基于组合滑模控制的绝对重力仪两级主动减振设计  

Design of two-stage active vibration damping for absolute gravimeter based on combined sliding-mode control

作　　者：杨晔 吴宗坤[2] 褚宁 YANG Ye;WU Zongkun;CHU Ning(Laboratory of Science and Technology on Marine Navigation and Control of China State Shipbuilding Corporation,Tianjin 300131,China;Tianjin Navigation Instruments Research Institute,Tianjin 300131,China)

机构地区：[1]中船集团有限公司航海保障技术实验室,天津300131 [2]天津航海仪器研究所,天津300131

出　　处：《中国惯性技术学报》2019年第6期719-724,731,共7页Journal of Chinese Inertial Technology

基　　金：国家重点研发计划项目(2017YFC0601601)

摘　　要：针对环境振动作用于参考棱镜,影响激光干涉式绝对重力测量精度的问题,提出一种超低频两级弹性主动减振控制方案,其模型参考控制采用了基于全局鲁棒因子和双幂次趋近律的组合滑模算法来实现。该方案的工作原理是由高分辨率加速度计作为振动敏感元件来检测振动信号,通过组合滑模算法模型参考控制音圈电机反作用于两级主动减振平台,消减载荷平台的垂直方向微振动位移以达到减振的目的。仿真分析表明,该方案对本征频率小于等于0.05 Hz的振动减振效果明显,在0.01~2 Hz的频段具有85%以上的减振能力,优于一般模型参考滑模控制20%~40%。Aiming at the problem that the influence of environmental vibration on the reference prism can affect the measurement accuracy of laser interferometric absolute gravimeter, an ultra-low frequency two-stage elastic active vibration damping control scheme is proposed, whose model reference control applies an combined sliding mode algorithm based on global robust factor and double power law. Its working principle is that a high-resolution accelerometer is used as a vibration sensor to detect the vibration signal, and the combined sliding mode control algorithm is used to control the voice coil motor to react to the vibration damping platform, so as to reduce the vertical micro-vibration displacement of the load platform. Simulation analysis results show that the proposed scheme method has significant damping effect on the vibration with≤0.05 Hz eigenfrequency, and its vibration damping capacity is more than 85% in range of 0.01~2.00 Hz, which is 20%~40% higher than that of the sliding mode control for general model reference.

关 键 词：全局鲁棒 双幂次趋近律 组合滑模控制 模型参考 超低频两级主动减振 

分 类 号：U666.1[交通运输工程—船舶及航道工程]