The quote mentioned how many minutes the ship saileth in an hour, and the reason for this is that in this case a minute isn’t a unit of time, but a measurement of angle.

The circular arc automatic door is reciprocating swing, and its motion parameters are the number of swing per minute, the size of the swing Angle and the travel speed ratio coefficient.

Simulation and experimental results show that the tracking accuracy of the main axis control system is not bigger than 1 Angle minute and this fulfills the demands of ATP system.