of the sliding form are monitored in real time by using the arranged laser displacement sensor, GPS positioning sensor and gyroscope and other instruments and equipment. Then in the step S4, the central control system receives the measurement data of step S3, imports the data into the database, performs duplicate analysis to count the offset data, transmits the offset data after statistics to the inside of the central control module, and compares the offset data after statistics with the set offset data, and then calculates the offset through the microprocessor and generates a correction control signal, and transmits the correction control signal to the correction device to complete the correction of the sliding form. Then in the step S5, based on the correction control signal generated in step S4, the control is transmitted to the correction device, and the correction device is controlled to work to adjust the sliding form, so that the center line of the sliding form returns to the position of the designed center line, and the correction work of the sliding form is completed; wherein, the correction device includes a servo motor and a hydraulic system.

[0045] In the step S5, a variety of different correction strategies are designed according to different sliding form offsets. The various correction strategies achieve adaptive correction work for different degrees of sliding form offsets by setting different levels of correction control parameters. In this embodiment, in order to target different construction environments and offset degrees, a multi-level correction strategy is designed to adapt to complex and changeable construction scenarios and improve the adaptability and flexibility of the system. Specifically, the correction strategies include fine-tuning correction strategies, large-scale correction strategies, and emergency correction strategies; when the sliding form offset is less than 2 cm, a fine-tuning correction strategy is used to perform sliding form correction work; when the sliding form offset is between 2 and 4 cm, a large-scale correction strategy is used to perform sliding form correction work; when the sliding form offset is greater than 4 cm, an emergency correction strategy is used to perform sliding form correction work.

[0046] In step S6, a top vertical line is set, and the verticality of the top vertical line is consistent with the verticality of the sliding form. The verticality of the top vertical line is detected by a verticality detection device, and the verticality of the sliding form is reflected to determine whether the verticality of the sliding form after correction meets the design requirements of the super-large special-shaped shaft. In this embodiment, the correction process is verified by the top vertical line and the verticality detection device, which can improve the safety and reliability of the super-large special-shaped shaft structure.

[0047] In this embodiment, preferably, in step S1, a spatial coordinate system is established with the axis of the super-large special-shaped vertical shaft as the vertical center axis, and a super-large special-shaped vertical shaft model is established in the coordinate system.

[0048] Embodiment 2:

[0049] like Figure 2 As shown, a dynamic deviation correction system for sliding up of concrete slipform in an extra-large special-shaped shaft is used to execute the dynamic deviation correction method for sliding up of concrete slipform in an extra-large special-shaped shaft as described in Example 1. The deviation correction system includes a sensor array deployment module, a data acquisition and real-time transmission module, a data processing and deviation analysis module, a deviation correction strategy generation module, an automatic deviation correction execution module, and a deviation correction effect verification module;

[0050] The sensor array deployment module is used to deploy a high-precision sensor array on the outer surface and inner position of the sliding form to monitor the position, posture and motion state of the sliding form in real time;

[0051] The data acquisition and real-time transmission module is used to collect the real-time position, posture and motion state data of the sliding mode, and transmit the collected data to the central control system;

[0052] The data processing and deviation analysis module is used to process the data received by the central control system and perform real-time deviation analysis on the data;

[0053] The deviation correction strategy generation module is used to automatically generate an adaptive deviation correction strategy based on the deviation analysis results using an artificial intelligence algorithm in the central control system;

[0054] The automatic deviation correction execution module is used for the real-time execution of the deviation correction strategy through the servo motor and hydraulic system.

[0055] The correction effect verification module is used to monitor the sliding position in real time, verify the correction effect, and form a closed-loop control;

[0056] It also includes an abnormal situation processing module for initiating an emergency correction procedure.

[0057] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dynamic deviation correction method for sliding formwork of concrete in an extra-large special-shaped shaft, characterized in that: The steps include: Step S1: Establishing a super large special-shaped shaft model; Step S2: configuring a deflection monitoring instrument; Step S3: measuring the sliding mode deflection and generating measurement data; Step S4: analyzing and processing the measurement data and generating a correction control signal; Step S5: controlling the correction device to perform sliding mode correction based on the correction control signal; Step S6: verify the correction result; The measured sliding mode deflection data is analyzed in real time and dynamically, and a real-time dynamic correction control signal is generated to control the correction equipment to complete the dynamic correction of the sliding mode.

2. The method for dynamic deviation correction of concrete slip formwork in an extra-large special-shaped shaft according to claim 1 is characterized in that: In the step S2, the deflection monitoring instrument includes a laser measuring instrument, a receiving instrument and a top support mark, the laser measuring instrument is at the top or bottom of the super-large special-shaped shaft, and the laser measuring instrument is used to emit laser rays and irradiate them on the receiving instrument; The receiving instrument is arranged on the sliding mold frame, and the receiving instrument is used to receive the laser beam and convert the laser beam into a horizontal light beam to spread on the top support marking line; The jacking marking line is used to indicate the offset of the laser beam.

3. The method for dynamic deviation correction of concrete slip formwork in an extra-large special-shaped shaft according to claim 2 is characterized in that: In step S3, the deflection monitoring instrument in step S2 is used to measure the dynamic position, posture and motion state information of the sliding form in real time, and generate real-time measurement data to be transmitted to the central control system for real-time dynamic processing and analysis of the data.

4. The method for dynamic deviation correction of concrete slip formwork in an extra-large special-shaped shaft according to claim 3 is characterized in that: In step S4, the central control system receives the measurement data of step S3, imports the data into a database, performs a duplicate analysis to count the offset data, transmits the offset data after counting to the interior of the central control module, and compares the offset data after counting with the set offset data. The microprocessor then calculates the offset and generates a correction control signal, and transmits the correction control signal to the correction device to complete the correction of the sliding mode.

5. The method for dynamic deviation correction of concrete slip formwork in an extra-large special-shaped shaft according to claim 4 is characterized in that: In the step S5, the correction control signal generated in the step S4 is controlled to be transmitted to the correction device, and the correction device is controlled to adjust the sliding form so that the center line of the sliding form returns to the position of the designed center line, thereby completing the correction work of the sliding form; Among them, the correction equipment includes a servo motor and a hydraulic system.

6. The method for dynamic deviation correction of concrete slip formwork in an extra-large special-shaped shaft according to claim 5 is characterized in that: In step S5, a plurality of different correction strategies are designed according to different sliding mode offsets. The plurality of different correction strategies achieve adaptive correction work for sliding mode offsets of different degrees by setting correction control parameters of different levels.

7. The method for dynamic deviation correction of concrete slip formwork in an extra-large special-shaped shaft according to claim 6 is characterized in that: Correction strategies include fine-tuning correction strategies, large-scale correction strategies, and emergency correction strategies; When the sliding mode offset is less than 2cm, a fine-tuning correction strategy is used to correct the sliding mode; When the sliding form deviation is between 2 and 4 cm, a large-scale correction strategy is used to correct the sliding form deviation; When the sliding form deviation is greater than 4cm, an emergency correction strategy is adopted to correct the sliding form deviation.

8. The method for dynamic deviation correction of concrete slip formwork in an extra-large special-shaped shaft according to claim 1, characterized in that: In step S6, a top vertical line is set, and the verticality of the top vertical line is consistent with the verticality of the sliding form. The verticality of the top vertical line is detected by a verticality detection device, and the verticality of the sliding form is reflected to determine whether the verticality of the sliding form after correction meets the design requirements of the super-large special-shaped vertical shaft.

9. The method for dynamic deviation correction of concrete slip formwork in an extra-large special-shaped shaft according to claim 1, characterized in that: In the step S1, a spatial coordinate system is established with the axis of the super-large special-shaped vertical shaft as the vertical center axis, and a super-large special-shaped vertical shaft model is established in the coordinate system.

10. A dynamic deviation correction system for sliding formwork of concrete in a super-large special-shaped shaft, used for executing the dynamic deviation correction method for sliding formwork of concrete in a super-large special-shaped shaft as claimed in any one of claims 1 to 9, characterized in that: The deviation correction system includes a sensor array deployment module, a data acquisition and real-time transmission module, a data processing and deviation analysis module, a deviation correction strategy generation module, an automatic deviation correction execution module, and a deviation correction effect verification module; The sensor array deployment module is used to deploy a high-precision sensor array on the outer surface and inner position of the sliding form to monitor the position, posture and motion state of the sliding form in real time; The data acquisition and real-time transmission module is used to collect the real-time position, posture and motion state data of the sliding mode, and transmit the collected data to the central control system; The data processing and deviation analysis module is used to process the data received by the central control system and perform real-time deviation analysis on the data; The deviation correction strategy generation module is used to automatically generate an adaptive deviation correction strategy based on the deviation analysis results using an artificial intelligence algorithm in the central control system; The automatic deviation correction execution module is used for the real-time execution of the deviation correction strategy through the servo motor and hydraulic system. The correction effect verification module is used to monitor the sliding position in real time, verify the correction effect, and form a closed-loop control; It also includes an abnormal situation processing module for initiating an emergency correction procedure.

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