Brake positioning mechanism for precise sudden stop of centrifugal machine and control strategy of brake positioning mechanism

Abstract

The invention relates to a brake positioning mechanism for precise sudden stop of a centrifugal machine and a control strategy thereof.The system is mainly composed of a centrifugal motor, an auxiliary positioning mechanism, a circumferential damping device and an electromagnetic brake system, an output shaft of the centrifugal motor is connected with the electromagnetic brake system, and a centrifugal frame is installed at the tail end of a centrifugal rotating shaft; a groove is formed in the same position of the output shaft and the centrifugal base, the centrifugal base and the groove are provided with bolts which are matched with each other and used for positioning, and accurate sudden stop of the centrifugal machine is achieved through a multi-stage braking strategy. Secondly, an electromagnetic braking system is combined, and the system achieves rapid braking by installing an electromagnetic brake on the main shaft. After the motor control system completes preliminary braking, the electromagnetic brake is started immediately, strong braking force is generated through electromagnetic force, and rapid sudden stop is achieved. The electromagnetic brake is mainly composed of a stator, a spring, a friction disc, a pressing disc, a cover disc and the like. When the auxiliary positioning mechanism works, the electromagnetic coil is powered off to release elastic potential energy, so that the friction disc is in contact with the rotating shaft disc to realize quick braking, and a clamping groove is used for positioning at the final stage of braking, so that a test tube is mechanically and quickly positioned for replacement or other operations. And a control strategy for dynamically adjusting the output torque of each stage and realizing high-rotating-speed stable transition and accurate position braking is provided.

Description

Technical Field

[0001] The present invention relates to the field of centrifuge motor control strategies, and in particular to a centrifuge precise emergency stop mechanism and control strategy. Background Art

[0002] As an instrument that uses centrifugal force for separation and purification, the centrifuge is widely used in biomedicine, chemical engineering, food safety and other fields. During the centrifugation process, the rapid rotation of the sample will generate huge kinetic energy. Therefore, how to achieve accurate emergency stop and positioning of the centrifuge is crucial to ensure experimental safety, improve experimental efficiency and protect sample integrity. Traditional centrifuge braking methods lack positioning functions, and some methods have problems such as low braking accuracy and inaccurate positioning. It is very necessary to design a braking and positioning mechanism for accurate emergency stop of the centrifuge on the basis of economy and simple structure. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems of low braking accuracy, inaccurate positioning, large braking impact, slow response speed and the like of the centrifuge in the prior art, and to provide a centrifuge precise emergency stop and positioning mechanism with simple structure, low cost, high braking accuracy and fast response speed.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A braking and positioning mechanism for precise emergency stop of a centrifuge comprises a centrifuge rotating shaft, a spring latch type positioning mechanism and an electromagnetic brake, wherein the electromagnetic brake is connected to the main shaft of the centrifuge, wherein the friction disc rotates with the main shaft, and the electromagnetic brake is fixed and matched with the position of the friction disc to apply braking force to the pressure plate. The device can realize rapid stop according to preset stages, control the working state of the electromagnetic brake, and realize precise emergency stop of the centrifuge.

[0006] The head of the pin is designed with a progressive conical guide surface (cone angle of 10°), and the groove entrance corresponds to the conical bell mouth, which automatically corrects the lateral deviation of ±1 to 2 mm by using the inclined surface contact.

[0007] Furthermore, the helical compression spring of the spring damping device is made of 65Mn spring steel, the surface of which is phosphating treated, and the ratio of its stiffness coefficient to the stiffness coefficient of the disc spring group is 1:2 to 1:3.

[0008] Furthermore, the electromagnetic brake includes a stator and a friction plate. The stator is fixed in the electromagnetic brake housing. One end of the fixing part cooperates with the housing and is installed on the pressure plate, and the other end is provided with a friction plate. When the electromagnet is energized, the spring releases elastic potential energy, the pressure plate presses the friction plate, and generates braking force.

[0009] Furthermore, the groove of the positioning mechanism is arranged on the centrifuge shaft for cooperating with the positioning latch. The latch is mounted on a base surrounding the shaft, and the position of the latch corresponds to the initial position of the shaft. The centrifuge shaft is intervened when the rotation speed is low during the centrifugal stage to ensure that the latch can be accurately inserted into the groove when the shaft rotates to the initial position. When the shaft rotates to the initial position, the latch is inserted into the groove under the action of the spring force. The cooperation between the latch and the groove can prevent the shaft from continuing to rotate, thereby achieving precise positioning.

[0010] If the shaft needs to continue rotating from the initial position, current is applied to the electromagnetic coil to make it an electromagnet that attracts the pressure plate to push the latch out of the groove, thereby releasing the shaft.

[0011] Furthermore, the control system includes a motor and a power module. The motor outputs a corresponding torque according to a preset braking curve to drive the motor shaft to work, thereby achieving precise braking and positioning of the centrifuge.

[0012] Furthermore, the brake disc is made of a copper alloy material with a high thermal conductivity, and a heat sink is arranged on the surface of the brake disc to improve the heat dissipation performance of the brake disc and prevent excessive temperature during braking.

[0013] Furthermore, the friction plate is made of a high temperature resistant and wear resistant ceramic-based material to improve the service life and braking performance of the friction plate.

[0014] Furthermore, in the circumferential damping device, three groups of springs are arranged symmetrically to offset the asymmetric load caused by the centrifugal force and maintain the concentricity of the rotating shaft.

[0015] Furthermore, the three sets of springs are made of 65Mn spring steel to ensure rebound stability under high load.

[0016] On the other hand, the present invention also provides a centrifuge precise emergency stop mechanism and control strategy, including:

[0017] The working state of the centrifugal motor is divided into the preparation stage, the start-up stage, the steady speed stage, the deceleration stage, and the fine-tuning stage. According to the different torque requirements of the centrifugal motor in each stage, special friction torque and static and dynamic models are established to control the output torque so that it can run steadily to the target high speed and perform precise emergency stop.

[0018] The centrifugal motor control system is based on a pre-calibrated friction model (static / dynamic Tf=f(ω)) and real-time inertia measurement, and adopts a feedforward-feedback composite control strategy to achieve precise speed regulation. During the startup phase, the load inertia J is measured in real time by releasing the test torque, and the feedforward torque T=Jα+Tf is generated in combination with the preset uniform acceleration curve, and an adaptive PID (parameter K p ∝1 / J, K i∝1 / J2, K d ∝J) and safety factor K safe (Dynamically adjust with eccentric vibration) to compensate the speed error Δω. In the steady speed stage, low power consumption mode is adopted, and only dynamic friction force T is maintained. f (ω set ), and the angle position sensor is used to monitor the abnormal speed in real time. Segmented control in the deceleration stage: first cut off the power, use high-gain PD for rapid braking at long-distance errors (>10°), gradually reduce Kp for smooth transition at medium distances (1-10°), switch to step pulse braking at micro distances (<1°) and use electromagnetic brakes for rapid braking, switch to step pulse braking at micro distances (<1°), and apply static friction compensation based on the error direction Sign (θe) to break through the dead zone. At the final positioning, when the error is <0.1°, the mechanical locking mechanism is triggered: the electromagnetic coil is de-energized to release the spring potential energy, and the tapered pin cooperates with the groove to achieve precise positioning. This solution improves dynamic response through friction / inertia feedforward compensation, and combines parameter adaptation with graded braking strategies to effectively suppress vibration and achieve fast and precise parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a principle block diagram of a braking positioning mechanism for precise emergency stop of a centrifuge and its control strategy;

[0020] Figure 2 It is a spring latch type shaft positioning device of a brake positioning mechanism for precise emergency stop of a centrifuge;

[0021] Figure 3 It is an electromagnetic brake for precise emergency stop of centrifuge;

[0022] Figure 4 The figure is an overall assembly diagram of a braking positioning mechanism for precise emergency stop of a centrifuge and its control strategy.

[0023] Figure 5 The figure is a top view of a circumferential vibration damping device of a centrifuge. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0025] A traditional centrifuge includes a centrifugal motor and a centrifugal platform. A high-speed centrifugal frame and a centrifugal basket are arranged on the centrifugal platform. The upper end of the rotating shaft is connected to the high-speed centrifugal frame. The rotating shaft of the centrifugal motor drives the high-speed centrifugal frame to rotate, thereby driving the centrifugal basket and the centrifugal test tubes in the basket to rotate. This device can already meet the traditional manual operation process. However, in an automated integrated centrifugal extraction machine, the positioning requirement needs to be met. In order to accurately place and extract test tubes, and to make each centrifugal test tube numbered in a fixed order, complete centrifugal separation in sequence, and then grab them in sequence in sequence, the initial test tube placement position needs to be consistent with the test tube placement position after centrifugation is completed.

[0026] The conical pin head is made of wear-resistant material, while the side body is made of material with a larger friction coefficient, which is used to reduce the wear caused by friction with the centrifugal motor, and has a certain adsorption when it has an interference fit with the groove, preventing the centrifugal motor from deviating from the initial position due to inertia.

[0027] The following embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

[0028] The present invention provides a centrifuge precise emergency stop braking positioning mechanism and its control strategy, the principle block diagram is as follows Figure 1 shown.

[0029] In the preparation stage, the static and dynamic friction torque models of the centrifugal motor are pre-calibrated. f =f(ω), the static model lists in advance how much force the motor needs to start running from speed 0, and the dynamic model predicts that the motor itself will lose corresponding force at different speeds, thereby accurately compensating for part of the resistance. After placing the test tube to be centrifuged, and before starting, the centrifugal motor releases the test torque to measure the real-time inertia J to prepare for the next start.

[0030] During the startup phase, the angular acceleration α and friction compensation T generated by the preset uniform acceleration curve using the real-time measured inertia J f And the speed error Δω calculates the required torque T=Jα+T f +K safe Δω, where the safety factor K safe Dynamically adjust the vibration amplitude with the load eccentricity, and adaptively adjust the PID parameters (Kp∝1 / J, Ki∝1 / J 2 , Kd∝J), when no-load, J=J 轻:Kp=10,Ki=2,Kd=1(optimized for no-load), while J=5J is generally used when fully loaded 轻 , adjusted parameters: Kp = 10 × 1 / 5 = 2Kp = 10 × 1 / 5 = 2, Ki = 2 × (1 / 5) 2 =0.08, Kd=1×5=5, calculate the required torque T=Jα+T f +K safe Δω, where the safety factor K safe Feedforward is introduced to compensate for friction and inertia terms to improve response speed, and known friction (friction term) and inertia (inertia term) are calculated and offset in advance. The friction term has been modeled as Tf=f(ω) through offline experiments (such as static friction + speed-related friction). For the inertia term, the moment of inertia J is the "weight distribution density" of the load, and the angular acceleration α is the speed of target acceleration.

[0031] The inertia force Jα represents the additional torque required to accelerate the load. The feed-forward torque formula is:

[0032] T feedforward =Jα+T f (ω)

[0033] According to Newton's law, the total torque of the motor needs to satisfy:

[0034] T total =Jα+T f (ω)+T PID

[0035] Where T PID Compensation for feedback.

[0036] After obtaining the target angular acceleration α (such as the preset curve in the acceleration phase) from the control instruction, the current estimated moment of inertia J is read in real time, the inertia force compensation is calculated, the current speed ω is obtained through the encoder, the current friction compensation torque is calculated, and finally the total torque of the motor is output using the obtained data to accelerate to the target speed.

[0037] In the steady speed stage, when the centrifuge shaft speed reaches the target speed, the low power consumption mode is enabled. At this time, the dynamic friction model calibrated in the previous experiment is used. At this time, the friction force is T total =T f (ω set ), at this time, only the torque against the friction force is maintained to keep the centrifuge speed at the preset target speed. At the same time, the Luenberger observer is used to collect the centrifuge speed in real time. When the speed is abnormal, the torque is reduced or increased in time.

[0038] In the deceleration stage, the PD control (proportional-differential) formula is used:

[0039] T brake =K p θ e +K d (dθe / dt)+Sign(θ e )T static

[0040] Among them, K p θ e (Proportional term) The larger the error, the stronger the braking force, K d (dθ e / dt) (differential term) The faster the speed, the stronger the braking force (to prevent overshoot). e )T static Apply static friction compensation based on the error direction to eliminate jamming.

[0041] When the initial position of the shaft corresponds to the initial position of the groove in the long-distance braking (error> 10°), first cut off the forward running torque and use a large proportional coefficient K p , large differential coefficient K d , and start the electromagnetic brake while decelerating rapidly. When the initial position of the shaft corresponds to the initial position of the groove in the middle distance adjustment (1°<error<10°), turn off the electromagnetic brake and gradually reduce K p Maintain K d When entering the fine-tuning stage (error <1°), it switches to stepping mode and uses pulse braking force (0.1° each braking stop).

[0042] Beneficial effect: According to the error direction Sign(θ e ) applies static friction compensation force in the corresponding direction to ensure that the rotor can "break through" the static friction to the target position.

[0043] During the fine-tuning stage, when the initial position of the centrifuge shaft groove is stepped to a position less than 0.1° from the corresponding latch position, the positioning mechanism starts to work, the stator (15) of the positioning mechanism is powered off to make it lose its attraction to the pressure plate (14), at which time the compressed elastic potential energy is released, and the spring pushes the conical latch into the corresponding conical groove, and the cooperation between the latch and the conical groove eliminates the slight positioning error.

[0044] Beneficial effect: The traditional method relies on encoder closed-loop control, and the accuracy is limited by the encoder resolution (e.g. P = 1024, P = 1024 lines, then Δθ encoder =360° / P=0.35°), and there is also a steady-state error θ caused by the friction dead zone error ≈T static / K p , here we take 0.2°, then the total error is Under the auxiliary positioning of the spring latch type of the present invention, the theoretical meshing error Δθ mech =arctan(d / L) (d is the processing tolerance, L is the contact length), d=0.01mm, L=10mm, step fine-tuning pulse accuracy is Δθstep=0.01°, then the total positioning error is Compared with a centrifugal device whose transmission relies on an encoder closed-loop control, the positioning accuracy of the present invention is theoretically improved by about 85.5%.

[0045] Figure 3 The electromagnetic brake is used for precise emergency stop of a centrifuge. The electromagnetic brake comprises a stator (21), a spring (22), a pressure plate (23), a friction plate (24), a cover plate (25), and a fixing member (26). In a stationary state, a rotating shaft (102) and a friction plate (24) rotate synchronously. In a working state, the pressure plate (23) pushes and contacts the friction plate (24) to perform rapid braking.

[0046] Working principle: The rotating shaft of the centrifugal motor is connected to the electromagnetic brake through a key. When the centrifugal motor is working, the stator (21) is in a powered state, attracting the pressure plate and compressing the spring. The spring stores elastic potential energy. When the centrifugal motor stops, the stator (21) is powered off synchronously, the electromagnetic coil (21) loses its strong magnetic field, and the spring (22) immediately presses the pressure plate (23) against the friction plate. The friction torque between the friction plate (24) and the pressure plate (23) is used to achieve rapid deceleration of the centrifuge shaft.

[0047] Figure 2 A spring-type latch positioning device for precise emergency stop of a centrifuge is installed on the inner side of a base (101), wherein three conical latches (11) are matched and positioned with conical grooves on a centrifugal shaft (102). The matched position at this time is the initial position of the centrifuge. When the spring-type latch positioning device is in a permanent state, the stator is in a power-on state, and the pressure plate (14) compresses the spring under the attraction of the stator (15), so that the latch body is in a sleeve, the motor shaft (102) of the centrifugal motor is connected to the electromagnetic brake (2), and the side groove of the centrifugal motor shaft (102) is matched with the latch (11) of the positioning device.

[0048] Working principle: During braking, when the rotation speed drops to a safety threshold, the positioning device (1) is powered off, the stator loses its magnetism, the elastic potential energy of the spring is released, and the conical latch (11) is inserted into the shaft groove under the action of the spring force to lock the position of the shaft (102); the spring latch type shaft positioning device (1) intervenes in the fine-tuning stage to prevent the latch (11) and the centrifugal motor from being worn due to high-speed collision.

Claims

1. A centrifuge precise emergency stop braking positioning mechanism and its control strategy, characterized by: It includes a centrifugal motor, a centrifugal base, a motor shaft, an electromagnetic brake, a circumferential shock absorbing device and a spring latch type shaft positioning device; The centrifugal motor comprises a motor housing, a motor shaft (102), a bearing, and a motor base (101); the motor shaft is provided with three conical grooves on its outer circumferential surface; the motor shaft is connected to the motor housing via the bearing; the motor housing is located inside the motor base (101) and is used to fix the motor to work in suspension; The shock-absorbing pad (103) is coated on the outer surface of the motor shaft (102), and its inner layer is a rubber layer, and its outer layer is a steel braided mesh reinforcement layer, and the thickness of the rubber layer is evenly distributed along the axial direction of the shaft; The spring latch type shaft positioning device (1) comprises a spring latch assembly, comprising a conical latch (11), a preload spring (12), a guide sleeve (13), a pressure plate (14), and a stator (15); the conical latch (11) is slidably installed in the guide sleeve (13), and the shape of its head matches the conical groove; the preload spring (12) is sleeved on the tail of the conical latch (11); when the shaft (1) rotates to a preset initial position, the conical latch (11) is inserted into the conical groove (11) under the action of the spring force, thereby realizing shaft positioning. The base (101) is provided with a linear guide cylinder (13); the bolt (11) can slidably shuttle in the guide cylinder; the stator (15) is fixed on the base and arranged opposite to the pressure plate (14), and the stator is externally connected to a manual switch through a wire; the preload spring (12) is sleeved on the outside of the bolt, one end of which abuts against the base (101) and the other end abuts against the bolt, and the bolt is pushed out to the locking position under normal conditions; The electromagnetic brake (2) comprises a stator (21), a spring (22), a pressure plate (23), a friction plate (24), a cover plate (25), and a fixing member (26); the characteristics are as follows: the stator (11) is fixedly mounted on a frame or a housing of the equipment, and an electromagnetic coil is arranged inside the stator (21) for generating a magnetic field; the spring (22) is connected to the pressure plate (23) and is located inside or around the stator (21) for providing a reset force in a power-off state so that the pressure plate (23) returns to an initial position; the pressure plate (13) is located between the stator (21) and the friction plate (24) and is movable under the action of electromagnetic force to change the contact pressure between the pressure plate (24) and the friction plate (24) so ​​as to control the braking state; the friction plate (24) is mounted on the rotating shaft and is in direct contact with the pressure plate (23), and prevents or allows the rotation of the rotating shaft by the friction force with the pressure plate (23); the cover plate (25) is mounted outside the electromagnetic brake for protecting and sealing the internal components to prevent the external environment from affecting and operators from contacting the internal high-temperature or moving parts. The fixing member (26) fixes the pressure plate (23), the friction disc (24) and the cover plate (25), and creates a certain gap between the pressure plate and the stator, so as to facilitate the release of elastic potential energy of the spring and transmit it to the pressure plate. The circumferential damping device comprises three groups of springs (41) respectively embedded in the slots of the annular spring seat (42), and the two ends are fixed by limiting pins (43) and limiting recesses (44). The annular spring seat is fixed to the outside of the centrifuge shaft (102), and a 1-2 mm gap is reserved with the base (101); an elastic gasket (45) is installed between the contact surface of the spring seat (42) and the shaft (102), and is used to disperse local stress and reduce friction noise. When the shaft vibrates eccentrically, the circumferential spring (41) absorbs energy through compression deformation to compensate for the eccentricity and radial vibration of the shaft.

2. A centrifuge precise emergency stop braking positioning mechanism and its control strategy, characterized by: The angle position sensor (3) comprises an electromagnetic winding group (31) uniformly distributed on the inner side of a base (101) in the circumferential direction, an asymmetric cam (32) fixed on a rotating shaft (102), and a signal processing module; The cam (32) rotates with the motor shaft (102), and the distance between the cam and the electromagnetic winding group (31) changes periodically during rotation, causing the magnetic field in the electromagnetic winding to change. The electromagnetic winding (31) detects the change in magnetic field intensity through a Hall element and generates a pulse signal, and the signal processing module converts the pulse signal into real-time angular position data of the shaft (102).

3. A centrifuge precise emergency stop braking positioning mechanism and control strategy thereof as described in claim 2, characterized in that: The asymmetric cam (32) is made of a magnetic metal-based composite material, which matches the speed range of the centrifugal motor. This structure can replace the traditional photoelectric encoder, achieve a positioning accuracy of ±0.05° in high-speed centrifugal scenes, and also has anti-vibration characteristics with the assistance of a spring damping device.

4. A centrifuge precise emergency stop braking positioning mechanism and control strategy thereof as described in claim 2, characterized in that: The test tubes to be centrifuged are randomly placed on the centrifuge platform, a small amplitude test pulse torque is applied and combined with the angular acceleration response received by the angle sensor, the moment of inertia J = T is estimated in real time test / α; Experimental pre-calibration to establish a friction torque model (the motor runs at different speeds, measures the corresponding friction torque, and then fits the relationship curve between friction and speed), and establishes the static and dynamic friction compensation function T f = f(ω) to calculate the torque compensation required by the shaft during the startup phase or the acceleration phase to the target speed. The formula is expressed as T f (ω) = T static , if ω=0; T f (ω) = T dynamic +Bω, ifω≠0.

5. A centrifuge precise emergency stop braking positioning mechanism and control strategy thereof as described in claim 4, characterized in that: During the startup phase, the spring latch type shaft positioning device is first closed, and dynamic torque control is adopted. According to the real-time moment of inertia J, the angular acceleration α generated by the preset uniform acceleration curve, and the friction compensation T f The required torque is calculated based on the speed error Δω, and the adaptive PID parameters are adjusted in real time based on J. It is generally divided into two working conditions: light load and heavy load. Feedforward compensation friction (friction term) and inertia force (inertia term) are introduced to calculate and offset the known friction and inertia forces in advance. The motor accelerates from standstill to 10000RPM according to the static friction model T f (0) Break through static friction and output T in advance total =T feedforward +T PID , the motor instantly breaks through the static friction and accelerates according to the target curve.

6. A centrifuge precise emergency stop braking positioning mechanism and control strategy thereof as described in claim 5, characterized in that: After entering the steady-speed stage, the low-power mode is enabled to maintain only the friction counter-torque. Combined with the position sensor installed on the base, the signal is collected in real time to calculate the vibration amplitude. When the vibration amplitude suddenly increases abnormally, the torque and speed are appropriately reduced in a timely manner to prevent the centrifuge from vibrating violently during operation and the risk of test tube rupture.

7. A centrifuge precise emergency stop braking positioning mechanism and control strategy thereof as described in claim 6, characterized in that: The deceleration stage adopts a segmented braking strategy, which first cuts off the power and applies reverse torque, while relying on electromagnetic brake friction braking to reduce the speed to the critical threshold ωcrit, and then dynamically adjusts the braking force T according to the residual angle error θe. brake =K p θ e +K d (dθe / dt)+Sign(θ e )T static , and finally switch to stepping mode when the error is less than 1°, gradually approaching the initial position through pulse torque.

8. The braking and positioning mechanism for precise emergency stop of a centrifuge and its control strategy as described in claim 7 are characterized by: During the fine-tuning stage, when the initial position of the centrifuge shaft groove is stepped to a point where the angle with the corresponding latch is less than 0.1°, the positioning latch is released and cooperates with the groove to eliminate the tiny positioning error, thus completing the centrifuge shaft positioning. The positioning latch mechanism comprises a conical latch head which is made of wear-resistant material.

9. A centrifuge precise emergency stop braking positioning mechanism and control strategy thereof as described in claim 8, characterized in that: In response to multiple working condition changes, the rotational inertia re-estimation is triggered by speed / current differential mutation detection, and the preset PID parameter table (light load / heavy load mode) is dynamically switched. The low power consumption mode is enabled in steady state to only maintain the friction counter torque, and the speed is reduced and dynamic balance compensation is triggered when the vibration exceeds the limit. The overall control process starts with the rotational inertia identification, and the speed is adjusted to the set speed through dynamic PID. The vibration monitoring and anti-disturbance speed stabilization are used to maintain smooth operation. Finally, the segmented braking and fine-tuning are performed according to the shutdown request until the initial position is locked, forming a hierarchical closed-loop adaptive control architecture that takes into account both high precision and strong robustness.

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