重力仪基准棱镜的高精度电磁悬浮控制及前馈补偿方法  

High precision electromagnetic control and feedforward compensation of gravimeter reference prism

作　　者：王鑫[1,2] 薛书棋 李楠 肖爱民[1] 董文博 WANG Xin;XUE Shuqi;LI Nan;XIAO Aimin;DONG Wenbo(Technology and Engineering Center for Space Utilization,Chinese Academy of Sciences,Beijing 100094,China;University of Chinese Academy of Sciences,Beijing 100049,China;Shanghai Electro-Mechanical Engineering Institute,Shanghai 201109,China)

机构地区：[1]中国科学院空间应用工程与技术中心,北京100094 [2]中国科学院大学,北京100094 [3]上海机电工程研究所,上海201109

出　　处：《中国惯性技术学报》2023年第7期696-706,共11页Journal of Chinese Inertial Technology

基　　金：载人航天工程-空间应用系统项目(412021000031);中科院科学仪器研制项目(YJKYYQ20210028)。

摘　　要：在地面绝对重力仪或空间微重力测量仪中,需要完成检测质量或基准棱镜无接触连续释放回收以及隔振控制。基于此设计了一种用于重力仪基准角锥棱镜的电磁悬浮控制系统,采用洛伦兹力电磁执行器,实现六自由度的电磁捕获释放控制及隔振。基于地面三自由度闭环控制下实测数据,拟合建立了输出力非线性模型,在传统PID控制的基础上,设计了前馈补偿与负刚度相结合的控制算法。在地面重力环境下进行实验,结果表明,与未加入前馈补偿控制相比较,系统启动时间从7 s缩短到4 s,系统带宽从2.5 Hz增加到4.3 Hz,加入负刚度控制使系统竖直方向振动扰动频点从7.2 Hz降低到6.2 Hz,有效提高了重力仪棱镜控制系统的控制效果和隔振性能。In the ground absolute gravimeter and space micro-gravimeter,it is necessary to complete the non-contact continuous release and recovery of the test mass or the reference prism,in order to realize continuous measurement and avoid interference of contact force.An electromagnetic levitation control system for the reference corner cube retroreflector of the gravimeter is designed.The system adopts Lorentz force electromagnetic actuator,which can perform electromagnetic capture and release with 6-DOF pose control and vibration isolation.Based on the measured data of real-time closed-loop control on ground,the output force nonlinear model is fitted and established.Based on the traditional PID control,the control algorithm with feedforward compensation combined with negative stiffness is designed.Experiments are carried out in the ground gravity environment.The experimental results show that compared with control algorithm without feedforward compensation,the system startup time is shortened from 7 s to 4 s,and the system bandwidth increases from 2.5 Hz to 4.3 Hz,negative stiffness control reduces the vertical vibration disturbance frequency of the system from 7.2 Hz to 6.2 Hz,the control effect and vibration isolation performance of the system of gravimeter prism is effectively improved.

关 键 词：重力仪基准棱镜 电磁悬浮控制 非线性建模 前馈补偿控制 负刚度控制 

分 类 号：U666.1[交通运输工程—船舶及航道工程]