Self-adaptive method and system for friction interference compensation of dynamic precision centrifugal machine

Abstract

The invention relates to the technical field of motor control, in particular to a self-adaptive method and system for friction interference compensation of a dynamic precision centrifugal machine. The feedback angular position of the dynamic precision centrifuge during operation is obtained in real time. Wherein the feedback angle position is collected through a high-precision encoder, and a real-time kinematics reference is provided for state observation of the dynamic precise centrifugal machine. And according to the feedback angular position, determining the air resistance torque and the total friction torque of the dynamic precision centrifugal machine, and then according to the air resistance torque, the total friction torque and the feedback angular position, constructing an observer structure suitable for the variable-speed working condition. And according to the observer structure, determining the updated total control quantity of the dynamic precision centrifuge, based on the observer structure, determining the updated total control quantity of the dynamic precision centrifuge, and based on the updated total control quantity, carrying out adaptive control on the rotating speed of the dynamic precision centrifuge. The control precision of the rotating speed of the dynamic precise centrifugal machine can be improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to an adaptive method and system for compensating for frictional interference in a dynamic precision centrifuge. Background Technology

[0002] Traditional precision centrifuges are typically used for constant-speed operation, generating constant overload excitation, thus prioritizing speed stability. Therefore, their rotor mass is usually quite large, and conventional control methods can generally meet the system's control accuracy requirements. Dynamic precision centrifuges, on the other hand, generate varying overload excitations, with their speed changing dynamically during operation. Compared to traditional precision centrifuges, dynamic precision centrifuges experience many speed-related external disturbances that are also dynamic in variable-speed operation. Therefore, designing targeted and optimized control algorithms based on the operating characteristics of dynamic precision centrifuges is particularly important.

[0003] Traditional linear control methods, such as PID, only use integral feedback to suppress the interference of friction torque and air resistance, making it difficult to simultaneously meet the requirements of high-precision and large-dynamic speed control.

[0004] Therefore, there is an urgent need for an adaptive method and system for compensating for frictional interference in dynamic precision centrifuges to solve the technical problem of how to improve the control accuracy of the speed of dynamic precision centrifuges. Summary of the Invention

[0005] To address the technical problem of improving the control accuracy of the rotational speed of a dynamic precision centrifuge, this invention provides an adaptive method and system for compensating for frictional interference in a dynamic precision centrifuge.

[0006] In a first aspect, embodiments of the present invention provide an adaptive method for compensating for frictional disturbances in a dynamic precision centrifuge, the method comprising:

[0007] Real-time acquisition of the feedback angle position of the dynamic precision centrifuge;

[0008] Based on the feedback angle position, the air resistance torque and total friction torque of the dynamic precision centrifuge are determined;

[0009] Based on the air resistance torque, the total friction torque, and the feedback angle position, the observer structure of the dynamic precision centrifuge is determined;

[0010] Based on the aforementioned observer structure, the updated total control quantity of the dynamic precision centrifuge is determined;

[0011] Based on the updated total control quantity, the rotational speed of the dynamic precision centrifuge is adaptively controlled.

[0012] Secondly, embodiments of the present invention provide an adaptive system for compensating for frictional interference in a dynamic precision centrifuge, comprising:

[0013] The acquisition module is used to acquire the feedback angle position of the dynamic precision centrifuge in real time.

[0014] The first data processing module is used to determine the air resistance torque and total friction torque of the dynamic precision centrifuge based on the feedback angle position.

[0015] The second data processing module is used to determine the observer structure of the dynamic precision centrifuge based on the air resistance torque, the total friction torque, and the feedback angle position.

[0016] The third data processing module is used to determine the updated total control quantity of the dynamic precision centrifuge based on the observer structure.

[0017] The fourth data processing module is used to adaptively control the rotational speed of the dynamic precision centrifuge based on the updated total control quantity.

[0018] Thirdly, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of the present invention.

[0019] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of the present invention.

[0020] This invention provides an adaptive method and system for friction disturbance compensation in a dynamic precision centrifuge. The invention acquires the feedback angle position of the dynamic precision centrifuge in real time during operation. The feedback angle position is collected by a high-precision encoder, providing a real-time kinematic reference for the state observation of the centrifuge. Based on the feedback angle position, the air resistance torque and total friction torque of the centrifuge are determined. Then, based on the air resistance torque, total friction torque, and feedback angle position, an observer structure suitable for variable speed conditions is constructed. Based on the observer structure, the updated total control quantity of the centrifuge is determined. This updated total control quantity is then sent to the centrifuge's driver, which generates a corresponding current. This current generates torque, thereby achieving adaptive control of the centrifuge's speed. The core innovation of this invention is that it overcomes the dependence of traditional control on fixed parameters through multi-physics disturbance observation. Its engineering value lies in providing high-precision control support for inertial navigation instrument calibration, testing, and overload simulation, effectively solving the technical problem of dynamic disturbance compensation under variable speed conditions, and improving the control accuracy of the centrifuge's speed. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart of an adaptive method for compensating for frictional disturbances in a dynamic precision centrifuge according to one embodiment is shown.

[0023] Figure 2 This is a hardware architecture diagram of an electronic device provided in an embodiment of the present invention;

[0024] Figure 3 An adaptive system block diagram for frictional disturbance compensation of a dynamic precision centrifuge according to one embodiment is shown;

[0025] Figure 4 Simulation results using only a disturbance observer control according to one embodiment are shown;

[0026] Figure 5 Simulation results using the method of the present invention according to one embodiment are shown. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0028] Please refer to Figure 1 This invention provides an adaptive method for compensating for frictional disturbances in a dynamic precision centrifuge, the method comprising:

[0029] Step 100: Real-time acquisition of the feedback angle position of the dynamic precision centrifuge;

[0030] Step 102: Based on the feedback angle position, determine the air resistance torque and total friction torque of the dynamic precision centrifuge;

[0031] Step 104: Determine the observer structure of the dynamic precision centrifuge based on the air drag torque, total friction torque, and feedback angle position;

[0032] Step 106: Based on the observer structure, determine the updated total control quantity of the dynamic precision centrifuge;

[0033] Step 108: Based on the updated total control quantity, adaptively control the speed of the dynamic precision centrifuge.

[0034] In this embodiment, the present invention acquires the feedback angle position of a dynamic precision centrifuge in real time during operation. The feedback angle position is acquired via a high-precision encoder, providing a real-time kinematic reference for the state observation of the dynamic precision centrifuge. Based on the feedback angle position, the air resistance torque and total friction torque of the dynamic precision centrifuge are determined. Then, based on the air resistance torque, total friction torque, and feedback angle position, an observer structure suitable for variable speed conditions is constructed. Based on the observer structure, the updated total control quantity of the dynamic precision centrifuge is determined. This updated total control quantity is then sent to the driver of the dynamic precision centrifuge. The driver generates a corresponding current, which in turn generates torque, thereby achieving adaptive control of the centrifuge's speed. The core innovation of this invention, through multi-physics disturbance observation, breaks through the dependence of traditional control on fixed parameters. Its engineering value lies in providing high-precision control support for inertial navigation instrument calibration, testing, and overload simulation, effectively solving the technical problem of dynamic disturbance compensation under variable speed conditions, and improving the control accuracy of the dynamic precision centrifuge's speed.

[0035] In one embodiment of the present invention, based on the observer structure, determining the updated total control quantity of the dynamic precision centrifuge includes:

[0036] The observer structure is decomposed to obtain the compensation control terms;

[0037] Based on the compensation control terms, determine the updated total control quantity.

[0038] In this embodiment, the observer structure is dynamically decoupled, separating the nonlinear disturbance compensation control term related to the total control quantity. This compensation term is calculated in real time based on time-varying characteristics such as total friction torque and air drag torque, and is linearly superimposed with the nominal control quantity to form the updated total control quantity. The control strategy adopts a composite architecture of "nominal control + disturbance compensation". The observer estimates the disturbance online and generates a feedforward compensation torque, which, combined with feedback regulation, achieves precise control of the dynamic process of rotational speed.

[0039] In one embodiment of the present invention, the observer structure is constructed using the following formula:

[0040]

[0041] In the formula, θ is the feedback angular position, z1 is the preset observation angular velocity, z2 is the preset observation angular velocity, z3 is the total observation disturbance, and T a Let T(θ) be the air drag torque, T(θ) be the total friction torque, h be the discrete sampling step size, and β be the total friction torque. 01 For the first preset gain, β 02 fe is the second preset gain, β 03 fe1 is the third preset gain, b0 is the preset amplification factor, u1 is the total control quantity before the update, and K t This is the preset torque coefficient.

[0042] In this embodiment, those skilled in the art can customize the preset torque coefficient, first preset gain, second preset gain, third preset gain, preset observation angular velocity, and discrete sampling step size according to the model of the dynamic precision centrifuge. The present invention can be applied to different models of dynamic precision centrifuges.

[0043] In one embodiment of the present invention, the updated total control quantity is determined by the following formula:

[0044]

[0045] In the formula, u2 is the updated total control variable, z3 is the observed total disturbance, and T a U is the air drag torque, T(θ) is the total friction torque, and u is the total friction torque. c Preset control input values, This is a compensation control item.

[0046] In this embodiment, those skilled in the art can customize the preset control input values ​​according to the model of the dynamic precision centrifuge. The present invention can be applied to different models of dynamic precision centrifuges.

[0047] In one embodiment of the present invention, the air drag torque is determined by the following formula:

[0048]

[0049] In the formula, T a Where ρ is the air drag torque, C is the air density, and ρ is the air density. d The drag coefficient, Let be the derivative of the feedback angle position, L be the length of the boom of the dynamic precision centrifuge, and R be the radius of the arcs at both ends of the cross-section of the boom of the dynamic precision centrifuge.

[0050] In one embodiment of the present invention, the total frictional torque is determined by the following formula:

[0051] T(θ) = T1(θ) + T2(θ)

[0052]

[0053] In the formula, T(θ) is the total frictional torque, k is the total number of bearing balls in the dynamic precision centrifuge, F1(θ) is the change in frictional force caused by the change in pressure of the inner ring on the balls, F2(θ) is the change in frictional force caused by the change in pressure of the outer ring on the balls, θ is the feedback angle position, and R... outer R is the outer ring radius of the ball bearing in a dynamic precision centrifuge. inner R is the inner ring radius of the ball bearing in a dynamic precision centrifuge. cage Let T1(θ) be the average radius, T2(θ) be the first frictional torque, and T2(θ) be the second frictional torque.

[0054] In this embodiment, due to manufacturing and installation errors in the dynamic precision centrifuge, the pressure exerted by the inner and outer rings of the ball bearing on the bearing balls varies at different positions. The bearing is preloaded, meaning the preload force on each bearing ball differs at different positions, causing fluctuations in the resultant frictional torque. Since the angular contact ball bearings used in the dynamic precision centrifuge are relatively large, the pressure change caused by the ball diameter is negligible compared to the pressure change of the bearing rings. Therefore, this invention only considers the influence of the frictional force caused by the pressure change of the outer ring on the balls and the frictional force caused by the pressure change of the inner ring on the balls on the total frictional torque.

[0055] In this embodiment, the specific calculation process of the first frictional torque is as follows:

[0056]

[0057] T1(θ) is the period A periodic function.

[0058] In this embodiment, the specific calculation process for the second frictional torque is as follows:

[0059]

[0060] T2(θ) is the period A periodic function.

[0061] In one embodiment of the present invention, the average radius is determined by the following formula:

[0062]

[0063] In the formula, R outer R is the outer ring radius of the ball bearing in a dynamic precision centrifuge. inner R is the inner ring radius of the ball bearing in a dynamic precision centrifuge. cage The average radius is denoted as .

[0064] In this embodiment, the simulation verification example uses the following simulation parameters for a dynamic precision centrifuge: moment of inertia J = 100 kg / m². 2 torque coefficient K t =14000 N·m / V, maximum motor torque 20000 N·m. To approximate reality, a first-order low-pass filter with a bandwidth of 500 Hz is connected after the control voltage output to simplify the current loop model. Initial states are all 0, simulation sampling step size h = 0.00005 s. The air resistance torque and total friction torque disturbances of this invention are applied, and the simulation parameters used are L = 1800 mm, R = 100 mm; R inner =149.23mm, R outer =163.785mm, k=60. Comparison of two simulation experiments (...) Figure 4 and Figure 5 )middle, Figure 4 Simulation results using only a disturbance observer control according to one embodiment are shown. Figure 5 Simulation results using the method of the present invention according to one embodiment are shown. Figure 4 In the experiment, the expected speed tracking curve is v(t)=540+180sin(2π·t), that is, the speed changes sinusoidally at a frequency of 1Hz between 720° / s and 360° / s, in order to simulate the working conditions of the large-amplitude variable acceleration simulation experiment. Figure 5In this study, the desired speed tracking curve is a random curve containing frequency components from 0 to 15 Hz, used to simulate the working conditions of complex acceleration simulation experiments. It can be seen that, in two typical variable speed tracking conditions, the method of this invention can effectively suppress the disturbance torque caused by bearing friction and air resistance that varies with angular position and speed, compared to the method using only a disturbance observer, thus reducing the tracking error of the dynamic precision centrifuge.

[0065] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides an adaptive system for compensating for frictional interference in a dynamic precision centrifuge. The system embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of an electronic device for an adaptive system for compensating frictional interference in a dynamic precision centrifuge, as provided in an embodiment of the present invention. (Except for...) Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device housing the system in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, a system in a logical sense is formed by the CPU of the electronic device in which it resides reading the corresponding computer program from the non-volatile memory into the memory for execution.

[0066] like Figure 3 As shown in this embodiment, an adaptive system for compensating for frictional interference in a dynamic precision centrifuge is provided. The system includes:

[0067] The acquisition module 300 is used to acquire the feedback angle position of the dynamic precision centrifuge in real time.

[0068] The first data processing module 304 is used to determine the air resistance torque and total friction torque of the dynamic precision centrifuge based on the feedback angle position.

[0069] The second data processing module 304 is used to determine the observer structure of the dynamic precision centrifuge based on the air resistance torque, the total friction torque and the feedback angle position.

[0070] The third data processing module 306 is used to determine the updated total control quantity of the dynamic precision centrifuge based on the observer structure.

[0071] The fourth data processing module 308 is used to adaptively control the speed of the dynamic precision centrifuge based on the updated total control quantity.

[0072] In one embodiment of the present invention, the third data processing module 306 is configured to perform the following steps:

[0073] The observer structure is decomposed to obtain the compensation control term;

[0074] Based on the compensation control term, the updated total control quantity is determined.

[0075] In one embodiment of the present invention, the observer structure is constructed using the following formula:

[0076]

[0077] In the formula, θ is the feedback angular position, z1 is the preset observation angular velocity, z2 is the preset observation angular velocity, z3 is the total observation disturbance, and T a Let T(θ) be the air resistance torque, T(θ) be the total friction torque, h be the discrete sampling step size, and β be the total friction torque. 01 For the first preset gain, β 02 fe is the second preset gain, β 03 fe1 is the third preset gain, b0 is the preset amplification factor, u1 is the total control quantity before the update, and K t This is the preset torque coefficient.

[0078] In one embodiment of the present invention, the updated total control quantity is determined by the following formula:

[0079]

[0080] In the formula, u2 is the updated total control quantity, z3 is the observed total disturbance, and T a Let T(θ) be the air resistance torque, and T(θ) be the total friction torque. c Preset control input values, This refers to the compensation control item.

[0081] In one embodiment of the present invention, the air drag torque is determined by the following formula:

[0082]

[0083] In the formula, T a The air drag torque is ρ, where ρ is the air density and C is the air density. d The drag coefficient, Let L be the derivative of the feedback angle position, L be the length of the boom of the dynamic precision centrifuge, and R be the radius of the arcs at both ends of the cross-section of the boom of the dynamic precision centrifuge.

[0084] In one embodiment of the present invention, the total frictional torque is determined by the following formula:

[0085] T(θ) = T1(θ) + T2(θ)

[0086]

[0087] In the formula, T(θ) is the total frictional torque, k is the total number of bearing balls in the dynamic precision centrifuge, F1(θ) is the change in frictional force caused by the change in pressure of the inner ring on the balls, F2(θ) is the change in frictional force caused by the change in pressure of the outer ring on the balls, θ is the feedback angle position, and R... outer R is the outer ring radius of the ball bearing in a dynamic precision centrifuge. inner R is the inner ring radius of the ball bearing in a dynamic precision centrifuge. cage The average radius is denoted as .

[0088] In one embodiment of the present invention, the average radius is determined by the following formula:

[0089]

[0090] In the formula, R outer R is the outer ring radius of the ball bearing in a dynamic precision centrifuge. inner R is the inner ring radius of the ball bearing in a dynamic precision centrifuge. cage The average radius is denoted as .

[0091] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on an adaptive system for compensating for frictional interference in a dynamic precision centrifuge. In other embodiments of the present invention, an adaptive system for compensating for frictional interference in a dynamic precision centrifuge may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0092] The information interaction and execution process between the modules in the above system are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description in the method embodiment of the present invention, and will not be repeated here.

[0093] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements an adaptive method for compensating for frictional interference in a dynamic precision centrifuge according to any embodiment of this invention.

[0094] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform an adaptive method for compensating for frictional interference in a dynamic precision centrifuge according to any embodiment of this invention.

[0095] Specifically, a system or system equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or system may read and execute the program code stored in the storage medium.

[0096] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0097] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0098] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0099] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the functions of any of the embodiments described above.

[0100] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0101] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive method for compensating for frictional interference in a dynamic precision centrifuge, characterized in that, include: Real-time acquisition of the feedback angle position of the dynamic precision centrifuge; Based on the feedback angle position, the air resistance torque and total friction torque of the dynamic precision centrifuge are determined; Based on the air resistance torque, the total friction torque, and the feedback angle position, the observer structure of the dynamic precision centrifuge is determined; Based on the aforementioned observer structure, the updated total control quantity of the dynamic precision centrifuge is determined; Based on the updated total control quantity, the rotational speed of the dynamic precision centrifuge is adaptively controlled.

2. The method according to claim 1, characterized in that, The determination of the updated total control quantity of the dynamic precision centrifuge based on the observer structure includes: The observer structure is decomposed to obtain the compensation control term; Based on the compensation control term, the updated total control quantity is determined.

3. The method according to claim 2, characterized in that, The observer structure is constructed using the following formula: In the formula, θ is the feedback angular position, z1 is the preset observation angular velocity, z2 is the preset observation angular velocity, z3 is the total observation disturbance, and T a Let T(θ) be the air resistance torque, T(θ) be the total friction torque, h be the discrete sampling step size, and β be the total friction torque. 01 For the first preset gain, β 02 fe is the second preset gain, β 03 fe1 is the third preset gain, b0 is the preset amplification factor, u1 is the total control quantity before the update, and K t This is the preset torque coefficient.

4. The method according to claim 3, characterized in that, The updated total control quantity is determined by the following formula: In the formula, u2 is the updated total control quantity, z3 is the observed total disturbance, and T a Let T(θ) be the air resistance torque, and u be the total friction torque. c Preset control input values, This refers to the compensation control item.

5. The method according to claim 4, characterized in that, The air drag torque is determined by the following formula: In the formula, T a The air drag torque is ρ, where ρ is the air density and C is the air density. d The drag coefficient, Let L be the derivative of the feedback angle position, L be the length of the boom of the dynamic precision centrifuge, and R be the radius of the arcs at both ends of the cross-section of the boom of the dynamic precision centrifuge.

6. The method according to claim 5, characterized in that, The total frictional torque is determined by the following formula: T(θ) = T1(θ) + T2(θ) In the formula, T(θ) is the total frictional torque, k is the total number of bearing balls in the dynamic precision centrifuge, F1(θ) is the change in frictional force caused by the change in pressure of the inner ring on the balls, F2(θ) is the change in frictional force caused by the change in pressure of the outer ring on the balls, θ is the feedback angle position, and R... outer R is the outer ring radius of the ball bearing in a dynamic precision centrifuge. inner R is the inner ring radius of the ball bearing in a dynamic precision centrifuge. cage Let T1(θ) be the average radius, T2(θ) be the first frictional torque, and T2(θ) be the second frictional torque.

7. The method according to claim 6, characterized in that, The average radius is determined by the following formula: In the formula, R outer R is the outer ring radius of the ball bearing in a dynamic precision centrifuge. inner R is the inner ring radius of the ball bearing in a dynamic precision centrifuge. cage The average radius is denoted as .

8. An adaptive system for compensating for frictional interference in a dynamic precision centrifuge, characterized in that, include: The acquisition module is used to acquire the feedback angle position of the dynamic precision centrifuge in real time. The first data processing module is used to determine the air resistance torque and total friction torque of the dynamic precision centrifuge based on the feedback angle position. The second data processing module is used to determine the observer structure of the dynamic precision centrifuge based on the air resistance torque, the total friction torque, and the feedback angle position. The third data processing module is used to determine the updated total control quantity of the dynamic precision centrifuge based on the observer structure. The fourth data processing module is used to adaptively control the rotational speed of the dynamic precision centrifuge based on the updated total control quantity.

9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed in a computer, causes the computer to perform the method described in any one of claims 1-7.

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