To tackle the challenge of comprehensive analysis for the large-scale fast-locking mechanisms with tightly coupled multi-domain systems

a Modelica-based multi-domain modeling and simulation approach was proposed

focusing on the design and study of the mechanism's structure

control and operating conditions. Firistly

the mechanism was partitioned into coherent submodules

for which a permanent magnet synchronous motor's electromagnetic model and the dynamics of the ball screw and push-rod assemblies were formulated. These component models were assembled into both subsystem and full-chain models within simulation platform. Secondly

the particle swarm optimization algorithm was used to optimize the control parameters of the drive system. Finally

three operating scenarios were evaluated—standard position control

fixed angular offset about the Z-axis

and dynamic three-axis angular offsets—to assess their influence on upright-positioning accuracy within a one-second settling time. Simulation results were validated against prototype experiments

demonstrating high positioning precision under all tested conditions. These findings confirm soundness of the mechanism's design and the fidelity of the simulation models

and they offer a methodological reference for the development of other large-scale

multi-domain servo-controlled systems and their modeling-simulation approaches.