High-reliability locking control method for indexing mechanism in abnormal state

Abstract

The invention discloses a high-reliability locking control method for an indexing mechanism in an abnormal state, and relates to the technical field of inertial navigation testing. According to the method, control is realized through closed-loop logic of initial locking attempt, abnormal state recognition, self-adaptive adjustment processing and final state confirmation; the method comprises the following steps: firstly, locking by a preset torque locking motor and monitoring real-time current and running time; zero deviation abnormity is identified through two conditions of'over-current early triggering 'and'current swell'; then, a self-adaptive strategy of emergency concession, zero position re-calibration and secondary high-torque locking is executed; finally, a locking result is confirmed, and if secondary locking fails, a fault alarm is triggered. The locking reliability and safety of the indexing mechanism can be effectively improved, and the problems that due to deviation of a mechanical zero position and an electrical zero position, an existing indexing mechanism is prone to being insufficient in locking force, and clamping teeth are damaged are solved.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation testing technology, and specifically to a highly reliable locking control method for a transposition mechanism under abnormal conditions. Background Technology

[0002] The locking reliability of the indexing mechanism is crucial to ensuring the accuracy of inertial navigation system calibration. Existing indexing mechanisms mostly adopt a "motor drive + worm gear / gear transmission" structure, with a control strategy of "constant torque / current drive - stall detection and stop". After receiving the locking command, the indexing mechanism runs the locking motor in the locking direction with a fixed torque until the current reaches the stall threshold or the running time reaches the preset value, at which point the locking is determined to be complete.

[0003] This strategy has significant drawbacks. Under long-term use or harsh environments, the mechanical zero position of the indexing mechanism and the electrical zero position of the control system are prone to deviation due to mechanical wear, impact vibration, or assembly errors. When this deviation exists, the starting position of the locking command will deviate from the ideal state. When executed according to the existing strategy, two types of failures will occur: First, insufficient locking force: If the zero position deviation makes the locking stroke longer, the motor may trigger overcurrent protection and stop before fully locking, resulting in incomplete engagement of the locking teeth and insufficient locking force. Second, tooth jamming or mechanism damage: If the zero position deviation causes the gear tooth tip to align with the tooth tip, the motor will encounter an instantaneous resistance peak during drive, and the current will rise sharply in a short time to trigger overcurrent protection. However, tooth jamming may have already occurred before this, which may cause the gear tooth surface to crack or the locking gear plate to deform, resulting in the direct scrapping of the locking mechanism.

[0004] Existing technologies lack the ability to detect and adaptively process zero-position deviation anomalies, which cannot meet the requirements of missile-borne inertial navigation systems for high reliability and high environmental adaptability. Therefore, this invention proposes a control method that can identify zero-position deviation in real time and adaptively adjust the locking strategy to ensure the locking reliability of the indexing mechanism. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a highly reliable locking control method for indexing mechanisms under abnormal conditions. Its main purpose is to solve the problems of insufficient locking force and easy tooth jamming causing damage to the indexing mechanism in existing indexing mechanisms under abnormal conditions.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The indexing mechanism includes: Locking motor: It adopts a permanent magnet DC servo motor with adjustable torque to provide stable driving force for the locking action; Locking actuator: It consists of a reduction gear set and a locking gear disc; the reduction gear set is used to reduce the motor speed and increase the output torque; the locking gear disc can convert the rotational motion of the gear set into linear motion, realizing the loosening and locking action with the inertial mounting plate gear disc; Position sensors include mechanical limit switches and Hall effect sensors; the limit switches are set at the position where the locking gear is completely disengaged from the gear, and are used for zero-position calibration reference positioning; the Hall effect position sensor is integrated inside the locking motor, which can collect the position signal of the motor rotor in real time, and the control system uses this signal to calculate the motor's running time and rotation angle. Control system: It adopts a dual-core architecture of FPGA + MCU; the FPGA is responsible for high-frequency real-time data acquisition (such as motor current, rotor position) and motor drive signal output; the MCU is responsible for logic operation (such as abnormal state recognition and adaptive strategy execution); the two achieve data synchronization and instruction interaction through an internal high-speed bus to ensure that the control delay meets the real-time requirements.

[0007] Locking control method steps: S1: Initial Locking Attempt After the onboard inertial navigation system completes one rotational positioning, the control system first initializes the parameters, loading the preset first torque value, the normal locking completion time window range, and the overcurrent protection threshold, among other basic parameters. Then, it sends a locking command to the locking motor, controlling the motor to run in the locking direction with the first preset torque. At the same time, the FPGA collects the real-time current signal of the motor at a preset sampling frequency and collects the rotor position signal of the motor through the Hall sensor. The position signal is converted into the cumulative running time of the motor and transmitted to the MCU in real time for monitoring. S2: Abnormal State Identification and Diagnosis Based on the real-time "current-time" data transmitted from the FPGA, the MCU determines whether the locking state is abnormal according to preset logic. The specific abnormal trigger conditions are defined as follows: Scenario A: Overcurrent is triggered prematurely; The normal locking completion time window is the standard locking time range of the indexing mechanism when there is no deviation at the zero position. If the cumulative running time of the motor has not yet reached the starting value of this window, the real-time current has reached or exceeded the overcurrent protection threshold, and the locking motor is stopped due to overcurrent protection, it is judged as an "overcurrent premature trigger" abnormality. The core reason for this abnormality is that the zero position deviation causes the locking stroke to become longer, and the motor stalls due to excessive load before completing the normal locking stroke, triggering the overcurrent protection. Case B: Identification of jammed teeth characteristics; The MCU calculates the rate of increase of the motor current in real time. If the rate of increase exceeds the preset dangerous rate threshold, that is, the current shows a sudden increase, it is judged as a "tooth jamming" abnormality. This abnormality is usually caused by the zero position deviation leading to misalignment of the gear tooth tip with the tooth tip or the locking gear plate with the gear plate. At this time, the mechanical resistance increases suddenly, and the current increase rate is much higher than the normal locking process. If the MCU determines that either condition A or condition B is met, it immediately sends a pause command to the FPGA to stop the motor and trigger the exception handling process. If neither of the exception conditions is met, and the cumulative running time of the motor is within the normal locking completion time window, and the real-time current stably reaches the overcurrent protection threshold, then it is determined that the normal locking is completed, the control system sends a "locking complete" signal to the inertial navigation system, and the entire locking process ends. S3: Adaptive Adjustment Strategy for Exception Handling When an anomaly is triggered, the control system enters the adaptive adjustment phase, which involves the following three steps.

[0008] Step 1: Emergency retreat; The MCU first sends an emergency control command to the FPGA, and the FPGA immediately outputs a reverse drive signal to control the motor to rotate in the release direction by a preset safety clearance angle. The design principle of this safety clearance angle is to ensure that the locking actuator is completely separated, that is, the gear set is disengaged from the tooth tip-to-tooth tip state and the locking gear is completely disengaged from the gear, so as to avoid continuous mechanical interference that could damage the components. During the reverse rotation of the motor, the FPGA continuously collects the rotor position signal. When the rotation angle reaches the safety clearance angle, it immediately sends a stop signal to end the emergency clearance action. Step 2: Recalibrate the zero point; After the emergency retreat ends, the MCU sends a command to the FPGA to continue running in reverse, controlling the motor to rotate continuously in reverse until the limit switch is triggered. At this point, the locking gear is completely disengaged from the gear, corresponding to the true mechanical zero position of the indexing mechanism. When the FPGA detects the trigger signal of the limit switch, it immediately feeds back to the MCU. The MCU records this position as the "new electrical zero position" and updates the locking start reference point stored in the control system, thereby eliminating the original mechanical zero position and electrical zero position deviation. At the same time, the MCU records the operating parameters from the end position of the emergency retreat to the triggering of the limit switch and stores them as historical data for zero position deviation analysis during subsequent maintenance. Step 3: Second locking attempt: After the zero-position calibration is completed, the MCU loads a second preset torque, which is greater than the first preset torque. This second preset torque is used to overcome the additional frictional resistance that may be caused by the zero-position deviation. The second preset torque is determined based on the first preset torque and the zero-position deviation compensation amount, but does not exceed the upper limit of the motor's safe torque to avoid motor overload. A second locking command is sent to the FPGA. The FPGA controls the motor to run in the locking direction with the second preset torque. At the same time, it continues to collect the motor's real-time current and cumulative running time at a preset sampling frequency and transmits them to the MCU for monitoring. S4: Final State Confirmation and Security Policy The MCU monitors the data during the secondary locking process in real time and confirms the final locking status according to the following logic: If, during the secondary locking process, the cumulative running time of the motor is within the normal locking completion time window, and the real-time current rises steadily to the overcurrent protection threshold, then the secondary locking is determined to be successful. The MCU sends a stop command to the FPGA to control the motor to stop running, and sends a "locking complete" signal to the inertial navigation system, and the process ends. If situation A or situation B is triggered again during the secondary locking process, it is determined that there is an unrecoverable hardware fault in the indexing mechanism, such as continuous mechanical interference caused by severe gear wear or deformation of the locking gear plate. At this time, the MCU immediately sends a power-off command to the FPGA to cut off the power supply to the locking motor and permanently stop the locking operation to avoid repeated attempts to expand the fault range. At the same time, the MCU generates a fault alarm signal, which includes an abnormality type identifier (to distinguish between overcurrent premature triggering or tooth jamming characteristics) and a record of the operating parameters at the time of the fault (such as the current value, running time, and position information at the time of the fault). This signal is sent to the host computer via the data bus to prompt subsequent manual maintenance.

[0009] Compared with the prior art, the present invention has the following significant advantages: (1) High locking reliability: The zero position deviation is identified by the dual conditions of "overcurrent early trigger" and "current surge", avoiding misjudgment under a single condition and achieving high identification accuracy. Combined with the secondary high torque locking after zero position calibration, the problem of insufficient locking force caused by zero position deviation can be effectively solved. The locking success rate under abnormal conditions is significantly improved, ensuring the self-calibration accuracy of the missile-borne inertial navigation system. (2) High safety: The emergency retreat step can quickly release mechanical interference after abnormal triggering, avoiding gear jamming, such as impact damage caused by misalignment of locking gear plate; the fault fuse mechanism can prevent hardware failure from expanding and significantly reduce the damage rate of the indexing mechanism. (3) Good adaptability and environmental robustness: The entire anomaly handling process does not require manual intervention and can complete zero-position calibration and strategy adjustment online, adapting to the harsh environment such as wide temperature range and high overload faced by missile-borne equipment, and meeting the needs of rapid battlefield response; (4) Low cost and easy to implement: Based on the existing hardware architecture of the indexing mechanism, the control logic of the present invention can be realized by simply upgrading the software algorithm. No new sensors or drive components are required, the modification cost is low, and it can be directly compatible with the existing production and maintenance system of the missile-borne inertial navigation system indexing mechanism. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the indexing mechanism of the present invention.

[0011] Figure 2 This is a flowchart of the locking control method of the present invention.

[0012] Figure 3 This is a current-time characteristic diagram of the present invention.

[0013] Figure 4 This is a flowchart of the adaptive adjustment strategy for exception handling in this invention. Specific Implementation

[0014] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0015] like Figure 1 As shown: The indexing mechanism includes: Locking motor: It adopts a permanent magnet DC servo motor with adjustable torque to provide stable driving force for the locking action; Locking actuator: It consists of a reduction gear set and a locking gear disc; the reduction gear set is used to reduce the motor speed and increase the output torque; the locking gear disc can convert the rotational motion of the gear set into linear motion, realizing the loosening and locking action with the inertial mounting plate gear disc; Position sensors include mechanical limit switches and Hall effect sensors; the limit switches are set at the position where the locking gear is completely disengaged from the gear, and are used for zero-position calibration reference positioning; the Hall effect position sensor is integrated inside the locking motor, which can collect the position signal of the motor rotor in real time, and the control system uses this signal to calculate the motor's running time and rotation angle. Control system: It adopts a dual-core architecture of FPGA + MCU; the FPGA is responsible for high-frequency real-time data acquisition (such as motor current, rotor position) and motor drive signal output; the MCU is responsible for logic operation (such as abnormal state recognition and adaptive strategy execution); the two achieve data synchronization and instruction interaction through an internal high-speed bus to ensure that the control delay meets the real-time requirements.

[0016] Locking control method steps: S1: Initial Locking Attempt After the onboard inertial navigation system completes one rotational positioning, the control system first initializes the parameters, loading the preset first torque value, the normal locking completion time window range, and the overcurrent protection threshold, among other basic parameters. Then, it sends a locking command to the locking motor, controlling the motor to run in the locking direction with the first preset torque. At the same time, the FPGA collects the real-time current signal of the motor at a preset sampling frequency and collects the rotor position signal of the motor through the Hall sensor. The position signal is converted into the cumulative running time of the motor and transmitted to the MCU in real time for monitoring. S2: Abnormal State Identification and Diagnosis like Figure 3 As shown, the MCU uses the real-time "current-time" data transmitted from the FPGA to determine whether the locking state is abnormal according to preset logic. The specific abnormal triggering conditions are defined as follows: Scenario A: Overcurrent is triggered prematurely; The normal locking completion time window is the standard locking time range of the indexing mechanism when there is no deviation at the zero position. If the cumulative running time of the motor has not yet reached the starting value of this window, the real-time current has reached or exceeded the overcurrent protection threshold, and the locking motor is stopped due to overcurrent protection, it is judged as an "overcurrent premature trigger" abnormality. The core reason for this abnormality is that the zero position deviation causes the locking stroke to become longer, and the motor stalls due to excessive load before completing the normal locking stroke, triggering the overcurrent protection. Case B: Identification of jammed teeth characteristics; The MCU calculates the rate of increase of the motor current in real time. If the rate of increase exceeds the preset dangerous rate threshold, that is, the current shows a sudden increase, it is judged as a "tooth jamming" abnormality. This abnormality is usually caused by the zero position deviation leading to misalignment of the gear tooth tip with the tooth tip or the locking gear plate with the gear plate. At this time, the mechanical resistance increases suddenly, and the current increase rate is much higher than the normal locking process. If the MCU determines that either condition A or condition B is met, it immediately sends a pause command to the FPGA to stop the motor and trigger the exception handling process. If neither of the exception conditions is met, and the cumulative running time of the motor is within the normal locking completion time window, and the real-time current stably reaches the overcurrent protection threshold, then it is determined that the normal locking is completed, the control system sends a "locking complete" signal to the inertial navigation system, and the entire locking process ends. S3: Adaptive Adjustment Strategy for Exception Handling When an anomaly is triggered, the control system enters the adaptive adjustment phase, which involves the following three steps.

[0017] Step 1: Emergency retreat; The MCU first sends an emergency control command to the FPGA, and the FPGA immediately outputs a reverse drive signal to control the motor to rotate in the release direction by a preset safety clearance angle. The design principle of this safety clearance angle is to ensure that the locking actuator is completely separated, that is, the gear set is disengaged from the tooth tip-to-tooth tip state and the locking gear is completely disengaged from the gear, so as to avoid continuous mechanical interference that could damage the components. During the reverse rotation of the motor, the FPGA continuously collects the rotor position signal. When the rotation angle reaches the safety clearance angle, it immediately sends a stop signal to end the emergency clearance action. Step 2: Recalibrate the zero point; After the emergency retreat ends, the MCU sends a command to the FPGA to continue running in reverse, controlling the motor to rotate continuously in reverse until the limit switch is triggered. At this point, the locking gear is completely disengaged from the gear, corresponding to the true mechanical zero position of the indexing mechanism. When the FPGA detects the trigger signal of the limit switch, it immediately feeds back to the MCU. The MCU records this position as the "new electrical zero position" and updates the locking start reference point stored in the control system, thereby eliminating the original mechanical zero position and electrical zero position deviation. At the same time, the MCU records the operating parameters from the end position of the emergency retreat to the triggering of the limit switch and stores them as historical data for zero position deviation analysis during subsequent maintenance. Step 3: Secondary Locking Attempt: After zero-position calibration is completed, the MCU loads a second preset torque, which is greater than the first preset torque. This second preset torque is used to overcome the additional frictional resistance that may be caused by the zero-position deviation. The second preset torque is determined based on the first preset torque and the zero-position deviation compensation amount, but does not exceed the upper limit of the motor's safe torque to avoid motor overload. A secondary locking command is sent to the FPGA. The FPGA controls the motor to run in the locking direction with the second preset torque, while continuing to collect the motor's real-time current and cumulative running time at a preset sampling frequency and transmit them to the MCU for monitoring. S4: Final State Confirmation and Security Policy The MCU monitors the data during the secondary locking process in real time and confirms the final locking status according to the following logic: If, during the secondary locking process, the cumulative running time of the motor is within the normal locking completion time window, and the real-time current rises steadily to the overcurrent protection threshold, then the secondary locking is determined to be successful. The MCU sends a stop command to the FPGA to control the motor to stop running, and sends a "locking complete" signal to the inertial navigation system, and the process ends. If situation A or situation B is triggered again during the secondary locking process, it is determined that there is an unrecoverable hardware fault in the indexing mechanism, such as continuous mechanical interference caused by severe gear wear or deformation of the locking gear plate. At this time, the MCU immediately sends a power-off command to the FPGA to cut off the power supply to the locking motor and permanently stop the locking operation to avoid repeated attempts to expand the fault range. At the same time, the MCU generates a fault alarm signal, which includes an abnormality type identifier (to distinguish between overcurrent premature triggering or tooth jamming characteristics) and a record of the operating parameters at the time of the fault (such as the current value, running time, and position information at the time of the fault). This signal is sent to the host computer via the data bus to prompt subsequent manual maintenance.

[0018] The following is a complete implementation description, based on two typical abnormal scenarios in the self-calibration process of the missile-borne inertial navigation system: First Implementation Example: Handling Overcurrent Premature Triggering Anomaly If the indexing mechanism has been used many times, long-term vibration will cause a deviation between the mechanical zero position and the electrical zero position, and the initial position of the locking gear will deviate from the ideal state, resulting in a longer locking stroke than the standard state; during the first inertial navigation system self-calibration process, after completing the rotational positioning, it enters the locking stage, triggering an overcurrent premature triggering abnormality.

[0019] Preprocessing stage: After the inertial navigation system completes the rotational positioning at the preset angle, the host computer sends a "start locking" command to the indexing mechanism control system; the control system initializes parameters, loading parameters such as the first preset torque (e.g., 5 N·m), the normal locking completion time window (e.g., 100 ms ~ 150 ms), the overcurrent protection threshold (e.g., 8 A), and the dangerous rate threshold (e.g., 0.5 A / ms).

[0020] S1: Initial Locking Attempt The control system sends a locking command to the locking motor, and the motor runs in the locking direction with a first preset torque (5 N·m). The FPGA collects the real-time current and rotor position signals of the motor at a preset sampling frequency (e.g., once every 5 milliseconds), converts the position signals into cumulative running time, and transmits them to the MCU in real time. In the initial stage, the current rises steadily to 3A, which is consistent with the current characteristics of normal locking.

[0021] S2: Anomaly Detection When the motor's cumulative running time is 60ms (60% of the normal locking completion time window starting value of 100ms), the MCU detects that the real-time current suddenly reaches 8A (overcurrent protection threshold), and the FPGA feedback indicates that the motor has triggered a protective stop; the MCU compares the abnormal conditions and determines that condition A (overcurrent premature trigger) is met, and immediately triggers the S3 abnormal handling process.

[0022] S3: Exception Handling S31: Emergency Retreat: The MCU sends an emergency reverse command to the FPGA, and the FPGA controls the motor to rotate in the opposite direction at a preset safety retreat angle (e.g., 5°). During the rotation, the FPGA monitors the rotation angle through the Hose sensor. When the angle reaches 5°, the motor stops running. At this time, the locking gear completely disengages from the gear, and the gear set is out of the interference state.

[0023] S32: Zero-position calibration: The MCU controls the motor to continue running in reverse, while the FPGA continuously monitors the limit switch status. After approximately 2 seconds, the FPGA detects the limit switch trigger signal and sends it back to the MCU. The MCU records this position as the new electrical zero position, updates the locking start reference point, and stores the operating parameters from the end of the emergency retreat to the triggering of the limit switch.

[0024] S33: Secondary locking attempt: The MCU loads a second preset torque (e.g., 7 N·m, which is greater than the first preset torque of 5 N·m and does not exceed the motor's safe torque limit of 10 N·m) and sends a secondary locking command to the FPGA; the motor runs in the locking direction with a torque of 7 N·m, and the FPGA continues to collect current and running time data and transmits them to the MCU.

[0025] S4: Final Confirmation During the secondary locking process, the cumulative running time of the motor gradually enters the normal locking completion time window (100ms~160ms), and the real-time current rises steadily to 8A at a rate of 0.2A / ms, which does not exceed the dangerous rate threshold of 0.5A / ms. When the running time reaches 120ms, the current reaches the overcurrent protection threshold of 8A. The MCU determines that the locking is successful, controls the motor to stop running, sends a "locking complete" signal to the inertial navigation system, and the process ends.

[0026] Second embodiment: Handling of tooth jamming abnormalities If, after an impact test, the indexing mechanism experiences a slight misalignment of the reduction gear set due to a strong impact, the mechanical zero position and electrical zero position deviation increase, and the gear is in a critical state of tooth tip to tooth tip; during inertial navigation system self-calibration, a tooth jamming abnormality is triggered during the locking phase.

[0027] Preprocessing stage: After the inertial navigation system completes rotational positioning, the host computer sends a "start locking" command; the control system initializes parameters, loads the first preset torque (e.g., 6 N·m), the normal locking completion time window (e.g., 80 ms ~ 120 ms), the overcurrent protection threshold (e.g., 9 A), and the dangerous rate threshold (e.g., 0.6 A / ms), etc.

[0028] S1: Initial Locking Attempt The motor runs in the locking direction with a first preset torque (6 N·m). The FPGA collects current and running time data. In the early stage of operation, the current suddenly rises rapidly from 2A to 7A. The MCU detects that the current rise rate is 0.8A / ms, which exceeds the dangerous rate threshold of 0.6A / ms.

[0029] S2: Anomaly Detection The MCU compares the abnormal conditions and determines that condition B (tooth jamming feature judgment) is met. It immediately sends a pause command to the FPGA to stop the motor and trigger the S3 abnormal handling process.

[0030] S3: Exception Handling S31: Emergency Retreat: The MCU controls the motor to rotate in the opposite direction at a safe retreat angle (e.g., 6°). The FPGA monitors the rotation angle and stops the motor after it reaches 6°. At this time, the gear set disengages from the tooth tip-to-tooth tip state, and the mechanical interference is released.

[0031] S32: Zero-position calibration: The motor continues to run in reverse until the limit switch is triggered; the MCU records the new electrical zero position and related operating parameters.

[0032] S33: Secondary locking attempt: The motor runs in the locking direction with the second preset torque (e.g., 8 N·m); after running for about 1 second, the MCU detects that the current suddenly rises from 3A to 8A at a rate of 0.9A / ms, exceeding the dangerous rate threshold of 0.6A / ms again, triggering secondary trigger condition B.

[0033] S4: Final Confirmation The MCU determines that there is an unrecoverable hardware fault in the rotation mechanism, and immediately sends a power-off command to the FPGA to cut off the power supply to the locking motor and permanently stop the locking operation. At the same time, it generates a fault alarm signal, which includes the abnormal type of fault identification of "tooth jamming feature judgment", the current value of 8A at the time, the running time of 90ms and other parameters, and sends it to the host computer for subsequent manual disassembly and processing.

Claims

1. A highly reliable locking control method for a rotary indexing mechanism under abnormal conditions, characterized in that, The indexing mechanism includes a locking motor, a locking actuator, and a control system; the locking control method includes the following steps: S1: Initial locking attempt. The control system sends a locking command, and the locking motor runs in the locking direction with a first preset torque. At the same time, the feedback parameters of the motor are collected and monitored in real time. The feedback parameters include the real-time current of the motor and the cumulative running time. S2: Abnormal state identification and diagnosis. During the locking process of S1, the control system determines in real time whether any of the following abnormal conditions are met: Scenario A: Overcurrent is triggered prematurely; Case B: Identification of jammed teeth characteristics; S3: Anomaly handling adaptive adjustment strategy; the control system executes the following sequence of operations: The first step is to retreat immediately; The motor is controlled to rotate in the opposite direction at a preset safety clearance angle, causing the locking actuator with top teeth to separate and eliminating mechanical interference; The second step is to recalibrate the zero point; The motor continues to run in reverse until the limit switch is triggered or the electrical zero position recorded by the control system is returned, and this position is set as the new locking start reference point. The third step is to attempt a second locking. The motor is controlled to run in the locking direction with a second preset torque, while the real-time current and running time are monitored; the second preset torque is greater than the first preset torque. S4: Final State Confirmation and Security Policy; If the secondary locking smoothly reaches the overcurrent protection threshold within the normal locking completion time window and does not trigger the tooth jamming feature judgment, then the locking is considered successful and the process ends. If situation A or situation B occurs again during the second locking, it is determined to be an unrecoverable hardware failure. The control system will permanently stop the locking operation and send a fault alarm signal to the host computer.

2. The locking control method according to claim 1, characterized in that, The criteria for determining situation A are as follows: When the cumulative running time of the motor is less than the starting value of the normal locking completion time window, the real-time current reaches or exceeds the overcurrent protection threshold, and the motor triggers a protective stop.

3. The locking control method according to claim 1, characterized in that, The criteria for determining situation B are as follows: The rate of increase of the motor's real-time current exceeds the preset danger rate threshold.

4. The locking control method according to claim 1, characterized in that, The angle of the safety clearance angle is determined based on the transmission clearance and tooth tip distance of the locking actuator, so as to ensure that the locking actuator is completely separated without secondary interference.

5. The locking control method according to claim 1, characterized in that, The relationship between the second preset torque and the first preset torque is as follows: The second preset torque is determined based on the first preset torque and the zero-position deviation compensation amount, and does not exceed the upper limit of the safe torque of the locking motor.

6. The locking control method according to claim 3, characterized in that, The dangerous rate threshold is determined by fitting the current change curve when the motor is normally locked.

7. The locking control method according to claim 2, characterized in that, The overcurrent protection threshold is set based on the safe operating current range of the locking motor.

8. The locking control method according to claim 1, characterized in that, The control system adopts an FPGA+MCU architecture. The FPGA is responsible for real-time data acquisition and motor control, while the MCU is responsible for abnormal state identification and adaptive strategy calculation. The two interact with each other through an internal bus.

9. The locking control method according to claim 1, characterized in that, The fault alarm signal includes an anomaly type identifier and a record of operating parameters at the time of the fault. The anomaly type identification includes: distinguishing between overcurrent premature triggering and tooth jamming characteristics; the operating parameter records include: the current value at the time of the fault, the operating time, and the location information.

10. The locking control method according to claim 1, characterized in that, When performing the second step of S3 to recalibrate the zero position, the control system records the operating parameters from the end of the emergency retreat position to the triggering of the limit switch, as historical data for zero position deviation analysis, which is used for fault tracing during subsequent maintenance.

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